Method, system, and apparatus for tethered autonomous trailer with intelligent hitch device

Abstract

Methods, systems, and apparatuses are provided for a vehicle hitched to a trailer by a hitch device. The method includes generating sensor data from one or more sensors responsive to forces applied to the hitch device by a vehicle mechanically coupled to the hitch device; receiving the sensor data to calculate a direction to steer the trailer; monitoring a set of parameters reflective of forces in lateral and transverse directions derived from the data generated from the sensors, wherein the set of parameters includes at least one parameter of a magnitude of the forces and at least one parameter of a direction of the forces acting on the hitch device; and calculating at least a rate of change of the magnitude and direction of the forces over time to determine a trajectory of the trailer that enables the trailer to follow a lead vehicle without the tractive effort of the lead vehicle.

Description

Technical Field

[0001] This technical field generally relates to trailers and vehicles, and more specifically, to methods, systems, and devices for controlling self-propelled trailers, wherein the self-propelled trailer is tethered to a lead vehicle by forces applied to an intelligent coupling device caused by the movement of the lead vehicle when it is attached to the trailer via an intelligent coupling device, the intelligent coupling device being sensed by a force sensor integrated with the intelligent coupling device to enable the trailer to follow the lead vehicle. Background Technology

[0002] Today, some vehicles are equipped to perform towing operations by attaching the vehicle to a trailer while in motion. For conventional trailers, towing operations depend on the vehicle's towing capacity and the weight and load of the trailer not exceeding the vehicle's towing capacity. Therefore, a vehicle's ability to tow a conventional trailer depends on the towing capacity (i.e., pulling or dragging capacity) of the tractor unit, where the greater the tractor unit's towing capacity, the greater the towing capacity (i.e., trailer and load).

[0003] Therefore, it is desirable to provide methods, systems, and apparatus for towing trailers that eliminate the capacity limitations of the towing vehicle. Furthermore, other desirable features and characteristics of the invention will become apparent from the following detailed description and appended claims, taken in conjunction with the accompanying drawings and the background art of the invention. Summary of the Invention

[0004] According to an exemplary embodiment, a method is provided, the method comprising: generating sensor data from one or more sensors by a coupling device in communication with a trailer, the sensors being responsive to one or more forces applied to the coupling device, wherein the one or more forces are provided by a lead vehicle mechanically coupled to the coupling device; receiving the sensor data generated by the one or more sensors of the coupling device by a controller disposed within the trailer to calculate a guidance direction of the trailer, wherein the trailer is configured as a self-propelled trailer; monitoring a set of parameters by the controller reflecting one or more forces in lateral and transverse directions derived from the data generated from the one or more sensors of the coupling device, wherein the set of parameters includes at least one parameter of the magnitude of the force and at least one parameter of the direction of the force acting on the coupling device; calculating by the controller the rate of change of the magnitude and direction of the force over time, and the cumulative integral of the magnitude and direction of the force applied to the coupling device over time, the rate of change of the force direction and magnitude, and the integral force direction and magnitude based on timestamp data from the one or more sensors; and calculating by the controller a trajectory of the self-propelled trailer based on a pre-determined set of variables, the trajectory enabling the self-propelled trailer to follow the lead vehicle without relying on the traction force of the lead vehicle.

[0005] In one embodiment, the method includes outputting a calculated trajectory from the controller to the steering controller and the motor speed controller, which enables physical control of the movement of the self-propelled trailer.

[0006] In one embodiment, the method includes configuring the coupling device to communicate with a controller, thereby enabling the reception of data from one or more sensors, such that the self-propelled trailer and the coupling device can be manually guided or guided by a lead vehicle.

[0007] In one embodiment, one or more sensors include a first set of sensors and a second set of sensors, the first set of sensors monitoring forces applied to the coupling device in the lateral direction and the second set of sensors monitoring forces applied to the coupling device in the longitudinal direction.

[0008] In one embodiment, the coupling device includes a first connector and a second connector, the first connector being rotatable about a transverse axis and located at the connection point around which the coupling device is fixed to the lead vehicle, and the second connector being rotatable about a vertical axis and located at the connection point around which the coupling device is fixed to the lead vehicle.

[0009] In one embodiment, the coupling device further includes a third joint and a fourth joint, the third joint being rotatable about a longitudinal axis and located on a trailer beam extending rearward from the coupling, and the fourth joint being rotatable about a transverse axis and located at the connection between the rear of the trailer beam and the trailer body or trailer chassis.

[0010] In one embodiment, the method further includes adjusting the direction of the steering angle of a set of wheels of the trailer by a steering controller based on calculations of force direction, rate of change of direction, and integral of force direction.

[0011] In one embodiment, the method further includes adjusting the set speed of the trailer by a motor speed controller based on calculations of the magnitude of the force, the rate of change of the force, and the integral of the force, so as to minimize the magnitude of the force at the coupling device.

[0012] In one embodiment, the method further includes adjusting the set speed of the trailer by an incremental change based on a previous set speed value by a motor speed controller, so as to minimize at least one magnitude of the force exerted at the coupling device.

