Abstract: A vehicle control system to control a vehicle according to a travel environment of the vehicle is provided. The vehicle control system includes a sensor that detects a travel environment of the vehicle. The sensor is configured to transmit detected travel environment information. The vehicle control system further includes a first control unit configured to output a first control signal based on the travel environment information detected by the sensor and received directly from the sensor. The vehicle control system further includes a second control unit configured to receive the first control signal to output a second control signal, and a third control unit configured to receive the first control signal and the second control signal to drive a control device based on either the first control signal or the second control signal.

Abstract: The present application relates to the technical field of vehicles and provides a vehicle drive control method and system including: obtaining a state of a generator and/or a drive motor of a hybrid vehicle (S101); determining whether the hybrid vehicle meets conditions for entering a parallel operation mode when the temperature in the state is greater than a safety temperature threshold and/or a fault condition in the state shows that a fault occurs in the generator and/or the drive motor (S102); and controlling the hybrid vehicle to adjust the load distribution of the engine, the generator, and the drive motor in the parallel operation mode when the hybrid vehicle meets the conditions for entering the parallel operation mode, so that the temperature of the generator and/or the drive motor decreases until below the safety temperature threshold and/or there is no fault (S103).

Abstract: A computer includes a processor and a memory storing instructions executable by the processor to determine that a vehicle is present at a site based on a comparison of sequentially received values for a plurality of parameters related to the vehicle with an ordered sequence of ranges for the parameters, and perform an operation upon determining that the vehicle is present at the site.

Abstract: A vehicle control method includes determining whether a driving intention of a user is a U-turn intention or a left turn intention based on image information obtained by an imager. In response to determining that the driving intention of the user is the U-turn intention or the left turn intention an obstacle is detected that may cause a collision during a U-turn driving or a left turn driving based on the image information and obstacle information detected by an obstacle detector. In response, collision avoidance control is performed with the detected obstacle based on steering angle information of the vehicle.

Abstract: An information processing apparatus mounted on a first vehicle determines that an alert to decelerate is being issued to a driver of a preceding vehicle that precedes the first vehicle; and performs a predetermined process related to risk avoidance when the alert is being issued is the preceding vehicle.

Abstract: Systems and methods for complementary control of an autonomous vehicle (AV) are disclosed. The methods include receiving information comprising an active trajectory of an AV that the AV intends to following for a planning horizon. The methods also include using the active trajectory to identify one or more regions in an environment of the AV such as a fallback monitoring region (FMR) and an active monitoring region (AMR), and generating one or more instructions for causing the AV to execute a collision mitigation action in response to an object being detected within the AMR. The methods further include transmitting the one or more instructions to an AV platform (AVP) for execution.

Abstract: A lane keeping control apparatus, a vehicle system including the same includes a processor that is configured to calculate a target lateral movement distance based on lane information during lane keeping control. The processor corrects the target lateral movement distance by correcting a heading angle of a vehicle and an offset from a target path before the vehicle reaches the target path and a storage stores data and algorithms driven by the processor.

Abstract: An imaging section images a passenger in a moving body. A boarding state detection section detects a boarding state of the passenger on the basis of a captured image. An allowable acceleration setting section sets, for each passenger, individual allowable acceleration on the basis of the boarding state of the passenger, for example, the lateral spacing between the feet of the passenger, the arrangement angle of the feet with respect to the moving direction of the moving body, and the like. Further, integration is performed on the individual allowable acceleration determined for the respective passengers in the moving body, and the acceleration that is allowable for the moving body is set The according to the boarding state of each passenger. Thus, the moving body is prevented from moving at acceleration at which the passengers may be endangered.

Abstract: A driving support device includes a storage device storing a program and a hardware processor. The hardware processor executes the program stored in the storage device to perform driving support of a vehicle based on a detection result of at least one of a radar device and an imaging device mounted in the vehicle, determine whether the vehicle is traveling in an underpass which is a traffic route along which the vehicle is able to pass under an overlying structure, and suppress an operation of the driving support when the vehicle is determined to be traveling under the underpass.

Abstract: Methods and systems are provided for controlling thermal conditioning of a battery system associated with brakes of a vehicle towing a trailer. In one embodiment, a method includes: determining, by a processor, that a temperature of the battery system is outside of a defined temperature range; determining, by the processor, a delta value between a brake request and a battery charge limit; generating, by the processor, a control signal to at least one of a heater and a compressor of the vehicle based on the delta value; generating, by the processor, a control signal to the battery system to initiate regeneration braking; and generating, by the processor, a braking reduction request to reduce braking by the trailer.

