Abstract: Vehicle steering can be synchronized by first, turning the steering rack from lock-to-lock to determine a steering rack midpoint, second, turning the steering wheel from lock-to-lock to determine a steering wheel midpoint, third, synchronizing the steering rack with the steering wheel based on the steering rack midpoint and the steering wheel midpoint, and fourth, piloting a vehicle based on the synchronized steering rack and steering wheel; wherein the steering rack is mechanically decoupled from a steering wheel of the vehicle before turning the steering rack from lock-to-lock and before turning the steering wheel from lock-to-lock.

Abstract: Controlling a vehicle steering system includes determining a rack position of a rack needed to execute a maneuver. A minimum velocity allowing the desired steering angle to be reached is determined. The velocity of the vehicle is increased to the determined minimum velocity. The rack is moved to the rack position needed.

Abstract: A system of computers configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them on the system that in operation causes or cause the system to perform the actions. One general aspect includes a system, including a computer programmed to control each of an autonomous vehicle propulsion, steering, and braking, where the vehicle is subject to autonomous control. The system makes a first determination, based on data from a vehicle sensor, of availability of a vehicle parking area and makes a second determination, based on at least a geolocation of the vehicle, a system fault, a conditional boundary and availability of the parking area, to autonomously park in the parking area. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

Abstract: Vehicle steering can be synchronized by first, turning the steering rack from lock-to-lock to determine a steering rack midpoint, second, turning the steering wheel from lock-to-lock to determine a steering wheel midpoint, third, synchronizing the steering rack with the steering wheel based on the steering rack midpoint and the steering wheel midpoint, and fourth, piloting a vehicle based on the synchronized steering rack and steering wheel; wherein the steering rack is mechanically decoupled from a steering wheel of the vehicle before turning the steering rack from lock-to-lock and before turning the steering wheel from lock-to-lock.

Abstract: A dashboard assembly for a vehicle includes a dashboard defining a receiving niche. The niche is alignable with a driver seat location, and is selectively fillable by each of a removable steering module and a removable filler module. The removable steering module includes a steering module base. A steering wheel support is fixed to the steering module base. A steering wheel is rotatably fixed to the steering wheel support. A steering wheel connector connects the steering wheel to a vehicle steering actuator. The removable filler module includes a filler module base.

Abstract: A system for locating an imaged hitch point between a vehicle and a trailer is provided herein. An imaging device is configured to capture images of the trailer. A controller is configured to select two images captured by the imaging device and derive an edge map for each of the two images. The controller determines the location of the imaged hitch point based on differences in pixel intensity associated with a number of predefined pixel positions common to the two images.

Abstract: Controlling a vehicle steering system includes determining a rack position of a rack needed to execute a maneuver. A minimum velocity allowing the desired steering angle to be reached is determined. The velocity of the vehicle is increased to the determined minimum velocity. The rack is moved to the rack position needed.

Abstract: A first computer including a processor is programmed to receive an indication of a failure mode in a vehicle and wirelessly transmit the indication of the failure mode to a remote server. The computer is further programmed to receive a revised route to a destination based at least in part on the failure mode and operate the vehicle along the revised route.

Abstract: A steering-wheel assembly includes an actuator, an actuator controller, a steering wheel, an attachment, and a data connector (referred to hereinafter as a first data connector). The actuator controller includes a processor and a memory and is communicatively coupled to the actuator. The steering wheel is rotatably coupled to the actuator. The attachment is coupled to the actuator. The first data connector is mounted on the attachment and in communication with the actuator controller. The actuator controller is programmed to instruct the actuator to rotate the steering wheel based on steering-wheel control data provided via the first data connector.

Abstract: A computing device for a vehicle includes a processor and a memory. The processor is programmed to determine that a vehicle destination includes a boat launch and that the vehicle is towing a trailer including a boat. The computing device guides the vehicle at the boat launch to position the trailer to launch the boat.

