Patent Publication Number: US-2023145675-A1

Title: Autonomous trailer connectivity

Description:
RELATED APPLICATIONS 
     This application claims priority to U.S. Patent Application Ser. No. 63/277,562, titled “Autonomous Trailer Connectivity”, filed Nov. 9, 2021, and incorporated herein by reference. 
    
    
     BACKGROUND 
     A conventional tractor physically couples to a trailer to move it. A king pin provides a mechanical coupling that transfers forces from the tractor to the trailer. A direct electrical coupling allows the tractor to control trailer lights, and two glad hand couplings transfer air from the tractor to the trailer to control trailer brakes. 
     SUMMARY 
     One aspect of the present embodiments includes the realization that autonomously connecting multiple glad hand couplings between an autonomous tractor and a conventional trailer is overly complex and may require manual intervention when an autonomous process fails to make the required couplings. The present embodiments solve this problem by providing a trailer with a trailer control box that includes a power source, compute node, and a wireless transceiver. The wireless transceiver allows a controller of the autonomous tractor to communicate with the trailer control box to control brakes and/or lights of the trailer without requiring a wired connection. 
     In certain embodiments, a trailer control box includes a power source, a wireless transceiver coupled with the power source, an air reservoir, an air compressor electrically coupled with the power source and fluidly coupled with the air reservoir, an emergency-brake valve fluidly coupling the air reservoir to an emergency air input of a brake actuator of a trailer, a service-brake valve fluidly coupling the air reservoir to a service air input of the brake actuator, and at least one compute node electrically coupled with the power source, the wireless transceiver, the emergency-brake valve, and the service-brake valve. The at least one compute node includes memory storing machine readable instructions that when executed by the at least one compute node, cause the trailer control box to: receive a brake control message from a device external to the trailer control box via the wireless transceiver, and control at least one of the emergency-brake valve and the service-brake valve based on the brake control message. 
     In certain embodiments, a trailer control box includes a power source, a wireless transceiver coupled with the power source, an emergency-brake switch electrically connected between the power source and emergency-brake input of an electrical brake actuator of a trailer, a service-brake switch electrically connected between the power source and a service-brake input of the electrical brake actuator, and at least one compute node coupled with the power source, the wireless transceiver, the emergency-brake switch, and the service-brake switch. The at least one compute node including memory storing machine readable instructions that when executed by the at least one compute node, cause the trailer control box to: receive a brake control message from a device external to the trailer control box via the wireless transceiver, and control at least one of the emergency-brake switch and the service-brake switch based on the brake control message. 
     In certain embodiments, a method for wirelessly controlling a trailer from a device external to the trailer includes receiving a message from a controller of the device, controlling an emergency-brake valve based on the message when the message is an emergency-brake command, controlling a service-brake valve based on the message when the message is an service-brake command, and controlling at least one switch to operate trailer lights based on the message when the message is a light command. 
     In certain embodiments, an autonomous-capable socket for a trailer includes an outer casing; a plurality of electrical connectors; a service-brake air aperture; and an emergency-brake air aperture. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
         FIG.  1    is a schematic illustrating a conventional tractor hitched to a conventional trailer. 
         FIG.  2    is a schematic illustrating a tractor hitched to a trailer with wireless trailer connectivity, embodiments. 
         FIG.  3    is a schematic illustrating the trailer control box of  FIG.  2    in further example detail for control of air operated brake actuators, in embodiments. 
         FIG.  4    is a schematic illustrating the trailer control box of  FIG.  2    in further detail for control of electrically operated brake actuators, in embodiments. 
         FIGS.  5 A and  5 B  shows the wireless trailer of  FIG.  2    configured with example contacts for coupling with example contacts of a loading dock to charge rechargeable batteries of the power source when the wireless trailer is at the loading dock, in embodiments. 
         FIGS.  6 A and  6 B  show example electrical connections between the tractor of  FIG.  2    and the wireless trailer via a fifth wheel of the tractor, in embodiments. 
         FIG.  7    is a flowchart illustrating one example method for wireless trailer connectivity, in embodiments. 
         FIG.  8    is a schematic illustrating a tractor hitched to a trailer with wireless trailer connectivity and with rear facing sensors, in an embodiment. 
         FIG.  9    is a schematic diagram illustrating a front end of a trailer fitted with an example autonomous-capable glad hand connector that combines two air and multiple electrical connections, in embodiments. 
         FIG.  10    shows the autonomous-capable socket of  FIG.  9    in further example detail, in embodiments. 
