PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 SYSTEMS AND METHODS FOR TRAILER MANEUVERING CROSS-REFERENCE TO RELATED APPLICATIONS [0001] The present application claims the benefit of, and priority to, U.S. provisional Application Serial No. 63/415,255, filed October 11, 2022, the entire contents of the disclosure being incorporated by reference herein. BACKGROUND [0002] A majority of trucking accidents occur in closed terminal facilities and warehouses (hereinafter referred to as “yards”). As more yards are opened at locations close to metropolitan areas, the costs associated with owning/leasing real estate limit the size of these yards. In addition, due to these size restraints, there is a desire to increase the number of trailers and docks within these yards, and decrease the separation of distances between the trailers. As a consequence, yard truck drivers are forced to accurately maneuver trailers in tighter spaces mostly with little or no visibility. [0003] Commercial truck driver training schools typically split their education between road and backing maneuvers. Moreover, the number one complaint trucking companies identify with drivers is the inability to adequately perform backing maneuvers, particularly, amongst entry-level drivers or drivers with minimal experience. Therefore, there is a relatively small number of drivers that are trained and capable of safely performing backing and other maneuvering of trailers, particularly in tight yards. Insurance claims and yard operating costs confirm trailer damage is relatively common. SUMMARY [0004] In one illustrative embodiment, an automated trailer maneuvering system comprises a trailer; a vehicle coupled to the trailer where the vehicle comprises one or more viewing devices defining a field of view oriented to encompass at least one portion of the trailer, and an electronic processing device including a memory storing instructions that when executed by the electronic processing device result in: receiving, from the one or more viewing devices and at first and second time instances in association with movement of the trailer and the vehicle, first and second image data of the at least one portion of the trailer; measuring, based at least in part of the first and second image data, respective first and second trailer angles of the trailer relative to the vehicle at the first and second time instances; and determining based in part on at least the first and second trailer angles of the trailer, a pivot point of the trailer. [0005] In embodiments, the automated trailer maneuvering system further includes maneuvering, based at least in part on the pivot point of the trailer, the trailer about a yard. In some embodiments, determining a pivot point comprises determining a length of the trailer from the hitch to the pivot point. Page 1 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 [0006] In embodiments, the automated trailer maneuvering system includes collecting one or more of location, motion and temporal data of the trailer with one or more sensors. In some embodiments, maneuvering the trailer includes processing the one or more of the location, motion and temporal data. [0007] In embodiments, the automated trailer maneuvering system further includes obtaining yard spatial data associated with the yard. In some embodiments the automated trailer maneuvering system further includes guiding the vehicle and the trailer during further movement within the yard based at least in part on the yard spatial data . [0008] In accordance with one or more illustrative embodiments, a method comprises receiving, from one or more viewing devices mounted to a vehicle which is coupled to a trailer, first and second image data of at least one portion of the trailer at first and second time instances in association with movement of the trailer and the vehicle; measuring, based at least in part of the first and second image data, respective first and second trailer angles of the trailer relative to the vehicle at the first and second time instances; and determining based in part on at least the first and second trailer angles of the trailer, a pivot point of the trailer; wherein the method is performed by at least one processor coupled to a memory. [0009] In embodiments, the method further includes maneuvering, based at least in part on the pivot point of the trailer, the trailer about a yard. In some embodiments, determining a pivot point comprises determining a length of the trailer from the hitch to the pivot point. [0010] In embodiments, the method includes collecting one or more of location, motion and temporal data of the trailer with one or more sensors. In some embodiments, maneuvering the trailer includes processing the one or more of the location, motion and temporal data. [0011] In embodiments, the method includes obtaining yard spatial data associated with the yard. In some embodiments, the method further includes guiding the vehicle and the trailer during further movement within the yard based at least in part on the yard spatial data . [0012] In accordance with one illustrative embodiment, a method comprises measuring a first angle of a trailer relative to a vehicle based at least in part on first image data received from one or more viewing devices mounted to the vehicle, moving the vehicle and the trailer; measuring a second angle of the trailer relative to the vehicle based at least in part on second image data received from the one or more viewing devices mounted to the vehicle, and determining, based in part on at least the first and second trailer angles of the trailer, a pivot point of the trailer. The method is performed by at least one processor coupled to a memory. [0013] In embodiments, moving the vehicle and the trailer includes orientating the trailer at the second angle where the second angle is different from the first angle. [0014] In some embodiments, the method further includes maneuvering, based at least in part on the pivot point of the trailer, the trailer about a yard. Page 2 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 BRIEF DESCRIPTION OF THE DRAWINGS [0015] The figures depict embodiments for purposes of illustration only. One skilled in the art will readily recognize from the following description that alternative embodiments of the systems and methods illustrated herein may be employed without departing from the principles described herein, wherein: FIG.1 is a block diagram of a system according to some embodiments; FIGS.2A-2D are views of systems according to some embodiments; FIG.3A is a diagram of a system according to some embodiments; FIG.3B is a diagram of a system according to some embodiments; FIG.4 is a flow diagram of a method according to some embodiments; FIG.5 is a flow diagram of a system according to some embodiments; FIG.6 is a block diagram of an apparatus according to some embodiments; and FIG.7A, FIG.7B, FIG.7C, FIG.7D, and FIG.7E are perspective diagrams of exemplary data storage devices according to some embodiments. DETAILED DESCRIPTION I. INTRODUCTION [0016] Embodiments allow for yard vehicle Advanced Driver Assistance Systems (ADAS) and/or trailer maneuvering system that utilize unique sets of sensors and specialized configurations and programming to specifically manage trailer maneuvering issues. In some embodiments, the specialized ADAS provided can be used by a relatively inexperienced driver to operate safely and efficiently in the yard (or elsewhere). Although driver aids are commonly used for on road or highway driving with trucks, commonplace ADAS systems available do not address the needs of the yard or other trailer maneuvering situations. According to some embodiments, for example, specialized sensors and calculations may be utilized to assist with trailer backing maneuvers (or to conduct such maneuver autonomously). [0017] In some embodiments, the ADAS can be used in three different modalities: (1) Alerts to the driver/others. These alerts can be in the form of auditory feedback, lights, video, overlays or seat vibrators; (2) Speed control can automatically stop a driver from colliding by applying brake or controlling the accelerator; and (3) Steering control. Steering can be used by these aids to control or suggest a preferred behavior. [0018] According to some embodiments, the pivot point of the trailer is determined based on data collected by sensors on the tractor and/or the trailer. In embodiments, the sensors include one or more viewing devices such as Laser Detection and Ranging (LADAR) or cameras mounted to the sides of the vehicle, which collect visual Page 3 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 data of one or more features/portions of the trailer during multiple time instances in concert with maneuvering the vehicle and trailer. The visual data is utilized to determine the pivot point of the trailer. The determined pivot point is incorporated into instructions to assist with and/or conduct trailer maneuvering about the yard including, without limitation, backing maneuvers. In embodiments, the trailer angle (e.g., the angle of the trailer with respect to a tractor or other coupled vehicle) may be measured, for example, utilizing image analysis and mathematical data processing at one or more time instances during and/or after movement of the vehicle and the trailer. The trailer angle data is utilized to determine the trailer length and/or the pivot point of the trailer. [0019] The pivot point of the trailer is normally at the center of the rear axles. Pivot points can change for different trailer and vehicle combinations and even for a particular trailer, as the axles on many trailers are adjustable, e.g., movable along the length of the trailer to facilitate load balancing. Pivot points may also change based on the location of the load within the trailer. A load within the front of the trailer may move the pivot point toward the front while a load focused in the rear of the trailer may move the pivot point toward the rear. Different wheelbase measurements may accordingly be observed on even a single trailer in different configurations, which would frustrate hard-coded computational methods. Similarly, different tractors/vehicles may have different numbers and/or spacing of axles, providing different pivot points. Tire inflation, axle type (solid or not), and different friction levels for different axles may all cause significant variations in pivot points for trailer backing maneuvers. [0020] These and/or other variations and issues may be solved by embodiments herein that utilize image analysis and computational models to compute trailer angles, orientations, determine pivot points, lengths including trailer lengths, etc., in real time based on