Trailer and associated controller

Abstract

A trailer is configured to be towed by a tractor and to carry one or more goods. The trailer comprises a chassis, a hitching device connecting the trailer to a tractor, and a container mounted on the chassis and defining a space for containing goods. The trailer comprises at least two wheels. Each wheel is provided with a motor, and the motor can independently control each wheel. The trailer comprises one or more force sensors mounted on the trailer, at least one optical sensor mounted on the trailer, and optionally other sensors, such as acoustic sensors. The trailer includes a controller configured to process the sensor input and determine a force exerted by the towing vehicle on the hitch, determine an orientation of the towing vehicle, and control the electric motor based on the determined force and orientation.

Description

Technical Field

[0001] The present disclosure relates to a towed vehicle, particularly a towed trailer. The present disclosure also relates to a controller associated with the trailer, wherein the controller is configured to control one or more functions of the trailer. Background Art

[0002] Trailers are vehicles commonly used for recreational and commercial purposes. Recreational trailers are used for recreational purposes, such as towing boats, transporting camping equipment, transporting sports equipment, etc. Commercial trailers are used for long-distance transportation of goods. Current trailers are passive vehicles and are not driven or towed by a towing vehicle.

[0003] Towing a trailer imposes a significant drag on the towing vehicle. This increased load due to drag results in reduced fuel efficiency of the towing vehicle and also reduces the available power for other functions, such as acceleration for climbing hills, etc. Reduced fuel efficiency leads to increased fuel consumption. The increased drag and reduced power are particularly evident in electric and hybrid vehicles because these vehicles are more power-limited than internal combustion engine vehicles. Additionally, in internal combustion engines, this reduces the fuel efficiency of internal combustion engine vehicles and increases fuel consumption.

[0004] Fuel efficiency and fuel usage are major considerations for commercial trailers. For transportation companies that use commercial trailers to transport goods over long distances, fuel usage is a major cost, such as between cities or across countries. The drag of the trailer increases the fuel cost, thereby increasing the cost of transporting goods. Similarly, electric trucks, such as those manufactured by Tesla, Freightliner, Volvo, etc., have limitations on the size of the trailers that can be towed and the distance they can travel due to the drag from the trailer, which increases the power consumption. Summary of the Invention

[0005] Electric vehicles are becoming increasingly popular. Due to the need to reduce dependence on fossil fuels and develop vehicles with reduced emissions, vehicle manufacturers are tending to manufacture electric vehicles. Electric vehicles are generally very energy-efficient. Compared with internal combustion engine vehicles, the energy density in the battery of an electric vehicle is less than the energy density in the fuel of an internal combustion engine vehicle. Towing a trailer with an electric vehicle is challenging because the power required to tow the trailer increases. There are also limitations on the number of batteries and electric motors used in vehicles such as trucks, SUVs, cars, etc. Therefore, electric vehicles are generally not used to tow trailers.

[0006] The present disclosure relates to a towed vehicle, particularly a towed trailer. The present disclosure relates to a driven trailer. The trailer is an electric trailer. The trailer is driven by one or more electric motors to reduce the load on the towing vehicle. The present disclosure also relates to a controller associated with the trailer, the controller being configured to control one or more functions of the trailer. The trailer described herein can be a driven trailer, which can be driven by one or more electric motors associated with the trailer. The controller can be configured to control the operation of the electric motors to control the movement, i.e., the movement of the trailer and / or control other functions of the trailer. The electric motors reduce the towing load, i.e., they can push the trailer by providing thrust.

[0007] The trailer described herein can be a recreational trailer. The trailer described herein can also be a commercial trailer, such as a semi-trailer or other large trailer. The trailer can be towed by a towing vehicle. The towing vehicle can be a car, an SUV, a truck, or any other suitable vehicle. The recreational trailer can be configured to be towed by a car, an SUV, a pickup truck, or other such vehicles. The semi-trailer is configured to be towed by a truck. The towing vehicle can be propelled in any manner, such as by diesel or gasoline, or can be an electric vehicle.

[0008] The trailer of the present invention can be a driven trailer. The trailer includes: a chassis, a container mounted on and supported by the chassis, a plurality of wheels mounted on the chassis, and a hitch. The trailer can be connected to the towing vehicle through the hitch. The trailer further includes one or more electric motors connected to one or more wheels or axles to drive one or more wheels. The one or more electric motors are controlled by control signals from a controller. The trailer includes one or more sensors configured to sense the force exerted by the towing vehicle on the hitch when the trailer is towed. The sensors can be mounted on or near the hitch. The sensors are configured to sense the force exerted by the towing vehicle on the hitch. The controller is configured to receive signals from the sensors and control the one or more electric motors to drive the wheels forward or backward based on the sensed pulling force signals from the one or more sensors.

[0009] According to a first aspect of the present disclosure, there is provided a trailer configured to be towed by a towing vehicle, the trailer comprising:

[0010] a chassis,

[0011] a hitch that couples the trailer to the towing vehicle,

[0012] a container mounted on the chassis and defining a space for accommodating cargo,

[0013] a wheel assembly coupled to the chassis, the wheel assembly including at least a first wheel and a second wheel,

[0014] At least one electric motor of a wheel connected to the wheel assembly, the electric motor configured to drive at least one wheel of the wheel assembly,

[0015] At least one battery, the battery being electrically coupled to the electric motor, and the electric motor configured to obtain electrical power from the battery to drive the motor,

[0016] One or more force sensors mounted on the trailer,

[0017] At least one optical sensor and optional other additional sensors mounted on the trailer,

[0018] A controller arranged to communicate with the plurality of force sensors and the at least one optical sensor and optional other additional sensors, the controller configured to receive and process signals received from the plurality of force sensors and the optical sensor and optional other additional sensors,

[0019] The controller is electrically coupled to the electric motor and configured to control the operation of the electric motor,

[0020] Wherein the controller is further configured to:

[0021] Based on processing of signals received from the one or more force sensors, determine the force exerted by the tractor on the hitch,

[0022] Based on processing images received from the optical sensor and optional other additional sensors, determine the orientation of the tractor,

[0023] Based on the determined force and orientation, control the electric motor.

[0024] In one configuration, the force sensor is mounted on the hitch.

[0025] In one configuration, the force sensor is configured to determine the linear force on the hitch, wherein the force on the hitch is exerted by the tractor.

[0026] In one configuration, the controller is configured to determine the magnitude and direction of the force exerted by the tractor on the hitch.

[0027] In one configuration, the one or more force sensors are pressure elements.

[0028] In one configuration, one or more force sensors are strain gauges. Alternatively, any other suitable force sensor may be used. The force sensor may be a uniaxial sensor or a multi - axis sensor.

[0029] In one configuration, the trailer includes four force sensors mounted on the hitch, the four force sensors configured to sense the force exerted by the tractor on the hitch.

[0030] In an example configuration, the controller is configured to determine at least one or both of the magnitude and direction of a force sensed by each force sensor.

[0031] In one configuration, the controller is configured to determine a resultant force based on the forces sensed at each force sensor, and the controller is further configured to determine at least one or more of the magnitude and direction of the resultant force, where the resultant force represents the force applied by the towing vehicle to the trailer.

[0032] In one configuration, the trailer includes a hitch plate and a coupling bar extending outward from the hitch plate, the coupling bar configured to couple to the towing vehicle, and the force sensors are sandwiched between the hitch plate and the container or between the hitch plate and the chassis such that the hitch plate is connected to the container or the chassis through the force sensors, where the force sensors are configured to sense the force applied by the towing vehicle to the coupling bar.

[0033] In one configuration, each force sensor is mounted at or near a corner of the hitch plate.

[0034] In one configuration, the hitch plate is generally square, and the force sensors are mounted equidistantly from each other.

[0035] In one configuration, the trailer includes at least a pair of electric motors, each motor mounted to or coupled to one of the first wheel and the second wheel, the first wheel and the second wheel defining drive wheels, such that the motor is configured to drive the wheel to which it is mounted or coupled based on a control signal from the controller, and where the controller is configured to independently control each motor based on the determined force and orientation of the towing vehicle.

[0036] In one configuration, each motor is an in-wheel motor, and each in-wheel motor is configured to drive the wheel to which it is coupled in a forward or backward direction.

[0037] In one configuration, the controller is configured to: determine the magnitude and direction of the force applied by the towing vehicle to the coupling bar at each force sensor, and independently control each motor based on the determined magnitude and direction of the detected force.

[0038] In one configuration, two force sensors are mounted on the hitch plate to the left of the coupling rod, defining a first set of sensors, and two force sensors are mounted on the hitch plate to the right of the coupling rod, defining a second set of sensors, wherein the controller is configured to: determine the magnitude and direction of the force from the towing vehicle detected at each force sensor in the first set, determine the magnitude and direction of the force from the towing vehicle detected at each force sensor in the second set, determine the magnitude and direction of the resultant force at the first set of sensors, determine the magnitude and direction of the resultant force at the second set of sensors, control a first motor based on the magnitude and direction of the resultant force, and control a second motor based on the magnitude and direction of the resultant force such that each wheel is independently driven.

[0039] The controller can be a microcontroller or a microprocessor. In one configuration, the controller includes at least a processor and a storage unit. The controller can be programmed and store executable instructions in the form of software, which define the functions of the controller.

[0040] In one configuration, each motor is controlled in proportion to the magnitude of the force.

[0041] In one configuration, the controller is configured to control each motor based on the magnitude and direction of the force detected by the force sensors to accelerate or decelerate the wheel on which the motor is mounted.

[0042] In one configuration, the controller is configured to control each motor to accelerate or brake the motor based on the rate of change of the force detected by one or more force sensors.

[0043] In one configuration, the trailer includes one or more acoustic sensors, such as ultrasonic sensors. The acoustic sensors are arranged to communicate with the controller. The controller can be configured to determine the position of the towing vehicle based on processing the output from each of the one or more acoustic sensors.