         FIG.  11    shows the autonomous-capable socket of  FIG.  9    with four fiducial markings that facilitate autonomous coupling, in embodiments. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
       FIG.  1    shows a conventional tractor  102  hitched to a conventional trailer  104 . A conventional king pin/fifth-wheel coupling  106  transfers forces from the tractor  102  to physically move the trailer  104 . Brakes of trailer  104  are applied by a spring mechanism that requires an air supply from tractor  102  to cause a brake actuator  130  to release the brakes. Accordingly, tractor  102  requires at least one air coupling  108  to release brakes of trailer  104 . Lights  132  (e.g., brake lights, tail lights, turn indicator lights, running lights, etc.) of trailer  104  are electrically operated by tractor  102  via an electrical coupling  110  that provides electrical power to illuminate the lights  132  as needed. Accordingly, these couplings  108  and  110  are made and broken each time the tractor  102  hitches/unhitches to/from the trailer  104 . 
       FIG.  2    shows an autonomous tractor  202  hitched to a wireless trailer  204 . A conventional king pin/fifth-wheel coupling  206  transfers forces from the autonomous tractor  202  to physically move the wireless trailer  204 . Emergency/parking brakes of wireless trailer  204  are applied by a spring, and wireless trailer  204  includes brake actuators that (a) compress the spring to release the emergency/parking brakes, and (b) apply the service-brakes. Autonomous tractor  202  includes a controller  210  and a wireless transceiver  212 . Wireless trailer  204  includes a trailer control box  220  with a power source  222 , a compute node  224  and a wireless transceiver  226 . Compute node  224  includes at least one processor and memory storing firmware including machine-readable instructions that when executed by the processor cause compute node  224  to implement functionality described herein. Trailer control box  220  includes other components, described in detail below, that allow wireless trailer  204  to operate brake actuators  230  and lights  232  (e.g., brake lights, tail lights, turn indicator lights, running lights, etc.) without complex coupling for an air supply or electrical power from autonomous tractor  202 . Only one brake actuator  230  is shown in  FIG.  2    for clarity of illustration; however, wireless trailer  204  may have multiple brake actuators  230  (one for each set of brake drums, etc.). 
     Advantageously, wireless trailer  204  allows autonomous tractor  202  to hitch and move wireless trailer  204  without the complexity of making multiple physical couplings (e.g., couplings  108  and  110  of  FIG.  1   ). Although shown positioned at the lower front end of wireless trailer  204 , trailer control box  220  may be positioned elsewhere on wireless trailer  204  and/or may distributed across multiple positions without departing from the scope hereof. 
     Wireless transceiver  212  and wireless transceiver  226  implement a secure short-range wireless protocol (e.g., Bluetooth, Bluetooth LE, LoRa, Wi-Fi 802.11, ZigBee, InfraRed (IR), etc.) that allows controller  210  to instruct (e.g., using a wireless message  213 ) compute node  224  to operate brake actuator  230  and lights  232  using power from power source  222 , thereby allowing tractor  202  to move trailer  204  without the complexity of making multiple couplings (e.g., couplings  108  and  110  of  FIG.  1   ). Wireless transceiver  212  and wireless transceiver  226  may use one or more security protocols and/or encryption algorithms that ensure communications are secure. 
     Power source  222  provides electricity to operate electrical components (e.g., at least compute node  224 , wireless transceiver  226 , and lights  232 ) of wireless trailer  204  and may be implemented using one or more of a gas-powered generator, a diesel-powered generator, a rechargeable battery, a fuel cell, and/or any other type of device capable of providing electrical power to operate components of wireless trailer  204 . 
     In one embodiment, where power source  222  includes at least one rechargeable battery, wireless trailer  204  may include solar panels  240  (e.g., positioned on a top surface  242  of wireless trailer  204 ) that charge the rechargeable battery when the solar panels receive sunlight. In another embodiment, where power source  222  includes at least one rechargeable battery, wireless trailer  204  may include a regenerative brake circuit  244  (e.g., coupled with a wheel and or axle of wireless trailer  204 ) that generates electrical power when brake actuator  230  applies the brakes and wireless trailer  204  is moving. In another embodiment, where power source  222  includes at least one rechargeable battery, wireless trailer  204  may include electrical contacts and/or an electro-magnetic coupling, that receive power when wireless trailer  204  is positioned at a dock, as shown in  FIGS.  5 A,  5 B . 