[0013] In another embodiment, a system is provided. The system includes: one or more sensors disposed in a coupling device to provide sensor data on a trailer coupled to a lead vehicle; and a processor configured to be coupled to the one or more sensors when on the trailer, and configured to: acquire sensor data from the one or more sensors disposed within the coupling device attached to the trailer; receive sensor data generated by the one or more sensors of the coupling device to calculate a guidance direction for the trailer, wherein the trailer is configured as a self-propelled trailer; monitor a set of parameters reflecting one or more forces in lateral and transverse directions derived from data generated by the one or more sensors of the coupling device, wherein the set of parameters includes at least one parameter of the magnitude of the force and at least one parameter of the direction of the force acting on the coupling device; calculate the rate of change of the magnitude and direction of the force over time, and the cumulative integral of the magnitude and direction of the force applied to the coupling device over time, the rate of change of the force direction and magnitude, and the integrated force direction and magnitude based on timestamp data from the one or more sensors; and calculate a trajectory of the self-propelled trailer based on a pre-determined set of variables, the trajectory enabling the self-propelled trailer to follow the lead vehicle independently of the traction force of the lead vehicle.

[0014] In one embodiment, the processor is configured to output the calculated trajectory to enable physical control of the movement of the self-propelled trailer.

[0015] In one embodiment, the processor is configured to receive sensor data to calculate orientation data, thereby guiding the self-propelled trailer when it is coupled to the vehicle without requiring the vehicle to provide power to the self-propelled trailer.

[0016] In one embodiment, the processor is configured to communicate with the coupling device to receive data from one or more sensors, enabling the self-propelled trailer and the coupling device to be manually guided or guided by a lead vehicle.

[0017] In one embodiment, the coupling device includes a first connector and a second connector, the first connector being rotatable about a transverse axis and located at the connection point around which the coupling device is fixed to the lead vehicle, and the second connector being rotatable about a vertical axis and located at the connection point around which the coupling device is fixed to the lead vehicle.

[0018] In one embodiment, the coupling device further includes a third joint and a fourth joint, the third joint being rotatable about a longitudinal axis and located on a trailer beam extending rearward from the coupling, and the fourth joint being rotatable about a transverse axis and located at the connection between the rear of the trailer beam and the trailer body or trailer chassis.

[0019] In one embodiment, the processor is configured to adjust the direction of the steering angle of a set of wheels of the trailer based on calculations of force direction, rate of change of direction, and integral of force direction.

[0020] In one embodiment, the processor is configured to adjust the set speed of the trailer based on calculations of the magnitude of the force, the rate of change of the force, and the integral of the force, so as to minimize the magnitude of the force at the coupling.

[0021] In one embodiment, the processor is configured to adjust the set speed of the trailer by incremental changes based on a previously set speed value, so as to minimize at least one magnitude of the force exerted at the coupling device.

[0022] In another embodiment, an apparatus is provided. The apparatus includes: a coupling device comprising a mechanical connection between a trailer and a vehicle; and a communication connection capable of transmitting sensor data provided by the coupling device to a processor device remotely connected to the coupling device; wherein the coupling device is configured with one or more sensors that generate sensor data to be transmitted to the processor device, wherein the sensor data is generated in response to one or more forces applied by the vehicle via the mechanical connection of the coupling device; wherein the processor device is remotely disposed in the trailer and enables control of the trailer's trajectory while operating via the communication connection to the vehicle, wherein the processor device is configured to: obtain sensor data from one or more sensors disposed within the coupling device attached to the trailer; and receive sensor data generated by one or more sensors of the coupling device. Sensor data is used to calculate the guidance direction of a trailer, wherein the trailer is configured as a self-propelled trailer; a set of parameters is monitored, which reflects one or more forces in the lateral and transverse directions derived from data generated from one or more sensors of the coupling device, wherein the set of parameters includes at least one parameter of the magnitude of the force and at least one parameter of the direction of the force acting on the coupling device; the rate of change of the magnitude and direction of the force over time is calculated, as well as the cumulative integral of the magnitude and direction of the force applied to the coupling device over time, the rate of change of the force direction and magnitude, and the integral of the force direction and magnitude based on timestamp data from one or more sensors; and a trajectory of the self-propelled trailer is calculated based on a pre-determined set of variables, which enables the self-propelled trailer to follow the vehicle independently of the vehicle's traction force.

[0023] In one embodiment, the mechanical connection is configured with a set of joints that allow movement about the frame of the mechanical connection along the lateral Y-axis, longitudinal X-axis, and Z-axis, and in response to one or more forces applied by the vehicle. Attached Figure Description

[0024] The present disclosure will be described below in conjunction with the accompanying drawings, wherein like reference numerals denote like elements, wherein:

[0025] Figure 1This is a functional block diagram of a trailer / coupling device / vehicle system according to an exemplary embodiment, the system including a trailer that is tracked and operated in coordination with a lead vehicle during travel, wherein the control system independently controls the trailer based on the force applied to the intelligent coupling device by the lead vehicle when the lead vehicle is tethered to the trailer.