[0044] In one configuration, the at least one optical sensor is mounted on the front side of the container or the hitch. The optical sensor can be mounted facing forward. The trailer can include additional optical sensors on the rear panel or side panels. The trailer can also include additional sensors, such as ultrasonic sensors that can be used for collision detection.

[0045] In one configuration, the optical sensor and optionally other additional sensors are configured to focus on the towing vehicle, and the controller is configured to receive signals from the optical sensor and optionally other additional sensors and determine the orientation of the towing vehicle and the distance between the towing vehicle and the trailer.

[0046] In one configuration, the controller is configured to process signals from the optical sensor and optionally other additional sensors, and determine whether the towing vehicle is steering relative to the trailer, and the controller is configured to control the electric motor to cause the trailer to steer in accordance with the steering of the towing vehicle.

[0047] In one configuration, the trailer includes at least two optical sensors, and optionally other additional sensors mounted on the trailer and spaced apart from each other.

[0048] In one configuration, at least one optical sensor and optionally other additional sensors are located on the left side of the coupling bar, and another optical sensor and optionally other additional sensors are located on the right side of the coupling bar, such that the coupling bar is located between the optical sensor and optionally other additional sensors.

[0049] In one configuration, the optical sensor and optionally other additional sensors include a camera. The camera can be configured to provide a wireless signal to the controller. Alternatively, the camera can be wired to the controller.

[0050] In one configuration, the controller is configured to: determine the distance from the towing vehicle to the trailer based on signals from the first optical sensor and optionally other additional sensors, determine the distance from the towing vehicle to the trailer based on signals from the second optical sensor and optionally other additional sensors, compare the two distance measurements, and; determine whether the towing vehicle is steering based on the comparison of the distance measurements and the comparison that the difference between the distance measurements is higher than a threshold.

[0051] In one configuration, if the controller determines that the distance detected by one optical sensor and optionally other additional sensors is different from the distance detected by another optical sensor and optionally other additional sensors, and wherein the difference is greater than the threshold, the towing vehicle is determined to be steering.

[0052] In one configuration, the camera is mounted on the trailer to focus on the towing vehicle, the controller is configured to receive an image stream from the camera, and the controller is configured to: identify the towing vehicle in the image stream by applying an object detection algorithm, determine the orientation of the towing vehicle relative to the trailer based on identifying the towing vehicle in the image stream, wherein the orientation is determined based on comparing the position of the towing vehicle in the image stream from the first camera with the position of the towing vehicle in the image stream from the second camera, and independently control each electric motor based at least on the determined orientation of the towing vehicle.

[0053] In one configuration, the controller is configured to determine whether the towing vehicle is turning based on the determined orientation of the towing vehicle and the determined distances between the towing vehicle and each camera, and the controller is configured to control each motor to cause the trailer to turn in accordance with the turn of the towing vehicle identified in the controller.

[0054] The determined distance between the towing vehicle and the camera is based on the focal length of the camera. The focal length of the camera can be stored in the controller. The controller can use the focal length and the image to determine the distance between the trailer and the towing vehicle.

[0055] In one configuration, the controller is configured to: determine the amount of the towing vehicle visible in the images of the image stream from the first camera, determine the amount of the towing vehicle visible in the images of the image stream from the second camera, and determine whether the towing vehicle is turning based on a comparison of the amounts of the towing vehicle visible in the image streams from the first camera and the second camera, wherein if more of the towing vehicle is visible in the image from the first camera than in the image from the second camera, the controller determines that the towing vehicle is turning left, and if more of the towing vehicle is visible in the image from the second camera than in the image from the first camera, the controller determines that the towing vehicle is turning right.

[0056] In an example configuration, the trailer can include one or more cameras located on the sides of the trailer. The side cameras can be configured to capture images of either side of the trailer. The controller can be configured to receive the image frames and identify one or more objects or obstacles present on the sides of the trailer. Optionally, in one configuration, the trailer can include cameras on all sides, or can include cameras all around.

[0057] In one configuration, the container includes a battery compartment shaped and sized to accommodate a plurality of batteries.

[0058] In one configuration, the container includes any one or more of the following:

[0059] One or more power plugs electrically connected to at least one battery to supply power to the power plugs,

[0060] One or more speakers,

[0061] One or more lights for illuminating the interior space of the container,

[0062] One or more hooks arranged inside the container,

[0063] An integrated refrigerator,

[0064] An ice maker located inside the container,

[0065] A waterproof lining attached to the interior of the container,

[0066] One or more foldable seats,

[0067] At least two side plates that can be hinged between an open position and a closed position.

[0068] In one configuration, the trailer is a semi-trailer.

[0069] In one configuration, the trailer is a recreational trailer.

[0070] In one configuration, the container includes a lid that can move between an open position and a closed position.

[0071] In one configuration, the battery compartment includes a plurality of contacts disposed in the battery compartment such that the one or more batteries can be hot-swapped from the battery compartment, and wherein positioning the battery in the battery compartment electrically couples the battery to the motor at least.

[0072] In one configuration, the trailer includes:

[0073] A wireless transceiver, the controller is in electronic communication with the wireless transceiver, the controller is configured to wirelessly pair the trailer to a device having a corresponding wireless transceiver, and the controller is configured to control the motor when the trailer is wirelessly paired to the device so that the trailer automatically follows the movement of the device.

[0074] In one configuration, the controller is configured to control the trailer to automatically follow the device based on the signal strength of the wireless pairing.

[0075] In one configuration, the controller is configured to activate the at least one optical sensor and optionally other additional sensors, the controller is configured to detect the device or a person associated with the paired device based on processing signals from the optical sensor and optionally other additional sensors, and the controller is further configured to control the motor based on signals from the optical sensor and optionally other additional sensors so that the trailer automatically follows the device or a user associated with the device.

[0076] In one example, the controller can use inputs from the one or more cameras and the one or more force sensors to determine movement, i.e., the movement of the towing vehicle. The controller is also configured to provide a control signal to the motor to control the movement of the trailer.

[0077] In one configuration, the trailer includes a regenerative braking system, the regenerative braking system is configured to obtain electricity when the wheels are braked or spinning, and the regenerative braking system is configured to use the obtained electricity to charge the battery.

[0078] In one configuration, the regenerative braking system includes a regenerative braking circuit connected between the battery and the motor. The regenerative braking circuit is configured to transfer electric power to the motor when the wheels are being driven, and transfer the electric power back to the battery for charging when the wheels are being braked or when the motor is being braked.

[0079] In one configuration, the trailer includes a GPS module. The controller can be electrically coupled to the GPS module. The controller is configured to determine the position of the trailer via the GPS module. The position of the trailer can be transmitted to a user device, such as a mobile device. The GPS module allows the controller to access the Global Positioning System and determine the global position of the trailer. The position of the trailer can be presented on a map interface on the user device. For example, the trailer position can be presented on Google Maps on the user device.

[0080] According to a second aspect, the present disclosure relates to a trailer configured to be towed by a towing vehicle, the trailer comprising:

[0081] A chassis,

[0082] A hitch device that couples the trailer to the towing vehicle,

[0083] A container mounted on the chassis and defining a space for accommodating cargo,

[0084] A wheel assembly coupled to the chassis, the wheel assembly including at least a first wheel and a second wheel,

[0085] At least one motor connected to or mounted on at least one of the wheels, the motor being configured to drive the at least one wheel,

[0086] At least one battery electrically coupled to the motor, and the motor being configured to obtain electric power from the battery to drive the motor,

[0087] A sensor assembly including one or more sensors configured to track the force exerted by the towing vehicle and / or track the movement of the towing vehicle,

[0088] A controller disposed among the plurality of sensors of the sensor assembly,

[0089] The controller is electrically coupled to the motor and configured to control the operation of the motor,

[0090] Wherein the controller is further configured to:

[0091] Determine the orientation of the towing vehicle based on processing signals from the sensors in the sensor assembly, and / or determine the force of the towing vehicle on the trailer based on processing signals from the sensors in the sensor assembly, and

[0092] Control the electric motor based on the determined force and / or orientation of the towing vehicle.

[0093] In one configuration, the sensor assembly includes one or more force sensors, one or more optical sensors, and optionally other additional sensors.

[0094] In one configuration, the controller is configured to determine the force exerted by the towing vehicle based on signals from one or more force sensors, and the controller is also configured to determine the orientation according to signals from the one or more optical sensors and optionally other additional sensors. The controller is configured to control the electric motor based on the force and orientation of the towing vehicle.

[0095] The trailer according to the second aspect may include any one or more features described according to the first aspect.

[0096] In one example, the controller is configured to use:

[0097] Inputs from at least two cameras mounted at the front of the trailer,

[0098] Inputs from one or more optical sensors,

[0099] Inputs from the force sensor,

[0100] The controller is also configured to use all these inputs to determine the orientation and movement of the towing vehicle, and

[0101] The controller is configured to independently control the electric motor to adjust one or more of the speed, orientation, acceleration, and deceleration of the trailer.

[0102] The trailer described herein is an electric trailer including the electric motor. The electric motor of the trailer is used to reduce the towing load on the towing vehicle.

[0103] In one example, the optical sensor is a lidar or a laser sensor. Additionally, the controller may utilize other sensors, such as acoustic sensors, such as ultrasonic sensors. Additionally, the trailer may further include additional sensors, such as non-optical sensors, such as magnetometers, barometers, and temperature sensors.

[0104] Data from these other sensors can be processed by the controller and can be used to identify spatial data. The spatial data can include environmental data as well as other objects within or around the trailer path. The spatial data can also include identifying other features such as people, other vehicles, vehicle lights, traffic signals, signal lights, vehicle body shapes, etc. The spatial data can also include trajectory estimates of the same object, such as the path of a particular object, so that the controller can determine the likelihood of a collision. The controller uses cameras, such as side cameras and optical sensors, as well as other sensor inputs to determine the spatial data. The controller can implement a spatial data identification subsystem that is configured to process data frames received from the side cameras, optical sensors, and other sensors to determine the spatial data.

