485results about "Trailer steering" patented technology

A combination vehicle includes a tractor including a steered wheel and a trailer towed by the tractor. A control device for the combination vehicle includes a control unit. The control unit is configured to, when a reverse operation of the combination vehicle is performed, assist a reverse operation of the trailer by causing a controlled variable to follow a target value of reverse control that is set through a specific operation by an operator. The control unit is configured to execute a process of limiting the target value and a process of limiting a time rate of change in the target value from a viewpoint of suppressing occurrence of a jackknife phenomenon.

An auxiliary hydraulic system including an accumulator, a control valve, and a hydraulic connector. The accumulator connects to a primary hydraulic system including a hydraulic pump, a brake circuit, and a steering circuit. The control valve selectively allows or prevents flow from an accumulator to at least one of the brake circuit and the steering circuit. The hydraulic connector selectively connects an external source to the accumulator and the control valve.

A method of operating a tow vehicle and a trailer includes identifying at least one of transient state of operating characteristics or steady state operating characteristics. A transient state based estimation is performed if the transient state operating characteristics are identified to determine a transient state based effective trailer wheelbase and a towbar length and a steady state based estimation is performed if the steady state operating characteristics are identified to determine a steady state based effective trailer wheelbase. An estimated effective trailer wheelbase is determined relative to the tow vehicle based on at least one of the transient state based effective trailer wheelbase and the steady state based effective trailer wheelbase. The tow vehicle and the trailer are maneuvered based on the estimated effective trailer wheelbase.

A control device is applied to a combination vehicle including a tractor and a trailer that is towed by the tractor. The control device is configured to perform a state quantity acquisition process, a predicted trajectory information calculation process, and a display process. The state quantity acquisition process is a process of acquiring a state quantity of the combination vehicle. The predicted trajectory information calculation process is a process of calculating predicted trajectory information of the trailer according to the state quantity. The display process is a process of displaying the predicted trajectory information by operating a display device.

The invention relates to a semitrailer traction pin assembly (1) for an articulated vehicle, comprising a traction pin (2) defining an axis of rotation (A) wherein the traction pin (2) has a traction pin flange (3) for directly or indirectly connecting the traction pin (2) to the semitrailer. The traction pin assembly (1) further comprises an angle measuring device (15) at least partially embedded in the traction pin (2), the device having a shaft (17) rotatably mounted about the axis of rotation (A), and a transmission member (18) connected to the shaft (17), the transmission member (18) being pivotable about the axis of rotation (A).

A new articulated vehicle control method. The method comprises: S100: calculating a transverse position deviation and a yaw angle deviation on the basis of a current pose and a reference path; S200: calculating a curvature deviation on the basis of the current pose and the reference path; and S300: constructing a kinematic error model to solve for a control quantity.

A self-propelled trailer for towing by a power vehicle, comprising: a frame forming an undercarriage chassis; a tandem wheel assembly positioned under the undercarriage chassis and having a rear wheel assembly and a front wheel assembly, the tandem wheel assembly including at least one steering assembly, and at least one drive assembly, and an extension assembly moving the front wheel assembly between trailing position and a self-propelled position where the rear wheel assembly and the front wheel assembly are positioned to equally support the undercarriage chassis and where the trailer can be moved by operation of the at least one drive assembly; and having an extension device pivotably mounted to the frame at a first end and having a repositionable knuckle and a multi-use mount at a second end of the extension device.

A vehicle control device according to an embodiment includes a lateral position acquisition unit configured to acquire a lateral position of the vehicle, a feedforward control unit configured to determine a feedforward steering angle corresponding to the target yaw rate, a feedback control unit configured to determine a feedback steering angle, a steering angle determination unit configured to determine a steering angle of the vehicle, a wobble determination unit configured to detect a wobble of the vehicle based on a temporal change in the lateral position of the vehicle, and a correction unit configured to correct the feedback steering angle so that a variation amount with respect to an average value of the feedback steering angle in a most recent certain period becomes small when the wobble of the vehicle is detected by the wobble determination unit.

Visual trailer tracking for vehicle-trailer angle estimation is performed by: receiving image data from cameras positioned on a tow vehicle and rearwardly facing to capture a rearward environment of the tow vehicle that includes a connected trailer; detecting a representation of the trailer in the received image data from each of the cameras; based upon the trailer representation in the image data from each camera, selecting at least one camera from the plurality of cameras; detecting a feature of the trailer representation and a location of the trailer representation feature in the image data from the selected at least one camera; estimating a distance associated with the detected feature of the trailer representation; determining a trailer dimension based upon the estimated distance of the detected feature; and initiating a trailer-assist operation for the tow vehicle based upon the determined trailer dimension.