trailer movement over time. II. TRAILER MANEUVERING SYSTEMS [0021] Referring first to FIG.1, a block diagram of a system 100 according to some embodiments is shown. In some embodiments, the system 100 may comprise a trailer 102 (e.g., comprising a trailer feature or portion 102- 1), a network 104, and/or a vehicle 110. The vehicle 110 may comprise, for example, a processing device 112, a communication device 114, an input device 116a, a sensor 116b, and/or a maneuver device 118. In some embodiments, the vehicle 110 may be in communication with, e.g., via the network 104, a remote server 130. According to some embodiments, the vehicle 110 may comprise a propulsion device 132, a power device 134, and/or a memory device 140. [0022] Fewer or more components 102, 102-1, 104, 110, 112, 114, 116a-b, 118, 130, 132, 134, 140 and/or various configurations of the depicted components 102, 102-1, 104, 110, 112, 114, 116a-b, 118, 130, 132, 134, 140 may be included in the system 100 without deviating from the scope of embodiments described herein. In some embodiments, the components 102, 102-1, 104, 110, 112, 114, 116a-b, 118, 130, 132, 134, 140 may be Page 4 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 similar in configuration and/or functionality to similarly named and/or numbered components as described herein. In some embodiments, the system 100 (and/or portion thereof) may comprise a yard vehicle ADAS and/or trailer maneuvering configuration and/or platform programmed and/or otherwise configured to execute, conduct, and/or facilitate one or more methods. [0023] According to some embodiments, the trailer 102 may comprise any type, configuration, and/or quantity of trailers that are or become known or practicable. The trailer 102 may comprise, for example, a Great Dane® fifty-three-foot (53’) air-ride dry van trailer with rear swing doors available from Great Dane LLC of Chicago, IL or a Wabash National® tandem high-spec refer trailer available from Wabash National Corporation of Lafayette, IN. In some embodiments, the trailer feature 102-1 may comprise various surfaces, doors, hinges, corners, mounts, hitch points, lights, reflectors, etc. of the trailer 102. In some embodiments, the trailer feature 102-1 may comprise landing gear, a kingpin, a refrigeration (“refer”) unit, a side surface of the trailer 102, and/or a color, shape, graphic, machine-readable indicia, etc. thereof. The trailer 102 may, in some embodiments, comprise one (1), two (2), three (3), or fewer or more axles, wheels, junctions, pivots (e.g., articulation points), etc. In some embodiments, the trailer 102 may be selectively coupled or uncoupled from the vehicle 110. [0024] The network 104 may, according to some embodiments, comprise a Local Area Network (LAN; wireless and/or wired), cellular telephone, Bluetooth®, Near Field Communication (NFC), and/or Radio Frequency (RF) network with communication links between the remote server 130 and the vehicle 110. In some embodiments, the network 104 may comprise direct communication links between any or all of the components 102, 102-1, 110, 112, 114, 116a-b, 118, 130, 132, 134, 140 of the system 100. The sensor 116b may, for example, be directly interfaced or connected to one or more of the processing device 112 and/or the remote server 130 via one or more wires, cables, wireless links, and/or other network components, such network components (e.g., communication links) comprising portions of the network 104. In some embodiments, the network 104 may comprise one or many other links or network components other than those depicted in FIG.1. The vehicle 110 may, for example, be connected to the remote server 130 via various cell towers, routers, repeaters, ports, switches, and/or other network components that comprise the Internet and/or a cellular telephone (and/or Public Switched Telephone Network (PSTN)) network, and which comprise portions of the network 104. [0025] While the network 104 is depicted in FIG.1 as a single object, the network 104 may comprise any number, type, and/or configuration of networks that is or becomes known or practicable. According to some embodiments, the network 104 may comprise a conglomeration of different sub-networks and/or network components interconnected, directly or indirectly, by the components 102, 102-1, 110, 112, 114, 116a-b, 118, 130, 132, 134, 140 of the system 100. The network 104 may comprise one or more cellular telephone networks with communication links between the communication device 114 and the remote server 130, for example, and/or may comprise an NFC or other short-range wireless communication path, with communication links between the vehicle 110 and the trailer feature 102-1, for example. Page 5 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 [0026] According to some embodiments, the vehicle 110 may comprise any type, configuration, and/or quantity of vehicle, manned, unmanned, autonomous, or semi-autonomous, that is or becomes known or practicable. The vehicle 110 may comprise, for example, an autonomous path-following transportation vehicle that is operable to follow one or more predefined and/or automatically computed paths through a yard and/or other area (not shown) or a manned vehicle 110 that comprises the sensor 116b that facilitates safe traversal of the manned vehicle 110 through the yard/area. In some embodiments, the vehicle 110 may comprise the processing device 112 such as a Central Processing Unit (CPU) that executes instructions (not shown) stored in the memory device 140 to operate in accordance with embodiments described herein. The processing device 112 may, for example, execute one or more programs, modules, and/or routines that facilitate utilization of the sensor 116b and/or the communication device 114 to facilitate safe maneuvering of the vehicle 110 through the yard/area, e.g., as it transports, parks, and/or retrieves the trailer 102. The processing device 112 may comprise, in some embodiments, one or more Eight-Core Intel® Xeon® 7500 Series electronic processing devices. [0027] According to some embodiments, the communication device 114 may comprise any wired and/or wireless communication object and/or network device such as, but not limited to, a Radio Frequency (RF) antenna, transmitter, and/or receiver. In some embodiments, the communication device 114 may comprise hardware, software, and/or firmware operable to enable wireless communications including, but not limited to, encoding and/or decoding modules, filters, and/or encryption and/or decryption modules. In some embodiments, the communication device 114 may comprise one or more output devices such as buzzers, lights, alarms, vibration devices, etc. The communication device 114 may comprise, for example, an ADAS output device that provides ADAS output to a driver of the vehicle 110. [0028] According to some embodiments, the input device 116a may comprise one or more of a throttle, a steering, and a brake control mechanism and/or interface via which a human operator may control the speed and/or direction of the vehicle 110 (and, e.g., the coupled trailer 102). The operator may, for example, utilize the input device 116a to define a control action to decide the speed of the vehicle 110 as well as to make decisions such as when to stop or to continue past, around, over, and/or under (e.g., to mate with or to clear/avoid) the trailer feature 102-1. According to some embodiments, the input device 116a may comprise one or more switches, levers, wheels, pedals, and/or interface elements capable of communicating speed, direction, etc. [0029] In some embodiments, the input device 116a may comprise any type, quantity, and/or configuration of location identification and/or tracking device that is or becomes known or practicable. The input device 116a may comprise a location device, for example, such as one or more Global Positioning System (GPS) devices, wireless signal triangulation devices, atomic clocks, etc. [0030] According to some embodiments, the sensor 116b may comprise may any type, configuration, and/or quantity of sensor devices that are or become known or practicable. In some embodiments, the sensor 116b may comprise a Light Detection and Ranging (LiDAR), LAser Detection and Ranging (LADAR), radar, sonar, Infrared Page 6 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 Radiation (IR), RF, ultrasound, structured light, GPS devices and/or imaging devices (e.g., stereo vision, cameras and/or 3-D camera) operable to acquire data descriptive of the trailer 102 and/or the trailer feature 102-1 (e.g., hitch points, side surfaces, trailer corners, etc.) thereof. According to some embodiments, the sensor 116b may also or alternatively comprise a gyroscope, image, audio, and/or video capture and/or recording device, chemical detection device, and/or a light sensor. According to some embodiments, the sensor 116b may comprise various movement sensors such as speed/velocity sensors, pressure sensors, temperature sensors, accelerometers, Inertial Measurement Unit (IMU) devices, and/or tilt sensors. According to some embodiments, the sensor 116b may also or alternatively comprise a direct measurement of the trailer angle at or near the hitch and may comprise various sensors such as such as encoders, potentiometers, or Hall sensors. In some embodiments, the sensor 116b may comprise one or more sensors defining an ADAS that operates to warn and/or guide the operator and/or vehicle 110 through the yard/area, e.g., to park or dock the trailer 102. The sensor 116b may provide for example, one or more of: (i) Trailer Centering – as the operator backs up the trailer 102, proper alignment with a loading dock (not shown) and parking lines is important. This ADAS provides a variety of feedback: it provides separation distances to the adjacent trailers, it provides distances to the right and left line markers, it provides centering to the dock, it provides distance from the dock; (ii) Tilted Trailer Detection – when a trailer is not fully vertical, it is a possible indication of uneven load distribution indicative of cargo collapse inside of the trailer or possibly a flat tire or structurally unstable trailer. This ADAS will measure the walls of the trailer for verticality and measure the formation of these walls as the trailer is moved around by the yard truck; (iii) Trailer Rotation Point Center Detection – most relatively large trailers have two or three axels. The location and separation of these axels vary from trailer to trailer. Moreover, the load carried by each axle can vary depending on adjustments and general wear and tear of the suspension and even depending on tire inflation and wear. It is difficult for a human to determine the location of the center of