322results about "Trailer steering" patented technology

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 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).

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.

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 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).

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 vehicle hitching assistance system includes a controller illuminating one or more exterior lights directed toward a rear of the vehicle, acquiring image data from the vehicle, and searching for a trailer within an area illuminated by the one or more exterior lights. The controller further executes an automated backing process upon identifying the trailer within the area, including identifying a coupler of the trailer, and outputting a steering signal to the vehicle to cause the vehicle to steer to align a hitch ball of the vehicle with the coupler of the trailer during reversing of the vehicle toward the trailer.

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.

Agricultural implement (1) which can be towed by means of a tractor (2), wherein the agricultural implement (1) comprises a first axle (3) with wheels (5) and a second axle (4) with wheels (5) arranged behind the first axle (3), where the first axle (3) and the second axle (4) are steerable axles and wherein in a first driving state (FZ1) the first axle (3) and the second axle (4) have steering angles (16, 17) in the same direction and in a second driving state (FZ2) the first axle (3) and the second axle (4) have steering angles (16, 17) in opposite directions, wherein it is possible to change from the first driving state (FZ1) to the second driving state (FZ2) and from the second driving state (FZ2) to the first driving state (FZ1), characterized by the fact that a sensor unit (6) is provided, wherein a steering angle (16) of the first axle (3) and / or a steering angle (17) of the second axle (4) can be determined by means of the sensor unit (6) and its sensor data, wherein if a required steering angle (16) of the first axle (3) and / or a required steering angle (17) of the second axle (4) is greater than a maximum possible steering angle of the respective axle (3, 4), a change from the first driving state (FZ1) to the second driving state (FZ2) can be made.

A vehicle trailer assist system (24) is configured to display a plurality of target areas (58A-D, 68A-E) to a vehicle operator for the vehicle operator to select. The vehicle operator selects a target area (58A-D, 68A-E) on a trailer (22) for tracking and using in determining a relative orientation with the vehicle (20). The system records selected target area (58A-D, 68A-E) and determines a relative orientation between a trailer (22) and a tow vehicle (20) based on a relative position between the features in the selected target area (58A-D, 68A-E) on the trailer (22) and the tow vehicle (20).

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 .