[0105] In one example, the controller is configured to perform a method of controlling the trailer based on the movement of the tractor and / or based on the user's gestures, the method comprising the steps of:

[0106] Receiving one or more image frames from at least two cameras,

[0107] Processing the received image frames to identify one or more gestures performed by the user, wherein the image frames are processed by a gesture classifier configured to perform object recognition to identify one or more gestures,

[0108] Processing the received image frames to identify the movement of the tractor, wherein the image frames are processed by a vehicle following control classifier configured to perform object recognition to identify the movement of the tractor,

[0109] Responsive to the identified gestures or the identified movement of the tractor, determining the path that the trailer needs to take, wherein the path of the trailer is determined by a dynamic path planning subsystem,

[0110] Generating a control signal to control the movement of the trailer, the control signal being generated by a trailer dynamic operation subsystem and transmitted to the electric motor,

[0111] Determining whether the trailer has reached its final position and stopping the trailer after the trailer reaches its final position.

[0112] In one example, the classifier can be a video classifier that can include a neural network, such as a convolutional neural network, which can be trained to identify gestures or the movement of the tractor by applying machine learning algorithms.

[0113] In one example, the method includes an additional step of classifying the identified gestures or the identified movement of the tractor by adding spatial data from other sensors.

[0114] In one example, the method includes determining a change in an operational aspect required for the trailer, the change in the operational aspect being an additional step identified by a trailer assist operation subsystem, and wherein the operational aspect is a change in a subsystem of the trailer, and wherein the change in the operational aspect includes at least one or more of the following: turning on lights, activating an indicator light.

[0115] According to a third aspect, the present disclosure relates to a trailer configured to be towed by a towing vehicle, the trailer comprising:

[0116] a chassis,

[0117] a hitch device that couples the trailer to the towing vehicle,

[0118] a wheel assembly coupled to the chassis, the wheel assembly including at least a first wheel and a second wheel,

[0119] at least one electric motor connected to or mounted on at least one of the wheels, the electric motor being configured to drive the at least one wheel,

[0120] at least one battery, the battery being electrically coupled to the electric motor, and the electric motor being configured to obtain electrical power from the battery to drive the motor,

[0121] a sensor assembly including one or more sensors, the one or more sensors being configured to sense movement of the towing vehicle,

[0122] a controller arranged to communicate with the plurality of sensors in the sensor assembly,

[0123] the controller being electrically coupled to the electric motor and configured to control the operation of the electric motor,

[0124] wherein the controller is further configured to:

[0125] determine the position of the towing vehicle relative to the trailer based on processing signals from the plurality of sensors in the sensor assembly, and

[0126] control the electric motor according to the position of the towing vehicle.

[0127] In one configuration, the trailer includes any one or more of the features described with reference to the first aspect and / or the features described with reference to the second aspect.

[0128] In a fourth aspect, the present invention relates to a trailer configured to be towed, the trailer comprising:

[0129] a chassis,

[0130] a hitch device that couples the trailer to the towing vehicle,

[0131] A wheel assembly coupled to the chassis, the wheel assembly including at least a first wheel and a second wheel,

[0132] At least one electric motor connected to or mounted on at least one wheel, the electric motor configured to drive the at least one wheel,

[0133] At least one battery, the battery being electrically coupled to the electric motor, and the electric motor configured to obtain electrical power from the battery to drive the electric motor,

[0134] A sensor assembly including two or more types of sensors, a first type of sensor configured to measure a first parameter of the trailer, and a second type of sensor configured to measure a second parameter of the trailer,

[0135] A controller arranged to communicate with the plurality of sensors in the sensor assembly,

[0136] The controller is electrically coupled to the electric motor and configured to control the operation of the electric motor,

[0137] Wherein the controller is further configured to:

[0138] Determine the force applied by the tractor to the trailer based on processing the first parameter measured by the first type of sensor,

[0139] Determine the orientation of the tractor relative to the trailer based on processing the second parameter measured by the second type of sensor,

[0140] Control the electric motor based on the determined force and / or direction of the tractor.

[0141] In another aspect, the present disclosure relates to a trailer, the trailer including:

[0142] A chassis,

[0143] A hitch device that couples the trailer to the tractor,

[0144] A wheel assembly coupled to the chassis, the wheel assembly including at least a first wheel and a second wheel,

[0145] At least one electric motor connected to or mounted on at least one wheel, the electric motor configured to drive the at least one wheel,

[0146] At least one battery, the battery being electrically coupled to the electric motor, and the electric motor configured to obtain electrical power from the battery to drive the motor,

[0147] The controller is configured to control the at least one electric motor based on one or more inputs received via a user device, or the controller is configured to control the at least one electric motor based on user gestures detected via one or more sensors.

[0148] In one configuration, the trailer includes a wireless transceiver arranged to communicate with the controller, wherein the wireless transceiver is configured to wirelessly pair or wirelessly couple to a user device.

[0149] In one configuration, the controller is configured to receive input from the user device via the wireless transceiver, and the controller is configured to control the motor to automatically drive the trailer based on the input from the user device.

[0150] In another aspect, the present disclosure relates to a controller for a trailer, the trailer including a chassis, a pair of wheels, and a hitch, the controller including:

[0151] a processor,

[0152] a storage unit,

[0153] The controller is arranged to communicate with one or more sensors of the sensor assembly of the trailer,

[0154] The controller is electrically coupled to at least one electric motor of the trailer, and the controller is configured to control the operation of the at least one electric motor, and the at least one electric motor is connected to one of the pair of wheels to drive the wheel.

[0155] The controller is configured to:

[0156] determine the orientation of the towing vehicle based on processing signals from the sensors in the sensor assembly, and / or determine the force of the towing vehicle on the trailer based on processing signals from the sensors in the sensor assembly, and

[0157] control the electric motor based on the determined force and / or orientation of the towing vehicle.

[0158] In one configuration, the sensor assembly includes one or more force sensors configured to sense the force exerted by the towing vehicle on the trailer, and the sensor assembly further includes one or more optical sensors and optionally other additional sensors configured to sense the orientation of the towing vehicle relative to the trailer.

[0159] In one configuration, the controller is further configured to: determine the force exerted by the towing vehicle on the hitch based on processing of signals received from the one or more force sensors, determine the orientation of the towing vehicle based on processing of images received from the optical sensors and optionally other additional sensors, and control the electric motor based on the determined force and orientation.

[0160] The controller may include any of the features or functions described above.

[0161] The terms "image frame" and "image and video frame" can be used to define an image captured by a camera. These terms can define a single image, which can be a single captured image or can be a frame from a video stream.

[0162] The numerical ranges disclosed herein (e.g., 1 to 10) also include all rational numbers within that range (e.g., 1, 1.1, 2, 3, 3.9, 4, 5, 6, 6.5, 7, 8, 9, and 10) and any range of rational numbers within that range (e.g., 2 to 8, 1.5 to 5.5, and 3.1 to 4.7). Thus, all sub-ranges of all ranges explicitly disclosed herein are hereby explicitly disclosed. These specific numbers are merely for illustration, and all possible combinations of the numerical values between the recited lowest and highest values are considered to be explicitly stated in this application in a similar manner.

[0163] It should be understood that alternative embodiments or configurations may include any or all combinations of two or more components, elements, or features shown, described, or mentioned in this specification.

[0164] As used herein, the term "and / or" means "and" or "or", or both where the context permits.

[0165] As used herein, "(one or more)" following a noun indicates the plural and / or singular form of that noun.

[0166] Furthermore, note that at least some embodiments may be described as methods (i.e., processes) depicted as flowcharts, flow diagrams, structure diagrams, or block diagrams. Although a flowchart may describe operations as a sequential method, many operations may be performed in parallel or simultaneously. Additionally, the order of operations may be rearranged. When the operations of a method (i.e., process) are completed, the method is terminated.

[0167] In this specification, the word "comprising" and its variants, such as "including", have their ordinary meaning according to international patent practice. That is, the word does not exclude additional or unrecited elements, substances, or method steps in addition to those specifically recited. Thus, in various embodiments, the described devices, substances, or methods may have other elements, substances, or steps. The term "comprising" (and its grammatical variants) as used herein is used in the inclusive sense of "having" or "including", rather than in the sense of "consisting only of".

[0168] The invention(s) described herein may also be said, in general terms, to include the components, elements and features individually or jointly mentioned or pointed out in the specification of this application, as well as any or all combinations of any two or more of said components, elements or features, and where a particular integer mentioned herein has a known equivalent in the art to which this invention relates, such known equivalent is deemed to be included herein as if it were individually set forth.

[0169] It should be understood that if any prior art information is cited herein, such citation does not constitute an admission that such information forms part of the common general knowledge in New Zealand or any other country. Unless otherwise stated, any reference to prior art contained herein should not be taken as an admission that such information is common general knowledge. BRIEF DESCRIPTION OF THE DRAWINGS

[0170] Although any other form may fall within the scope of the present disclosure, the preferred embodiments will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0171] Figures 1 to 3 Shows various views of an example of a recreational trailer, which includes two pairs of wheels attached thereto, a hitch and a container.

[0172] Figures 4 to 6 Shows various views of a second example of a recreational trailer, which includes a pair of wheels attached thereto, a hitch, a container and a steering wheel attached to the hitch.

[0173] Figures 7 to 8 Shows various views of a semi-trailer, which includes a hitch, a container and multiple pairs of wheels, at least one pair of which is a drive wheel.

[0174] Figure 9 Shows an example of a hitch to which a plurality of force sensors are attached between the trailer and the hitch.

[0175] Figure 10 Shows a top view of the hitch, in which an example of the force determined by the controller when the tractor steers is shown.

[0176] Figure 11 Shows a top view of the hitch, in which an example of the force determined by the controller when the tractor steers is shown.

[0177] Figure 12 Shows a second example of a hitch including a multi-axis force sensor, which is coupled to the lower side of the trailer.

[0178] Figure 13 Shows the front of the trailer and shows the sensor assembly.