[0026] Figure 2A , 2B 2C and 2D are schematic diagrams of various aspects of the smart coupling device and trailer according to exemplary embodiments, enabling control of the trailer based on the force applied to the smart coupling device by the leading vehicle when the leading vehicle is tethered to the trailer; and

[0027] Figure 3 The flowcharts are flowcharts of certain steps in the operation of various aspects of the figures 2A, 2B, 2C and 2D according to exemplary embodiments, including determining the steering angle and speed of the trailer when it is tethered to the lead vehicle based on the force applied by the lead vehicle to the smart coupling device. Detailed Implementation

[0028] The following detailed description is exemplary in nature only and is not intended to limit this disclosure or its application and use. Furthermore, it is not intended to be bound by the foregoing background information or any theories set forth in the following detailed description.

[0029] Figure 1 A schematic diagram of a travel system 10 having a tractor 101 and a trailer 100 configured according to various embodiments is shown. In various embodiments, the trailer 100 is coupled to the vehicle 101 via a coupling device 170 configured to guide and / or tow the trailer 100. In some embodiments, the coupling device 170 includes a force-sensing coupling 175, which may be configured to have a function including biaxial force sensing capability, enabling the force-sensing coupling 175 to sense at least the direction and magnitude of the force applied by the lead vehicle 101 when the trailer 100 is tethered to the lead vehicle 101 via the force-sensing coupling 175. Based on the sensed force data received by the trailer 100, the trailer 100 is configured to follow the trajectory of the lead vehicle 101 while tethered to the lead vehicle 101. Force sensing coupling device 175 provides sufficient real-time data to enable trailer 100 to operate independently or semi-independently (tracking lead vehicle 101 only when tethered) without requiring any input or electronic connection between trailer 100 and lead vehicle 101 (e.g., a standard 7-pin connector for controlling trailer braking, signals, auxiliary power coupling, and grounding connections).

[0030] In one embodiment, trailer 100 is configured as a self-propelled vehicle type trailer, which may include features of a propulsion and steering system that can drive trailer 100 to move without requiring power from lead vehicle 101, and can be guided solely by data provided by force-sensing coupling device 175. In another embodiment, the trailer controller is configured to include a tracking algorithm (in... Figure 3 (As described in the text), the algorithm receives force input data generated by one or more force sensors integrated into a force-sensing coupling device 175, which enables direction and speed commands to control the coordination between the trailer 100 and the tethered lead vehicle 101. In embodiments, the independent power operation of the trailer 100 provides the lead vehicle 101 with a greater or stronger towing capacity than those consistent with conventional towing, as specified in the SAE J2807 towing standard (i.e., a towing standard covering the suspension, steering, braking capabilities, engine power, tire size, and other metrics of the vehicles involved in towing operations). In implementations, due to the independence of the power operation of the tethered trailer 100, the typically proposed requirements for the towing capacity used by the lead vehicle 101 to perform towing operations of the tethered trailer 100 are irrelevant or almost irrelevant.

[0031] In this embodiment, the independent power operation of the tethered trailer 100 reduces the traction force required by the towing vehicle 101, as the towing vehicle 101 only needs to provide route guidance to the tethered trailer 100. Furthermore, the tethered connection to the lead vehicle 101 reduces the risk of uncontrolled or unrestrained operation, as the trailer 100 is always coupled and restrained to the movement and motion of the lead vehicle 101. In this embodiment, movement of the trailer 100 in the reverse direction, or when performing the action of coupling to the lead vehicle 101, becomes easier or more convenient because moving the trailer 100 in the reverse direction requires less force, and tethering the lead vehicle 101 to the trailer 100 requires only (minimum) mechanical connection. The force-sensing coupling device 175 provides a simple mechanical tethering that can be configured with the trailer coupling device and the housing.

[0032] As described in more detail below, according to an exemplary embodiment, trailer 100 includes trailer controller 34 for cooperating with sensing coupling device 175 and vehicle 101 (i.e., the entire driving system 10) to control the operation and movement of trailer 100, wherein sensing coupling device 175 provides sensing data for guiding trailer 100 during driving when trailer 100 is tethered to vehicle 101.

[0033] In various embodiments, trailer 100 includes functions similar to those found in autonomous or semi-autonomous vehicles, capable of independently carrying loads according to the specifications of trailer 100 or by means of the force applied by vehicle 101 through connection device 170 tethering (i.e., coupling or attaching) trailer 100 to lead vehicle 101.

[0034] Trailer 100 can be any of a variety of different types of trailers, such as vans, truck trailers, agricultural / industrial vehicles or camping vehicles, and in some embodiments can be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD) or all-wheel drive (AWD), and / or various other types of vehicles.

[0035] Trailer 100 may include a body 14 (or flatbed) mounted on chassis 12. Body 14 substantially surrounds the other components of trailer 100. Body 14 and chassis 12 may together form a frame to which sensing coupling device 175 is attached. Trailer 100 may also include a plurality of wheels 16, 18. Each wheel 16, 18 is rotatably coupled to chassis 12 near a corresponding corner of body 14 (or segmented in pairs across chassis to support a carried load) to allow trailer 100 to move with or without a load. In one embodiment, trailer 100 includes four wheels (16, 18), although this may vary in other embodiments (e.g., for truck trailers and certain other longer or shorter trailers).