Abstract: A method for determining a lane change indication of a vehicle, preferably a passenger car, includes the following steps: loading a lane change model and position data of the vehicle, the position data indicating a distance of the vehicle from a lane center of a lane; and determining a lane change indication using the position data and the lane change model.

Abstract: A vehicle control method executed by a processor for controlling a subject vehicle includes: acquiring, from a sensor for detecting a state of surroundings of the subject vehicle, detection data of another vehicle traveling in an adjacent lane adjacent to a travel lane in which the subject vehicle is traveling, and setting, on the adjacent lane, a target point for the subject vehicle to change a lane from the travel lane to the adjacent lane based on a position relationship between the subject vehicle and the other vehicle, specifying the other vehicle that is located behind the target point as a rear vehicle, and starting blinking of the direction indicator of the subject vehicle when a rear end of the subject vehicle is located ahead of the front end of the rear vehicle.

Abstract: A driving control device controls driving of a subject vehicle so that front-rear acceleration of the subject vehicle when traveling along a curved route becomes an acceleration upper limit or less. Provided that a merging point exists in a certain section on the downstream side of the curved route, when the distance between the position of the subject vehicle traveling along the curved route and the merging point is a predetermined distance or less, the control device sets the acceleration upper limit to a corrected acceleration upper limit that is higher than a reference acceleration upper limit when the merging point does not exist in the certain section.

Abstract: A method for operating a motor vehicle. The motor vehicle has a drive unit which is designed in such a way that, in case of acceleration, the motor vehicle is accelerated using a continuous torque output. The drive unit is operable in a first and second operating mode. In the first operating mode the motor vehicle is accelerated without interruption by the continuous torque output, and in the second operating mode the continuous torque output is changed over to a stepped torque output, so that in the second operating mode the motor vehicle is accelerated subject to interruption by the stepped torque output.

Abstract: The invention relates to a method for protecting an on-board electrical network of a truck having a base-line equipment provided by a truck manufacturer, and having base-line loads having a current consumption, an auxiliary equipment fitted a posteriori by a truck body builder, and having auxiliary loads having a current consumption, and a battery. The method further comprises, when the engine of the truck is ON: determining that the engine is to be turned off, determining a total current consumption of the truck, determining the battery maximum capacity, if the total current consumption is lower than the battery maximum capacity, turning off the engine, and, if the total current consumption is higher than the battery maximum capacity, reducing the current consumption of at least one adjustable auxiliary load.

Abstract: Methods, computing entities, systems, and computer program products for monitoring alertness of an operator of a vehicle are provided. In an example embodiment, a mobile computing entity receives biometric data and behavior data for the operator. The biometric data and behavior data captured by at least one of a wearable sensor, a visual sensor, or a vehicle sensor onboard the vehicle. The mobile computing entity determines an alertness level of the operator based at least in part on the biometric data and the behavior data using a model that is personalized for the operator. Responsive to determining that the alertness level of the operator satisfies a first treatment level threshold, the mobile computing entity initiates an operator engagement interaction to increase the alertness level of the operator.

Abstract: An autonomous vehicle may modify scene context map data based on specific object types and/or features perceived within an environment, and may use the modified map data with prediction machine learning models to predict the behaviors of other dynamic objects in the environment. In some examples, the vehicle may receive sensor data of the environment, as well as map data representing the static context of the environment. The vehicle may analyze the sensor data to determine combinations of object types, features, and/or events, and may use predefined heuristics to determine modifications to existing map features based on the specific combinations of object data. A multi-channel representation of the environment based on the modified map data may be provided to prediction models to predict the behavior of dynamic objects and control the vehicle.

Abstract: Embodiments described herein receive telematics data collected over a period of time, wherein the telematics data is indicative of operation of a vehicle by an owner of the vehicle during the period of time; analyze the telematics data to identify driving behavior(s) of the owner during the period of time; predict one or more user preference values of a vehicle-sharing platform profile of the owner based on the identified one or more driving behaviors, wherein the one or more user preference values define one or more criteria for vehicle renters with whom the first vehicle can be shared; apply the one or more criteria to a potential vehicle renter; and cause an indication of the first vehicle of the owner to be displayed via a mobile device of the potential renter only if the potential vehicle renter satisfies the one or more criteria.

