Abstract: One variation of a system includes a modular kit. The modular kit includes: a driven axle configured to install on a bogie chassis supporting a trailer chassis of a trailer; a motor coupled to the driven axle; a battery assembly; a set of electrical cables; and a cable carrier. The battery assembly includes a set of retention features configured to transiently engage a set of engagement features on the trailer chassis to couple the battery assembly to the trailer chassis and is configured to: supply electrical energy to the motor to drive the driven axle; and receive electrical energy from the motor to regeneratively brake the driven axle. The set of electrical cables are configured to electrically couple the motor and the battery assembly. The cable carrier is configured to: locate between the bogie chassis and the battery assembly; and support the set of electrical cables over a range of longitudinal positions.

Abstract: Techniques for providing remote guidance to a vehicle operating in an environment, by an operator located in the environment, are described herein. The operator can include a safety observer configured to observe one or more vehicles operating in the environment and may identify a scenario that requires a modification to a vehicle operation (e.g., stop forward movement, change direction of travel, modify a maximum speed, etc.). The operator may access a graphical user interface (GUI) via an operator computing device, and may input a constraint to modify the vehicle operation. The vehicle computing system may receive a control signal including the constraint, and may modify a vehicle trajectory based on the constraint. The vehicle computing system may later determine that a condition associated with the constraint is satisfied, and may continue vehicular operation in absence of the constraint.

Abstract: One variation of a method includes: accessing a drive route for a trailer between a current location and a destination location; accessing a threshold temperature for an interior of the trailer; predicting a time duration between arrival of the trailer at the destination location and unloading a set of goods contained in the interior; estimating a quantity of electrical energy to maintain temperatures of the interior within the target temperature range for the time duration; calculating a state of charge of a battery assembly of the trailer to supply the quantity of electrical energy to a refrigeration system to modulate temperatures of the interior; and during traversal of the drive route, selectively outputting torque to and regeneratively braking the driven axle to increase fuel efficiency of the tow vehicle and to achieve the state of charge of the battery assembly upon arrival of the trailer at the destination location.

Abstract: Techniques are discussed herein for detecting and managing faults occurring within various vehicle systems, to enable the vehicle to respond safely and appropriately to the faults. In examples, a constraint generator may receive sensor data associated with the operation of a vehicle in an environment. The constraint generator may perturb the sensor data to mimic particular sensor faults, and execute simulations to determine performance degradations of the vehicle systems associated with the particular sensor faults. Based on the performance degradations associated with sensor faults, the constraint generator may determine the appropriate constraints with limitations on the operation of the vehicle, and communicate the constraint parameters to the appropriate vehicle systems accordingly.

Abstract: One variation of a system includes a drive subsystem and a controller. The drive subsystem includes: a chassis configured to transiently install on a trailer over a range of longitudinal positions; a set of retention features configured to transiently engage a first subset of engagement features, in a first array of engagement features on a left rail of the trailer and in a second array of engagement features on a right rail of the trailer, to couple the drive subsystem to the trailer in a particular longitudinal position in the range of longitudinal positions; a driven axle suspended from the chassis; and a motor coupled to the driven axle. The controller is configured to: trigger the motor to output torque to the driven axle; and trigger the motor to regeneratively brake the driven axle.

Abstract: One variation of a system includes a bogie including: a chassis; a first set of latches configured to transiently engage a first subset of engagement features, in a first array of engagement features on a left rail and in a second array of engagement features on a right rail of the trailer, to retain the bogie below a floor of the trailer; a driven axle suspended from the chassis; and a motor coupled to the driven axle and configured to output torque to the driven axle and regeneratively brake the driven axle. The system further includes a battery assembly: including a second set of latches configured to transiently engage a second subset of engagement features, in the first array of engagement features and in the second array of engagement features, to retain the battery assembly adjacent the bogie; and configured to receive electrical energy from the motor.