[0036] As shown in the figure, trailer 100 typically includes a propulsion system 20, a transmission system 22, a steering system 24, a braking system 26, a sensor system 28, an actuator system 30, at least one data storage device 32, at least one controller 34, and a communication system 36 to a remote server 48 for receiving software updates (e.g., adaptive model updates) and control data. In this example, the propulsion system 20 may include an electric motor, such as a permanent magnet (PM) motor. The transmission system 22 is configured to transmit power from the propulsion system 20 to the wheels 16 and 18 via one or more selectable speed ratios.

[0037] Sensor system 28 includes one or more sensing devices 40a-40n for controlling the operating state of trailer 100 (e.g., steering angle) and generating associated sensor data. Actuator system 30 includes one or more actuator devices 42a-42n that control one or more vehicle features, such as, but not limited to, propulsion system 20, transmission system 22, steering system 24, and braking system 26. In various exemplary embodiments, trailer 100 may also include Figure 1 Internal and / or external trailer features not shown, such as various doors, housings, touchscreen display components, etc.

[0038] Data storage device 32 stores data used to control vehicle 101. Data storage device 32 may be part of controller 34, separate from controller 34, or part of controller 34 and an independent system.

[0039] The controller 34 includes at least one processor 44 and a computer-readable storage device or medium 46. The processor 44 can be any custom or commercially available processor, central processing unit (CPU), graphics processing unit (GPU), application-specific integrated circuit (ASIC) (e.g., a custom ASIC implementing a neural network), field-programmable gate array (FPGA), an auxiliary processor among multiple processors associated with the controller 34, a semiconductor-based microprocessor (in the form of a microchip or chipset), any combination thereof, or any device generally used for executing instructions. The computer-readable storage device or medium 46 can include volatile and non-volatile memory such as read-only memory (ROM), random access memory (RAM), and keep-alive memory (KAM). KAM is a permanent or non-volatile memory used to store various operational variables when the processor 44 is powered off. The computer-readable storage device or medium 46 may be implemented using any of a variety of known storage devices, such as PROM (programmable read-only memory), EPROM (electric PROM), EEPROM (electrically erasable PROM), flash memory, or any other electrical, magnetic, optical, or combined storage device capable of storing data, some of which represent executable instructions used by the controller 34 in controlling the trailer 100.

[0040] The instructions may include one or more separate programs, each comprising an ordered list of executable instructions for implementing logical functions. When executed by processor 44, these instructions receive and process signals (e.g., sensor data) from sensor system 28, execute logic, calculations, methods, and / or algorithms for automatically controlling components of trailer 100, and generate control signals transmitted to actuator system 30 to automatically control components of trailer 100 based on that logic, calculations, methods, and / or algorithms. Although Figure 1 Only one controller 34 is shown, but embodiments of trailer 100 may include any number of controllers 34 that communicate via any suitable communication medium or combination of communication media and cooperate to process sensor signals, execute logic, calculations, methods and / or algorithms, and generate control signals to automatically control the features of trailer 100.

[0041] For example, controller 34 may include any number of additional submodules embedded therein, which may be combined and / or further subdivided to similarly implement the systems and methods described herein. Furthermore, input to trailer 100 may be received from sensor system 28, from other control modules (not shown) associated with trailer 100, and / or by… Figure 1 Other sub-modules (not shown) within the controller 34 are determined / modeled.

[0042] like Figure 1 As shown, in various embodiments, trailer 100 also includes a braking system 26 and a steering system 24. In an exemplary embodiment, the braking system 26 uses braking components to control the braking of trailer 100, which is controlled via inputs based on sensed data of magnitude and vector calculated using trailer controller 34 and / or automatically controlled via (trailer) controller 34. Similarly, in an exemplary embodiment, the steering system 24 controls the steering of trailer 100 via steering components, which are controlled via inputs provided by sensed force and displacement from sensing coupling device 175, and automatically controlled via a control system and intelligent sensing capabilities integrated into trailer 100. Also in various embodiments, according to the implementation steps of FIG2 and... Figure 3 In the process, the trailer controller 34 provides appropriate automatic braking through the braking system 26 to mitigate trailer movement by combining sensing data from the sensing coupling device 175, the movement and operation of the vehicle 101 to which the trailer 100 is attached, and the actions of the trailer 100 during movement, thereby reducing the swaying motion of the trailer, which will be further described below.

[0043] In various embodiments, sensor system 28 includes various sensors that acquire sensor data for controlling the swaying of trailer 100. In the depicted embodiments, sensor system 28 may be configured to include a set of sensors, including force sensors (e.g., force sensors integrated in sensing coupling device 175); trailer sensors (e.g., configured to measure the coupling hinge angle relative to vehicle 101, and / or, in some embodiments, measure the weight and / or other data of trailer 100), speed sensors (e.g., wheel speed sensors and / or other sensors configured to measure the speed and / or rate of the trailer and / or data for calculating such speed and / or rate), cameras (in some embodiments, configured to capture images of the lane and road in which trailer 100 travels, and in some embodiments, data associated with trailer 100, such as the coupling angle of trailer 100 attached to vehicle 101 via coupling device), and acceleration sensors (e.g., accelerometers and / or one or more other sensors for measuring and / or determining the acceleration of trailer 100), and yaw sensors (for measuring and / or determining the yaw rate of trailer 100). In various embodiments, various sensor data (including connection articulation angle and yaw rate) are used to monitor and mitigate trailer sway of trailer 100.