[0179] Figure 14 An optical sensor and optionally other additional sensors are shown for sensing the orientation of the tractor relative to the trailer.

[0180] Figure 15 A schematic diagram of a feedback braking system is shown.

[0181] Figure 16 The wireless pairing of a user device with the trailer, the optical sensor, and optionally other additional sensors is shown. Once the device is paired to the device, these additional sensors focus on the user device or the user.

[0182] Figure 17 An example of trailer automatic following is shown.

[0183] Figure 18 A schematic diagram of a controller is shown, which is coupled to various sensors as inputs and coupled to a motor controller to actuate the motor controller.

[0184] Figure 19 A method of controlling a trailer based on the movement of the tractor and / or based on the gestures of the user is shown.

[0185] Figure 20 An example of tractor steering detected by a controller that executes one or more classifiers and an appropriate control subsystem is shown. Detailed Description

[0186] The present disclosure relates to a towed body, particularly a towed trailer. A trailer is a vehicle configured to carry goods and towed by a tractor. Trailers are commonly used for transporting goods. A common use of trailers is to transport goods for recreational activities such as camping, kayaking, etc. Trailers are also used for commercial goods transportation. A common example is a semi-trailer. Semi-trailers are used for commercial goods transportation. Semi-trailers are towed, i.e., dragged by a truck. A semi-trailer may include a flatbed or may include a container for storing goods. The present disclosure relates to a trailer that includes one or more electric motors for driving the trailer and a controller for controlling the operation of the electric motor. The drive trailer also includes one or more sensors for detecting the movement of the tractor. The electric motor can be controlled based on the movement of the tractor, i.e., the trailer can be driven based on the movement of the tractor.

[0187] The trailer is driven by the electric motor to reduce the load required by the tractor. Due to the drive trailer, the tractor requires less power. This is advantageous for electric tractors because the drive trailer can increase the driving range of the electric tractor. The drive trailer is also advantageous for internal combustion engine tractors because it may increase fuel efficiency due to reducing the load on the tractor.

[0188] In one example, the trailer includes a chassis; a hitch that couples the trailer to a towing vehicle; a container mounted on the chassis and defining a space for receiving cargo; the hitch may extend outwardly from the container or the chassis; a wheel assembly coupled to the chassis, the wheel assembly including at least a first wheel and a second wheel; at least one electric motor connected to or mounted on at least one of the wheels, the electric motor configured to drive the at least one wheel; at least one battery electrically coupled to the electric motor, and the electric motor configured to obtain power from the battery to drive the motor; a plurality of force sensors mounted on the hitch; at least one optical sensor and optionally other additional sensors mounted on the trailer; a controller arranged to communicate with the plurality of force sensors and the at least one optical sensor and optionally other additional sensors, the controller configured to receive and process signals received from the force sensors, the optical sensor, and optionally other additional sensors, the controller electrically coupled to the electric motor and configured to control the operation of the electric motor, wherein the controller is further configured to: determine the force applied by the towing vehicle on the hitch based on the processed signals received from the force sensors, determine the orientation of the towing vehicle based on the processed images received from the optical sensor and optionally other additional sensors, and control the electric motor based on the determined force and orientation.

[0189] Figures 1 to 3 An example of a trailer 100 is shown. Trailer 100 is a powered trailer. Figures 1 to 3 The trailer shown is an example of a recreational trailer, i.e., a living trailer. Such a living trailer can be used to transport recreational items. Trailer 100 includes a chassis 102 and a container 104. Container 104 is supported within chassis 102. Container 104 defines a space for receiving cargo. Chassis 102 forms a framework. In Figure 1 the form shown, chassis 102 includes a plurality of interconnected frame members. The frame members may be I-beams. The frame members may include beams of any other shape. Trailer 100 includes a hitch 400. Hitch 400 may be coupled to container 104 or may be coupled to chassis 102. Hitch 400 includes at least a coupling bar 402, coupling bar 402 configured to removably secure the trailer to a towing vehicle. The pulling force from the towing vehicle is transmitted to the trailer through the hitch. Coupling bar 402 includes a coupler 408 at the free end for coupling to the towing vehicle.

[0190] The size and shape of the container 104 are adapted to accommodate recreational articles. In the illustrated example, the container 104 is generally in the shape of a rectangular prism. Alternatively, the container 104 can be any other suitable shape, such as a cube or a cylinder or any other suitable shape. The container 104 includes a lid 108. The lid 108 is movable between an open position and a closed position. The lid 108 is pivotable between the open and closed positions. Alternatively, the lid 108 can slide horizontally between the open and closed positions. In some examples, the container can have at least one open surface, such as an open top surface, an open side surface, an open front surface, and / or an open rear surface.

[0191] In one example form, the trailer can include an open-top chassis (such as when the container has an open top surface). The shape and size of the trailer can be maintained to transport watercraft, such as jet skis, boats, kayaks, or other such recreational vehicles.

[0192] The container 104 includes a plurality of walls. The plurality of walls and the lid 108 define a space within the container 104. In one example, one or more of the walls can also pivot between an open and a closed position to expose a base 109. The container 104 includes a battery compartment 130, which is shaped and sized to accommodate a plurality of batteries. The battery compartment 130 can be provided in the base 109. The battery compartment 130 can be a channel or a recess for storing batteries. The base 109 can include a hinged floor covering the battery compartment. The battery compartment 130 can include one or more electrical contacts. The electrical contacts (not shown) can be exposed and positioned to electrically couple to the batteries located within the battery compartment 130. Figure 4 An example of a trailer is shown that includes four batteries 132, 134, 136, and 138 disposed within the battery compartment 130. The batteries 132 to 138 power an electric motor.

[0193] The batteries 132-138 can be hot-swappable. These batteries can be configured to be inserted into and removed from the battery compartment when the trailer and the controller are activated, i.e., hot-swappable. Alternatively, the batteries can be removed or replaced when the controller and the motor are turned off. The trailer can include a switch for electrically connecting or disconnecting the batteries, i.e., allowing the controller and the motor to be turned on or off. The trailer 100 includes a suitable circuit that allows for hot-swapping of the batteries.

[0194] The trailer 100 includes a plurality of wheels for propelling the trailer 100. Figures 1 to 3In the example shown, the trailer 100 includes two pairs of wheels. The trailer includes a first pair of wheels 110, 112 and a second pair of wheels 114, 116. The wheels 114, 116 are mounted on a common axle as they are not drive wheels. The trailer 100 includes two mudguards. One mudguard is attached to the chassis or attached to the container 104. The first pair of wheels 110, 112 (rear wheels) in the example shown are drive wheels. The second pair of wheels 114, 116 (front wheels) are freely rotating wheels. Each wheel includes a tire on the wheel. The drive wheels 110, 112 are directly fixed to the electric motor by a connecting shaft or other suitable coupling. Alternatively, in an example configuration, the second pair of wheels 114, 116 may include drive wheels. In this alternative configuration, the first pair of wheels may be freely rotating wheels and the second pair of wheels 114, 116 may be drive wheels. In another alternative configuration, both pairs of wheels may include drive wheels and both pairs of wheels may be driven by an electric motor.

[0195] The trailer includes at least one electric motor connected or mounted to at least one wheel; the electric motor is configured to drive at least one wheel.

[0196] In one example, the trailer 100 includes a pair of electric motors 140, 142. Each electric motor is mounted to, i.e., coupled to, each of the drive wheels 110, 112. One electric motor is mounted on one wheel, i.e., coupled to one wheel. Mounted to a device for direct attachment or direct coupling. Each electric motor 140, 142 is an in-wheel motor. Each in-wheel motor 140, 142 is directly mounted on one of the drive wheels 110, 112. Each in-wheel motor can be independently controlled such that each wheel can be independently driven. For example, each wheel can be independently actuated. The in-wheel motors 140, 142 are advantageous since the motors drive the wheels 110, 112. This reduces the load on the tractor.

[0197] In another example, the trailer may include at least one electric motor connected to the drive wheels. The at least one electric motor may be connected by a connecting assembly, such as a differential or a gearbox or other suitable mechanical connecting assembly. The connecting assembly is adapted to allow the electric motor to drive the wheels 110, 112 or drive one wheel.

[0198] Trailer 100 also includes a controller 150 that communicates with one or more sensors on the trailer. The controller 150 is configured to process signals from the sensors. The controller 150 (i.e., the central controller) is also configured to control the operation of the electric motor. The controller 150 (i.e., the central controller) is mounted in a container or on the underside of the trailer or in the battery compartment 130. The controller 150 includes one or more hardware processors and a storage unit. The storage unit can be a computer-readable medium that can store executable instructions. The executable instructions can be software modules, subsystems, or engines. The storage unit can also include an operating system and other necessary software components.

[0199] The controller 150 can be a microcontroller or a microprocessor or a combination of multiple microprocessors or an integrated circuit or a combination of FPGAs or other suitable devices that can be programmed and execute software applications or software programs. The controller 150 can include programming instructions for detecting input conditions and controlling output conditions. The programming instructions can be stored in the storage unit of the controller 150. The programming instructions can correspond to the methods, processes, and functions described herein. The programming instructions can be executed by one or more hardware processors of the controller 150. The programming instructions can be implemented in C, C++, JAVA, or any other suitable programming language. Some or all parts of the programming instructions can be implemented in dedicated circuits, such as ASICs and FPGAs. The controller 150 can include one or more software subsystems or software engines or software modules that can be configured to perform various functions. Each software subsystem or engine can be programmed to perform a specific function. The various software components can be defined as executable code stored in the storage unit of the controller 150 and executed by the processor of the controller 150.

[0200] Trailer 100 also includes one or more motor controllers. In one example, trailer 100 includes separate motor controllers associated with each hub motor. The central controller 150 is configured to provide control signals to the motor controllers. The motor controllers, in turn, actuate the hub motors. In the present disclosure, the central controller regarding controlling the hub motors can be implemented according to the above, i.e., the central controller transmits signals to the motor controllers, and then the motor controllers actuate the hub motors. Alternatively, the central controller can directly send control signals to the hub motors to control the operation of the hub motors.

