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 vehicle parking brake system includes a power bridge. The power bridge is electrically connected to a primary power source and to a secondary power source. The power bridge has a first condition in which the primary power source is active in which the primary source is electrically connected to a parking brake actuator. The power bridge has a second condition in which the primary power source is not active in which the secondary power source is electrically connected to the parking brake.

Abstract: A current state of a vehicle can be identified. At least a minimum acceleration capability of the vehicle is determined. A desired acceleration profile to follow is determined based at least in part on the minimum acceleration capability. An acceleration of the vehicle is controlled based at least in part on the desired acceleration profile.

Abstract: A current state of a vehicle is identified. Vehicle path curvature limits are determined. A curvature performance profile to follow is determined based at least in part the vehicle path curvature limits. A direction of the vehicle is controlled based at least in part the curvature performance profile.

Abstract: A system for detecting a hitch angle between a vehicle and a trailer is provided herein. An imaging device is configured to capture images of the trailer and a controller is configured to process images captured by the imaging device. The controller derives a template image having a trailer contour and matches the template image to a search image. The hitch angle is determined based on a positional relationship between the template image and the search image.

Abstract: A system includes first and second failsafe devices. Each of the failsafe devices includes a processor and a memory. The memory stores instructions executable by the processor for performing at least one of detecting a fault and providing a communication concerning a fault. The system further includes an arbitration bus connecting the first and second failsafe devices. The communication concerning the fault may be provided from a first one of the first and second failsafe devices to a second one of the first and second failsafe devices.

Abstract: An autonomous vehicle control sub-system includes first and second brake control modules that are communicatively and electrically connected to one another and a plurality of wheel-speed sensors communicatively connected to the first brake control module. The first module is programmed to receive wheel-speed data from the wheel-speed sensors. The second module is programmed to process the wheel-speed data in the event of a failure in the first module.

Abstract: An autonomous vehicle control sub-system includes first and second brake control modules that are communicatively and electrically connected to one another and a plurality of wheel-speed sensors communicatively connected to the first brake control module. The first module is programmed to receive wheel-speed data from the wheel-speed sensors. The second module is programmed to process the wheel-speed data in the event of a failure in the first module.

Abstract: A vehicle operator is identified. Based at least in part on the operator's identity, one or more parameters are determined specifying a mode for autonomously operating the vehicle. The vehicle is autonomously operated at least in part according to the one or more parameters.

Abstract: Methods for controlling wheel slip of a motor vehicle include braking the wheel by supplying a first measured quantity of brake fluid from a modulation cylinder to a brake device of the wheel, determining the wheel slip of the wheel, and moving a second measured quantity of brake fluid between the modulation cylinder and the brake device. When the wheel slip is too small or too large, a change in a volume of the brake fluid in the modulation cylinder is measured and a change in a measure of a braking effect is determined. The second measured quantity of brake fluid is determined on the basis of the measured change in the volume of the brake fluid in the modulation cylinder and the change in the measure of the braking effect. Braking systems configured to carry out the methods, as well as vehicles including the braking systems, are further contemplated.

Abstract: An autonomous vehicle control sub-system includes first and second brake control modules that are communicatively and electrically connected to one another and a plurality of wheel-speed sensors communicatively connected to the first brake control module. The first module is programmed to receive wheel-speed data from the wheel-speed sensors. The second module is programmed to process the wheel-speed data in the event of a failure in the first module.

Abstract: Vehicle operating systems are autonomously operated. A transient in an upcoming path of the vehicle is determined from a comparison of vehicle path data and vehicle status data to a threshold of mechanism first operating system. Operational parameters for one of first and second operating systems are selected according to the comparison. The selected operational parameters are applied to the operation of the one of the first and second operating systems.

Abstract: Systems and methods for cancelling brake torque variation in a motor vehicle are disclosed. Signals indicative of brake torque variation are received at a controller. Based on the signals, a frequency associated with the indicated brake torque variation is determined. At least one of an output time and output volume of pressurized brake fluid is adjusted based on the frequency to cancel the indicated brake torque variation.

Abstract: Data is collected during operation of a vehicle. A determination is made that a confidence assessment of at least one of the data indicates at least one fault condition. A first autonomous operation affected by the fault condition is discontinued, where a second autonomous operation that is unaffected by the fault condition is continued.

Abstract: A trailer backup assist system for a vehicle reversing a trailer includes a sensor module adapted to attach to the trailer and generate a trailer yaw rate or a trailer speed. The trailer backup assist system also includes a vehicle sensor system that generates a vehicle yaw rate and a vehicle speed. Further, the trailer backup assist system includes a controller that estimates a hitch angle based on the trailer yaw rate or the trailer speed and the vehicle yaw rate and the vehicle speed in view of a kinematic relationship between the trailer and the vehicle.

Abstract: A trailer backup assist system for a vehicle reversing a trailer includes a sensor module adapted to attach to the trailer and generate a trailer yaw rate or a trailer speed. The trailer backup assist system also includes a vehicle sensor system that generates a vehicle yaw rate and a vehicle speed. Further, the trailer backup assist system includes a controller that estimates a hitch angle based on the trailer yaw rate or the trailer speed and the vehicle yaw rate and the vehicle speed in view of a kinematic relationship between the trailer and the vehicle.

Abstract: One of a condition affecting a vehicle and a planned action of the vehicle are identified. An instruction is provided to actuate movement of a steering wheel in the vehicle, wherein the movement is determined according to the one of the condition and the planned action.

Abstract: A vehicle regenerative braking control system includes a brake pedal; a brake pedal angle sensor interfacing with the brake pedal; a vehicle braking system interfacing with the brake pedal angle sensor, the vehicle braking system adapted to implement friction braking and regenerative braking responsive to receiving a brake pedal angle input signal from the brake pedal angle sensor; and at least one of a brake pedal switch and a brake master cylinder pressure sensor interfacing with the brake pedal and the vehicle braking system. The vehicle braking system is further adapted to implement friction braking and regenerative braking responsive to input from the at least one of a brake pedal switch and a brake master cylinder pressure sensor in the event that the vehicle braking system does not receive the brake pedal angle input signal from the brake pedal angle sensor. A regenerative braking control method is also disclosed.

Abstract: A system includes an autonomous sub-system that includes first and second braking modules. Each of the modules includes a processor and a memory, the memory storing instructions executable by the processor for detecting a fault. The system further includes a brake sub-system programmed to actuate a brake mechanism in response to a signal from the second braking module. The autonomous sub-system is further programmed to select one of the braking modules to provide a signal to the brake mechanism depending on whether a fault is detected.

Abstract: An autonomous vehicle control sub-system includes first and second brake control modules that are communicatively and electrically connected to one another and a plurality of wheel-speed sensors communicatively connected to the first brake control module. The first module is programmed to receive wheel-speed data from the wheel-speed sensors. The second module is programmed to process the wheel-speed data in the event of a failure in the first module.