[0044] In some embodiments, the positioning system 130 is configured (which may be enabled or disabled when the positioning system 130 is tethered to vehicle 101) to acquire and / or generate data regarding the location and / or destination of the trailer 100, for transmission to a third party monitoring load transport, or to the driver's system within vehicle 101. In some embodiments, the positioning system 130 includes and / or is coupled to a satellite-based network and / or system, such as Global Positioning System (GPS) and / or other satellite-based systems. Furthermore, in some embodiments, a display system (not shown) provides the driver of the lead vehicle 101 with visual, auditory, tactile, and / or other information, provided by controller 34 via wired or wireless transmission, relating to the movement of the trailer while tethered to vehicle 101.

[0045] In various embodiments, controller 34 is coupled to sensor system 28 and braking system 26. In various embodiments, controller 34 may also be coupled to one or more other trailer components, such as steering system 24, positioning system 130, display and / or other trailer components.

[0046] In various embodiments, the controller (or computer system) 34 controls trailer operation, including monitoring and mitigating trailer sway, trailer 100 steering angle, and trailer 100 speed / acceleration based on forces sensed from the vehicle to the sensing coupling device 175 and magnitude and displacement data generated by the sensing coupling device 175. In various embodiments, the controller 34, based on... Figure 3 The process steps provide these and other functions.

[0047] In various embodiments, the trailer controller 34 (and in some embodiments, the control system itself) is disposed within the body 14 of the trailer 100. In one embodiment, the controller is mounted on the chassis 12. In some embodiments, the controller 34 (and / or the control system) and / or one or more components thereof may be disposed outside the body 14, for example, on a remote server, in the cloud, or in other devices that perform processing remotely.

[0048] It should be understood that although this exemplary embodiment has been described in the context of a full-featured computer system (of controller 34), those skilled in the art will recognize that the mechanisms of this disclosure can be distributed as a program product in which one or more types of non-transitory computer-readable signal-bearing media are used to store the program and its instructions and to perform its distribution, such as a non-transitory computer-readable medium carrying the program and containing computer instructions stored therein for causing a computer processor (e.g., processor 44 of controller 34) to perform and execute the program. Such program products can take many forms, and this disclosure applies equally regardless of the specific type of computer-readable signal-bearing medium used to implement the distribution. Examples of signal-bearing media include recordable media such as floppy disks, hard disks, memory cards, and optical disks, and transmission media such as digital and analog communication links. It should be understood that cloud-based storage and / or other technologies may also be utilized in some embodiments. It will be similarly appreciated that the computer system or processor 44 may also differ in other ways. Figure 1 The embodiments depicted herein, for example, may have computer system or controller 34 coupled to or otherwise utilized by one or more remote computer systems and / or other control systems.

[0049] like Figure 1 As shown, in some embodiments, the lead vehicle 101 can be configured as a conventional vehicle without autonomous features, a semi-autonomous vehicle, or a fully autonomous vehicle. In each type of configuration, the force-sensing coupling device 175 operates similarly or identically to sense forces applied to the force-sensing coupling device 175 caused by the movement and actions of the vehicle 101 when it is tethered to the trailer 100 via the force-sensing coupling device 175. The force-sensing coupling device 175 does not distinguish between the types of vehicles tethered and is configured to generate sensing data based solely on the forces applied to the sensing coupling device 175 and sensing data related to direction and speed. This sensing data is translated into commands by the trailer controller for the trailer 100 to perform driving actions, including steering, acceleration, and braking, when tethered to the lead vehicle 101, to match the driving actions of the lead vehicle 101 in real time, for simultaneous or consistent operation of the trailer 100 and the vehicle 101 during operation.

[0050] In one embodiment, processor 44 receives data from sensors of force-sensing coupling device 175, the data being timestamped data assigned by processor 44, and processor 44 is also instructed to calculate at least two parameters, including the magnitude and direction of the net force applied to force-sensing coupling device 175. Processor 44 is configured to have timing capabilities to time-stamp the received data, assign timestamp values ​​to the data received from force-sensing coupling device 175, and store a series of values ​​for the magnitude and direction of the force acting on force-sensing coupling device 175 over time. Based on the timestamped data received from force-sensing coupling device 175, processor 44 is configured to calculate a) the rate of change of the magnitude and direction of the force over time, and b) the cumulative integral of the magnitude and direction of the force over time. This results in a set of at least six variables calculated and recorded by the processor over time, including: instantaneous force direction, instantaneous force magnitude, rate of change of force direction, rate of change of force magnitude, integral of force direction, and integral of force magnitude. Based on the calculated set of variables, processor 44 is also configured to calculate a trajectory for trailer 100 that will enable trailer 100 to follow the trajectory of lead vehicle 101 while providing its own power rather than relying on traction from the lead vehicle. The calculated trajectory is achieved through outputs from processor 44 to steering controller and motor speed controller (which physically controls the movement of trailer 100).