[0201] Figures 4 to 6 A second example of a trailer 200 is shown. Trailer 200 is also a recreational trailer. Trailer 200 is suitable for transporting recreational goods. Figures 4 to 6 The example shown is the same as Figures 1 to 3The shown trailer has a similar structure. Trailer 200 has all the same features as trailer 100. Trailer 200 includes a hitch device 400. One difference is that trailer 200 has a pair of drive wheels 110, 112 and a third steering wheel 202. Steering wheel 202 is coupled to the coupling rod 402 of the hitch device 400. Steering wheel 202 includes a fixture bolted to the coupling rod 402. The steering wheel also includes a freely rotatable wheel 202. Wheel 202 is not driven and can rotate freely, thus allowing the trailer to move.

[0202] Figures 7 to 8 A third example of trailer 300 is shown. Trailer 300 is a commercial trailer. The commercial trailer can be a semi-trailer. Figures 7 to 8 The trailer shown in is a semi-trailer, which is a flatbed semi-trailer with a container (i.e., a container) on the flatbed. The container can be integrated into the flatbed. Trailer 300 can be any other suitable type of semi-trailer, such as a double-deck plate type, a low-platform type, a refrigerated type, an oil tank type, etc. Trailer 300 includes the same features as trailer 100. The size of trailer 300 is larger than that of the recreational trailers 100, 200. Trailer 300 includes a chassis 102, a container 104, and a plurality of wheels attached to the chassis. The trailer also includes a hitch device 400 that couples trailer 300 to a tractor. The tractor is a truck.

[0203] The shape and size of the container 104 of trailer 300 are adapted to accommodate goods. Container 104 can be an enclosed container. Alternatively, container 104 can be an open space with a base, such as a flatbed. The container defines a structure and space for storing goods. Container 104 can include an openable door 108.

[0204] Trailer 300 includes multiple pairs of wheels. These wheels are mounted on axles that are coupled to the chassis. In the illustrated example, trailer 300 includes three pairs of wheels. At least one pair of wheels is a pair of drive wheels 110, 112. Trailer 300 includes at least two electric hub motors 140, 142. Each hub motor 140, 142 is mounted to, i.e., coupled to, a single wheel of the pair of drive wheels. Hub motors 140, 142 are configured to drive these drive wheels. Trailer 300 also includes a central controller and a motor controller as described above. The motor controller and hub motors for trailer 300 can be larger than those of the recreational trailer 100 to drive the larger commercial trailer.

[0205] Each of trailers 100, 200, 300 includes a hitch device 400. Refer to Figures 9 to 11, which shows an example of the hitch device 400. The illustrated hitch device 400 can be part of trailers 100, 200, 300. The hitch device 400 is configured to connect the trailer to a tractor. The hitch device 400 includes a hitch plate 404 and a coupling rod 402 extending outwardly from the hitch plate 404. The hitch plate 404 is coupled to the trailer. In the illustrated example, as Figure 9 and Figure 2 and Figure 4 shown, the hitch plate 404 is connected to the chassis. The hitch device 400 can be coupled, i.e., mounted to a container. The hitch device 400 as Figures 9 to 11 shown can be used in any of the trailers 100, 200, 300.

[0206] The trailer includes a sensor assembly 500. Figure 13 which shows an example of the sensor assembly 500 disposed on the trailer 100. The sensor assembly 500 can be disposed on any of the trailers described herein. The sensor assembly 500 includes one or more types of sensors. The sensors communicate with a controller 150 (i.e., a central controller). The controller 150 is configured to determine the force exerted by the tractor on the hitch device and / or determine the orientation of the tractor based on signals from the sensors in the sensor assembly. One or more of the sensors in the sensor assembly are configured to track parameters related to the movement of the tractor. The sensor assembly 500 can include one or more force sensors mounted on the trailer and configured to measure the force exerted by the tractor on the trailer. The sensor assembly 500 can include one or more optical sensors and optionally other additional sensors configured to track the movement and / or orientation of the tractor relative to the trailer.

[0207] The hitch device can include sensors that can be integrated with the hitch device. Alternatively, the sensors can be mounted on the hitch device. In another alternative form, the sensors can be mounted between the hitch plate and the chassis. Some sensors can be mounted on other parts of the trailer.

[0208] The controller 150 is further configured to control the hub motors 140, 142 to drive the trailer based on the force from the tractor and / or the orientation of the tractor. The trailer can accelerate or decelerate according to the detected orientation of the tractor. The trailer accelerates or decelerates according to the power applied to the hub motors. The central controller is configured to provide a control signal that defines the amount of acceleration or deceleration. The motor controller is configured to convert the acceleration or deceleration into an appropriate power signal. Acceleration may be caused by increasing the applied power. Braking the hub motors may cause deceleration.

[0209] In another example, the central controller 150 can directly control the hub motors 140, 142. The central controller 150 can directly transmit control signals to increase the power of the hub motor (i.e., accelerate) or reduce the power or brake the hub motor (i.e., decelerate). The central controller 150 can include appropriate circuitry for direct communication with the hub motors.

[0210] The controller 150 is configured to independently control each wheel by independently controlling the hub motors associated with the wheels. More specifically, the controller 150 is configured to independently control each of the pair of drive wheels. The motor controller can be configured to receive separate control signals from the central controller 150 to independently control the drive wheels. This independent control of the drive wheels allows the trailer to assist in steering when the tractor is turning. The trailers 100, 200, 300 can be turned at an angle, for example, by driving each drive wheel in opposite directions to partially steer. For example, one wheel is driven forward and the other wheel is driven in reverse to turn the trailer.

[0211] In one example, the trailer can include multiple pairs of drive wheels. For example, the trailer 300 can include two pairs of drive wheels. The drive wheels on one side of the trailer can be driven in one direction, while the drive wheels on the other side are driven in the opposite direction, i.e., in reverse. The hub motors 140, 142 are controlled appropriately to drive the wheels forward or backward. In an alternative form, the controller can be configured to turn the trailer by driving one or more wheels on one side of the trailer faster than one or more wheels on the other side. Increasing the speed of the wheels on one side (one or more) may cause the trailer to turn. The turning rate is based on the power applied to the hub motors. The controller 150 is configured to determine the turning rate based on the determined orientation of the tractor.

[0212] In one example, the trailer includes one or more force sensors and at least one optical sensor and optionally other additional sensors. The one or more force sensors are configured to measure the force applied by the tractor to the trailer. The one or more force sensors are mounted on the hitch. The at least one optical sensor is mounted on the trailer. The controller is arranged to communicate with the plurality of force sensors and the at least one optical sensor. The controller is configured to receive and process the signals received from the force sensors and the optical sensors. The controller is electrically coupled to the motor and is configured to control the operation of the motor. The controller is also configured to determine the force applied by the tractor to the hitch based on the processed signals received from the one or more force sensors. The controller is also configured to determine the orientation of the tractor based on processing the images received from the optical sensor. The controller is configured to control the motor based on the determined force and direction.

[0213] The sensor assembly 500 includes at least one or more force sensors and one or more optical sensors, as well as optionally other additional sensors. The force sensor can be a pressure element, a strain gauge, or other suitable sensors configured to sense one-dimensional or multi-dimensional forces. The optical sensor can include a camera. The camera can include a stereo depth camera. Alternatively, the camera can include a time-of-flight camera. The trailer can include one or more cameras on each side. The trailer can also include a camera at the rear.

[0214] Alternatively, the optical sensor can include lidar or a laser to determine the distance and orientation of the tractor 1 relative to the trailer. Optionally, the sensor assembly 500 can include an acoustic sensor, such as an ultrasonic sensor, or radar or other sensors for determining the movement and orientation of the tractor. The trailer can include a combination of cameras and other optical sensors (such as lidar, ultrasonic sensors, or other sensors).

[0215] In one example, the trailers 100, 200, 300 include a sensor assembly 500. The sensor assembly 500 includes a plurality of force sensors 502, 504, 506, 508. In one example, the force sensors 502, 504, 506, 508 are pressure elements. In another example, the pressure element is a strain gauge. The pressure elements 502, 504, 506, 508 are S-shaped pressure elements. The pressure elements 502, 504, 506, 508 are mounted on the hitch device 400. As Figure 9 and 10 shown, the hitch device plate 404 is attached to the container 104 or the chassis 102 through the pressure elements 502 to 508. As Figures 9 to 11 shown, the pressure elements 502 to 508 are sandwiched between the hitch device plate 404 and the container 104 or between the hitch device plate 404 and the chassis 102. The pressure elements (i.e., force sensors) 502 to 506 are configured to sense the forces applied by the tractor on the coupling rod 402. Each force sensor 502 to 508 is mounted at or near the corner of the hitch device plate 402. An example hitch device plate is square, and the force sensors are equidistantly mounted from each other. The hitch device can include two hitch device plates 404, 404a. The pressure element can be sandwiched between these two plates. The second hitch device plate 404a can be coupled to the chassis or the container of the trailer.

[0216] In one example, force sensors 502 to 508 are uniaxial load sensors configured to measure force in one dimension (i.e., along one axis). Alternatively, the force sensors may sense multi-axis forces. Force sensors 502 to 508 are linear force sensors. Force sensors 502 to 508 generate signals that indicate the force exerted by the tractor on the drawbar. These signals are transmitted to a controller 150, which is configured to process these signals and determine the force applied to the drawbar. Controller 150 is configured to determine the magnitude and direction of the force of the tractor on the drawbar based on processing the signals from force sensors 502 to 508.

[0217] Controller 150 may be configured to determine a resultant force based on the forces sensed at each of force sensors 502 to 508. Controller 150 may also be configured to determine at least one or more of the magnitude and direction of the resultant force, where the resultant force represents the force exerted by the tractor on the trailer.