       FIG.  3    is a schematic illustrating one example trailer control box  300  that represents trailer control box  220  of  FIG.  2    implemented to control an air operated brake actuator  308  (e.g., brake actuator  230  of  FIG.  2   ) of wireless trailer  204 . Trailer control box  300  includes an air compressor  302  that maintains at least one air reservoir  304  with compressed air (e.g., at a pressure of between 90 psi and 150 psi) using power from power source  222 . Trailer control box  300  may also include an air filter and/or an air dryer (not shown), in circuit with air compressor  302  and air reservoir  304 , to condition the compressed air as needed. Trailer control box  300  also includes at least one valve  306  that fluidly couples brake actuators  308  to air reservoir  304 . Valve  306  is controlled by compute node  224 , based on instructions from controller  210  via transceivers  212  and  226 , to allow air from air reservoir  304  to flow to brake actuator  308  and cause brakes of trailer  204  to disengage or engage as needed. In one embodiment, brake actuators  308  represent conventional spring/air operated brake actuators of trailer  204 , and trailer control box  300  includes two valves  306 ( 1 ) and  306 ( 2 ), where valve  306 ( 1 ) (also called an emergency-brake valve) couples to an emergency/parking brakes air inputs of brake actuators  308  and valve  306 ( 2 ) (also called a service-brake valve) couples to a service-brake air input of brake actuators  308 . Valve  306 ( 1 ) may have two states; on or off. When on, valve  306 ( 1 ) allows air from air reservoir  304  to flow to the emergency air input of brake actuators  308 , thereby compressing the spring and releasing the emergency/parking brake of trailer  204 . When off, valve  306 ( 1 ) allows air to escape from the emergency air input of brake actuators  308 , thereby causing the spring to apply the brake. Valve  306 ( 2 ) provides proportional control of air flow from air reservoir  304  to the service air input of brake actuators  308 , thereby providing proportional application of the service-brakes of trailer  204 . Advantageously, valves  306  may be controlled via compute node  224  to generate emergency and service air supplies that are similar to conventional emergency and service air supplies received by conventional air couplings  108  of  FIG.  1   . 
     Trailer control box  300  also includes a plurality of light switches  310  controlled by compute node  224  to operate lights  232  of wireless trailer  204  using electrical power from power source  222 . For example, power source  222  may include at least one electrical regulator that provides electrical current at the required voltage (e.g., twelve volts, twenty-four volts, etc.) to operate lights  232 . Lights  232  controllably receive power from power source  222  via switches  310  as directed by controller  210  of tractor  202  via transceivers  212  and  226 . Although shown with three switches  310 ( 1 )-( 3 ) and four lights  232 , trailer control box  300  may have more or fewer switches  310  to control more or fewer lights  232  without departing from the scope hereof. Each light  232  may connect with a different one of the switches  310 , or certain lights  232  (e.g., multiple brake lights or multiple tail lights) may be connected in parallel with the same switch  310 . 
       FIG.  4    is a schematic illustrating one example trailer control box  400  that represents trailer control box  220  of  FIG.  2    controlling an electrically operated brake actuator  404  of wireless trailer  204 . Trailer control box  400  is similar to trailer control box  300 , and description of like components and functionality are not repeated but are incorporated by reference where applicable. In this embodiment, trailer control box  400  may not include air compressor  302 , air reservoir  304 , or valves  306 , but includes brake switches  402 ( 1 ) and  402 ( 2 ), controlled by compute node  224 , that operate brake actuators  404 . In this embodiment, brake actuator  404  mimics conventional air operated brake actuator  130 ,  FIG.  1   , by including a spring mechanism that applies the emergency/parking brakes of trailer  204 , and an electrically powered mechanism that applies the service-brakes of trailer  204 . Accordingly, brake actuator  404  includes an emergency/parking brake electrical input and a service-brake electrical input. That is, instead of requiring air pressure to oppose the spring, brake switch  402 ( 1 ) is controlled to supply electrical power from power source  222  to the emergency/parking brake electrical input of electrically operated brake actuator  404  that causes the spring to be overridden, thereby releasing the emergency/parking brakes of trailer  204 . Brake switch  402 ( 2 ) is proportional (variable) and is controlled by compute node  224  to apply service-brakes of trailer  204 . For example, brake switch  402 ( 2 ) may provide a variable input to service-brake electrical input of brake actuator  404  that causes the service-brakes to be applied proportionally. 
     In certain embodiments, electrically operated brake actuator  404  may be controlled directly from tractor  202  through a wired connection (e.g., electrical coupling  110  of  FIG.  1   ). In this embodiment, although the electrical coupling  110  is still required, the air couplings  108  are not required, thereby facilitating operation of the trailer by the tractor. 
     Although shown with trailer control box  300  controlling air operated brake actuator  308  and trailer control box  400  controlling electrically operated brake actuator  404 , it is contemplated that trailer control box  200  may also control other forms of brake actuators, such as hydraulic brake actuators, without departing from the scope hereof. 
     Safety Features 
     In certain embodiments, trailer control box  220  is designed to conform to one or more automotive safety integrity level (ASIL) standards. For example, used protocols may include one or more of: Message counter, Handshaking, Heartbeat, Checksum, Masquerading, Redundant processing, and Power monitoring. 