rotation. This ADAS system can measure an approximate center of rotation and the related pivot point of the trailer more accurately than a human. The location of the trailer’s pivot point affects the kinematics of the path being followed. This is more evident when backing up and when the tractor and trailer are closer to orthogonal positions. This ADAS will help the driver determine the center of rotation of the trailer and automatically feed other ADAS like the overhang collision detection or possibly detect trailer malfunction; (iv) Fifth Wheel-Kingpin Mating Aid – as the yard truck backs up to mate the fifth wheel and kingpin, the driver has approximately +/- 6 inches error budget. This ADAS provides the driver left and right adjustments to more accurately get the fifth wheel within the error budget. This ADAS also provides a measurement that indicates the distance to the kingpin; and/or Page 7 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 (v) Distance to dock Aid. This aid provides a measurement from the dock to the trailer. In other words and indication on how much it should back up before the trailer bumps the dock. This is computed by sensing the length of the trailer and sensing the distance to the dock. [0031] In some embodiments, the maneuver device 118 may comprise any type, quantity, and/or configuration of mechanical, electrical, and/or electro-mechanical devices that are operable to control the path of the vehicle 110 (and/or trailer 102). The maneuver device 118 may comprise, for example, steering linkage, actuators, control surfaces, thrust vectoring devices, etc. In some embodiments, the maneuver device 118 may be coupled to and/or in communication with the propulsion device 132. The maneuver device 118 may comprise, for example, a steer- by-wire system that permits computerized control of the maneuvering of the vehicle 110 and/or the trailer 102. The maneuver device 118 and the propulsion device 132 may, for example, operate in a coordinated fashion (e.g., in response to commands from the processing deice 112) to cause the vehicle 110 and/or the trailer 102 to follow a desired path and/or route through the yard/area. [0032] According to some embodiments, the propulsion device 132 may comprise any type, configuration, and/or quantity of propulsion devices that are operable to move the vehicle 110 and/or the trailer 102 from one location to another. The propulsion device 132 may comprise, for example, one or more motors, engines, gears, drives, propellers, fans, jets, nozzles, wheels, treads, and/or magnetic propulsion devices. According to some embodiments, the power device 134 may be electrically, mechanically, and/or fluidly coupled to provide power to any or all of the propulsion device(s) 132, the communication device 114, the processing device 112, the input device 116a, the sensor 116b, and/or the maneuver device 118. In some embodiments, the power device 134 may comprise a power source such as a solar panel, inertial generator, on-board generator, alternator, fuel-cell, external power supply port, etc. According to some embodiments, the power device 134 may also or alternatively comprise a power storage device such as one or more capacitors, batteries, fuel reservoirs or tanks, etc. [0033] In some embodiments, the memory device 140 may store various logic, code, and/or applications, each of which may, when executed, participate in, facilitate, and/or cause automatic trailer maneuvering, or determination of the pivot point of the trailer as described herein. In some embodiments, the memory device 140 may comprise any type, configuration, and/or quantity of data storage devices that are or become known or practicable. The memory device 140 may, for example, comprise an array of optical and/or solid-state memory cards or hard drives configured to store sensor data, maneuvering data (e.g., formulas, models, rules, etc.), object classification data, navigation data, road network data, rules of the road data, routing data (e.g., analysis formulas and/or mathematical models), credentialing and/or communication instructions, codes, and/or keys, and/or various operating instructions, drivers, etc. In some embodiments, the memory device 140 may comprise a solid- state and/or non-volatile memory card (e.g., a Secure Digital (SD) card, such as an SD Standard-Capacity (SDSC), an SD High-Capacity (SDHC), and/or an SD eXtended-Capacity (SDXC) and any various practicable form-factors, such as original, mini, and micro sizes, such as are available from Western Digital Corporation of Page 8 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 San Jose, CA. While the memory device 140 is depicted as a stand-alone component of the vehicle 110, the memory device 140 may comprise multiple components. In some embodiments, a multi-component memory device 140 may be distributed across various devices and/or may comprise remotely dispersed components. Any of the vehicle 110, the trailer 102, and/or the remote server 130 may comprise the memory device 140 or a portion thereof, for example. [0034] With reference to FIGS.2A-2D, views of one or more systems 200 according to some embodiments are shown. In some embodiments, the system 200 may be similar in configuration and/or functionality to the system 100 of FIG.1 herein. As depicted in FIG.2A, the system 200 may, for example, comprise a trailer 202 (defining one or more trailer features 202-1 such as the trailer side, trailer corner, trailer wheel, etc. as depicted) coupled to a vehicle 210 (e.g., the tractor/rig as depicted). In some embodiments, the vehicle 210 may comprise one or more imaging devices including, without limitation, one or more viewing devices 216, e.g., coupled to (and/or proximate to) side mirrors of the vehicle 210. In FIG.2A, the second viewing device 216 on the far side is shown in phantom. According to some embodiments, the one or more viewing devices 216 may be oriented to comprise a Field of View (FoV), for example, a two (2) dimensional or three (3) dimensional field of view that encompasses at least a portion of the trailer 202 and/or the trailer feature 202-1 thereof. According to some embodiments, the one or more devices 216 may record, identify, and/or locate the trailer feature 202-1. At least a second viewing device 216 such as a second camera on the opposite side of the vehicle 210 would have a different view of the trailer 202 and/or an opposite side trailer feature. In embodiments, the one or more viewing devices 216 may comprise cameras, one or more Light Detection And Ranging (LiDAR) devices or one or more devices Laser Detection And Ranging (LaDAR) devices and/or combinations thereof. In some embodiments, whether the camera 216 alone, a different camera, or a combination of cameras 216 are utilized, in some embodiments the system 200 may utilize the camera 216 to identify the trailer feature 202-1 and various attributes thereof (e.g., at a first time) such as colors, shapes, graphics, indicia, and/or geometric attributes including without limitation a top and bottom front edges, top and bottom rear edges and side edges of the trailer 202. Either or both the left or right camera 216 a field of view of the may provide a field of view for detecting the respective edges. [0035] According to some embodiments, the attributes and/or characteristics of the trailer feature 202-1 may be utilized by the system 200 to compute an angle, position, orientation, and/or attribute of the trailer 202. In embodiments, the attributes or data associated with the attributes is used to determine the angle “ ^^^^” (FIG.2D) of the trailer 202 relative to the vehicle 210 at one or more time instances, i.e., when the vehicle 210 and trailer 202 have been maneuvered from one position and/or orientation to another position and/or orientation. For example, with reference to FIG.2B, one or more of the cameras 216 (FIG.2D), at a first given time instance and at a given trailer angle relative to the vehicle, may view the left side of the trailer 202. In FIG.2B, the cameras 216 and the vehicle 210 are not shown for illustrative purposes. The top edge and the bottom edge of the left side 202ls of the trailer 202 are detected in the camera field of view (u, v). Both edges are extended until they cross at a vanishing Page 9 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 point.264a. In embodiments, the vanishing point 264a may be outside of the camera field of view (u, v). In some embodiments, the first vanishing point 264a may be utilized to compute a trailer angle “ ^^^^” of the trailer 202 with respect to the vehicle 210 at a first orientation and/or at a first time instance. [0036] At a different given time instance depicted in FIG.2C and at a different trailer angle “ ^^^^” relative to the vehicle 210, the left side of the trailer may appear as shown. The top edge and the bottom edge of the side of the trailer are again detected in the camera field of view. Both edges are extended until they cross at the vanishing point.264b. At a different trailer angle, the location of the vanishing point 264 moves or is at a different location than the first vanishing point 264a. Its location can be used to provide a measurement of the trailer angle “ ^^^^” at the second given time instance. [0037] The location of the vanishing points 264a, 264b in the camera frame [u, v] provides measurement(s) of the trailer angle “ ^^^^” relative to the vehicle 202 Other attributes can be detected in the image that can provide a measure of the trailer angle. This includes the horizontal location of the front and rear corners and the location of the trailer tires. Other features can be detected using other sensors that also provide a measure of trailer angle. These measurements can be used directly by the control system or filtered beforehand. The filter can also be used to estimate more than just the trailer angle For example, it can be used to estimate trailer length, sensor offsets, etc. [0038] In some embodiments, data descriptive of the orientation or angle “ ^^^^” of the trailer 202 may be computed at a second orientation or a second later time instance after moving of the vehicle 210 and the trailer 202. This data collected at a first time instance and a second time instance may be incorporated into a mathematical model to determine the trailer length and/or the trailer pivot point.