Abstract: One variation of a method includes, during a first time period: detecting a direction of motion of a trailer; detecting a first force applied to a kingpin; detecting an incline angle of the trailer; calculating a first target preload force opposite the direction of motion and inversely proportional to the incline angle; and in response to the first force falling below the first target preload force, triggering a motor to increase torque output opposite the direction of motion. The method further includes, during a second time period: detecting a second force applied to the kingpin; detecting a decline angle of the trailer; calculating a second target preload force opposite the direction of motion and inversely proportional to the decline angle; and in response to the second force falling below the second target preload force, triggering the motor to increase torque output opposite the direction of motion.

Abstract: Techniques for enabling operation of a vehicle after detecting a fault associated with a component of the vehicle are described herein. A vehicle computing system can monitor components of the vehicle and identify a fault associated with a component. Based on the fault, the vehicle computing system can cause the vehicle to cease (e.g., stop) or limit operation in an environment. The vehicle computing system can receive a request to override the fault and continue operation of the vehicle in a recovery mode with limited parameters (e.g., limited speed, acceleration, etc.). Based on a determination that the request to override the fault is valid, the vehicle computing system can cause the vehicle to be controlled, by an operator or an autonomous controller, according to parameters of the recovery mode.

Abstract: Systems and methods for disengaging or engaging autonomy remotely are provided. The autonomous vehicle may receive a request from a remote computing system associated with a remote operator. The request may require the autonomous vehicle to disengage, engage, or re-engage autonomy. The autonomous vehicle may determine whether the request is valid, and whether certain safety criteria are met. Upon determining that the request is valid and safety criteria are met, the autonomous vehicle may process the request and cause the autonomous vehicle to enter the desired state. The autonomous vehicle may send a message to the remote computing system, indicating whether or not the autonomous vehicle has entered the desired state.

Abstract: A lighting system of a vehicle may include light units and controllers for operating the light units. Each light unit is multifunctional in that the light unit may operate in various modes, which may be invoked at different times under varying circumstances. A light unit on the first end of a vehicle may operate as a headlight if the first end is the front end of the vehicle. On the other hand, the light unit may operate as a tail light if the first end is the rear end of the vehicle. Furthermore, the light unit may operate as a turn signal in either direction or brake light while the first end is the rear end of the vehicle. The light unit includes a lens array positioned to receive light from various light sources. The lighting system may operate in a fashion that allows for lighting redundancy on each end of the vehicle in the event of a lighting controller failure.

Abstract: Techniques for engaging and disengaging a vehicle from an autonomous operation mode are described. The techniques include receiving a request to engage or disengage the autonomous mode at a teleoperations system. The request is validated at the teleoperations system using a first set of conditions describing trust in the request and validity of the request. The request is then sent, if valid, to the vehicle where a second validation is performed using a second set of conditions describing the conditions or states of the vehicle. If the second conditions are valid then the request is performed and the vehicle engages or disengages from autonomous mode.

Abstract: Techniques for engaging and disengaging a vehicle from an autonomous operation mode are described. The techniques include receiving a request to engage or disengage the autonomous mode at a teleoperations system. The request is validated at the teleoperations system using a first set of conditions describing trust in the request and validity of the request. The request is then sent, if valid, to the vehicle where a second validation is performed using a second set of conditions describing the conditions or states of the vehicle. If the second conditions are valid then the request is performed and the vehicle engages or disengages from autonomous mode.

Abstract: One variation of a method includes, during a first time period: detecting a direction of motion of a trailer; detecting a first force applied to a kingpin; detecting an incline angle of the trailer; calculating a first target preload force opposite the direction of motion and inversely proportional to the incline angle; and in response to the first force falling below the first target preload force, triggering a motor to increase torque output opposite the direction of motion. The method further includes, during a second time period: detecting a second force applied to the kingpin; detecting a decline angle of the trailer; calculating a second target preload force opposite the direction of motion and inversely proportional to the decline angle; and in response to the second force falling below the second target preload force, triggering the motor to increase torque output opposite the direction of motion.