       FIG.  8    is a schematic illustrating a tractor hitched to a trailer with wireless trailer connectivity and with at least one rear facing sensor  802 . Wireless trailer  204  may include one or more rear facing sensors  802 , such as one or more of RADAR, LIDAR, cameras, etc. Rear facing sensor  802  is wired to compute node  224 , whereby compute node  224  includes software that uses rear facing sensor  802  to detect objects behind wireless trailer  204  when tractor  202  is reversing wireless trailer  204 , such as when reversing wireless trailer  204  into a loading dock and/or parking space. Rear facing sensor  802  may be recessed (e.g., for protection) beneath a chassis of wireless trailer  204 , such as on each side and/or in the middle of the back end of wireless trailer  204 . However, rear facing sensor  802  may be positioned elsewhere to have a rearward view from wireless trailer  204  without departing from the scope hereof 
     In one example of operation, compute node  224  captures and processes sensor data from rear facing sensor  802  to detect objects positioned behind wireless trailer  204 . For example, as tractor  202  reverses wireless trailer  204 , compute node  224  processes sensor data from rear facing sensor  802  and wirelessly communicates warnings and/or distance measurements to detected objects to controller  210  of tractor  202 . Thereby, trailer control box  220  enhances safety when wireless trailer  204  is being maneuvered by tractor  202 . In embodiments where rear facing sensor  802  is a camera, compute node  224  may also send a video feed to controller  210  of tractor  202 , or other devices external to trailer control box  220 , via wireless transceiver  226 . 
     As described below and shown in  FIGS.  6 A and  6 B , connectivity between tractor  202  and a trailer may not be wireless. In such embodiments, the at least one rear facing sensor  802  is electrically coupled with controller  210  that includes software for using rear facing sensor  802  to detect object behind the trailer when tractor  202  is reversing the trailer, such as when reversing the trailer into a loading dock and/or parking space. 
     Alternative Embodiments for Powering a Trailer 
     In the embodiments of  FIGS.  2 ,  3 , and  4   , where power source  222  include rechargeable batteries, these rechargeable batteries require recharging to enable wireless trailer  204  to operate. Any trailer (not just wireless trailer  204 ) that uses power for other components (e.g., refrigeration units), may also benefit from receiving external power, such as when parked, which would save using carried fuel. As described above, and shown in  FIG.  2   , wireless trailer  204  may include solar panels  240  for charging the rechargeable batteries of power source  222 . In certain embodiments, trailer control box  220  of  FIG.  2    may be combined with a refrigeration unit to share a common power source. Compute node  224  may also control operation of the refrigeration unit, turning it on and off based on sensed temperature within trailer  204 . Computer node  224  may also send a sensed temperatures to controller  210  of tractor  202 , or other devices external to trailer control box  220 , via wireless transceiver  226 . 
       FIGS.  5 A and  5 B  shows wireless trailer  204  of  FIG.  2    configured with example contacts  502  and  504  for coupling with example contacts  518  and  520 , respectively, of a loading dock  500  to charge rechargeable batteries of power source  222  when wireless trailer  204  is at loading dock  500 .  FIGS.  5 A and  5 B  are best viewed together with the following description. Contacts  502  and  504  (e.g., charging plates) may be positioned elsewhere without departing from the scope hereof. These plates may include safety and/or security features that prevent risk of electrical shock. 
       FIG.  5 A  is a back view of wireless trailer  204  showing electrical contacts  502  and  504  positioned at a height  506  just below the deck height of wireless trailer  204  and with a horizontal spacing  508  that is centered to the trailer width. Loading dock  500  includes a dock wall  510 , below a loading bay  512 , with trailer bumpers  514  and  516 . Contacts  518  and  520  are positioned at height  506  and with horizontal spacing  508  that is centered to loading bay  512 . Contacts  502  and  504  and/or contacts  518  and  520  may be spring loaded. Accordingly, when wireless trailer  204  is positioned at loading dock  500 , contacts  502 ,  504  connect with contacts  518 ,  520  to form an electrical circuit that charges the rechargeable battery of power source  222 . For example, the power applied to contacts  518  and  520  may be low voltage and/or applied only when the electrical circuit is correctly formed by contacts  502  and  504 . Although shown configure with loading dock  500 , contacts  518  and  520  may be provided at a parking spot to provide power to wireless trailer  204  (or any contact equipped trailer). In one example, contacts  518  and  520  are positioned on a structure (e.g., posts, wall, and/or rail) at a back end of the parking spot. In another example, where parking spots for trailers are in a back-to-back double row layout, the structure may have contacts on each side. 
     In another embodiment, contacts  518  and  520  are replaced with a first electromagnetic coil and contacts  502  and  504  are replaced by a similar second electromagnetic coil (e.g., tuned to the first electromagnetic coil) such that electrical power may be transferred electromagnetically from loading dock  500  to wireless trailer  204  to charge the rechargeable battery of power source  222 . These electromagnetic coils may be used to transfer electrical power to any trailer with electrically operated components. 