Abstract: A system for determining a hitch angle between a vehicle and a trailer is provided herein. An imaging device is configured to capture images of the trailer. A controller is configured to process image data to determine an optical flow. The controller distinguishes between optical flow vectors of pixels associated with the trailer and an operating environment. The controller calculates an average angular velocity for the pixels associated with the trailer and determines the hitch angle based on the average angular velocity.

Abstract: A system of computers configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them on the system that in operation causes or cause the system to perform the actions. One general aspect includes a system, including a computer programmed to control each of an autonomous vehicle propulsion, steering, and braking, where the vehicle is subject to autonomous control. The system makes a first determination, based on data from a vehicle sensor, of availability of a vehicle parking area and makes a second determination, based on at least a geolocation of the vehicle, a system fault, a conditional boundary and availability of the parking area, to autonomously park in the parking area. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

Abstract: A current value of a state-of-motion from a second controller can be received by a first controller. The first controller determines a subset of a target value of the state-of-motion to be achieved by a subsystem and transmits a command to a third controller in communication with the subsystem to achieve the subset of the target value of the state-of-motion. The third controller commands the subsystem to approach the subset of the target value of the state-of-motion.

Abstract: A steering-wheel assembly includes an actuator, an actuator controller, a steering wheel, an attachment, and a data connector (referred to hereinafter as a first data connector). The actuator controller includes a processor and a memory and is communicatively coupled to the actuator. The steering wheel is rotatably coupled to the actuator. The attachment is coupled to the actuator. The first data connector is mounted on the attachment and in communication with the actuator controller. The actuator controller is programmed to instruct the actuator to rotate the steering wheel based on steering-wheel control data provided via the first data connector.

Abstract: A vehicle system includes communication circuitry programmed to communicate with a controller that is removable from an autonomous vehicle. The system further includes a processor programmed to receive control signals, which are associated with manually controlling the autonomous vehicle in a non-autonomous mode, transmitted from the controller. The processor is further programmed to output commands to at least one vehicle subsystem in accordance with the control signals transmitted from the controller while the vehicle is operating in a non-autonomous mode.

Abstract: A dashboard assembly for a vehicle includes a dashboard defining a receiving niche. The niche is alignable with a driver seat location, and is selectively fillable by each of a removable steering module and a removable filler module. The removable steering module includes a steering module base. A steering wheel support is fixed to the steering module base. A steering wheel is rotatably fixed to the steering wheel support. A steering wheel connector connects the steering wheel to a vehicle steering actuator. The removable filler module includes a filler module base.

Abstract: Upper and lower limits of one or more parameters are established for each of a plurality of states of operation of a vehicle. One of the plurality of states for operating the vehicle is identified based at least in part on the parameters, data describing a human operator, and data describing an environment around the vehicle. A vehicle subsystem is actuated according to an operation mode corresponding to the current operating state.

Abstract: A vehicle subsystem includes a first signal including a first master value is transmitted from a first failsafe device and a third failsafe device. A first, signal is transmitted via a primary bus. A second signal including a second master value is transmitted from a second failsafe device to a fourth failsafe device. The first and second master values indicate whether the first and second signals are authoritative on the primary bus, the secondary bus, both, or neither.

Abstract: A steering wheel position control system for a vehicle comprises a controller for a vehicle. The controller includes a processor and a memory. The memory stores instructions executable by the processor. The controller is programmed to receive values from the sensors. The controller commands a pivot mechanism to bias a steering wheel to a stowed position based on values from the sensors. The controller also deploys an air bag based on values from the sensors, wherein the steering wheel is pivoted out of a space envelope of the deployed airbag.

Abstract: A system for locating an imaged hitch point between a vehicle and a trailer is provided herein. An imaging device is configured to capture images of the trailer. A controller is configured to select two images captured by the imaging device and derive an edge map for each of the two images. The controller determines the location of the imaged hitch point based on differences in pixel intensity associated with a number of predefined pixel positions common to the two images.