Abstract: Disclosed are systems and methods for intelligently transforming data to generate improved output data, including, for example, for use in a multi-application network with disparate parties. The systems and methods include transforming data using a probabilistic network and a knowledge base generated using historic data to generate improved output data and include the steps of receiving first data associated with a first user and associated with a first incident object.

Abstract: A vehicle control system, including: a vehicle control section and a control server, wherein: the vehicle control section generates a common key for special mode control by random number generation, outputs the generated common key to the control server, and stores the generated common key in secure storage including a function that protects integrity and confidentiality of data; the control server stores the common key, applies the common key to a control signal to generate a message authentication code, and outputs the message authentication code and the control signal; the vehicle control section applies the common key to the control signal to generate a message authentication code and, when the message authentication code matches the message authentication code, implements control according to the control signal in the special mode; and when control in the special mode ends, the control server erases the stored common key.

Abstract: A vehicle control system capable of ensuring safety at a low cost even when a control device fails, includes a first control device that implements at least two automatic driving-related functions based on information from external sensors and/or information from a map database, a second control device that implements fewer automatic driving-related functions than the first control device based on the information from the sensors and/or the map database, and a vehicle motion control device that automatically controls a driving state of a host vehicle based on a function planned by the first or second control device including: a backup determination unit that determines whether the future function planned by the first or second control device is backed up by the second control device; and an interface that notifies a driver that system responsibility is switched to the driver, when the backup is not available.

Abstract: A vehicle-user interaction system for a vehicle includes: an editor configured to receive one or more inputs from a user of the vehicle and edit the one or more inputs into a rule script, the rule script including a user-defined rule based on the one or more inputs, the user-defined rule defining a trigger condition and a vehicle operation performed when the trigger condition is satisfied; a parser configured to create a list of monitoring elements and a list of functional elements based on the rule script, the list of monitoring elements including sensor elements that directly or indirectly describe the trigger condition, and the list of functional elements including functional elements that are associated with the vehicle operation; and an actuator configured to monitor sensor detection information associated with the sensor elements, determine whether the trigger condition is satisfied, and execute the functional elements to implement the user-defined rule in the vehicle.

Abstract: A signal processing module is provided. The signal processing module includes a function weight table that stores weights for each first sensor for an autonomous driving mode and an ADAS driving mode and selects and outputs only the weight for each first sensor, a first weight applying device that generates a function weight application signal by applying the weight for each first sensor to sensing information of sensors for sensing an object, a road environment determining device that determines a road environment based on the sensing information of the sensors for sensing the object, a road environment weight table that stores weights for each second sensor for a road environment and selects and outputs an weight for each second sensor, and a second weight applying device that outputs a dataset by applying the weight for each second sensor to the function weight application signal.

Abstract: A travel controller sets a check level depending on the situation of a lane change from a travel lane of a vehicle to a different lane before the lane change. The travel controller requests a first pre-lane-change action for the check at the lane change of the driver with a notification device when the check level is higher than a level threshold, and requests a second pre-lane-change action for the check at the lane change of the driver with the notification device when the check level is lower than the level threshold. The travel controller controls travel of the vehicle to make the lane change in the case that the driver has performed the first or second pre-lane-change action having been requested and that the situation around the vehicle satisfies a surrounding condition to be satisfied at the lane change.

Abstract: A vehicle collects video data of an environment surrounding the vehicle including traffic entities, e.g., pedestrians, bicyclists, or other vehicles. The captured video data is sampled and the sampled video frames are presented to users to provide input on a traffic entity's state of mind. The system determines an attribute value that describes a statistical distribution of user responses for the traffic entity. If the attribute for a sampled video frame is within a threshold of the attribute of another video frame, the system interpolates attribute for a third video frame between the two sampled video frames. Otherwise, the system requests further user input for a video frame captured between the two sampled video frames. The interpolated and/or user based attributes are used to train a machine learning based model that predicts a hidden context of the traffic entity. The trained model is used for navigation of autonomous vehicles.

Abstract: A control device has an arithmetic unit that controls onboard devices of a mobile body. The arithmetic unit includes: a first functional section that is actuated regardless of a status of the mobile body and generates a control signal to one or more of the onboard devices; second functional sections that are each actuated in accordance with the status of the mobile body and each generate a control signal to the onboard devices other than the one or more onboard devices; power transmitters disposed in a power transmission path between a power source and the respective second functional sections; and a power source controller that controls supply and cutoff of power to the second functional sections in accordance with the status of the mobile body. The first functional section and the power source controller are mounted on a single chip configured as an integrated circuit.