       FIGS.  6 A and  6 B  show example electrical connection between tractor  202  and wireless trailer  204  via a fifth-wheel  650  of tractor  202 . This embodiment is used in place of the embodiments shown in  FIGS.  5 A and  5 B . Although wireless trailer  204  is used as an example, these embodiments may provide electrical power to any trailer.  FIGS.  6 A and  6 B  are best viewed together with the following description.  FIG.  6 A  is a schematic illustrating a front underside surface  600  of trailer  204 , showing an electrical coupling plate  601  that is positioned around king pin  602  and includes two electrical contacts  604  and  606 .  FIG.  6 B  is a schematic illustrating one example fifth-wheel  650  with a slot  652  that captures king pin  602 , and at least two embedded electrical slip rings  654 ,  656 , that connect with contacts  604  and  606 , respectively, of wireless trailer  204  when wireless trailer  204  is hitched to tractor  202 . Each slip ring  654 ,  656  is electrically isolated from structure of fifth-wheel  650 , and from each other, and is formed as a part circle centered around slot  652  and king pin  602 . Accordingly, irrespective of the angle of wireless trailer  204  relative to tractor  202 , contacts  604  and  606  remain connected with slip rings  654  and  656 , respectively. Advantageously, when wireless trailer  204  is hitched with tractor  202 , electrical power may be transferred from tractor  202  to charge rechargeable batteries of power source  222 . In certain embodiments, slip rings and contacts are included to directly control individual electrical components of the trailer. For example, these lights and/or electrically operated brake actuators of the trailer may be directly controlled through the disclosed slip rings and contacts. 
     In an alternative embodiment, slip rings  654  and  656  are omitted and fifth-wheel  650  includes a first electromagnetic coil and coupling plate  601  includes a similar second electromagnetic coil (e.g., tuned to the first electromagnetic coil) such that electrical power may be transferred electromagnetically tractor  202  to wireless trailer  204  to charge the rechargeable battery of power source  222 , or power any electrical component of the trailer. 
       FIG.  7    is a flowchart illustrating one example method  700  for wireless trailer connectivity. Method  700  is implemented in compute node  224  of trailer control box  220 ,  FIG.  2   , for example. 
     In block  702 , method  700  receives a message from a tractor. In one example of block  702 , transceiver  226  receives message  213  from controller  210 , via wireless transceiver  212 , of tractor  202 . In block  704 , method  700  validates and authenticates the message. in one example of block  704 , compute node  224  evaluates one or both of a message counter and a checksum of message  213  and determines that message  213  is addressed to compute node  224  (e.g., include a unique trailer ID). Block  706  is a decision. If, in block  706 , method  700  determines that a type of the message is an emergency-brake command, method  700  continues with block  708 ; otherwise, method  700  continues with block  712 . In block  708 , method  700  controls an emergency-brake valve/switch based on the command in the message. In one example of block  708 , compute node  224  controls valve  306 ( 1 ) to open when message  213  commands the emergency-brake off, thereby allowing compressed air from air reservoir  304  to flow into the emergency air input of brake actuator  308 . In another example of block  708 , compute node  224  controls switch  402 ( 1 ) to open when message  213  commands the emergency-brake off, thereby providing power to electric brake actuators  404 . In block  710 , method  700  sends an e-brake acknowledgement to the tractor. In one example of block  710 , compute node  224  controls transceiver  226  to send message  227  with an emergency-brake acknowledgement to controller  210  via transceiver  212 . Method  700  then terminates and is invoked when a next message  213  is received. 
     Block  712  is a decision. If, in block  712 , method  700  determines that a type of the message is a service-brake command, method  700  continues with block  714 ; otherwise, method  700  continues with block  718 . In block  714 , method  700  controls the service-brake valve/switch based on the message. In one example of block  714 , compute node  224  controls valve  306 ( 2 ) to proportionally control air pressure from air reservoir  304  to a service-brake air input of brake actuator  308  based upon a service-brake level defined within message  213 , thereby causing brake actuator  308  to proportionally apply service-brakes of trailer  204 . In another example of block  714 , compute node  224  controls switch  402 ( 2 ) to proportionally control electric brake actuators  404  to proportionally apply service-brakes of trailer  204 . In block  716 , method  700  sends an s-brake acknowledgement to the tractor. In one example of block  716 , compute node  224  controls transceiver  226  to send message  227  with a service-brake acknowledgement to controller  210  via transceiver  212 . Method  700  then terminates and is invoked when a next message  213  is received. 
     Block  718  is a decision. If, in block  718 , method  700  determines that that a type of the message is a light command, method  700  continues with block  720 ; otherwise, method  700  continues with block  724 . In block  720 , method  700  controls at least one switch to operate trailer lights based on the message. In one example of block  720 , compute node  224  controls one or more of switches  310  to illuminate or extinguish one or more lights  232  based on the light command within message  213 . In block  722 , method  700  sends a light acknowledgement to the tractor. In one example of block  722 , compute node  224  controls transceiver  226  to send message  227  with a light acknowledgement to controller  210  via transceiver  212 . Method  700  then terminates and is invoked when a next message  213  is received. 