A control device and method for controlling a tag axle steering system, configured to steer tag axle wheels of a tag axle, are provided. The method comprises, when the steering angle of the tag axle wheels is offset from a steering angle of a neutral position of the tag axle wheels and in response to a fault signal indicating malfunction of the tag axle steering system, locking the position of the tag axle wheels at a current steering angle of the tag axle wheels. A computer program and a computer-readable medium, as well as a vehicle, are also disclosed.

A reverse control device starts reversing a combination vehicle by autonomous driving only when conditions for appropriately performing the autonomous driving are satisfied, and stably reverses the combination vehicle by the autonomous driving. The autonomous driving functions as a reverse control device and is installed in a towing vehicle of a combination vehicle in which a towed vehicle is connected to the towing vehicle, and controls the towing vehicle during autonomous reverse driving for reversing the combination vehicle by autonomous driving. The autonomous driving starts the autonomous reverse driving when towing reverse start conditions are satisfied, the towing reverse start conditions including that the speed of the towing vehicle is equal to or less than a predetermined value, and that steering torque of the towing vehicle is equal to or less than a predetermined value.

A vehicular trailering assist system of a vehicle includes a camera. The system determines a reference point at the vehicle that corresponds to a pivot axis of a trailer hitched to the vehicle. The system, using the camera, (i) determines location of a first target at the trailer and (ii) determines location of a second target at the trailer. The system, during a calibration maneuver, (i) determines a first offset based on the reference point and the location of the first target and (ii) determines a second offset based on the reference point and the location of the second target. The system determines a triangle based on (i) the reference point at the vehicle, (ii) the location of the first target and (iii) the location of the second target. The system, after completion of the calibration maneuver, determines a trailer angle of the trailer relative to the vehicle.

The present application relates to the technical field of tunnel construction, and solves the problem in the art of the deviation of a rear trailer. Provided are a rear trailer, a steering method for a rear trailer, and a shield machine. The rear trailer comprises a trailer, a rubber-coated-wheel traveling mechanism, a main controller and a sub-controller, wherein the sub-controller is configured to acquire the value of the tilt angle of the trailer when the trailer tilts, and the sub-controller is further configured to determine the magnitudes of the value of the tilt angle of the trailer and the actual deviation value of the trailer, and adjusts the value of the tilt angle of the trailer, such that the value is less than or equal to a target deviation correction value. The present application can perform deviation correction on a rear trailer in real time, thereby avoiding the problem of the deviation of the rear trailer, and ensuring that the rear trailer moves forward along a preset route. Moreover, the apparatus in the present application is applicable to direction adjustment of rear trailers in different types of tunnels.

A vehicle employs a method of towing a trailer. A speedometer measures a current velocity of the vehicle. A hitch length sensor obtains a current trailer length of the trailer. A steering angle sensor measures a steering wheel angle of a steering wheel of the vehicle. A processor determines a velocity difference between the current velocity of the vehicle and a nominal velocity of the vehicle, determines a length difference between the current trailer length and a nominal trailer length, calculates a dynamic steering ratio based on the length difference and the velocity difference, determines a road wheel angle for the vehicle from the steering wheel angle and the dynamic steering ratio, and controls a road wheel actuator to obtain the road wheel angle to steer the vehicle.

A trailer platform system with independent propulsion and control includes a steerable first axle connected to a pair of first wheels, a second axle connected to a pair of second wheels, and at least one electric traction motor configured to drive the steerable first axle and / or the second axle. A high voltage battery system is configured to power the at least one electric traction motor. A load platform is supported by a chassis and a suspension, wherein the load platform is a wagon-style platform with the first and second wheels located at the four corners of the load platform. A lead vehicle hitch connection is configured to removably couple to a lead vehicle.

A method of determining a trailer axle count and axle location for a trailer relative to a vehicle. The method includes receiving vehicle operating characteristics from at least one sensor on the vehicle and determining if the vehicle encountered a bump on a roadway based on at least one of the vehicle operating characteristics. The method determines if at least one trailer axle encountered the bump and analyzes a relative time difference between when the vehicle encountered the bump and when the at least one trailer axle encountered the bump. The method utilizes the relative time to determine a trailer axle count and estimate a location of the at least one trailer axle relative to the vehicle.