Abstract: A system for tuning a trajectory tracking controller for a vehicle includes a trajectory planner configured to generate the planned trajectory and to output one or more planned trajectory components representative of the planned trajectory, a model predictive controller including an internal model and an optimizer, and a tuning neural network configured to receive the one or more planned trajectory components and one or more measured trajectory components and to produce weights for a cost function. The internal model is configured to receive a predicted control input from the optimizer and the one or more measured trajectory components and to produce a predicted output. The optimizer utilizes a cost function and is configured to receive the weights for the cost function and a predicted error and to produce the predicted control input, wherein the predicted error is a selected one of the planned trajectory components minus the predicted output.

Abstract: A system for data-driven, modular decision making and trajectory generation includes a computing system. A method for data-driven, modular decision making and trajectory generation includes: receiving a set of inputs; selecting a learning module such as a deep decision network and/or a deep trajectory network from a set of learning modules; producing an output based on the learning module; repeating any or all of the above processes; and/or any other suitable processes. Additionally or alternatively, the method can include training any or all of the learning modules; validating one or more outputs; and/or any other suitable processes and/or combination of processes.

Abstract: A computer implemented method. Includes: obtaining, from a sensor system onboard a vehicle, a plurality of hypotheses for an orientation of an object in a vicinity of the vehicle, relative to a coordinate system of the vehicle; estimating, based on the plurality of hypotheses, values of a probability distribution for the orientation of the object at a plurality of candidate orientations; and estimating, based at least in part on the estimated values of the probability distribution at the plurality of candidate orientations, the orientation of the object relative to the coordinate system.

Abstract: A system for impact-based operation of an autonomous agent (equivalently referred to herein as an ego agent and autonomous vehicle) includes and/or interfaces with a computing subsystem (equivalently referred to herein as a computer and/or set of computers). A method for impact-based operation of an autonomous agent includes: receiving a set of inputs; predicting a set of future scenarios; and determining a set of metrics based on the set of future scenarios. Additionally or alternatively, the method can include operating the autonomous agent based on the set of metrics and/or any other processes.

Abstract: A vehicle assistance system comprising a computer and a client device. The computer is configured to receive an identification reference and a current position of the first vehicle, provide a route of the first vehicle based on the identification reference and the current position of the first vehicle, receiving an identification reference and current position of a second vehicle, providing a route of the second vehicle based on the identification reference and the current position of the second vehicle, detect an expected location where the route of the first and second vehicle intersect or overlap, detect an expected time when the first and second vehicle intersect at the expected location, generate adaptation data based on the expected location and the expected time, the adaptation data representing an adaptation of a route parameter of the route of the first or second vehicle, sending the adaptation data to the client device.

Abstract: In various examples, an integrated circuit includes first and second portions. The first portion includes a timer that starts when the first portion transmits at least one error signal to the second portion. The timer may reset when data corresponding to at least one fault has been cleared from the first portion. The first portion transmits a timeout error signal when the timer indicates at least a predetermined amount of time has elapsed. The second portion receives the at least one error signal and the timeout error signal when the timeout error signal has been sent. The second portion may notify an external system after the timeout error signal is received.

Abstract: Techniques for determining a location of a vehicle in an environment using sensors and determining calibration information associated with the sensors are discussed herein. A vehicle can use map data to traverse an environment. The map data can include semantic map objects such as traffic lights, lane markings, etc. The vehicle can use a sensor, such as an image sensor, to capture sensor data. Semantic map objects can be projected into the sensor data and matched with object(s) in the sensor data. Such semantic objects can be represented as a center point and covariance data. A distance or likelihood associated with the projected semantic map object and the sensed object can be optimized to determine a location of the vehicle. Sensed objects can be determined to be the same based on matching with the semantic map object. Epipolar geometry can be used to determine if sensors are capturing consistent data.

Abstract: Tracking a current and/or previous position, velocity, acceleration, and/or heading of an object using sensor data may comprise determining whether to associate a current object detection generated from recently received (e.g., current) sensor data with a previous object detection generated from formerly received sensor data. In other words, a track may identify that an object detected in former sensor data is the same object detected in current sensor data. However, multiple types of sensor data may be used to detect objects and some objects may not be detected by different sensor types or may be detected differently, which may confound attempts to track an object. An ML model may be trained to receive outputs associated with different sensor types and/or a track associated with an object, and determine a data structure comprising a region of interest, object classification, and/or a pose associated with the object.