[0051] Figure 2A , 2B Views 2C and 2D illustrate various views of coupling devices and connector assemblies for connecting a trailer to a vehicle connected to a coupling sensor system, according to various embodiments. Figure 2A The image shows a top view of an exemplary electromechanical coupling assembly 200 (“coupling assembly”) for attaching an autonomous trailer to a vehicle. The coupling assembly 200 includes two or more sensors 210 configured with pressure-sensing elements 208 positioned on square X and Y sides or rectangular receivers 212, thereby holding the receivers 212 within a rigid frame 216. When a force is received in the X and / or Y direction, either or both of the pressure-sensing elements 208(x) and 208(y) generate data measuring the force applied in the X or Y direction, to be sent to a vehicle controller (i.e., processor) of the trailer configured to receive load force data.

[0052] In one embodiment, a sensor 210 located within the coupling assembly 200 monitors the forces applied to the coupling assembly 200. In this embodiment, the sensor 210 may be configured as a first set of sensors and a second set of sensors, the first set monitoring forces applied to the coupling assembly 200 in the lateral direction, and the second set monitoring forces applied to the coupling assembly 200 in the longitudinal direction. In this case, forces applied to the coupling assembly 200 in the vertical direction are not monitored.

[0053] In one embodiment, force data generated by pressure sensing element 208 (e.g., with respect to connector 207) can be transmitted wirelessly or via cable to controller 34. In another embodiment, pressure sensing element 208 can be configured in orthogonal groups of two and four around each side of receiver 212. Furthermore, a group of three pressure sensing elements can be configured, for example, in a "Y" configuration to indirectly measure forces in both the X and Y directions.

[0054] In this embodiment, the pressure sensing element 208 is a force sensing module used to measure the tension / thrust applied to the coupling device 200 between the vehicle and trailer operating together. The applied force is used as the basis for controlling changes in trailer speed or acceleration.

[0055] The coupling assembly 200 is also equipped with a connector 205, which allows clockwise and counterclockwise rotation about the lateral Y-axis of the frame 216, and rotation about the longitudinal X-axis of the connector 207. The connector 205 is configured with a support frame 225, which is connected via the connector 207 to the arm or beam 227 assembly, which is connected to the trailer. The connector 207 allows rotation along the X-axis, and the connector 205 allows rotation along the Y and Z axes; together, they form a universal joint.

[0056] exist Figure 2B The diagram shows a side view of the coupling device 200, illustrating the rotation of joint 207, which allows frame 216 to rotate about the X-axis or longitudinal axis to support frame 225, and another joint, joint 205, to rotate about the Z-axis or vertical axis and the Y-axis or transverse axis. In an embodiment, joint 205 allows rotation about the transverse Y-axis and vertical Z-axis, while joint 207 allows rotation about the longitudinal X-axis. The use of two rotary joints allows for the reduction or elimination of torsional or bending loads applied to the arm or beam 227.

[0057] Figure 2C The diagram illustrates a correction action, according to an embodiment, in response to force data received by the autonomous trailer from the coupling force sensing system. Figure 2C In the initial scene 240, vehicle 243 and trailer 242 are aligned in a straight line, and coupling 200 is shown positioned in a linear configuration. As vehicle 243 moves to one side, a set of forces, Fx 246 and Fy 247, are applied to coupling 200 in scene 245 and received by trailer 242. In response, trailer 242 implements a change in steering direction and / or speed to compensate for the alignment position described in scene 250.

[0058] Figure 2DA schematic diagram of trailer 280 is shown, having independent steering control 260 on the front axle, an additional joint (third joint) 270 for rotation about the lateral axis, and a fourth joint 272 that allows rotation about the lateral axis at the trailer body in response to a force applied to the coupling 200.

[0059] In an exemplary embodiment, the mechanism of the coupling device may include: a first connector 207, rotatable about a lateral axis, located at the connection where the coupling device is fixed to the lead vehicle; a second connector 205, rotatable about a vertical axis, located at the connection where the coupling device is fixed to the lead vehicle; a third connector 275, rotatable about a longitudinal axis, located on a trailer beam 227 extending rearward from the connection (if desired, a sensor 275 may be configured with a third connector 275); and a fourth connector 272, rotatable about a lateral axis, located at the connection between the rear of the trailer beam and the trailer body or chassis.

[0060] In an embodiment, the trailer beam 227, spanning between the coupling device 200 and the trailer 280 and connected at the joint 270, may be configured with one or more pressure sensing elements (or position encoders) 275 to determine forward / reverse forces and displacements, which can generate data for calculating speed and steering angle. For example, the pressure sensing element 275 can be used for load calculation of the trailer load and for auxiliary data for time-based calculation of trailer speed and acceleration.

