Curb detection system for commercial vehicles

A feature avoidance system for a vehicle comprising:

• at least one ultrasonic sensor disposed on a vehicle and communicatively coupled to a vehicle controller;
• a wheel position sensor configured to detect or determine a position of a wheel, wherein the position of the wheel is provided on a trailer articulatable relative to a tractor;
• a dynamic vehicle model stored in said controller, the dynamic vehicle model being a computer model of current and expected dynamic vehicle component positioning including the position of the wheel, wherein the dynamic vehicle model is configured to be adjusted based upon the detected or determined position of the wheel;
• an analysis module configured to cause at least one of the controller and a remote processing system to identify a feature at least partially via data from the at least one ultrasonic sensor, wherein the feature is identified from the ultrasonic sensor data using a simultaneous localization and mapping (SLAM) modeling technique to model the environment, compare a predicted feature position and an estimated position of the wheel along a predicted wheel placement path, and generate an output in response to the estimated position of the wheel of the predicted wheel placement path intersecting with the predicted feature position.