     In block  724 , method  700  sends a no-acknowledgment message to the tractor. In one example of block  724 , compute node  224  controls transceiver  226  to send message  227  with a no-acknowledgement indication to controller  210  via transceiver  212 . For example, method  700  may send the no-acknowledgment indication in one or more of the following situations: when message  213  is invalid, when message  213  does not authenticate, and when message  213  contains an unrecognized or invalid command. Method  700  then terminates and is invoked when a next message  213  is received. 
     Autonomous Capable Gladhands &amp; Electrical Connections 
     U.S. Pat. No. 11,099,560 describes a tractor with an autonomous arm for automatically connecting the tractor gladhand to the connector on the trailer and further illustrates adapters for making such autonomous connections easier. For example, FIG. 65 of U.S. Pat. No. 11,099,560 shows a glad hand adapter arrangement  6500  having an integrated shuttle valve  6510  that does not dictate direct replacement of a stock trailer glad hand. Rather, the adapter arrangement  6500  employs a trailer-side glad hand  6520 , which can be semi-permanently attached to the trailer glad hand connection. It is interconnected via an integral shuttle valve  6510  to a pair of ports  6530  and  6540  and the shuttle valve selectively routes pressurized air to the trailer-side glad hand  6520  from the connected port. The ports include a conventional truck side glad hand connector  6532  and a tool-engaged autonomous (e.g., nipple) connector  6542 . Although this adapter improves autonomous connection, it only connects to a single air supply from the tractor. 
       FIG.  9    is a schematic diagram illustrating a front end  902  of a trailer  904  fitted with an example single autonomous-capable socket  906  that combines two air and multiple electrical connections into a single connector. In general, conventional glad hand(s) are mounted in a panel located anywhere on, and typically along the lower portion of, front end  902 . Autonomous-capable socket  906  replaces (or is included as well as) conventional gladhand (emergency air and service air) connections and electrical connector(s) that are used to provide air and electrical power to trailer  204 . The conventional gladhand emergency air and service air connectors and the electrical connector provide a challenge for autonomous vehicles hitching to the trailer, since connecting to each of the conventional gladhand air connectors and the electrical connector is difficult to automate. The conventional electrical connector found on legacy trailers is particularly difficult to interface with autonomously because it has a spring-loaded cover that must be lifted before making the connection. One improvement to such electrical connectors to improve autonomous capability would be a mechanical lever that raises the spring-loaded cover during coupling. 
     Advantageously, autonomous-capable socket  906  is a single connector that includes with two independent air couplings and multiple electrical connections. The use of a single connector makes autonomous coupling easier than using multiple conventional glad hand air and electrical connectors. Where tractors are updated to include a corresponding single connector, autonomous-capable socket  906  may replace the conventional glad hand and electrical connectors on the trailer. However, where tractors with conventional multiple gladhand and electrical connectors will also couple with the trailer, autonomous-capable socket  906  may be added in parallel to the conventional glad hand and electrical connectors. Advantageously, autonomous-capable socket  906  provides autonomous mating capabilities while retaining current functionality for OTR drivers. Where an OTR tractor is adapted to couple with autonomous-capable socket  906 , the operator has only to make a single connection when hitching to the trailer. 
     Autonomous-capable socket  906  may have a distinct shape that is easily detected by an autonomous system of the tractor, allowing an autonomous glad hand to be aligned with, and inserted into, autonomous-capable socket  906 . In certain embodiments, autonomous-capable socket  906  may include one or more other features that facilitate the autonomous system of the tractor connecting thereto. For example, autonomous-capable socket  906  may include one or more fiducial markers (see  FIG.  11   ) that are used by optical detection and alignment components of the autonomous system of the tractor to identify and determine pose of autonomous-capable socket  906 . The fiducial markers may be one or more computer vision tags such as AR tag, ArUco tag, April tags, and so on. The autonomous-capable socket  906  may also, or alternatively, include at least one reflector at a known position, and/or may include RFID or other electromagnetic emitters (passive or active). 
     Autonomous-capable socket  906  may have one or more alignment features that assist with physical alignment and coupling during the connection process. For example, autonomous-capable socket  906  may include one or more of a chamfer, a hole, a pin, a surface draft, a contour, and other alignment features. 
     Where autonomous-capable socket  906  is provided as well as conventional gladhand couplings, the air supplies may couple through a shuttle valve that allows either air supply to provide air to trailer  904 . In another embodiment, autonomous-capable socket  906  is similar to one or more of a quick disconnect fitting, a face seal, and may be compatible with an autonomous friendly gladhand (e.g., a gladhand that is designed for robotic arm manipulation). Accordingly, autonomous-capable socket  906  may operate in parallel or in addition to existing gladhands and electrical hookups on legacy trailers. 