The invention relates to a bending angle sensor arrangement (10) for a vehicle combination (100) comprising a towing vehicle (1) and a towed vehicle (2), wherein the bending angle sensor arrangement (10) can be arranged between the towing vehicle (1) and the towed vehicle (2) and comprises at least: - a connecting element (11) with a third longitudinal central axis; - a first joint piece (14) on a first side of the connecting element (11); - a second joint piece (15) for connecting to the towed vehicle (2), wherein the first joint piece (14) is rotatably mounted on the second joint piece (15) about a second axis of rotation (D2); - a first coupling piece (16) on a second side of the connecting element (11); - a second coupling piece (17) for connecting to the towing vehicle (1), wherein the first coupling piece (16) is detachably mechanically connectable to the second coupling piece (17); and - a sensor system (18) which is designed to detect a rotational position and / or a rotational movement of the first joint piece (14) about the second axis of rotation (D2) and to generate and output a sensor signal (S18), wherein the sensor signal (S18) characterizes the rotational position and / or the rotational movement of the first joint piece (14) about the second axis of rotation (D2).

A vehicular trailer guidance system includes a human machine interface provided in the vehicle and operable by a driver of the vehicle during a backing up maneuver of the vehicle with a trailer hitched thereto. The human machine interface comprises a freely rotatable rotary knob and operates (i) in a backing up trailer left-backup mode when rotated counter-clockwise, (ii) in a backing up trailer straight-backup mode when the rotary knob is pushed or pulled and (iii) in a backing up trailer right-backup mode when rotated clockwise. Responsive to selection by the driver of the left-backup mode or right-backup mode, the system sets a desired trailer angle relative to the longitudinal axis of the vehicle to an angle that is commensurate with a driver-selected setting of the rotary knob. The driver can select the straight-backup mode by pushing or pulling the rotary knob.

A method is provided that includes defining virtual objects including a vehicle, a trailer connected to the vehicle, a parking space, and a target line adjacent to the parking space. The method further includes determining a first virtual path for the trailer between a first trailer pose in the parking space and a final trailer pose outside of the parking space. The method further includes determining a second virtual path for the vehicle between a first vehicle pose in the parking space and a final vehicle pose outside of the parking space by using kinematic parameters to relate movement of the trailer when moving along the first virtual path to movement of the vehicle. The method further includes generating one or more control signals that cause a physical vehicle connected to a physical trailer to move in a physical space.

The utility model provides a transfer trolley used for transporting pipes, which comprises a chassis, a driving wheel arranged on the chassis and a supporting mechanism used for placing the pipes, the supporting mechanism comprises a bearing piece fixedly connected on the chassis and a pipe support arranged on the bearing piece and used for clamping the pipes, the driving wheel is arranged on the chassis, the driving wheel is arranged on the chassis, and the pipe support is arranged on the bearing piece and used for clamping the pipes. The transfer trolley further comprises a traction piece fixed to one end of the chassis.

The utility model relates to the technical field of lifting equipment, in particular to a square cabin lifting walking device. The lifting walking device comprises a traction mechanism and two walking mechanisms, each walking mechanism comprises an installation base, a steering base, a lifting assembly and wheels, the steering bases are rotationally installed on the installation bases, and the wheels are rotationally installed on the steering bases. The traction mechanism comprises a traction cross rod, a swing rod and two pull rods, the two ends of the traction cross rod are connected with the two installation bases in a one-to-one correspondence mode, the first end of the swing rod is hinged to the traction cross rod, the first ends of the two pull rods are hinged to the second end of the swing rod, and the second ends of the two pull rods are hinged to the two steering bases in a one-to-one correspondence mode. In the using process, when the traction direction of the traction swing rod is changed, the swing rod can be driven to deflect, and the swing rod synchronously drives the two wheels to steer synchronously through the two pull rods. The wheel can be prevented from deflecting in any direction, so that abrasion of the wheel is reduced, the service life of the wheel is prolonged, and the service life of the lifting walking device is prolonged.

A trailer backup assist system and method are disclosed that utilize a steer-by-wire architecture and advanced control algorithms to enable intuitive and stable trailer reversing. A hitch angle determination module measures or estimates the angular relationship between a towing vehicle and a trailer. A proportional controller computes a desired hitch angle rate based on the difference between a target and current hitch angle, and a processing unit converts this rate to a front wheel steering angle using a linearized kinematic model. The system includes a trailer length estimator that passively infers trailer geometry during motion, and optionally applies torque feedback to the steering wheel to guide the driver. Sensor fusion from inertial sensors, mechanical linkages, or vision-based systems enables flexible hitch angle estimation. Experimental results demonstrate that the system stabilizes trailer motion with reduced driver input and prevents jackknifing through adaptive control.