[0218] Controller 150 is configured to independently control each motor (i.e., each in-wheel motor) based on the magnitude and direction determined based on the detected forces. Controller 150 may determine the resultant force based on the signals received from all four force sensors 502 to 508.

[0219] Controller 150 may be configured to filter out impact forces detected by these force sensors. For example, controller 150 may filter out forces detected that are less than a time threshold, e.g., if the forces detected by force sensors 502 to 508 are less than 1 second or less than 0.5 second or any other threshold, then controller 150 may ignore the force. Such a brief application of force is considered a pulse and may represent a bump on the ground. To prevent false triggering or miscontrol of the motors, the controller may filter out such pulses measured by the force sensors. The filter may be a time filter. The controller may also apply an amplitude filter and filter out forces below a threshold.

[0220] Figure 9 An arrow A indicating the force from the tractor is shown. Arrow A represents the resultant force determined by controller 150. Arrow A represents the force vector calculated by controller 150 based on the readings from force sensors 502 to 508. The pressure elements 502 to 508 output electrical signals representing the force vector, such as voltage or current. Controller 150 is configured to process these signals and determine the force vectors detected by each of the pressure elements 502 to 508. Controller 150 is also programmed to determine the resultant force A, which is detected by resolving the individual force vectors detected by the pressure elements 502 - 508. The force vector A represents the pulling force from the tractor when the tractor is towing the trailer. If the tractor is reversing and pushing the trailer, the direction of force A may be reversed.

[0221] The force vector A can be determined by the controller based on the force measurements from each force sensor. The force vector A represents the resultant force vector due to the force from the towing vehicle. The controller can resolve, i.e., determine, the three-dimensional force vector that represents the force exerted by the towing vehicle on the trailer. For example, the force vector A can represent the resultant force vector.

[0222] As Figure 9 and Figure 11 shown, two force sensors 502, 504 are mounted to the hitch plate 404 on the left side of the coupling rod 402, defining a first set of force sensors. Figure 11 The underside of the hitch 400 is shown. Two force sensors 506, 508 are mounted to the hitch plate 404 on the right side of the coupling rod 402, defining a second set. The controller 150 is configured to determine the magnitude and direction of the force from the towing vehicle detected at each force sensor in the first set. The controller 150 is configured to determine the magnitude and direction of the force from the towing vehicle detected at each force sensor in the second set. The controller is also configured to determine the magnitude and direction of the resultant force at the first set of sensors 502, 504. This resultant force vector is represented by the arrow B in Figure 11 . The controller determines the magnitude and direction of the resultant force of the second set of sensors 506, 508. This force vector is represented by the force vector C in Figure 11 . The controller 150 is configured to independently control each hub motor 140, 142 based on the magnitude and direction of the detected force.

[0223] In an example embodiment, the controller 150 is configured to compare the magnitude of the force sensed at the first set of force sensors 502, 504 with the magnitude of the force sensed at the second set of force sensors 506, 508. The force vector B and the force vector C are compared by the controller 150. If the force in the first set is greater, the first drive wheel 110 is driven with greater power than the second wheel 112. Similarly, if the second set of force sensors detects a greater force, the second wheel 112 is driven with greater power. A greater force in one set of sensors indicates that the towing vehicle is turning. These drive wheels turn independently so that the trailer turns in a similar direction as the towing vehicle. This manner of controlling the motors based on the magnitude and direction of the traction force to drive these drive wheels allows the trailers 100, 200, 300 to be driven to follow the towing vehicle.

[0224] Figure 10 Another example of the force vector resolved by the controller 150 is shown. In this example, the controller 150 can resolve the force vector A, which represents the force from the towing vehicle, similar to Figure 9 shown. In an example embodiment, the controller 150 is configured to determine the direction and magnitude of the force, as Figure 10 shown. As Figure 10As shown, the force vector A points in an angular direction. Figure 10 The vector A in Figure 10 indicates that the tractor is turning left. Thus, the direction of the force vector is to the left. The controller 150 is configured to resolve this force vector based on readings from the force sensors 502 to 506. The controller 150 is configured to independently control each motor. In Figure 10 the example case of Figure 10 , when the tractor is turning left, the right motor, i.e., motor 142, is provided with more power than the left motor, i.e., motor 140. This causes the right wheel to be driven faster than the left wheel to facilitate the turning of the trailer. If the tractor is turning right, this control will change. To facilitate a sharp turn of the trailer, one motor can be turned off. The controller 150 is configured to control the power of each motor, and thus the speed of each wheel, based on the magnitude and direction of the force vector determined from the outputs of the force sensors 502 to 508.

[0225] The controller 150 can be configured to independently control the first drive wheel and the second drive wheel based on the detected force. Each electric motor 140, 142 can be controlled in proportion to the magnitude of the force. The controller 150 is also configured to control each electric hub motor 140, 142 to accelerate or decelerate the associated wheel based on the magnitude and direction of the force detected by the force sensors 502 - 508. The controller 150 can be configured to control each electric hub motor 140, 142 to accelerate or brake based on the rate of change of the force detected by the force sensors 502 to 508.

[0226] Figure 12 An example of a hitch device 400 mounted on the lower side of the trailer is shown. As Figure 12 shown, the hitch device 400 is for the trailer 300, i.e., a semi - trailer type of trailer, as the hitch device 400 is typically located on the lower side of such a trailer. As Figure 12 shown, the hitch device 400 includes a coupling rod 402 and a hitch plate 404. In one example, the trailers 100, 200, 300 include four piezoresistive elements 512, 514, 516, 518 sandwiched between the container 104 and the hitch plate 404. The piezoresistive elements 512 to 518 can include multi - axis piezoresistive elements configured to sense forces on multiple axes. In Figure 12 the example of Figure 12 , the piezoresistive elements are three - axis piezoresistive elements. The outputs of the three - axis load sensors 512 to 518 are processed by the controller 150 to determine the magnitude and direction of the force exerted by the tractor on the trailer 300. Figure 12 A resultant force vector D determined by the controller based on the processed signals received from the three - axis piezoresistive elements 512 to 518 is shown.

[0227] The controller 150 is configured to control the hub motors based on the magnitude and direction of the detected force. The controller 150 is configured to control the power supplied to the motors to be proportional to the magnitude of the force. The motors are controlled in accordance with the detected direction of the force. This allows the trailer to be driven and follow the tractor, and reduces the load on the tractor. The triaxial piezoresistive element operates under shear force, and the controller 150 is programmed to analyze the magnitude and direction of the force based on the output of the piezoresistive element. The controller 150 is configured to determine the magnitude and direction of the force on the trailer that comes from the tractor (i.e., the truck).

[0228] The trailer includes at least one optical sensor 520. The trailer 100 may also include other additional sensors. The optical sensor 520 forms part of the sensor assembly 500. The optical sensor is mounted on the front side of the container 104 or the hitch device 400. The sensor assembly 500 includes a plurality of optical sensors. In one example, as Figure 13 shown, the sensor assembly 500 includes two optical sensors 520, 522. The optical sensors 520, 522 are spaced apart from each other. The sensors are disposed in the mounting base 524. In one example, the optical sensor 520 is positioned on the trailers 100, 200, 300 such that the optical sensor is focused on the tractor. The optical sensor 520 is configured to be focused on the tractor, and the controller is configured to receive signals from the optical sensor and at least determine the orientation of the tractor. The controller 150 is also configured to determine the distance between the tractor and the trailers 100, 200, 300. Figure 14 An example of the optical sensors 520, 522 positioned to be focused on the tractor 1 is shown. The optical sensors 520, 522 are positioned to detect at least one outer edge and the upper edge of the tractor. Figure 14 An example field of view U of the optical sensor 520 is shown. The optical sensor detects the positions of the outer edge and the upper edge of the tractor. At least one optical sensor 520 is located on the left side of the coupling rod 402, and the other optical sensor 522 is located on the right side of the coupling rod 402. As Figure 13 shown, the coupling rod 402 is located between the optical sensors 520, 522.

[0229] In one example, the trailer may include side cameras and may also optionally include rear cameras. The side cameras may be mounted on the sides. Figure 2 An example of the side camera 526 is shown, while Figure 1 an example of another side camera on the opposite side of the side having the camera 526 is shown. As Figure 18 shown, the side cameras 526, 528 communicate with the controller 150. The controller 150 may process the images from the side cameras 526, 528 to identify one or more objects.

[0230] In one example, trailers 100, 200, 300 may include multiple optical sensors. The trailers may include optical sensors on the sides and rear of the trailers. Trailers 100, 200, 300 may also include additional sensors on the sides. The trailers may include any suitable combination of cameras, force sensors, and other sensors such as lidar, lasers, ultrasonic sensors. Optionally, the trailers may also include mechanical proximity sensors, such as limit switches, etc.

[0231] Controller 150 is configured to receive signals from the optical sensors and optionally other additional sensors, and process these received signals. Controller 150 is configured to determine the orientation of the tractor and the distance of the tractor from trailers 100, 200, 300. Controller 150 is configured to process signals from optical sensors 520, 522, and determine whether tractor 1 is steering relative to the trailer. Optionally, the controller may also use inputs from other sensors (lidar), in combination with cameras and optical sensors, to determine the orientation of the tractor.

[0232] Controller 150 is further configured to control electric hub motors 140, 142 (or in the case of trailer 300, control all hub motors coupled to these drive wheels), so that the trailer steers or partially steers according to the steering of the tractor detected based on the signals of optical sensors 520, 522. The trailer may steer by independently controlling these hub motors to drive these wheels at different speeds or in different directions. By controlling the associated hub motors, this independent control of the drive wheels will assist the tractor in towing the trailer to steer. This control of the wheels reduces the load on the tractor.