[0061] In one embodiment, beam 227 may be configured to have a universal joint connection at joint 270 for attachment to trailer 280. Although in Figure 2D The present disclosure describes specific coupling configurations, but it is conceivable that this disclosure is not limited thereto, and that a variety of different coupling devices can be implemented to connect autonomous or semi-autonomous trailers to vehicles. Furthermore, the coupling devices may or may not allow weight distribution and may include gooseneck couplings, receiver couplings, and various extensions incorporating load sensors. Additionally, a data connection between the lead vehicle and the trailer may optionally be included. For example, in one embodiment, data from the pin connector can be received by the trailer for control purposes and also for calculating the speed of the steering angle. However, it is conceivable that the system can be implemented without any additional connector cables and therefore can be implemented using conventional coupling devices without data coupling.

[0062] The components of beam 227 and coupling device 200 are configured to guide trailer 280 and are a connecting linkage to prevent trailer 280 from detaching from vehicle 243. When operating in self-propelled mode, trailer 242 is always mechanically coupled to vehicle 243. In one embodiment, during traction operations, trailer 242 does not depend on the traction capacity of vehicle 243 because trailer 242 operates independently and is guided by vehicle 243. Vehicle 243 can therefore have a traction capacity less than normally required because trailer 242 operates independently and is not propelled by vehicle 243. In embodiments, if the weight of the cargo supported by trailer 242 exceeds the trailer's traction capacity, then in some cases, trailer 242 may be configured to partially depend on vehicle propulsion during operation and also be used for guidance to the destination.

[0063] Figure 3 A flowchart illustrating the steps of an exemplary algorithm implemented in a force-sensing connection system according to an embodiment is shown. Figure 3 In step 305, when mechanically connected to the trailer's coupling device, the force-sensing coupling system is activated by applying a force from the vehicle's motion. The trailer can be configured in a standby mode, waiting to detect a force applied to the coupling device to initiate self-propelled operation. While the force-sensing coupling device is conceivable for self-propelled trailer operation, it can also be mechanically configured to provide sufficient connection strength to allow towing operations when the trailer is not operating in self-propelled mode. In this case, the coupling device and coupling assembly will function as a conventional linkage between the trailer and the vehicle.

[0064] In step 310, data from the sensors is received by a controller configured with a processor (triggered by the force input to the coupling device). This processor can receive sensing data from one or more load sensors and use it to calculate the net force magnitude and direction in step 315, save the timestamped force data in step 320, calculate the rate of change of a set of values ​​using time-series data in step 325, and also calculate the integral value using time-series data in step 330. Then, in step 335, the timestamped rate of change and integral value are saved.

[0065] In this embodiment, the steering angle is calculated in step 340 by examining the force direction, the rate of change of direction, and the integral of the force direction. This calculation uses a PID algorithm, where the wheel rotates to match the orientation of the net force vector, minimizing the difference between the steering angle and the force direction. That is, sensor data enables the determination or reading of the force direction; the force direction is compared with the steering angle, and if the comparison result is non-zero (or approximately zero or within a configured range), the steering angle is adjusted accordingly to minimize the difference between the current force direction and the steering angle. For example, in step 350, the amount of change in the steering angle is determined by the PID in step 340. This comparison step is repeated until the difference is reduced or zero. That is, the force direction and steering angle are re-compared (via a feedback loop) to re-compare the force direction and steering angle, and if it is not zero (or approximately zero within a certain range), the steering angle is adjusted again in step 350 based on the PID.

[0066] The vehicle set speed is calculated by examining the force magnitude, the rate of change of the force magnitude, and the integral of the force magnitude. The vehicle set speed is calculated using a PID algorithm, where the vehicle set speed is adjusted to minimize the force magnitude at the coupling. In one embodiment, the vehicle's starting speed is set to zero (e.g., starting with set speed = 0). If the force magnitude is calculated to be non-zero, the trailer needs to change speed in response to the force applied to the coupling. In step 345, the speed change is increased in increments determined by the PID. After each increment of the speed, the force is rechecked, and if necessary, the speed is adjusted incrementally in a feedback loop that sums over previous values ​​until the force magnitude measured at the coupling is determined to be zero (or approximately zero or within the configured range). Therefore, in step 355, an error is calculated, and the speed is changed incrementally to reduce the error. The speed is set in step 355 (i.e., the increment is added to the previous value). In step 360, the wheel speed is controlled based on the incremental changes in the feedback loop. Therefore, the incremental change in speed is being calculated, and the actual set speed is determined by adding the incremental change to a previously determined value, until the magnitude of the force measured at the coupling is determined to be zero (or approximately zero or within the configured range).

[0067] It should be understood that the systems, vehicles, and methods may differ from those shown in the accompanying drawings and described herein. For example, in different embodiments, Figure 1 trailer, Figure 1 The control system and / or its components may differ from those of -2. Similarly, it should be understood that the steps of the process may differ from those of -2. Figure 3 The steps shown, and / or the individual steps of the process, may occur simultaneously and / or in different ways. Figure 1 The sequence shown in -2 occurs. It will be similarly realized that... Figure 1-3The various implementation methods can also differ in different embodiments.

