211results about "Trailer steering" patented technology

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 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.

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.

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.

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.

To provide a precise docking control method and a vehicle system for drawing a 4-wheel steering vehicle sideways to stop.SOLUTION: A precise docking control method for drawing a vehicle (2) including at least a 4-wheel steering vehicle whose rear wheels are steered in an opposite phase to a platform (15) sideways to stop, executes preliminary control for setting a virtual platform (159) virtually extending along a stopping direction being a direction of the vehicle (2) when the vehicle (2) is drawn to the platform (15) sideways to stop to a position that is the front side of the platform (15), and drawing the vehicle (2) to the virtual platform (159) sideways before control for drawing the vehicle (2) to the platform (15) sideways to stop.SELECTED DRAWING: Figure 7

A tugger cart system used in an industrial setting, including a tugger cart and a controller. The tugger cart includes a tugger frame, a bay that is dimensioned to receive a rider cart, a platform configured to secure a rider cart within the bay, and at least one motor that pivots a plurality of wheels from side to side to steer the plurality of wheels. The tugger frame further includes a connector bracket that pivots from side to side along a vertical axis. The connector bracket is configured to attach the tugger frame to an adjacent tugger cart or tugger truck. A sensor system senses a degree that the connector bracket is pivoted relative to the tugger frame and generates an electronic signal. The controller receives the electronic signal from the sensor system and controls the motor to steer the plurality of wheels based on the electronic signal.

A control unit for reversing a vehicle-trailer combination toward a target location, wherein the vehicle and the trailer each are equipped with driven wheels, and wherein the control unit is configured to: obtain sensor data, wherein the sensor data comprises an angular offset α of the trailer relative to the target location; determine whether the angular offset α of the trailer relative to the target location is within a predetermined alignment margin; and shift propulsion control to the driven wheels of the trailer for movement toward the target location in response to the angular offset α of the trailer being within the predetermined alignment margin.

An articulated vehicle (10) includes a tractor (20) and a trailer (30). A control device for the articulated vehicle is configured to execute a setting process and a non-transmission steering process. The setting process is a process of setting a target steered angle of the non-transmission steered wheel, using a value of a trailer sway variable as an input. The trailer sway variable includes at least one of the following two variables: a variable indicating behavior of the yaw angle of the articulated vehicle, and a front-wheel steered angle variable. The front-wheel steered angle variable is a variable indicating a steered angle of a steered front wheel of the tractor. The non-transmission steering process is a process of steering the non-transmission steered wheel in accordance with the target steered angle set by the setting process.

A method of displaying a trailer of a vehicle includes: capturing a tractor image and a trailer image from a tractor camera and a trailer camera, respectively; identifying a trigger event relating to a loss of a view of at least a portion of the trailer in the tractor image; splicing the tractor image and the trailer image together; and in response to a trigger event, displaying a trailer image using the stitched tractor and trailer images to maintain a view in which at least a portion of the trailer is present.

An articulated vehicle includes a tractor and a trailer that is towed by the tractor. A computation device (50) of the articulated vehicle is configured to execute curvature variable acquisition processing, trailer length variable acquisition processing, and virtual steering angle calculation processing. The curvature variable acquisition processing is processing of acquiring a value of a curvature variable. The curvature variable is a variable indicating a curvature of a path of travel of the trailer. The trailer length variable acquisition processing is processing of acquiring a value of a trailer length variable. The trailer length variable is a variable indicating a length of the trailer. The virtual steering angle calculation processing is processing of calculating a virtual steering angle using the value of the curvature variable and the value of the trailer length variable as inputs. The virtual steering angle is an angle indicating a displacement direction of a linking point between the trailer and the tractor.

A trailer is equipped with an operating unit (52) that is mechanically linked to a steered wheel (22) and an actuator (60) for steering the steered wheel. A control device (80) of the articulated vehicle is configured to execute acquisition processing and steering control processing. The acquisition processing is processing of acquiring vehicle speed and an angle detection value. The angle detection value is a detection value of a value of an angle variable related to steering of the articulated vehicle, and is detected by a sensor. The steering control processing is processing of operating the actuator based on the angle detection value as an input variable, and also includes vehicle speed dependent processing. The vehicle speed dependent processing is processing of reducing responsivity of a manipulated variable of the actuator with respect to change in the angle detection value in a case in which the vehicle speed is low as compared to a case in which the vehicle speed is high.