       FIG.  10    shows autonomous-capable socket  906  of  FIG.  9    in further example detail.  FIG.  11    shows autonomous-capable socket  906  with four fiducial markings  1102  that facilitate autonomous coupling. For example, the fiducial markings  1102  facilitate recognition of autonomous-capable socket  906  by computer vision of the robotic arm and facilitates alignment of the robotic arm to couple the autonomous friendly gladhand to autonomous-capable socket  906 . Autonomous-capable socket  906  may have more or fewer fiducial markings  1102  without departing from the scope hereof In the embodiments shown in  FIGS.  9 ,  10  and  11   , autonomous-capable socket  906  is circular, having concentric contacts and apertures that allow for connection at any orientation. However, autonomous-capable socket  906  may be formed in other shapes without departing from the scope hereof. 
     In the example of  FIG.  10   , autonomous-capable socket  906  includes a chamfered outer casing  1002 , a plurality of circular electrical contacts  1004 , a service-brake aperture  1006  and an emergency-brake aperture  1008 . Order, size and shape of each connector and aperture may vary without departing from the scope hereof. Chamfered outer casing  1002  may include a latch recess  1010  that allows an autonomous-capable plug (not shown) to latch in place. 
     Autonomous-capable socket  906  may have a latch mechanism that behaves similarly to conventional gladhand connections and decouples when excessive force is applied. 
     Combination of Features 
     Features described above as well as those claimed below may be combined in various ways without departing from the scope hereof. The following enumerated examples illustrate some possible, non-limiting combinations: 
     (A1) A trailer control box includes: a power source; a wireless transceiver coupled with the power source; an air reservoir; an air compressor electrically coupled with the power source and fluidly coupled with the air reservoir; an emergency-brake valve fluidly coupling the air reservoir to an emergency air input of a brake actuator of a trailer; a service-brake valve fluidly coupling the air reservoir to a service air input of the brake actuator; and at least one compute node electrically coupled with the power source, the wireless transceiver, the emergency-brake valve, and the service-brake valve and having memory storing machine readable instructions that when executed by the at least one compute node, cause the trailer control box to: receive a brake control message from a device external to the trailer control box via the wireless transceiver; and control at least one of the emergency-brake valve and the service-brake valve based on the brake control message. 
     (A2) In embodiments of (A1), the service-brake valve being proportional and capable of proportionally applying service-brakes of the trailer. 
     (A3) In either of embodiments (A1) or (A2), the device being a controller located on an autonomous tractor. 
     (A4) In any of embodiments (A1)-(A3), the power source comprising a rechargeable battery. 
     (A5) Any of embodiments (A1)-(A4) further including a solar charger unit for recharging the rechargeable battery. 
     (A6) Any of embodiments (A1)-(A5) further including a regenerative brake charger for recharging the rechargeable battery. 
     (A7) Any of embodiments (A1)-(A6) further including a fifth wheel electrical coupling plate with electrical contacts connectable with electrical bushes of a fifth wheel of a tractor to receive electrical power to charge the rechargeable battery. 
     (A8) Any of embodiments (A1)-(A7) further including a fifth wheel magnetic coupling plate for receiving electromagnetic energy from a tractor to charge the rechargeable battery. 
     (A9) Any of embodiments (A1)-(A8) further including a plurality of electrical switches each controllably coupling at least one of a plurality of lights to the power source, wherein each of the plurality of lights is mounted on the trailer; and the memory further comprising machine-readable instructions that when executed by the at least one compute node cause the trailer control box to: 
     (A10) Any of embodiments (A1)-(A9) further including at least one rear facing sensor positioned at a back end of the trailer and electrically coupled to the at least one compute node, the memory further storing machine readable instructions that when executed by the at least one compute node, cause the trailer control box to: 
     (A11) In any of embodiments (A1)-(A10), the memory further storing machine readable instructions that when executed by the at least one compute node, cause the trailer control box to send a video feed to the device external to the trailer control box via the wireless transceiver when the at least one rear facing sensor is a camera. 
     (A12) Any of embodiments (A1)-(A11) further including at least two first electrical contacts positioned at a rear end of the trailer and electrically connected to the power source, the at least two first electrical contacts electrically contacting at least two second electrical contacts positioned at a trailer loading dock or parking spot, wherein the at least two second electrical contacts provide power to the power source. 
     (A13) Any of embodiments (A1)-(A12) further including a first electromagnetic coil positioned at a rear end of the trailer for electromagnetically coupling with at a second electromagnetic coil positioned at loading dock or parking spot, wherein the second electromagnetic coil transfers electromagnetic power to the first electromagnetic coil to charge the power source. 
     (A14) Any of embodiments (A1)-(A13) further including a first electromagnetic coil positioned around a king pin of the trailer for electromagnetically coupling with a second electromagnetic coil embedded in a fifth-wheel of a tractor when the trailer is hitched to the tractor, wherein the second electromagnetic coil transfers power electromagnetically to the first electromagnetic coil to charge the power source. 