Abstract: Techniques for aggregating costs associated with one or more heat maps to control a vehicle in an environment are discussed herein. A vehicle computing device can implement a model to determine heat maps and respective cost information for different features of the environment based on sensor data. The vehicle computing device can output a planned trajectory for the vehicle based on combining the heat maps. The techniques can also include determining a rationalization or root cause detailing reasons why the planned trajectory was determined.

Abstract: A method for train suspension control by means of multiple air springs includes: receiving a vehicle load pressure; and controlling height adjustment valves according to the vehicle load pressure to adjust the pressure of a first air spring set, a second air spring set and/or a third air spring set. Three height adjustment valves are provided, and the three height adjustment valves form a triangular structure. Each of the first air spring set, the second air spring set and the third air spring set comprises a plurality of individual air springs, and all the individual air springs in each of the air spring sets are correspondingly connected to the same height adjustment valve. A system for train suspension control by means of multiple air springs and a train are further provided.

Abstract: A reusable collision energy absorption device for a rail vehicle includes an impacted rod, a damping structure including a damping plug, a guide tube and a damping elastic element, a return structure including a return piston and an elastic return element, an outer tube having a tubular structure, and an interior partitioned into a front cavity and a rear cavity through a partition plate provided with a damping hole in the form of a through hole. A portion of the damping plug is in the damping hole when the damping plug is in an initial position, and the damping plug can move in a front-rear direction when the device is impacted. A gap between a radial thickest portion of the damping plug and the damping hole allows the fluid to circulate between the front cavity and the rear cavity.

Abstract: A method for operating a tractive vehicle and a vehicle combination are disclosed. A tractive vehicle includes a first friction brake device for generating a first stopping braking-force, a traction device for generating a tractive force and a control device for controlling at least the traction device. The method includes a step whereby the traction device activated if a first undesired kinematic state is detected. Activation of the traction device would take place in such a way that a tractive force, counteracting the first undesired kinematic state, is generated and provided for deceleration to a standstill and/or for holding the tractive vehicle at a standstill.

Abstract: A data transmitting device includes: a transmitter; a processor; and a memory comprising instructions that, when executed by the processor, cause the processor to perform operations. The operations include: performing beam forming processing with a terminal provided in at least one moving object; detecting a beam angle based on a result of the beam forming processing; estimating a position of the at least one moving object based on the beam angle and installation position information of the data transmitting device; determining whether the estimated position of the at least one moving object is within a communication area of the data transmitting device; and transmitting desired data to the at least one moving object through the transmitter if it is determined to be within the communication area.

Abstract: A moving body control device for controlling a moving body, including an information acquisition unit that acquires moving body-specific information including a bogie position and a vehicle body mass, a moving body position, a moving body velocity, and track information including a curvature for each position of the track, and a feedforward steering angle calculation unit that calculates a steering angle by using the moving body-specific information, the moving body position, the moving body velocity, and the track information. The feedforward steering angle calculation unit calculates the steering angle according to a sum of a kinematic component calculated based on a geometrical relationship between the bogie position and the curvature of a track, and a dynamic component calculated based on an equation of motion including the bogie position, the vehicle body mass, the moving body velocity, and the curvature and a curvature change rate of the track.

Abstract: A method and a system (30) for inspecting and/or mapping a railway track (18). The method comprises: acquiring geo-referenced rail geometry data associated with geometries of two rails (20) of the track along the section; acquiring geo-referenced 3D point cloud data, which includes point data corresponding to the two rails and surroundings of the track along the section; deriving track profiles of the track from the geo-referenced 3D point cloud data and the geo-referenced rail geometry data; and comparing the track profiles and generating enhanced geo-referenced rail geometry data and/or enhanced geo-referenced 3D point cloud data based on the comparison.

Abstract: A vehicle warning system and method receive an information notification from a first vehicle system at a second vehicle system. The information notification includes traversal information associated with a position of the first vehicle system and/or an identifier associated with the first vehicle system. The information notification also including a warning that indicates of the second vehicle system is moving too close to the first vehicle system and/or the first vehicle system and the second vehicle system are headed toward an intersection. A decision is made as to whether a response should be sent based on the information notification and sending the response based on the information notification to the first vehicle system. The response includes a command to slow down or stop to avoid a collision with the first vehicle system.