A system for controlling the motion of an articulated vehicle having one or more trailers is described. The system is configured to estimate a state of the vehicle, determine a motion path having forward and reverse motion of the vehicle based on the state, and formulate an optimal control problem to optimize the motion path. The optimal control problem includes an integrated tracking error function that indicates an integrated tracking error based on a motion cusp associated with the motion path. The motion cusp indicates a switch between forward and reverse motion. The motion path is optimized over a prediction horizon based on solving the optimal control problem. Control commands for the vehicle are generated based on the optimized motion path and a vehicle model, and the motion of the articulated vehicle is controlled based on the control commands to change its state.

Trailer resetting system (100) in a vehicle (10) for automatically adjusting the vehicle dynamics while the vehicle (10) is coupled to a trailer (50, 450) to reduce the probability of trailer (50, 450) jackknifing, wherein the trailer resetting system (100) comprises a control (34) configured as follows: To obtain trailer profile information (201, 404); to obtain a dynamic vehicle steering angle, δ, (203, 412) and a dynamic trailer coupling articulation angle, θ, while the vehicle (10) is moving backwards; continuously maintains a maximum safe vehicle speed, v max, (207, 306, 414) to calculate with which reversing is possible without buckling, based on the trailer profile information (201, 404), of δ, of θ, a predetermined safe time until buckling, TTJ_ne, (410) and a maximum trailer coupling articulation angle, θ FK , (209, 406), where TTJ_ne is a calibratable time value that specifies a time safety margin before the occurrence of a buckling state is predicted; a current vehicle longitudinal speed, v, (211) with v max to compare; to automatically generate a speed correction signal (213) to cause the vehicle (10) to reduce speed below v max to slow down when v the v max exceeds; and to send the speed correction signal (213) to a vehicle motion control system to instruct the vehicle motion control system to adjust v below v maxto reduce, wherein the vehicle motion control system controls suitable vehicle actuators to reduce v, wherein the trailer profile information (201, 404) includes a vehicle wheelbase, L, a distance, d, between the rear axle of the vehicle (10) and the coupling point, and a trailer rear axle spacing, D, wherein: V max = LTTJ _ ne ⋅ E ln ( | [ ( C − B ) tan θ JK 2 + ( A − E ) ] [ ( C − B ) tan θ JK 2 + ( A + E ) ] [ ( C − B ) tan θ 2 + ( A + E ) ] [ ( C − B ) tan θ 2 + ( A − E ) ] | ) , A = LD , B = d D tan δ , C = tan δ , E = A 2 + B 2 − C 2 , d θ dt = VL [ tan δ ( 1 + d D cos θ ) + LD sin θ ] , if d θ dt If positive, then θ JK = θ JK , and if d θ dt If negative, then θ JK = -θ JK .

The present invention provides a driver assistance device that enables easy selection of a towed vehicle from multiple candidate vehicles on a vehicle selection screen displayed on a display device when providing driver assistance to a towing vehicle that is towing a towed vehicle. [Solution] A driving support device 1 that assists the occupant (user) in the towing vehicle 2, displays a vehicle selection screen 71 on a liquid crystal display 15 for selecting a towed vehicle 3 to be towed by the towing vehicle 2 from one or more candidate vehicles 40, and provides support using information about the towed vehicle, with the candidate vehicle 40 selected by the user on the vehicle selection screen 71 being used as the towed vehicle 3 to be towed by the towing vehicle 2, while the vehicle selection screen 71 is configured to display a candidate vehicle image 41, which is an image of the candidate vehicle captured by a rear camera 9, for each candidate vehicle to be selected.

Modular kinematic steering device, for installation on at least a first module and module of a system of modular vehicles, each module including at least two axes, for each axis, a kinematic steering mechanism adapted to move wheels connected to the axis, a rudder for controlling the kinematic steering mechanism, arranged transversely relative to the axes, the rudder constrainable to the mechanism to transmit rudder motion to the wheels by the mechanism, the rudder defining a variable steering ratio relative to each axis, a mechanism locking device, to make one of the axes a fulcrum rotation of the rudder rigidly connecting the mechanism with the rudder, wherein the first module includes a first rudder having first and second distal ends and the second module includes a second rudder having first and second distal ends, and the distal ends countered and / or counter-shaped to be rigidly connected to each other.