     (A15) In any of embodiments (A1)-(A14), the trailer control box is integrated with a refrigeration unit of the trailer to share a common power source. 
     (A16) In any of embodiments (A1)-(A15), the memory further storing machine readable instructions that when executed by the at least one compute node, cause the trailer control box to control operation of the refrigeration unit based on at least one temperature sensed within the trailer. 
     (A17) In any of embodiments (A1)-(A16), the memory further storing machine readable instructions that when executed by the at least one compute node, cause the trailer control box to send the at least one temperature to the device external to the trailer control box via the wireless transceiver. 
     (B1) A trailer control box includes: a power source; a wireless transceiver coupled with the power source; an emergency-brake switch electrically connected between the power source and emergency-brake input of an electrical brake actuator of a trailer; a service-brake switch electrically connected between the power source and a service-brake input of the electrical brake actuator; and at least one compute node coupled with the power source, the wireless transceiver, the emergency-brake switch, and the service-brake switch and having memory storing machine readable instructions that when executed by the at least one compute node, cause the trailer control box to: receive a brake control message from a device external to the trailer control box via the wireless transceiver; and control at least one of the emergency-brake switch and the service-brake switch based on the brake control message. 
     (B2) In embodiments of (B1), the device being a controller located on an autonomous tractor. 
     (B3) Either of embodiments (B1) or (B2) further including a plurality of electrical switches each controllably coupling the power source to at least one of a plurality of lights mounted on the trailer; and the memory further comprising machine-readable instructions that when executed by the at least one compute node cause the trailer control box to: 
     (B4) Any of embodiments (B1)-(B3) further including at least one rear facing sensor positioned at a back end of the trailer and electrically coupled to the at least one compute node, whereby the at least one compute node processes sensor data from the at least one rear facing sensor to detect objects positioned behind the trailer. 
     (B5) Any of embodiments (B1)-(B4) further including at least two first electrical contacts positioned at a rear end of the trailer and electrically connected to the power source, the at least two first electrical contacts electrically contacting at least two second electrical contacts positioned at a trailer loading dock or parking spot, wherein the at least two second electrical contacts provide power to the power source. 
     (B6) Any of embodiments (B1)-(B5) further including a first electromagnetic coil positioned at a rear end of the trailer for electromagnetically coupling with at a second electromagnetic coil positioned at a trailer loading dock or a parking spot, wherein the second electromagnetic coil transfers electromagnetic power to the first electromagnetic coil to charge the power source. 
     (B7) Any of embodiments (B1)-(B6) further including an electrical coupling plate positioned around a king pin of the trailer and having at least two first electrical contacts for electrically coupling with at least two second electrical slip rings embedded in a fifth-wheel of a tractor when the trailer is hitched to the tractor, wherein the at least two second electrical slip rings provide electrical power to the power source. 
     (B8) Any of embodiments (B1)-(B7) further including a first electromagnetic coil positioned around a king pin of the trailer for electromagnetically coupling with a second electromagnetic coil embedded in a fifth-wheel of a tractor when the trailer is hitched to the tractor, wherein the second electromagnetic coil transfers power electromagnetically to the first electromagnetic coil to charge the power source. 
     (C1) A method for wirelessly controlling a trailer from a device external to the trailer includes: receiving a message from a controller located at the device; controlling an emergency-brake valve based on the message when the message is an emergency-brake command; controlling a service-brake valve based on the message when the message is a service-brake command; and controlling at least one switch to operate trailer lights based on the message when the message is a light command. 
     (D1) An autonomous-capable socket for a trailer includes: an outer casing; a plurality of electrical connectors; a service-brake air aperture; and an emergency-brake air aperture. 
     (D2) In embodiments of (D1), the outer casing being chamfered. 
     (D3) In either of embodiments (D1) or (D2), the outer casing, the plurality of electrical connectors, the service-brake air aperture, and the emergency-brake air aperture being circular and concentric. 
     (D4) Any of embodiments (D1)-(D3) further including at least one fiducial marking to facilitate autonomous coupling of an autonomous friendly gladhand with the autonomous-capable socket, wherein the at least one fiducial marking provides identification of the autonomous-capable socket and facilitates visual alignment of the autonomous friendly gladhand with the autonomous-capable socket. 
     (D5) Any of embodiments (D1)-(D4) further including at least one of a reflector at a known position, an RFID emitter, a passive electromagnetic emitter, and an active electronic emitter. 
     Changes may be made in the above methods and systems without departing from the scope hereof. It should thus be noted that the matter contained in the above description or shown in the accompanying drawings should be interpreted as illustrative and not in a limiting sense. The following claims are intended to cover all generic and specific features described herein, as well as all statements of the scope of the present method and system, which, as a matter of language, might be said to fall therebetween.