(and optionally the pivot point of the trailer 202 and the vehicle 210 combination). Any or all of these metrics may be utilized, for example, to output data, messages, and/or warnings to an operator of the vehicle 210 (e.g., in the case there is one) and/or to automatically control and/or direct the maneuvering of the vehicle 210 and trailer 202, e.g., to align with the loading dock “A”. [0039] In some embodiments, the differences between the locations of the vanishing points 264a-b may be utilized to compute trailer attributes. According to some embodiments, the vanishing points 264a-b may define and/or fall upon a vanishing point line (not shown) that may be utilized to compute trailer attributes. In some embodiments, as a plurality of readings from the camera 216 may be utilized to identify, infer, and/or compute or utilize the vanishing points 264a-b, a vanishing point line one or more filters and/or data analysis techniques may be utilized to estimate and/or compute the various surfaces or edge lines of the trailer 202. The system 200 may utilize, for example, a summation of standard deviations of readings descriptive of the various surfaces or edge lines to compute the vanishing points 264a-b.The angle “ ^^^^” between the trailer 202 and the vehicle 210 is mathematically related to the vanishing points 264a-b and can accordingly be computed. In some embodiments, a summation of standard deviations of data from the camera 216 may be utilized to compute and/or derive one Page 10 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 or more of the vanishing points 264a-b. In some embodiments, these calculations are utilized to determine one or more of a trailer length and/or the trailer pivot point. In some embodiments, curve fitting, feature alignment, RANdom SAmple Consensus (RANSAC), Lucas–Kanade computations, and/or other mathematical models, calculation methods, and/or filters may be utilized to identify trailer features 202-1 such as corners, edges, planes, etc. and/or other features such as a plane of the loading dock “A”. [0040] According to some embodiments, and depicted in FIG.2D, the one or more viewing devices or cameras 216 may be positioned to view one or more features, for example, the position of one or more of the tires or wheels “W”’ or any other feature/portion on the trailer 202 to determine the angle “ ^^^^” of the trailer 202 relative to the vehicle 210 at multiple time instances in conjunction with movement of the trailer. In some embodiments, one or more cameras or LADARS 216 may be used to determine the trailer angle “ ^^^^” by viewing portions, edges or tires of the trailer or any other feature(s) of the trailer. For example, and without limitation, the one or more viewing devices 216 on the left side of the vehicle 210 may measure angles θLF , θW1 θW2 θLB1, where θLF is the measured angle of the front left edge of the trailer 210; θW1 is the measured angle relative to the inside rear wheel set 202-1;θW2 is the measured angle relative to the outside rear wheel set 202-1 and θLB1 is the measured angle relative to the rear left edge of the trailer 202. [0041] Other portions of the trailer 202 may be measured. The one or more viewing devices 216 on the right side of the vehicle 210 may measure the θ _RF where θ _RF is the measured angle of the front right edge of the trailer 210. This measured angles enable calculation of the angle of the trailer “ ^^^^” relative to the vehicle at, for example, a first time instance, and/or the length of the trailer 202. The vehicle 210 and the trailer 202 may be maneuvered or moved to a second position or orientation at a second time instance. The respective angles θLF , θW1 θW2 θLB1 and θ _W2 are measured with the one or more viewing devices 216 at the second time instance to determine the trailer angle“ ^^^^” relative to the vehicle (and/or the trailer length) at the second time instance. The trailer angles “ ^^^^“ enable the determination of the pivot point “PP” of the trailer 202. FIG.2D also illustrates schematically the hitch king pin connection “KP.” [0042] According to some embodiments, data from the one or more viewing devices 216 may be utilized by the system 200 employing a Machine Learning (ML) and/or Artificial Intelligence (AI) model to identify, classify, and/or locate the trailer feature 202-1 (e.g., the side as depicted, edges, wheels, rivets, seams, handles, tires, etc.) at different times, orientations, and/or locations. The ML/AI model may be trained to learn the trailer feature 202-1, for example, such as at different trailer angles and/or orientations, for example, the angle “ ^^^^” of the trailer relative to the vehicle at multiple time instances and during, subsequent or after movement of the vehicle 210 and the trailer 202. In some embodiments, this visual data is used to determine the trailer length and/or or pivot point “PP” of the trailer. In some embodiments, the ML/AI model may be trained as the vehicle 210/trailer 202 combination travels forward, e.g., at a trailer angle of zero (0) in the case of straight forward travel. [0043] In some embodiments, the vehicle 210 and coupled trailer 202 may be moved from a first location, for Page 11 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 example, from a dock, and the vehicle 210 turned either in the left or right direction. A camera 216 on one side of the vehicle 210 may detect a trailer feature 202-1, for example, and without limitation, a tire or wheel “w” on the trailer at the first time instance to enable determination (through various mathematical modelling described hereinbelow) the angle“ ^^^^” of the trailer 202 relative to the vehicle 210.The vehicle 210 and the coupled trailer 202 may be maneuvered again and the camera 216 on the one side or the other side of the vehicle 210 will detect the trailer feature 202-1. A determination of the angle “ ^^^^” of the trailer relative to the vehicle 210 at the second time instance is determined. The measured first and second angles angle “ ^^^^” are utilized to detect the pivot point of the trailer. [0044] In some embodiments, the system 200 may sum standard deviations of colors to determine the location, orientation, angle, and/or position of the trailer 202 (and/or the trailer feature 202-1). As the side of the trailer (the trailer feature 202-1) stays the same color while environmental objects around the trailer 202 change in color as the trailer 202 moves, for example, the system 200 may identify the extents, edges, surfaces, planes, and/or angels of the trailer feature 202-1 by analyzing areas of color in the imagery returned by the camera 216. According to some embodiments, computer-readable indicia, targets, and/or alignment patterns may be coupled to the trailer 202 and/or the trailer feature 202-1 to aid in calibration of the camera 216 and/or identification and/or location of the trailer feature 202-1. [0045] Fewer or more components 202, 202-1, 210, , 264a-b, and/or various configurations of the depicted components 202, 202-1, 210, , 264a-b, may be included in the system 200 without deviating from the scope of embodiments described herein. In some embodiments, the components 202, 202-1, 210, , 264a-b, may be similar in configuration and/or functionality to similarly named and/or numbered components as described herein. In some embodiments, the system 200 (and/or portion thereof) may comprise a yard vehicle ADAS and/or trailer maneuvering configuration and/or platform programmed and/or otherwise configured to execute, conduct, and/or facilitate one or more methods. [0046] Turning to FIGS.3A, a block diagram of a system 300 according to some embodiments is shown. In some embodiments, the system 300 may be similar in configuration and/or functionality to the systems 100, 200 of FIG.1 and/or FIGS.2A-2D herein. The system 300 may, for example, comprise a trailer 302 coupled via a hitch 306 to a vehicle 310. The vehicle 310, in embodiments, comprises at least two (2) pairs of wheels 318-1a, 318-1b, 318-2a, 318-2b). In some embodiments, the system 300 may comprise a representation of a mathematical model utilized to compute various attributes of the system 300. The system 300 may comprise, for example, a bicycle model utilized to approximate the movement of the trailer 302 and the vehicle 310. In some embodiments, the bicycle model may, as depicted, approximate the movement of the vehicle 310 by assuming imaginary bicycle wheels 318-3, 318-4 disposed along the axles (not separately labeled) between the actual wheels 318-1a, 318-1b, 318-2a, 318-2b of the vehicle 310. According to some embodiments, an angle “ ^^^^ _^^^^ ” of a front bicycle wheel 318-3 (e.g., a front wheel angle “ ^^^^ _^^^^ ”) may be modeled in accordance with pure rolling motion Page 12 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 about an instantaneous center of rotation 368. In some embodiments, “ ^^^^ _^^^^ ” may be a radius of curvature (distance to the center of rotation 368 from the rear tire of the bicycle model), “ ^^^ _^ ^ _^^^ ” may be a speed of the vehicle 310 (e.g., at the rear axle), and/or “ ^^^^ ” ma 1 ^ _^^^ y be the path curvature of the vehicle 310 (i.e. _{^^^^ ^^^^} ). In this case, the pivot point of the vehicle is the rear tire of the bicycle model [0047] In some embodiments depicted in FIG.3B, the hitch point is represented as an imagined hitch wheel where the direction of the hitch wheel aligns with the velocity of the hitch point. Also, the trailer 302 is connected to the vehicle 310 at the hitch so the trailer 302 has the same velocity at this point. We can therefore treat the trailer and the hitch wheel as an Akerman steered vehicle, with the imagined hitch wheel steering the trailer. The angle that the hitch wheel makes with the trailer is δ _^^^^ = α+ δ _ℎ . The trailer can also be represented as a bicycle model with the front tire being the hitch wheel and the rear tire being at the trailer’s pivot point, nominally the center of the rear axles. The trailer has an instantaneous center of rotation that lies a distance ^^^^_ ^^^^ from the trailer’s center line. The trailer’s pivot point is on the trailer’s center line perpendicular to the instantaneous center of rotation. This is nominally the center of the rear axles but may be different depending on conditions such as trailer loading, tire wear, tire inflation, sidewall stiffness, etc. The path curvature of the trailer is “ ^^^^ _^^^^ ” where ^^^^ _^^^^ = 1 _{^^^^ ^^^^} . [0048] In some embodiments, the model of the system 300 may express the time derivative of the angle of the trailer 302 with respect to the vehicle 310, i.e., a trailer angle “ ^^^^”, as a function of a plurality of variables: ^^̇^^ = ^^^^( ^^^^, ^^^^ _^^^^ , ^^^^ _^^^^ , ^^^^ _ℎ , ^^^^ _^^^^ , ^^^ _^ ^ _^^^ ) where “ ^^^^ _^^^^ ” is a length of the vehicle 310, “ ” is the hitch length, and “ ^^^^ _^^^^ ” is the length of the trailer 302 from the hitch to the trailer axle. According to some embodiments, the model of the system 300 may be utilized to compute one or more of the variables (e.g., trailer length “ ^^^^ _^^^^ ” and/or trailer angle “ ^^^^”) based on sensor