A method is disclosed for motion control of a vehicle based on artificial flow guidance (AFG) in relation to a reference path. A plurality of tracking points are defined in relation to the vehicle, and the method comprises using (210) AFG to determine a target acceleration value for each tracking point, and determining (220) a desired acceleration value for each tracking point based on the target acceleration values and on a structural constraint between the tracking points. The method also comprises causing (230) motion control of the vehicle based on the desired acceleration values. In some examples, the method comprises limiting the target acceleration value by application (218) of a target acceleration saturation threshold. Corresponding computer system, a vehicle, a computer program product, and a non- transitory computer-readable storage medium are also disclosed.

A computer system and computer-implemented method for estimating lateral slip losses in a vehicle performing a manoeuvre are provided. The computer system comprises processing circuitry configured to acquire a lateral slip resistance coefficient for the vehicle, acquire parameters of the manoeuvre to be performed by the vehicle, including a vehicle speed, a vertical force on one or more axles of the vehicle, and a turning radius, and estimate lateral slip losses for the vehicle based on the acquired lateral slip resistance coefficient and the acquired parameters of the manoeuvre.

A method includes controlling an exterior turn signal indicator to provide a turn signal for a predetermined duration in response to a tap of a turn signal by an operator of a vehicle, the turn signal being visible to operators of other vehicles, determining an intended driving maneuver of the vehicle by the operator, and determining a position of the vehicle relative to the intended driving maneuver. The method also includes determining, based on the intended driving maneuver and the position, a turn indication score representing whether the intended driving maneuver is complete, controlling the exterior turn signal indicator to continue the turn signal beyond the predetermined duration based on the turn indication score meeting a criterion, and controlling the exterior turn signal indicator to discontinue the turn signal based on the turn indication score not meeting the criterion.

A control device, a control method, and a control program are provided that can easily grasp the travel route of a moving body or a trailer. [Solution] The vehicle includes an external environment information acquisition unit (55) that acquires external environment information about a vehicle (10) towing a trailer (60), and a display control unit (56) that displays a peripheral image (5) of the vehicle (10) based on the external environment information. The display control unit (56) superimposes a guide image on the peripheral image (5) when the vehicle (10) is able to make a first movement. The guide image includes a first guide image (71) that shows a first movement path (73a, 73b) for at least one of the vehicle (10) and the trailer (60) when the vehicle (10) makes a first movement from its current position, and second guide images (72a, 72b) that show a second movement path (74) for at least one of the vehicle (10) and the trailer (60) when the vehicle (10) makes a second movement from a position on the first movement path (73a, 73b) where the relative angle between the vehicle (10) and the trailer (60) is 0 degrees.

Method for operating a reversing assistant (12) for a vehicle (1) with a coupled trailer (2), wherein the reversing assistant (12) performs lateral guidance of the vehicle (1) by adjusting a front wheel angle of the front wheels (6) of the vehicle (1) and by adjusting a rear wheel angle of the rear wheels (8) of the vehicle (1), comprising: - Providing (S1) a target angle (20) that specifies a target articulation angle between the vehicle (1) and the trailer (2); - Determining (S2) a target front wheel angle (21) at which an articulation angle between the vehicle (1) and the trailer (2) corresponds at least substantially to the target angle (20) by applying a front wheel angle determination criterion (22) to the provided target angle (20); - Setting (S3) and holding the determined target front wheel angle (21); - Check (S4) whether a deviation (23) greater than 0 between the articulation angle and the target angle (20) can be detected when the target front wheel angle (21) is held; - if this is the case, determine (S5) a target rear wheel angle (24) at which the deviation (23) is at least reduced by applying a rear wheel angle determination criterion (25); and - Setting (S6) the determined target rear wheel angle (24).