[0233] In one example, controller 150 is configured to determine whether the tractor is steering based on comparing the distances between the tractor and the trailer detected by the optical sensors and optionally other additional sensors. In one example, controller 150 receives signals from optical sensors 520, 522. Controller 150 is configured to determine the distance between the tractor and the trailer based on the signal from the first optical sensor 520. Controller 150 is further configured to determine the distance between the tractor and the trailer based on the signal from the second optical sensor 522. The controller is configured to compare the two distance measurements, and determine whether the tractor is steering based on the comparison of the distance measurements. Alternatively, controller 150 is configured to determine whether the tractor is steering based on the difference between these distance measurements being higher than a threshold. If controller 150 determines that the distance detected by one optical sensor is different from the distance detected by the other optical sensor, then controller 150 determines that the tractor is steering. Controller 150 checks whether the difference is greater than the threshold. The threshold may be stored in the memory of controller 150.

[0234] In the illustrated example trailers 100, 200, 300, the optical sensors 520, 522 are cameras. The cameras 520, 522 capture images or image streams (i.e., video streams). The controller 150 is configured to receive the video stream (or individual images) and process these images to determine the orientation of the tractor relative to the trailer. The controller 150 determines whether the tractor is steering. Optionally, the controller 150 can also determine the distance between the tractor and the trailers 100, 200, 300. The controller 150 can determine the distance based on signals from the optical sensors 520, 522. In one example, each camera can include a time-of-flight depth camera. In another example, each camera can include a depth stereo camera. In another example, the trailer can include one of each type of camera.

[0235] In one example, the controller 150 is programmed to apply an object recognition algorithm to the image stream (or images) received from the cameras 520, 522. Object recognition allows the controller 150 to detect the tractor in the images. The controller 150 is configured to process the image stream and identify the tractor in the image stream by applying an object detection algorithm. The controller 150 can be trained by machine learning to identify the tractor. Additionally, the controller 150 can be trained to identify various other object types.

[0236] The controller is configured to determine the orientation of the tractor relative to the trailer based on identifying the tractor in the image stream from the cameras 520, 522. The controller 150 is configured to identify the orientation of the tractor based on a comparison of the position of the tractor in the image stream from the first camera 520 with the position of the tractor in the image stream from the second camera 522. The controller 150 is configured to independently control each motor based at least on the determined orientation of the tractor. The controller 150 is configured to determine whether the tractor is steering based on the determined orientation of the tractor and the determined distance between the tractor and each camera. The controller 150 is configured to control each motor so that the trailer steers in accordance with the steering of the tractor identified in the controller. Each hub motor 140, 142 is independently controlled to steer the trailer in accordance with the determined steering of the tractor. Independently controlling these hub motors facilitates the tractor towing the trailer to steer.

[0237] The distance between the tractor and each camera 520, 522 is based on the focal length of the camera. The focal length is used as a reference standard for calculating the distance between the tractor and the camera. In one example, the controller 150 determines the orientation of the tractor based on comparing the tractors detected in the images captured from two cameras. The controller 150 is configured to determine the amount of the tractor visible in the images of the image stream from the first camera 520. The controller 150 is configured to determine the amount of the tractor visible in the images of the image stream from the second camera 522. The controller 150 is configured to determine whether the tractor is turning based on a comparison of the amounts of the tractor visible in the image streams from the first camera 520 and the second camera 522. If more of the tractor is visible in the image from the first camera 520 than in the image from the second camera 522, the controller determines that the tractor is turning left, and if more of the tractor is visible in the image from the second camera 522 than in the image from the first camera 520, the controller 150 determines that the tractor is turning right. The controller 150 also controls the electric hub motors 140, 142 based on the amount the tractor is turning.

[0238] In another example, the controller 150 may determine the distance based on the distance detected by a depth stereo camera. Optionally, the controller 150 may determine the distance based on the output from a time-of-flight camera. The controller may be programmed to determine the distance to and of the tractor by processing the camera output.

[0239] Controlling the hub motors 140, 142 based on the detected force and orientation of the tractor reduces the load on the tractor. Driving the trailer reduces the power consumption of the tractor. This is particularly advantageous when the tractor is an electric vehicle. Electric vehicles are typically more power limited than internal combustion engine vehicles. Due to the limited number of batteries, the power supply of electric vehicles is generally also smaller. Driving the trailer includes force sensors and optical sensors for driving the trailer to turn, improving the efficiency of the electric tractor. Since the hub motors are controlled to drive the trailer, the load generated by the trailer is reduced. Additionally, the same advantages apply to tractors of the internal combustion engine type. The driven trailers 100, 200, 300 described herein are advantageous because it improves the fuel efficiency of internal combustion type tractors.

[0240] In one example, the sensor assembly includes one or more ultrasonic sensors 530 on the front panel and the rear panel. The one or more ultrasonic sensors 530 are arranged to communicate with the controller 150. The one or more ultrasonic sensors 530 can be used for distance tracking and collision detection. The ultrasonic sensors can detect the distance between the front or rear of the trailer and another object based on the propagation time of the ultrasonic signal. The controller is configured to determine the distance between the trailer and another object based on the signal. The controller can activate an audible or visual alarm. The controller 150 can also issue an alarm on the tractor or send an alarm to a user device (such as a user's mobile phone). Alternatively, the ultrasonic sensor 530 can be a laser sensor, which can be used to determine the distance.

[0241] In one configuration, the controller is configured to determine obstacles, objects, and / or people to avoid collisions. Optical sensors and optionally other additional sensors can be used to perform collision avoidance. Collision avoidance can also be determined by the controller by processing signals from the ultrasonic sensors. The controller can also be configured to determine collision avoidance based on the processed output from one or more cameras. In one example, side cameras can be used in combination with front cameras and other sensors to perform object detection to avoid collisions.

[0242] Figure 18 A schematic diagram showing the controller 150 communicating with sensors and motors is shown. The controller receives signals from force sensors 502 to 508, optical sensors 520, 522, and ultrasonic sensors 530. The controller 150 is configured to receive the sensor signals and process these signals. The controller 150 is configured to actuate one or more hub motors 140, 142. In the illustrated example, the central controller 150 transmits actuation signals to motor controllers 152, 154 associated with the hub motors 140, 142. The motor controllers 152, 154 control the hub motors based on the control signals, that is, based on the actuation signals from the central controller.

[0243] Trailers 100, 200, 300 also include a regenerative braking system. Figure 15 A schematic diagram of an example regenerative braking system 600 is shown. As Figure 15As shown, the battery 132 is electrically connected to each of the electric hub motors 140, 142 to supply power to the electric hub motors 140, 142. Each of the electric hub motors 140, 142 is associated with a drive wheel to drive the wheel. The central controller 150 is connected to the motor controllers associated with each hub motor. The first motor controller 152 is associated with the first hub motor to control the power and voltage of the hub motor 140. The second motor controller 152 is associated with the second wheel hub motor. By supplying power to the hub motors, power is obtained from the battery 132 to drive the wheels forward. The regenerative braking system 600 is configured to obtain power when the trailer is braked or idling to charge the battery 132. When the trailer is electrically braked, energy is transferred back to the battery to charge the battery 132. The system 600 includes a regenerative braking circuit 602 that is connected between the battery and the motors 140, 142. The circuit 602 includes appropriate circuit components that are configured to transfer power to operate the motors normally to drive the wheels and obtain power when the motors are braked. During braking and / or idling, the motors 140, 142 can be used as generators. The power obtained during braking is used to charge the battery 132.

[0244] The recreational trailers 100, 200 include one or more accessories. In one example, the accessories can include any one or more of the following: one or more power plugs that are electrically connected to at least one battery to supply power to the power plugs, one or more speakers, one or more lights for illuminating the interior space of the container, an integrated refrigerator, an ice maker located within the container, a waterproof lining connected to the interior of the container, one or more foldable seats, at least two side panels that can be hinged between an open position and a closed position. The panels can include latches or fasteners to hold the panels in the closed position. The trailer can include one or more USB interfaces. The USB interfaces can allow connection to a controller to extract data. The USB interfaces can allow the transmission of control signals, for example, to regulate the power of the motor. The USB interfaces can also allow other devices, such as a phone or a music player, to connect to the trailer. The trailer can include an integrated GPS unit that can allow the tracking of the trailer's location.

[0245] The trailer 100 can also include indicator lights to indicate steering. The trailer 100 can also include additional display lights. The display lights can be located on the body of the trailer. The display lights can be used to provide information to the user. The display lights can extend on the body in any suitable configuration. The display lights can indicate when the lid is open or when the trailer is stopped or moving. The display lights can be activated if there is an impending collision or an object is detected in the path of the trailer. The display lights can be used to provide various information to the user.

[0246] The trailer can include an air compressor as an accessory. The air compressor can be connected to a battery within the trailer to power the air compressor. The air compressor allows inflating water tools.

[0247] In one example configuration, the trailer can include one or more rails mounted inside or outside the trailer. Optionally, the rails can be located both inside and outside. The rails can be mounted inside and / or outside of a container. Optionally, the rails can be mounted on the chassis. The rails can allow various items to be mounted to the trailer. The trailer can also include one or more hooks to mount various items.

[0248] The interiors of the recreational trailers 100, 200 can include fittings for accommodating various recreational items. For example, the trailers 100, 200 can include hooks or fasteners to accommodate kayaks or surfboards or other water tools. The recreational trailers 100, 200 can also include USB ports and / or auxiliary ports. The USB ports or auxiliary ports allow insertion of a phone or a stereo device to play music through speakers. The speakers can be integrated into one or more side panels. The speakers are also electrically coupled to the battery through a suitable electrical connection to power the speakers through the battery in the battery compartment 130. The trailer can also include a speaker controller and an interface circuit that connects the speakers to the battery. The speaker controller and the interface circuit control the operation and power of the speakers to drive the speakers. The speakers can also include a wireless communication module, such as a Bluetooth module. The user can wirelessly connect to the speakers through the wireless communication module and play music.

[0249] The trailers 100, 200, 300 also include a wireless transceiver 700. The wireless transceiver 700 can include a transmitter and a receiver. In one example, the wireless transceiver 700 can be integrated into the upper panel of the trailer. Alternatively, the transceiver 700 can be mounted on the outer surface of the trailer. In another alternative, the transceiver 700 can be integrated with the central controller 150. The transceiver 700 is arranged to communicate electronically with the central controller 150.