data readings including visual data descriptive of movement of the trailer 302 and/or the vehicle 310 (e.g., the coupled combination thereof) at multiple time instances. In some embodiments, one or more calculations of the trailer angles “ ^^^^” at one or more time instances are used to determine the trailer length “ ^^^^ _^^^^ ” and the pivot point PP (FIG. 2D) of the trailer 202, 302. The model of the system 300 may be utilized, for example, to conduct various methods such as the method 400 of FIG.4 herein, or portions thereof. [0049] In some embodiments, the trailer angle “ ^^^^” at a given time instance may be measured with the one or more viewing devices as described hereinabove in connection with FIGS.2A-2D. Using known properties of the one or more viewing devices, the trailer angle “ ^^^^” is used as input in the mathematical modeling to determine the trailer length “ ^^^^ _^^^^ ”. In embodiments, multiple trailer angles “ ^^^^” are detected over time during initial and subsequent movements of the trailer and tractor. Data is collected and used as input to calculate the pivot point of the trailer. Once the pivot point of the trailer is determined, the kinematics of trailer maneuvering is substantially more Page 13 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 accurate. [0050] Fewer or more components 302, 306, 310, 318-1a, 318-1b, 318-2a, 318-2b, 368 and/or various configurations of the depicted components 302, 306, 310, 318-1a, 318-1b, 318-2a, 318-2b, 368 may be included in the system 300 without deviating from the scope of embodiments described herein. In some embodiments, the components 302, 306, 310, 318-1a, 318-1b, 318-2a, 318-2b, 368 may be similar in configuration and/or functionality to similarly named and/or numbered components as described herein. In some embodiments, the system 300 (and/or portion thereof) may comprise a yard vehicle ADAS and/or trailer maneuvering configuration and/or platform programmed and/or otherwise configured to execute, conduct, and/or facilitate one or more methods. III. TRAILER MANEUVERING METHODS [0051] Turning to FIG.4, a flow diagram of a method 400 according to some embodiments is shown. In some embodiments, the method 400 may comprise an application of an Extended Kalman Filter (EKF) to a mathematical data model such as depicted in the system 300 of FIG.3 herein. According to some embodiments, the method 400 may comprise identifying and/or computing an initial location or state estimate “ ^^�^^ ₀ ⁻ ” and/or an initial state estimation error covariance “ ^^^^ ₀ ⁻ ”, at 402. The state “ ^^^^ _^^^^ ” may comprise, for example, an estimate one or more of “∝ _^^^^ ” and “ ^^^^ _{^^^^ ^^^^} ”, where “ ^^^^ _^^^^ ” is “x” at time “k”, “∝ _^^^^ ” is “∝” at time “k”, and “ ^^^^ _{^^^^ ^^^^} ” is “ ^^^^ _^^^^ ” at time “k”, and where “x” is the Kalman state of a trailer, “∝” is an angle of the trailer (e.g., with respect to a towing vehicle), and “ ^^^^ _^^^^ ” is the length of the trailer. In some embodiments, ^^^^ _^^^^ =� ^{∝ ^^^^} ^ _{^^^ ^^^^ ^^^^} �. In some embodiments, the state estimation [0052] According to some embodiments, the method 400 may comprise receiving, identifying, and/or determining a new measurement (e.g., from a camera mounted on the vehicle, such as the camera 216 of FIGS. 2A and 2B herein), at 404. In the case that no new measurement is obtained, the method 400 may comprise proceeding not to update variable values, such that the estimated position at the current time “ ^^�^^ _^^^^ ” is set to the actual or presumed position at the current time “ ^^�^^ ₀ ⁻ ” and/or the estimated state estimation error covariance “ ^^^^ _^^^^ ” is set to the actual or presumed state estimation error covariance at the current time “ ^^^^ _^^ ⁻ ^ _^ ”, at 406. In some embodiments, the estimated state values (e.g., “ … ”, “∝ ₀ ,∝ ₁ , …”, and “ ^^^^ _^^^^1 , ^^^^ _^^^^2 , …”) may be output, at 408. According to some embodiments, the method 400 may comprise estimating or projecting additional/future state “ ^^�^^ _^ ⁻ ^ _^^+1 ” and/or state estimation error covariance “ ^^^^ _^^ ⁻ ^ _^+1 ” values, at 410. In some embodiments, the projected/additional/future state “ ^^�^^ _^ ⁻ ^ _^^+1 ” may be computed as a function of the current estimated position: ^^�^^ _^ ⁻ ^ _^^+1 = ^^^^( ^^�^^ _^^^^ ) + ^^^^ _^^^^ , where “ ^^^^ _^^^^ " is a process noise with covariant “Q” and where the process noise covariant “ ^^^^ _^^^^ ” is: ^ _{^^^ =�} ^{^^^^11 ^^^^12} ^ _{^^^21 ^^^^22�} Page 14 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 _{And where “ ^^^^} ⁽ _{^^�^^ ^^^^} ⁾ _{” may be defined by:} In some embodiments, “∆ ^^^^” may comprise a change in time (e.g., 0.01 seconds) between new data readings and/or updates (e.g., nav data cycle time), “∝” may increase by “∆ ^^^^ ^^̇^^” and “ ^^^^ _^^^^ ” may remain constant (or be presumed to be constant) or may be presumed to be unknown or variable (e.g., if the current variable trailer length “ ^^^^ _^^^^ ” is not known or properly input). According to some embodiments, the projected/additional/future state estimation error covariance may be computed as a function of a linearized process, e.g.: where “ ^^^^ _^^^^ ” is a linearized process function: [0053] In some embodiments, such as in the case that new measurements/data are identified (e.g., at 404), the method 400 may comprise receiving, identifying, and/or obtaining the new measurements/data “ ^^^^ ₀ , ^^^^ ₁ , ^^^^ ₂ , …”, at 412. According to some embodiments, the new measurements/data “ ^^^^ ₀ , ^^^^ ₁ , ^^^^ ₂ , …” may be utilized as input to compute gain “ ^^^^ _^^^^ ”, at 414. The gain may be computed, for example, utilizing: ^ _{^^^ ^^^^ = ^^^^ ^^} ⁻ ^ _{^ ^^^^ ^} ^{^} ^ ^{^} ^ ^{^^} ^ ⁽ _{^^^^ ^^^^ ^^^^ ^�^^^ ^^^^ ^} ^{^} ^ ^{^} ^ ^{^^} ^ _{+ ^^^^ ^^^^} ⁾⁻¹ where “ ^^^^ _^^^^ ” is a measurement noise covariance expressed by ^^^^ _^^^^ = ^[ ^^^^11 ^] and “ ^^^^ _^^^^ ” is a linearized measurement function expressed by ^^^^ _^^^^ = ^[ _{1 0} ^] . According to some embodiments, the method 400 may comprise updating the estimated variable(s) (e.g., position as utilized for purposes of example), at 416. The estimated position “ ^^�^^ _^^^^ ” may be refined, for example, in accordance with: where measurement equation is: ^ _{^^^ ^^^^ = ℎ} ⁽ _{^^^^ ^^^^} ⁾ _{+ ^^^^ ^^^^} With “ ^^^^ _^^^^ ” being a measurement noise with covariant “R”, and/or ℎ ^{( ^^^^} _^^^^ ^{) = [} _{1 0} ^{] ^^^^} _^^^^ ^{= ∝} _^^^^ ^. [0054] According to some embodiments, the method 400 may comprise updating the error covariance “ ^^^^ _^^^^ ”, at 418. The error covariance “ ^^^^ _^^^^ ” may be refined or updated, for example, in accordance with: ^^^^ _^^^^ = (1 − ^^^^ _^^^^ ^^^^ _^^^^ ) ^^^^ _^^ ⁻ ^ _^ In some embodiments, the method 400 may proceed to 408 where the estimated state values (e.g., “ ^^�^^ ₀ , ^^�^^ ₁ , … ”, “∝ ,∝ ₁ , …”, and …”) may be output (e.g., based on the new measurements/data, e.g., received Page 15 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 412). According to some embodiments, the updated error covariance “ ^^^^ _^^^^ ” and/or the updated estimated attribute variable “ ^^�^^ _^^^^ ” may be utilized to compute the projected, expected, and/or estimated future values “ ^^^^ _^^ ⁻ ^ _^ ” and/or “ ^^�^^ _^ ⁻ ^ _^^+1 ” at 410. In some embodiments, the method 400 may repeat and/or cycle constantly during vehicle operation and/or during trailer maneuvering, such as to provide discrete time-based and movement-refined estimations of trailer attribute data. According to some embodiments, the attribute data may be utilized, as described herein, to provide messages, warnings, alerts, and/or guidance to vehicle operators and/or to autonomously control vehicle operations. [0055] FIG.5 is a flow chart illustrating a process 500 in accordance with one or more embodiments of the present invention in which a yard vehicle 110, 210, 310 is coupled to a trailer 102, 202, 302 (via a fifth wheel, hitch, kingpin etc.) in a yard. The yard vehicle 110, 210, 310 is equipped with one or more viewing devices including, without limitation, cameras, 3-d cameras, LAsar and/or LAdar devices. The one or more viewing devices, for example, cameras 216, may be mounted to each side of the vehicle, for example, adjacent the side view mirrors. In STEP 502, the trailer 102, 202, 302 coupled to the yard vehicle 110, 210, 310 is moved from an initial position, for example, from the loading dock, a predetermined distance. In embodiments, the yard vehicle 110, 210, 310 makes a left or right turn after moving, for example, forward the predetermined distance such that the trailer 102, 202, 302 is at an angle relative to the yard vehicle 110, 210, 310 at a first time instance. At the first orientation and first time instance and with the trailer 102, 202, 302 angled relative to the yard vehicle 110, 210, 310, the one or more viewing devices 216 measure a first angle of the trailer 102, 202, 302 relative to the vehicle 110, 210, 310. This angle may be measured in accordance with any of the methodologies described in connection with FIGS.2A-2D and 3A-3B hereinabove including with the use of vanishing points and/or use of a camera obtaining the view of a particular trailer feature 202-1, for example, the wheel of the trailer. Thereafter, the yard vehicle 110, 210, 310 is manipulated again (for example, advanced to another position within the yard and turned from its prior orientation) to correspondingly move and orient the trailer 102, 202, 302 (STEP 504) to assume a second orientation at a second time instance. At the second orientation and time instance, the one or more viewing devices measure a second angle of the trailer 102, 202, 302 relative to the vehicle 110, 210, 310. In addition, during movement in the second time instance, spatial, temporal and/or movement data may be collected with respect to one or more of velocity, speed, acceleration, displacement, location, distance, time etc. of the trailer 102, 202, 302, yard vehicle and/or the yard described. In STEP 506, the first and second trailer angles of the trailer 102, 202, 302 are used as input into one or more mathematical algorithms or models described hereinabove to determine a pivot point of the trailer. In some embodiments, the first and second trailer angles of the trailer 102, 202, 302 are used to determine the length of the trailer 102, 202, 302. In embodiments, the trailer length along with optionally, for example, the location, temporal and/or movement data, is used as input into the one or more algorithms to determine the pivot point of the trailer. In STEP 508, the trailer 102, 202, 302 is maneuvered based in part on the determined kinematics of the trailer including the pivot point of the trailer102, 202, 302 and/or yard Page 16 