Abstract: One variation of a system includes a kingpin including: a head; a base coupled to a proximal end of the trailer; a shank interposed between the head and the base; a first sensor configured to output signals representing lateral forces applied to the kingpin; and a second sensor configured to output signals representing longitudinal forces applied to the kingpin. The system further includes a controller configured to: access a first signal from the first sensor representing a lateral force applied to the kingpin; access a second signal from the second sensor representing a longitudinal force applied to the kingpin; calculate a direction and a magnitude of a force applied to the kingpin based on the first and second signals; and trigger a motor arranged on a distal end of the trailer to output a torque in the direction of the force and proportional to the magnitude of the force.

Abstract: One variation of a system for power distribution of a trailer includes: a trailer chassis; a driven axle suspended from the trailer chassis; and a motor coupled to the driven axle. The system further includes a battery assembly coupled to the trailer chassis and configured to supply electrical energy to the motor to drive the driven axle and source electrical energy from the motor to slow motion of the driven axle. The system also includes a charging panel coupled to the trailer chassis and configured to couple to an external charging element. The system further includes a panel actuator configured to advance the charging panel from the trailer chassis to an open position to form a target gap between the external charging element and the charging panel and to retract the charging panel to a closed position to decouple the charging panel from the external charging element.

Abstract: One variation of a system includes a kingpin: arranged on a proximal end of the trailer; includes a sensor configured to output a signal representing lateral forces and longitudinal forces applied to the kingpin; and configured to couple to a tow vehicle. The system further includes an interface including a joystick and a kingpin interface configured to transfer forces, applied to the joystick, into the kingpin. The system also includes a controller configured to: access the signal from the sensor; based on the signal, calculate a magnitude of a force applied to the kingpin; calculate a first target speed of a first wheel of the trailer proportional to the magnitude; calculate a second target speed of a second wheel of the trailer proportional to the magnitude; and serve the first target speed and the second target speed to a drive system arranged on a distal end of the trailer.

Abstract: One variation of a method includes, during a first time period: detecting a direction of motion of a trailer; detecting a first force applied to a kingpin; detecting an incline angle of the trailer; calculating a first target preload force opposite the direction of motion and inversely proportional to the incline angle; and in response to the first force falling below the first target preload force, triggering a motor to increase torque output opposite the direction of motion. The method further includes, during a second time period: detecting a second force applied to the kingpin; detecting a decline angle of the trailer; calculating a second target preload force opposite the direction of motion and inversely proportional to the decline angle; and in response to the second force falling below the second target preload force, triggering the motor to increase torque output opposite the direction of motion.

Abstract: One variation of a system includes a bogie including: a chassis; a first set of latches configured to transiently engage a first subset of engagement features, in a first array of engagement features on a left rail and in a second array of engagement features on a right rail of the trailer, to retain the bogie below a floor of the trailer; a driven axle suspended from the chassis; and a motor coupled to the driven axle and configured to output torque to the driven axle and regeneratively brake the driven axle. The system further includes a battery assembly: including a second set of latches configured to transiently engage a second subset of engagement features, in the first array of engagement features and in the second array of engagement features, to retain the battery assembly adjacent the bogie; and configured to receive electrical energy from the motor.

Abstract: The present disclosure is directed to performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle.

Abstract: Techniques for determining whether to limit an operation of a vehicle while operating in a manually assisted mode of operation are described herein. A vehicle computing system can monitor components of the vehicle and identify a fault associated with a component. The vehicle computing system can determine whether the fault is associated with a manual operation of the vehicle. Based on a determination that the fault is not associated with the manual operation of the vehicle (e.g., fault associated with an autonomous control component), the vehicle computing system can override the fault and enable continued operation of the vehicle in the manually assisted mode of operation. Based on a determination that the fault is associated with the manual operation of the vehicle, the vehicle computing system can cause the vehicle to cease operating.