A computer system (700) comprising processing circuitry (702) configured to estimate an articulation angle for a combination vehicle (100) is provided. A second vehicle unit (2) is connected to a first vehicle unit (1) at a first coupling point (cpi) forming a first articulation angle. The processing circuitry (702) is configured to estimate the first articulation angle (ψ1) based on a first indication, a longitudinal speed (vx1) along a first longitudinal axis (axi) of the first vehicle unit (1), a wheelbase length (lwb2) of the second vehicle unit (2), and a coupling length (lc1) between a rear axle group (ragi) of the first vehicle unit (1) and the first coupling point (cp1). The first indication is indicative of a first yaw rate (ωz1) of a first vehicle unit (1) and / or of a towing articulation angle (ψ0) between the first vehicle unit (1) and a towing vehicle unit (0).

A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle and viewing at least rearward of the vehicle, and an electronic control unit (ECU), which includes an image processor for processing image data captured by the camera. The ECU executes a deep convolutional neural network (CNN) to determine, via processing of image data captured by the camera, presence of a trailer rearward of the vehicle. The CNN, responsive to processing of image data captured by the camera, determines a position of a trailer relative to the vehicle. The CNN, responsive to determining the position of the trailer, classifies the trailer into a trailer category. The ECU, responsive to the CNN determining the position of the trailer, generates an output based on the trailer classification to autonomously control the vehicle to align the vehicle with the trailer and navigate the vehicle toward the trailer.

The disclosure relates to a method for guiding a subject vehicle (1) along a travelling path (R), comprising: obtaining (S1) recorded surface pattern information (Ppattern1,..., PpatternN) associated with the travelling path (R), obtaining (S2) current surface pattern information (P) while the subject vehicle (1) is travelling along the travelling path (R); identifying (S3) matching patterns (Pmatch) by comparing the current surface pattern information (P) with the recorded surface pattern information (Ppattern1,..., PpatternN); determining (S4) a translational and / or a rotational deviation between the current surface pattern information (P) and the recorded surface pattern information (Ppattern1,..., PpatternN) by use of the identified matching patterns; and guiding (S5) the subject vehicle (1) along the travelling path (R) by use of the determined deviation. The disclosure also relates to a control unit (100), a vehicle (1), a computer program and to a computer readable medium carrying a computer program.

The present invention relates to an apparatus (10) for determining an angle of a trailer with respect to a vehicle. It is described to acquire (210) at least one first image by a camera fixedly mounted to a vehicle at a location other than a location of a tow ball fixedly mounted to the vehicle, wherein the location of the camera is known with respect to the location of the tow ball, wherein a part of a trailer at a position of the tow ball can rotate about the tow ball, and wherein the at least one first image is acquired when the trailer is in a first orientation with respect to the vehicle, wherein the at least one first image comprises image data of the trailer. A second image is acquired (220) by the camera when the trailer is in a second orientation with respect to the vehicle, wherein the second image comprises image data of the trailer. A processing unit is provided (230) with the at least one first image and the second image. The processing unit determines (240) at least one image location of at least one feature of the trailer in one of the at least one first image. The processing unit determines (250) at least one image location of the at least one feature of the trailer in the second image. The processing unit determines (260) a system calibration comprising utilization of triangulation with respect to the at least one image location of the at least one feature of the trailer in the one of the at least one first image and the at least one image location of the at least one feature of the trailer in the second image. The processing unit determines (270) at least one 3D location of the at least one feature of the trailer when the trailer was in the first orientation comprising utilization of the at least one image location of the at least one feature of the trailer in the one of the at least one first image and the system calibration. The camera acquires (280) a third image, wherein the third image is acquired when the trailer is in a third orientation with respect to the vehicle, wherein the third image comprises image data of the trailer. The processing unit is provided (290) with the third image. The processing unit determines (300) at least one image location of the at least one feature of the trailer in the third image. The processing unit determines (320) at least one 3D location of the at least one feature of the trailer when the trailer was in the third orientation comprising utilisation of the at least one image location of the at least one feature of the trailer in the third image and the at least one 3D location of the at least one feature of the trailer when the trailer was in the first orientation.. The processing unit determines (320) a rotational angle of the trailer about the tow ball for the trailer in the third orientation with respect to the first orientation comprising utilisation of the at least one 3D location of the at least one feature of the trailer when the trailer was in the first orientation and the at least one 3D location of the at least one feature of the trailer when the trailer was in the third orientation.