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 vehicle 110, 210, 310 about the yard. In embodiments, spatial information of the yard including space, distances, location of the loading dock(s), other trailer location is obtained through as prior or historical data and/or collected by the one or more sensors 116b, 216 associated with the trailer 102, 202, 302 and/or the vehicle 110, 210, 310. IV. TRAILER MANEUVERING APPARATUS & ARTICLES OF MANUFACTURE [0056] Turning to FIG.6, a block diagram of an apparatus 610 according to some embodiments is shown. In some embodiments, the apparatus 610 may be similar in configuration and/or functionality to one or more of the vehicle 110, 210, 310 and/or remote server 130 of FIG. 1, FIGS. 2A-2D, and/or FIGS. 3A-3B herein. The apparatus 610 may, for example, execute, process, facilitate, and/or otherwise be associated with a method in which specialized ADAS configurations and/or automated functions enable an operator to navigate a vehicle through a yard and/or other areas, such as by conducting precise trailer maneuvering in tight spaces. In some embodiments, the apparatus 610 may comprise a processing device 612, a communication device 614, an input device 216, an output device 618, an interface 620, a memory device 640 (storing various programs and/or instructions 642 and data 644), and/or a cooling device 650. According to some embodiments, any or all of the components 612, 614, 616, 618, 620, 640, 642, 644, 650 of the apparatus 610 may be similar in configuration and/or functionality to any similarly named and/or numbered components described herein. Fewer or more components 612, 614, 616, 618, 620, 640, 642, 644, 650 and/or various configurations of the components 612, 614, 616, 618, 620, 640, 642, 644, 650 may be included in the apparatus 610 without deviating from the scope of embodiments described herein. [0057] According to some embodiments, the processor 612 may be or include any type, quantity, and/or configuration of processor that is or becomes known. The processor 612 may comprise, for example, an Intel® IXP 2800 network processor or an Intel® XEON™ Processor coupled with an Intel® E7301 chipset. In some embodiments, the processor 612 may comprise multiple inter-connected processors, microprocessors, and/or micro-engines. According to some embodiments, the processor 612 (and/or the apparatus 610 and/or other components thereof) may be supplied power via a power supply (not shown) such as a battery, an Alternating Current (AC) source, a Direct Current (DC) source, an AC/DC adapter, solar cells, and/or an inertial generator. In the case that the apparatus 610 comprises a server, such as a blade server, necessary power may be supplied via a standard AC outlet, power strip, surge protector, and/or Uninterruptible Power Supply (UPS) device. [0058] In some embodiments, the communication device 614 may comprise any type or configuration of communication device that is or becomes known or practicable. The communication device 614 may, for example, comprise a Network Interface Card (NIC), a telephonic device, a cellular network device, a router, a hub, a modem, and/or a communications port or cable. In some embodiments, the communication device 614 may be coupled to receive location data, e.g., from a sensor device (not separately shown in FIG.6). The communication device 614 may, for example, comprise a BLE and/or RF receiver device and/or a camera or other imaging device Page 17 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 that acquires data descriptive of a location and/or a transmitter device that provides the data to a remote server and/or server or communications layer (not separately shown in FIG.6). According to some embodiments, the communication device 614 may also or alternatively be coupled to the processor 612. In some embodiments, the communication device 614 may comprise an IR, RF, Bluetooth™, Near-Field Communication (NFC), and/or Wi- Fi® network device coupled to facilitate communications between the processor 612 and another device (such as a remote user device, e.g., a tele-operations station, not separately shown in FIG.6). [0059] In some embodiments, the input device 616 and/or the output device 618 are communicatively coupled to the processor 612 (e.g., via wired and/or wireless connections and/or pathways) and they may generally comprise any types or configurations of input and output components and/or devices that are or become known, respectively. The input device 616 may comprise, for example, a knob, wheel, lever, shifter, pedal, button, switch, and/or other object that permits an operator (e.g., local or remote operator personnel) to control a speed and/or direction of the apparatus 610. In some embodiments, the input device 616 may comprise a sensor, such as a camera, sound, light, radar, RF, and/or proximity sensor, configured to measure and/or record values via signals to the apparatus 610 and/or the processor 612. The output device 618 may, according to some embodiments, comprise a display screen and/or other practicable output component and/or device such as a sounder, light, vibration device, etc. The output device 618 may, for example, provide an interface (such as the interface 620) via which ADAS safety, warning, rules, and/or navigation data ay be provided to a vehicle operator (e.g., via a mobile device application). According to some embodiments, the input device 616 and/or the output device 618 may comprise and/or be embodied in a single device, such as a touch-screen monitor. [0060] The memory device 640 may comprise any appropriate information storage device that is or becomes known or available, including, but not limited to, units and/or combinations of magnetic storage devices (e.g., a hard disk drive), optical storage devices, and/or semiconductor memory devices such as RAM devices, Read Only Memory (ROM) devices, Single Data Rate Random Access Memory (SDR-RAM), Double Data Rate Random Access Memory (DDR-RAM), and/or Programmable Read Only Memory (PROM). The memory device 640 may, according to some embodiments, store one or more of trailer maneuvering instructions 642-1 and/or interface instructions 642-2, location data 644-1, movement data 644-2, and/or sensor data 644-3. In some embodiments, the trailer maneuvering instructions 642-1 and/or interface instructions 642-2, location data 644-1, movement data 644-2, and/or sensor data 644-3 may be utilized by the processor 612 to provide output information via the output device 618 and/or the communication device 614. [0061] According to some embodiments, the trailer maneuvering instructions 642-1 may be operable to cause the processor 612 to process the location data 644-1, movement data 644-2, and/or sensor data 644-3 in accordance with embodiments as described herein. Location data 644-1, movement data 644-2, and/or sensor data 644-3 received via the input device 616 and/or the communication device 614 may, for example, be analyzed, sorted, filtered, decoded, decompressed, ranked, scored, plotted, and/or otherwise processed by the processor Page 18 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 612 in accordance with the trailer maneuvering instructions 642-1. In some embodiments, location data 644-1, movement data 644-2, and/or sensor data 644-3 may be fed by the processor 612 through one or more mathematical and/or statistical formulas and/or models in accordance with the trailer maneuvering instructions 642-1 to automatically compute trailer metrics such as angle, position, and/or length and provide instructions, alerts, guidance, and to automatically maneuver a trailer, as described herein. [0062] In some embodiments, the interface instructions 642-2 may be operable to cause the processor 612 to process the location data 644-1, movement data 644-2, and/or sensor data 644-3 in accordance with embodiments as described herein. Location data 644-1, movement data 644-2, and/or sensor data 644-3 received via the input device 616 and/or the communication device 614 may, for example, be analyzed, sorted, filtered, decoded, decompressed, ranked, scored, plotted, and/or otherwise processed by the processor 612 in accordance with the interface instructions 642-2. In some embodiments, location data 644-1, movement data 644-2, and/or sensor data 644-3 may be fed by the processor 612 through one or more mathematical and/or statistical formulas and/or models in accordance with the interface instructions 642-2 to provide ADAS trailer maneuver warnings and/or data to the operator, as described herein. [0063] According to some embodiments, the apparatus 610 may comprise the cooling device 650. According to some embodiments, the cooling device 650 may be coupled (physically, thermally, and/or electrically) to the processor 612 and/or to the memory device 640. The cooling device 650 may, for example, comprise a fan, heat sink, heat pipe, radiator, cold plate, and/or other cooling component or device or combinations thereof, configured to remove heat from portions or components of the apparatus 610. [0064] Any or all of the exemplary instructions and data types described herein and other practicable types of data may be stored in any number, type, and/or configuration of memory devices that is or becomes known. The memory device 640 may, for example, comprise one or more data tables or files, databases, table spaces, registers, and/or other storage structures. In some embodiments, multiple databases and/or storage structures (and/or multiple memory devices 640) may be utilized to store information associated with the apparatus 610. According to some embodiments, the memory device 640 may be incorporated into and/or otherwise coupled to the apparatus 610 (e.g., as shown) or may simply be accessible to the apparatus 610 (e.g., externally located and/or situated). [0065] Referring to FIG.7A, FIG.7B, FIG.7C, FIG.7D, and FIG.7E, perspective diagrams of exemplary data storage devices 740a-e according to some embodiments are shown. The data storage devices 740a-e may, for example, be utilized to store instructions and/or data such as the trailer maneuvering instructions 642-1 and/or interface instructions 642-2, location data 644-1, movement data 644-2, and/or sensor data 644-3, each of which is presented in reference to FIG.6 herein. In some embodiments, instructions stored on the data storage devices 740a-e may, when executed by a processor, cause the implementation of and/or facilitate a method in accordance with embodiments herein. Page 19 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 [0066] According to some embodiments, the first data storage device 740a may comprise one or more various types of internal and/or external hard drives. The first data storage