Method (400) for determining a motion path (203) of a movable object (100, 233) comprising a basic object (100) and a kinematically relevant addition (233) to the basic object (100), wherein a motion of the basic object (100) is described by a plurality of basic state variables (222, 223, 224) and a motion of the addition (233) by an addition state variable (225), wherein the method (400) comprises - Determine (401) a plurality of basic maneuvers (211) for the basic object (100), wherein each basic maneuver (211) comprises a progression of the plurality of basic state variables (222, 223, 224) from a starting point to an endpoint of the basic maneuver (211), wherein the plurality of basic maneuvers (211) is determined such that the plurality of basic state variables (222, 223, 224) assume predefined values ​​at the starting point and at the endpoint; - Modifying (402) the plurality of basic maneuvers (211) to determine a plurality of modified basic maneuvers (211) such that the values ​​of the plurality of basic state variables (222, 223, 224) remain unchanged at the start point and end point of the plurality of basic maneuvers (211), and such that the supplementary state variable (225) assumes predefined values ​​at the start point and end point of the plurality of modified basic maneuvers (211); and - Determining (403) the movement path (203) by sequencing modified basic maneuvers (211) of the plurality of modified basic maneuvers (211), characterized in that - the multitude of basic maneuvers (211) for the basic object (100) is determined such that the basic maneuvers (211) have spatial maneuver lengths that have a relative deviation from a mean of the spatial maneuver lengths of the basic maneuvers (211) of the multitude of basic maneuvers (211) of equal to or less than a predefined deviation threshold.

A system and method for operation of an autonomous vehicle (AV) yard truck is provided. A processor facilitates autonomous movement of the AV yard truck, and connection to and disconnection from trailers. A plurality of sensors are interconnected with the processor that sense terrain / objects and assist in automatically connecting / disconnecting trailers. A server, interconnected, wirelessly with the processor, that tracks movement of the truck around and determines locations for trailer connection and disconnection. A door station unlatches / opens rear doors of the trailer when adjacent thereto, securing them in an opened position via clamps, etc. The system computes a height of the trailer, and / or if landing gear of the trailer is on the ground and interoperates with the fifth wheel to change height, and whether docking is safe, allowing a user to take manual control, and optimum charge time(s). Reversing sensors / safety, automated chocking, and intermodal container organization are also provided.

The utility model discloses a reversing steering locking mechanism of a wheel steering full trailer, which comprises a frame, a turntable frame is rotatably connected below the frame, a lock hole is arranged at the lower end of the frame, a support cylinder is arranged on the turntable frame, an upper port of the support cylinder is opposite to a lower port of the lock hole, and a reversing lock rod is slidably arranged in the support cylinder. The upper end of the reversing lock rod penetrates through the lock hole in a sliding mode, a first limiting ring groove and a second limiting ring groove are formed in the upper end and the lower end of the reversing lock rod respectively, a lock pin is arranged on the supporting cylinder, a locking mechanism is arranged on the supporting cylinder, and the locking mechanism is used for driving the lock pin to be clamped in the first limiting ring groove or the second limiting ring groove; the device has the characteristics of low cost, convenience in installation, compact structure, simplicity, universality, easiness in popularization and application and the like.

A method for aligned parking of a trailer. The method includes: determining a topography of a ground surface of an environment of the trailer; determining a distance of contact points of at least two wheels of an axle of the trailer; determining at least one pair of target positions on the ground surface of the environment of the trailer, for transversely aligned parking of the trailer, on the basis of the distance of the contact points of the at least two wheels of the axle of the trailer and the topography of the ground surface of the environment of the trailer; and providing the at least one pair of target positions, for aligned parking of the trailer.

A turn signal control system and method for controlling a turn signal are provided. The turn signal control system may comprise one or more sensors, coupled to a tractor-trailer. The tractor-trailer may comprises a tractor portion and a trailer portion. The one or more sensors may be configured to detect one or more data points pertaining to a position of the tractor portion in relation to the trailer portion. The turn signal control system may comprise one or more computing devices, each comprising a processor and a memory, configured to analyze the one or more data points to determine an angle between the tractor portion and the trailer portion, and a controller configured to automatically cancel a turn signal based on one or more factors. The one or more factors may comprise the angle between the tractor portion and the trailer portion.