[0068] While at least one exemplary embodiment has been described in the foregoing detailed description, it should be understood that numerous variations exist. It should also be understood that the one or more exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of this disclosure in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient roadmap for implementing one or more exemplary embodiments. It should be understood that various changes can be made to the function and arrangement of the elements without departing from the scope of this disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. A method for a vehicle, comprising: A coupling device physically connected between the trailer and the lead vehicle and communicatively connected to the trailer generates sensor data from one or more sensors, the sensors responding to one or more longitudinal forces applied to the coupling device by the lead vehicle, wherein the one or more longitudinal forces are provided by speed variations of the lead vehicle mechanically connected to the coupling device. A controller located within the trailer receives sensor data generated by one or more sensors of the coupling device to calculate changes in the trailer's speed, wherein the sensors are located within the coupling device and wherein the trailer is configured as a self-propelled trailer. A set of parameters derived by the controller from data generated by one or more sensors of the coupling device, wherein the set of parameters includes at least one parameter of the magnitude of the force and at least one parameter of the direction of the force acting on the coupling device; The controller calculates the rate of change of the magnitude and direction of the force over time, as well as the cumulative integral of the magnitude and direction of the force applied to the coupling device over time, to determine a set of variables related to the instantaneous force direction and magnitude, the rate of change of the force direction and magnitude, and the integral force direction and magnitude based on timestamp data from one or more sensors; The controller calculates the trajectory of the self-propelled trailer based on a pre-determined set of variables, which enables the self-propelled trailer to follow the lead vehicle without relying on the lead vehicle's traction. The trailer speed is adjusted by a motor speed controller in response to the magnitude of the force, the rate of change of the force, and the integral of the force, minimizing one or more longitudinal forces at the coupling; and Configure the controller to communicate with the coupling device to receive data from one or more sensors, thereby enabling the trailer and coupling device to be manually guided by the lead vehicle.

2. The method according to claim 1, further comprising: The controller outputs the calculated trajectory to the steering controller and the motor speed controller, which enables physical control of the movement of the self-propelled trailer.

3. The method according to claim 1, wherein, The one or more sensors include a first set of sensors and a second set of sensors, the first set of sensors monitoring forces applied to the coupling device in the lateral direction and the second set of sensors monitoring forces applied to the coupling device in the longitudinal direction.

4. The method according to claim 1, wherein, The coupling device includes a first connector and a second connector. The first connector is rotatable about a transverse axis and is located at the connection point around which the coupling device is fixed to the lead vehicle. The second connector is rotatable about a vertical axis and is located at the connection point around which the coupling device is fixed to the lead vehicle.

5. The method according to claim 4, wherein, The coupling device further includes a third joint and a fourth joint, the third joint being rotatable about a longitudinal axis and located on a trailer beam extending rearward from the coupling, and the fourth joint being rotatable about a transverse axis and located at the connection between the rear of the trailer beam and the trailer body or trailer chassis.

6. The method according to claim 2, further comprising: The steering controller adjusts the direction of the steering angle of a set of wheels of the trailer based on calculations of the force direction, the rate of change of direction, and the integral of the force direction.

7. The method according to claim 6, further comprising: The set speed of the trailer is adjusted by the motor speed controller based on the integral of the force magnitude in order to minimize at least one magnitude of the force applied at the coupling device.

8. The method according to claim 7, further comprising: The motor speed controller adjusts the trailer's set speed by incremental changes based on a previously set speed value, so as to minimize the force on the coupling device.

9. A device for a vehicle, comprising: A coupling device, which includes a mechanical connection between a trailer and a vehicle; A communication connection is provided to transmit sensor data provided by the coupling device to a controller located within the trailer. The coupling device is equipped with one or more sensors that generate sensor data that is sent to the controller. The sensor data is generated in response to one or more longitudinal forces applied by the vehicle through the mechanical connection of the coupling device, and the sensors are disposed within the coupling device. The controller is remotely mounted in the trailer, enabling control of the trailer's trajectory while operating via a communication connection to the vehicle. The controller is configured as follows: Sensor data is obtained from one or more sensors configured within the coupling device attached to the trailer; Receive sensor data generated by one or more sensors of the coupling device to calculate the speed change of the trailer, wherein the trailer is configured as a self-propelled trailer; A set of parameters derived from data generated by one or more sensors of the coupling device, wherein the set of parameters includes at least one parameter of the magnitude of the force and at least one parameter of the direction of the force acting on the coupling device; The rate of change of the magnitude and direction of the force over time, and the cumulative integral of the magnitude and direction of the force applied to the coupling device over time, are used to determine a set of variables related to the instantaneous force direction and magnitude, the rate of change of the force direction and magnitude, and the integrated force direction and magnitude based on timestamp data from one or more sensors; and The trajectory of the self-propelled trailer is calculated based on a predetermined set of variables, which enables the self-propelled trailer to follow the vehicle without relying on the vehicle's traction force. The mechanical linkage is configured with a set of joints that allow movement about the frame of the mechanical linkage along the lateral Y-axis, longitudinal X-axis, and Z-axis, and in response to one or more forces applied by the vehicle. The motor speed controller minimizes the force applied at the coupling device and is configured to adjust the trailer's set speed based on calculations of the force magnitude, the rate of change of the force, and the integral of the force magnitude; and Configure the controller to communicate with the coupling device to receive data from one or more sensors, thereby enabling the trailer and coupling device to be manually guided by the lead vehicle.

Images