device 740a may, for example, comprise a data storage medium 746 that is read, interrogated, and/or otherwise communicatively coupled to and/or via a disk reading device 748. In some embodiments, the first data storage device 740a and/or the data storage medium 746 may be configured to store information utilizing one or more magnetic, inductive, and/or optical means (e.g., magnetic, inductive, and/or optical-encoding). The data storage medium 746, depicted as a first data storage medium 746a for example (e.g., breakout cross-section “A”), may comprise one or more of a polymer layer 746a- 1, a magnetic data storage layer 746a-2, a non-magnetic layer 746a-6, a magnetic base layer 746a-4, a contact layer 746a-5, and/or a substrate layer 746a-6. According to some embodiments, a magnetic read head 748a may be coupled and/or disposed to read data from the magnetic data storage layer 746a-2. [0067] In some embodiments, the data storage medium 746, depicted as a second data storage medium 746b for example (e.g., breakout cross-section “B”), may comprise a plurality of data points 746b-2 disposed with the second data storage medium 746b. The data points 746b-2 may, in some embodiments, be read and/or otherwise interfaced with via a laser-enabled read head 748b disposed and/or coupled to direct a laser beam through the second data storage medium 746b. [0068] In some embodiments, the second data storage device 740b may comprise a CD, CD-ROM, DVD, Blu- Ray™ Disc, and/or other type of optically-encoded disk and/or other storage medium that is or becomes know or practicable. In some embodiments, the third data storage device 740c may comprise a USB keyfob, dongle, and/or other type of flash memory data storage device that is or becomes know or practicable. In some embodiments, the fourth data storage device 740d may comprise RAM of any type, quantity, and/or configuration that is or becomes practicable and/or desirable. In some embodiments, the fourth data storage device 740d may comprise an off-chip cache such as a Level 2 (L2) cache memory device. According to some embodiments, the fifth data storage device 740e may comprise an on-chip memory device such as a Level 1 (L1) cache memory device. [0069] The data storage devices 740a-e depicted in FIG.7A, FIG.7B, FIG.7C, FIG.7D, and FIG.7E are representative of a class and/or subset of computer-readable media that are defined herein as “computer- readable memory” (e.g., non-transitory memory devices as opposed to transmission devices or media). The data storage devices 740a-e may generally store program instructions, algorithms, software engines, code, and/or modules that, when executed by a processing device cause a particular machine to function in accordance with one or more embodiments described herein. Page 20 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 V. RULES OF INTERPRETATION [0070] Throughout the description herein and unless otherwise specified, the following terms may include and/or encompass the example meanings provided. These terms and illustrative example meanings are provided to clarify the language selected to describe embodiments both in the specification and in the appended claims, and accordingly, are not intended to be generally limiting. While not generally limiting and while not limiting for all described embodiments, in some embodiments, the terms are specifically limited to the example definitions and/or examples provided. Other terms are defined throughout the present description. [0071] Neither the Title (set forth at the beginning of the first page of this patent application) nor the Abstract (set forth at the end of this patent application) is to be taken as limiting in any way as the scope of the disclosed invention(s). Headings of sections provided in this patent application are for convenience only, and are not to be taken as limiting the disclosure in any way. [0072] All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and/or ordinary meanings of the defined terms. The terms and expressions which have been employed herein are used as terms of description and not of limitation, and there is no intention, in the use of such terms and expressions, of excluding any equivalents of the features shown and described (or portions thereof), and it is recognized that various modifications are possible within the scope of the claims. Accordingly, the claims are intended to cover all such equivalents. [0073] The indefinite articles “a” and “an,” as used herein in the specification and in the claims, unless clearly indicated to the contrary, should be understood to mean “at least one” or "one or more". [0074] The phrase “and/or,” as used herein in the specification and in the claims, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Other elements may optionally be present other than the elements specifically identified by the “and/or” clause, whether related or unrelated to those elements specifically identified, unless clearly indicated to the contrary. [0075] When an ordinal number (such as "first", "second", "third" and so on) is used as an adjective before a term, that ordinal number is used (unless expressly specified otherwise) merely to indicate a particular feature, such as to distinguish that particular feature from another feature that is described by the same term or by a similar term. For example, a "first widget" may be so named merely to distinguish it from, e.g., a "second widget". Thus, the mere usage of the ordinal numbers "first" and "second" before the term "widget" does not indicate any other relationship between the two widgets, and likewise does not indicate any other characteristics of either or both widgets. For example, the mere usage of the ordinal numbers "first" and "second" before the term "widget" (1) does not indicate that either widget comes before or after any other in order or location; (2) does not indicate that either widget occurs or acts before or after any other in time; and (3) does not indicate that either widget Page 21 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 ranks above or below any other, as in importance or quality. In addition, the mere usage of ordinal numbers does not define a numerical limit to the features identified with the ordinal numbers. For example, the mere usage of the ordinal numbers "first" and "second" before the term "widget" does not indicate that there must be no more than two widgets. [0076] An enumerated list of items (which may or may not be numbered) does not imply that any or all of the items are mutually exclusive, unless expressly specified otherwise. Likewise, an enumerated list of items (which may or may not be numbered) does not imply that any or all of the items are comprehensive of any category, unless expressly specified otherwise. For example, the enumerated list "a computer, a laptop, a PDA" does not imply that any or all of the three items of that list are mutually exclusive and does not imply that any or all of the three items of that list are comprehensive of any category. [0077] Some embodiments described herein are associated with a "user device" or a "network device". As used herein, the terms "user device" and "network device" may be used interchangeably and may generally refer to any device that can communicate via a network. Examples of user or network devices include a PC, a workstation, a server, a printer, a scanner, a facsimile machine, a copier, a Personal Digital Assistant (PDA), a storage device (e.g., a disk drive), a hub, a router, a switch, and a modem, a video game console, or a wireless phone. User and network devices may comprise one or more communication or network components. As used herein, a “user” may generally refer to any individual and/or entity that operates a user device. Users may comprise, for example, customers, consumers, product underwriters, product distributors, customer service representatives, agents, brokers, etc. [0078] As used herein, the term “network component” may refer to a user or network device, or a component, piece, portion, or combination of user or network devices. Examples of network components may include a Static Random Access Memory (SRAM) device or module, a network processor, and a network communication path, connection, port, or cable. [0079] In addition, some embodiments are associated with a "network" or a "communication network". As used herein, the terms "network" and "communication network" may be used interchangeably and may refer to any object, entity, component, device, and/or any combination thereof that permits, facilitates, and/or otherwise contributes to or is associated with the transmission of messages, packets, signals, and/or other forms of information between and/or within one or more network devices. Networks may be or include a plurality of interconnected network devices. In some embodiments, networks may be hard-wired, wireless, virtual, neural, and/or any other configuration of type that is or becomes known. Communication networks may include, for example, one or more networks configured to operate in accordance with the Fast Ethernet LAN transmission standard 802.3-2002® published by the Institute of Electrical and Electronics Engineers (IEEE). In some embodiments, a network may include one or more wired and/or wireless networks operated in accordance with any communication standard or protocol that is or becomes known or practicable. Page 22 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 [0080] As used herein, the terms “information” and “data” may be used interchangeably and may refer to any data, text, voice, video, image, message, bit, packet, pulse, tone, waveform, and/or other type or configuration of signal and/or information. Information may comprise information packets transmitted, for example, in accordance with the Internet Protocol Version 6 (IPv6) standard as defined by “Internet Protocol Version 6 (IPv6) Specification” RFC 1883, published by the Internet Engineering Task Force (IETF), Network Working Group, S. Deering et al. (December 1995). Information may, according to some embodiments, be compressed, encoded, encrypted, and/or otherwise packaged or manipulated in accordance with any method that is or becomes known or practicable. [0081] In addition, some embodiments described herein are associated with an “indication”. As used herein, the term “indication” may be used to refer to any indicia and/or other information indicative of or associated with a subject, item, entity, and/or other object and/or idea. As used herein, the phrases “information indicative of” and “indicia” may be used to refer to any information that represents, describes, and/or is otherwise associated with a related entity, subject, or object. Indicia of information may