Abstract: The present invention discloses a platform and method for intelligent management of integration of construction and maintenance of rail transportation work, comprising: a work construction information sharing module based on GIS and BIM is configured to realize the integration and data sharing between BIM model of each station and section of the rail transportation and a 3D geological management platform of rail transportation; a work construction informatization management module based on progress control is configured to provide an information control of work preparation plan, contract performance and measurement and pricing, safety and quality investigation, risk early warning and design change in the work construction stage; a rail transportation operation and maintenance module based on the integration of construction and maintenance is configured to provide an information management and control of equipment, materials and safety risk early warning in the rail transportation operation and maintenance sta

Abstract: A railroad crossing light detector system is disclosed. The system includes determining a first signal indicative of the amount of light emitted from an illuminated railroad crossing light source and determining a second signal indicative of the orientation of the crossing light. The first and second signals are transmitted to a signal determination module that compares the first and second signals to predetermined stored values. The compared signals are then provided to a railroad crossing controller for relaying to a central/remote monitoring location. In the event that at least one of the signals is out of range relative to the stored value, then an inspection request signal together with information on the location of the crossing light is provided to the central monitoring location. In this manner, the number of in-person inspections to the crossing light may be significantly reduced.

Abstract: A container system including a storage base that includes a frame and a partition wall dividing the frame into first and second compartments, where each of the first and second compartments includes a cavity formed therein and the partition wall is formed to include a handle, and the handle is configured to removeably couple a first and second storage base to form a storage unit.

Abstract: A folding cart includes a frame body. The frame body includes a chassis, lower hinge seats, a front folding mechanism, a rear folding mechanism, and side-folding mechanisms. The chassis comprises two X-shaped crossed hinge structures, inner ends of left and right sides of the two X-shaped crossed hinge structures are hinged together with a first connector. A middle part of the side-folding mechanism has a second connector. Outer ends of the X-shaped crossed hinge structures are universally hinged with the corresponding lower hinge seats. Each of the X-shaped crossed hinge structure comprises a first bottom rod, a bottom rod connecting seat hinged with a middle part of the first bottom rod, and two second bottom rods respectively hinged with both ends of the bottom rod connecting seat.

Abstract: Disclosed is a mobile cart including a base for accommodating one or more gas cylinders, castors, a main column extending upwards from the base, a stowage cabinet arranged along the main column, an anchoring structure arranged at an upper end of the main column, a support post carried by the anchoring structure and equipped with fixing unit for a gas delivery apparatus, and a manual gripping handle allowing a user to manipulate the cart. Use of such a mobile cart to transport one or more cylinders of gas, in particular a NO/N2 mixture and/or oxygen, and a gas delivery apparatus.

Abstract: A steering column may include a casing tube in which a steering spindle is rotatably mounted, a guide unit that receives the casing unit so as to be telescopically adjustable in a direction of a longitudinal axis, and an electromotor adjustment drive that is arranged between the casing tube and the guide unit. An inner bearing face of the guide unit surrounds an outer casing surface of the casing tube and includes a slot extending longitudinally with a slot width between mutually opposing slot edges. A preload device engages the slot edges and is configured to apply a tightening force to reduce the slot width to preload the bearing face together with the casing surface. A clamping body cooperates with the slot edges via a deflection device that converts a reduction of slot width into a radial clamping movement of the clamping body for radial preloading the outer casing surface.

Abstract: A hybrid hydro-mechanical/electronic steering system for a track vehicle, where the driver system can simultaneously use hydro-mechanical connections and electronic (steer by wire) connections to steer a track vehicle such as a tank, where safeguards for safety and reliability include seamless transition between electronic to hydro-mechanical control and vice versa, such that the system can be used in a single or double chassis track vehicle and is adaptable for autonomous driving.

Abstract: A method for reversing an articulated vehicle comprising a tractor and one or more towed vehicle units, the method comprising arranging an electrified trailer (e-trailer) comprising one or more electric machines (EMs) and a steering function as a rearmost towed vehicle unit of the articulated vehicle, obtaining a reversal command indicative of a desired reversal maneuver by the articulated vehicle, configuring the e-trailer in a reverse towing mode of operation, wherein the e-trailer uses the one or more EMs and the steering function to reverse according to the reversal command while towing the tractor and any further trailer units of the articulated vehicle, configuring the tractor and the further trailer units of the articulated vehicle in a passive towed mode of operation, wherein the tractor and the further trailer units are towed by the e-trailer, and reversing the articulated vehicle by issuing the reversal command to the e-trailer.