include, for example, a code, a reference, a link, a signal, an identifier, and/or any combination thereof and/or any other informative representation associated with the information. In some embodiments, indicia of information (or indicative of the information) may be or include the information itself and/or any portion or component of the information. In some embodiments, an indication may include a request, a solicitation, a broadcast, and/or any other form of information gathering and/or dissemination. [0082] As utilized herein, the terms “program” or “computer program” may refer to one or more algorithms formatted for execution by a computer. The term “module” or “software module” refers to any number of algorithms and/or programs that are written to achieve a particular output and/or output goal – e.g., a ‘login credentialing’ module (or program) may provide functionality for permitting a user to login to a computer software and/or hardware resource and/or a ‘shipping’ module (or program) may be programmed to electronically initiate a shipment of an object via a known and/or available shipping company and/or service (e.g., FedEX®). The terms “engine” or “software engine” refer to any combination of software modules and/or algorithms that operate upon one or more inputs to define one or more outputs in an ongoing, cyclical, repetitive, and/or loop fashion. Data transformation scripts and/or algorithms that query data from a data source, transform the data, and load the transformed data into a target data repository may be termed ‘data transformation engines’, for example, as they repetitively operate in an iterative manner upon each row of data to produce the desired results. [0083] Numerous embodiments are described in this patent application, and are presented for illustrative purposes only. The described embodiments are not, and are not intended to be, limiting in any sense. The presently disclosed invention(s) are widely applicable to numerous embodiments, as is readily apparent from the disclosure. One of ordinary skill in the art will recognize that the disclosed invention(s) may be practiced with various modifications and alterations, such as structural, logical, software, and electrical modifications. Although Page 23 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 particular features of the disclosed invention(s) may be described with reference to one or more particular embodiments and/or drawings, it should be understood that such features are not limited to usage in the one or more particular embodiments or drawings with reference to which they are described, unless expressly specified otherwise. [0084] Devices that are in communication with each other need not be in continuous communication with each other, unless expressly specified otherwise. On the contrary, such devices need only transmit to each other as necessary or desirable, and may actually refrain from exchanging data most of the time. For example, a machine in communication with another machine via the Internet may not transmit data to the other machine for weeks at a time. In addition, devices that are in communication with each other may communicate directly or indirectly through one or more intermediaries. [0085] A description of an embodiment with several components or features does not imply that all or even any of such components and/or features are required. On the contrary, a variety of optional components are described to illustrate the wide variety of possible embodiments of the present invention(s). Unless otherwise specified explicitly, no component and/or feature is essential or required. [0086] Further, although process steps, algorithms or the like may be described in a sequential order, such processes may be configured to work in different orders. In other words, any sequence or order of steps that may be explicitly described does not necessarily indicate a requirement that the steps be performed in that order. The steps of processes described herein may be performed in any order practical. Further, some steps may be performed simultaneously despite being described or implied as occurring non-simultaneously (e.g., because one step is described after the other step). Moreover, the illustration of a process by its depiction in a drawing does not imply that the illustrated process is exclusive of other variations and modifications thereto, does not imply that the illustrated process or any of its steps are necessary to the invention, and does not imply that the illustrated process is preferred. [0087] "Determining" something can be performed in a variety of manners and therefore the term "determining" (and like terms) includes calculating, computing, deriving, looking up (e.g., in a table, database or data structure), ascertaining and the like. [0088] It will be readily apparent that the various methods and algorithms described herein may be implemented by, e.g., appropriately and/or specially-programmed computers and/or computing devices. Typically a processor (e.g., one or more microprocessors) will receive instructions from a memory or like device, and execute those instructions, thereby performing one or more processes defined by those instructions. Further, programs that implement such methods and algorithms may be stored and transmitted using a variety of media (e.g., computer readable media) in a number of manners. In some embodiments, hard-wired circuitry or custom hardware may be used in place of, or in combination with, software instructions for implementation of the processes of various embodiments. Thus, embodiments are not limited to any specific combination of hardware and software Page 24 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 [0089] A "processor" generally means any one or more microprocessors, CPU devices, computing devices, microcontrollers, digital signal processors, or like devices, as further described herein. [0090] The term "computer-readable medium" refers to any medium that participates in providing data (e.g., instructions or other information) that may be read by a computer, a processor or a like device. Such a medium may take many forms, including but not limited to, non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical or magnetic disks and other persistent memory. Volatile media include DRAM, which typically constitutes the main memory. Transmission media include coaxial cables, copper wire and fiber optics, including the wires that comprise a system bus coupled to the processor. Transmission media may include or convey acoustic waves, light waves and electromagnetic emissions, such as those generated during RF and IR data communications. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, a carrier wave, or any other medium from which a computer can read. [0091] The term “computer-readable memory” may generally refer to a subset and/or class of computer-readable medium that does not include transmission media such as waveforms, carrier waves, electromagnetic emissions, etc. Computer-readable memory may typically include physical media upon which data (e.g., instructions or other information) are stored, such as optical or magnetic disks and other persistent memory, DRAM, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, computer hard drives, backup tapes, Universal Serial Bus (USB) memory devices, and the like. [0092] Various forms of computer readable media may be involved in carrying data, including sequences of instructions, to a processor. For example, sequences of instruction (i) may be delivered from RAM to a processor, (ii) may be carried over a wireless transmission medium, and/or (iii) may be formatted according to numerous formats, standards or protocols, such as Bluetooth™, TDMA, CDMA, 3G. [0093] Where databases are described, it will be understood by one of ordinary skill in the art that (i) alternative database structures to those described may be readily employed, and (ii) other memory structures besides databases may be readily employed. Any illustrations or descriptions of any sample databases presented herein are illustrative arrangements for stored representations of information. Any number of other arrangements may be employed besides those suggested by, e.g., tables illustrated in drawings or elsewhere. Similarly, any illustrated entries of the databases represent exemplary information only; one of ordinary skill in the art will understand that the number and content of the entries can be different from those described herein. Further, despite any depiction of the databases as tables, other formats (including relational databases, object-based Page 25 of 29 RR03-124-02-SPEC_FINAL_10-11-23 PCT PATENT APPLICATION Attorney Docket No.: RR03-124-02 models and/or distributed databases) could be used to store and manipulate the data types described herein. Likewise, object methods or behaviors of a database can be used to implement various processes, such as the described herein. In addition, the databases may, in a known manner, be stored locally or remotely from a device that accesses data in such a database. [0094] The present invention can be configured to work in a network environment including a computer that is in communication, via a communications network, with one or more devices. The computer may communicate with the devices directly or indirectly, via a wired or wireless medium such as the Internet, LAN, WAN or Ethernet, Token Ring, or via any appropriate communications means or combination of communications means. Each of the devices may comprise computers, such as those based on the Intel® Pentium® or Centrino™ processor, that are adapted to communicate with the computer. Any number and type of machines may be in communication with the computer. [0095] The present disclosure provides, to one of ordinary skill in the art, an enabling description of several embodiments and/or inventions. Some of these embodiments and/or inventions may not be claimed in the present application, but may nevertheless be claimed in one or more continuing applications that claim the benefit of priority of the present application. Applicants intend to file additional applications to pursue patents for subject matter that has been disclosed and enabled but not claimed in the present application. [0096] It will be understood that various modifications can be made to the embodiments of the present disclosure herein without departing from the scope thereof. Therefore, the above description should not be construed as limiting the disclosure, but merely as embodiments thereof. Those skilled in the art will envision other modifications within the scope of the invention as defined by the claims appended hereto. Page 26 of 29 RR03-124-02-SPEC_FINAL_10-11-23