[0250] The wireless transceiver 700 is configured to wirelessly pair (tether) with the user device 10. The user device 10 can be a mobile device, such as a smartphone or a tablet or other suitable mobile device including wireless communication capabilities and a corresponding wireless transceiver. The transceiver 700 can wirelessly pair with the user device 10. The controller 150 is configured to wirelessly pair with the device 10. The wireless transceiver serves as a wireless communication module. The wireless transceiver is configured to communicate with the user device 10 via a suitable wireless communication protocol, such as Bluetooth, Zigbee, or any other wireless communication protocol.

[0251] Once paired, the controller 150 is configured to control the trailer to automatically follow the movement of the device 10. The controller 150 is configured to control the motor to follow the device 10 based on the signal strength of the wireless pairing. The controller 150 is configured to control the speed of the trailer to keep the signal strength within a specific range. In addition, the controller 150 is configured to activate at least one optical sensor 520, 522. Preferably, both optical sensors 520, 522 are activated. The controller 150 is configured to detect the device 10 or a person associated with the device 10. The controller 150 is configured to control the motors 140, 142 to make the trailer automatically follow the device or the user associated with the device 10.

[0252] Figure 16 An example of a wireless transceiver 700 wirelessly paired to the device is shown. The optical sensors 520, 522 are cameras. The cameras 520, 522 are activated. The controller 150 is configured to receive images from the cameras. The visual cone V shows the cameras focused on the user device or the user. By applying an object recognition algorithm, the user 1 or the device 10 is identified in the image stream (or multiple images). The controller 150 is configured to determine the distance between the device 10 (or the user 1) and the trailer. The controller 150 is configured to control the hub motors 140, 142 to control the movement of the trailer so as to maintain a predetermined or preset distance from the device 10 (or the user).

[0253] The user can communicate with the controller 150 via the mobile device 10. The user can define a specific following distance. Figure 17 An example of the automatic following function is shown. As Figure 17 shown, the user 1 has moved a certain distance in the direction of arrow X. The trailer 200 is controlled to automatically follow the user based on the signal strength of the wireless pairing between the transceiver 700 and the mobile device 10 and the user identified in the camera image stream. The distance the trailer moves is the same as the distance the user moves in the direction of arrow Y.

[0254] In an example configuration, a user can establish a wireless connection with a trailer via transceiver 700. User device 10 can present a control interface on device 10. The control interface will enable device 10 to act as a remote control. Device 10 can be used to manually control trailers 100, 200, 300 through manual input to device 10. For example, a user can remotely drive a trailer by wirelessly transmitting a control signal. The trailer will follow the instructions and drive autonomously based on the user's input to device 10. The trailer is configured to continuously perform collision avoidance using sensors (e.g., one or more cameras). The trailer will utilize some or all of the sensors, such as cameras and ultrasonic sensors. The controller is configured to perform collision avoidance based on sensor signals. If the controller detects an object, person, or obstacle within a defined range of the trailer, the controller can stop the trailer. The controller executes appropriate software algorithms to avoid collisions. In one example, the controller can use object recognition on images captured by one or more cameras. The object recognition method is configured to detect and identify objects within the image. The controller is configured to determine the distance to the detected and identified objects. If the controller detects that an object is too close, the controller can stop the trailer by stopping the power supply to the motor.

[0255] Autonomous following is beneficial because the trailer can be easily moved without the need for any towing vehicle. This is particularly useful when parking a trailer in a parking lot. This is especially useful for large semi-trailers 300 and fleet management. Trailer 300 can be manually controlled via device 10 or can be controlled to autonomously follow the user, allowing the user to easily maneuver trailer 300 around a parking lot. The autonomous following or remote control of the trailer also allows the user to easily maneuver the trailer without the need for a towing vehicle or manual operation. Additionally, for recreational trailers 100, 200, autonomous following is beneficial because it allows the user to bring the trailer into areas where a towing vehicle may not be able to reach. For example, trailers 100, 200 can follow the user (or the user can manually control the trailer) to locations near a lake or river. The cargo in the trailer can be brought to specific recreational sites, such as a camping site or a water sports site, etc.

[0256] Trailers 100, 200, 300 can be configured to automatically hitch, i.e., automatically couple to a towing vehicle. Trailers 100, 200, 300 will automatically hitch to a suitable towing vehicle. The controller can be configured to identify the towing vehicle, its location, and type based on applying an object recognition algorithm to images captured by one (or more) cameras. The controller can be configured to identify one or more gestures performed by the user. The controller can identify gestures by processing images captured by the camera(s). In one example, controller 150 is configured to determine the type of gesture based on a machine learning algorithm. The controller can be trained with appropriate training data including various gestures. Alternatively, the controller can apply suitable artificial intelligence algorithms to identify gestures.

[0257] In another example, the controller 150 can determine the type of gesture by comparing the gesture with a database of known gestures. The database is stored in a storage unit associated with the controller. The controller 150 is also configured to identify the type of gesture.

[0258] If the controller 150 identifies an automatic hitch gesture, the controller 150 is configured to activate and control a motor to drive the trailer to position it near the tractor. The controller 150 is configured to control the motor to move the trailer so that the hitch device automatically connects to a corresponding coupler on the tractor. This automatic coupling is performed in response to identifying the corresponding coupling gesture. The controller 150 can send a signal to the mobile device 10 (i.e., the user device) that indicates the confirmation of the automatic coupling or the failure of the automatic coupling. The confirmation or failure of the automatic coupling can be displayed on the mobile device as a message or an indication. A sound alert may be issued indicating that the automatic coupling was successful or unsuccessful.

[0259] In one example, a specific visual message corresponding to a successful automatic coupling is presented on the user device. If the automatic coupling process is not successful, a specific visual message corresponding to an unsuccessful automatic coupling can be presented. If the automatic coupling is not successful, the controller can stop the trailer. Trailers 100, 200, 300 can include one or more indicators, such as lights located on the trailer, to indicate a successful automatic coupling or an unsuccessful automatic coupling. The indicators can be configured to present other visual messages, such as a low battery warning or a proximity warning. The trailer can also include a speaker that presents an auditory message corresponding to the coupling or other messages, such as a low battery warning or a proximity warning.

[0260] In one configuration, the trailer includes a GPS module. The controller can be electrically coupled to the GPS module. The controller is configured to determine the position of the trailer via the GPS module. The position of the trailer can be transmitted to a user device, such as a mobile device. The GPS module allows the controller to access the global positioning system and determine the global position of the trailer. The position of the trailer can be presented on a map interface on the user device. For example, the trailer position can be presented on Google Maps on the user device.

[0261] The trailer can include a computer vision-based control system. The control system can include a combination of computer vision, namely, image processing and mechanical sensing from force sensors. Cameras can be mounted on the trailer and can be configured to capture images of a towing vehicle (e.g., a truck or a multi-purpose vehicle). The controller 150 can be configured to receive the captured images from the cameras and to perform object recognition on the images to detect the towing vehicle within the captured images. The controller 150 can also be configured to determine the movement of the towing vehicle and to control an electric motor based on the detected position of the towing vehicle. The electric motors 140, 142 are controlled by the controller 150 to cause the trailer 100 to change speed, stop, or turn based on the detected movement of the towing vehicle 1. Vision-based control can be implemented using optical sensors and optionally other additional sensors as an alternative to cameras. The camera can be an optical sensor. In another alternative form, the trailer can include a camera and an optical sensor and optionally other additional sensors, and the controller can be configured to combine all the sensors to determine the movement of the towing vehicle. The controller is configured to control the motor to adjust the movement of the trailer, such as the path or trajectory or speed or braking.

[0262] Figure 19 A method 900 for controlling a trailer based on the movement of a towing vehicle and / or based on a user's gesture is shown. The movement of the towing vehicle can be captured by cameras and / or optical sensors and optionally other additional sensors. The captured images or video frames and / or signals from the optical sensors can be processed to detect the movement of the towing vehicle 1. The trailer 100 can be controlled based on the detected movement of the towing vehicle 1. The method 900 can also be applied to detect one or more gestures from a user. The user can be detected based on the images or video captured by the camera and / or based on the detected optical signals from the optical sensor. Gestures can be recognized, and the trailer 100 can be controlled based on the recognized gestures. The controller 150 executes the method 900 for controlling the trailer. The method 900 can be defined as executable instructions.

[0263] Method 900 includes step 902. Step 902 includes receiving a plurality of images (i.e., image frames) from a camera. Each image frame can be a still image or a frame in a video captured by the camera. Step 902 also includes capturing a data frame from an optical sensor. Step 904 includes checking whether the towing vehicle is moving at a low speed. As in step 906, if the towing vehicle is not moving at a low speed, an error can be reported. If low speed is detected, then in step 908, the images are passed to the gesture video classifier 802. Steps 904 to 908 can be optional. In step 910, the image frames are passed to the vehicle following control video classifier 804. Optionally, in step 910, in addition to the image frames, the data frames can also be passed to the video tracking control classifier 804. A video classifier is a software system, i.e., a software module, that takes several consecutive video frames and uses a machine learning model (a deep learning model such as a convolutional neural network) to detect objects within each frame and attempts to associate their direction of travel (e.g., the same object moving left) or change of state (e.g., a brake light turning on or off). These neural networks are trained to recognize different things by providing specific training data, e.g., images, videos, and other data, relevant to each use case that the video classifier attempts to detect or understand.

[0264] The model is trained using a large number of relevant sample shots and images that have varying lighting conditions, weather conditions, and a wide variety of target objects and scenes in which the categories of the objects being tracked are intended to be recognizable.

[0265] The gesture video classifier 802 is a specially trained video classifier deep neural network (or other machine learning system) that is trained to recognize instances of distinct and clear gestures made by human users with their hands and arms in images, videos, and other data. These gestures can be "wave" or "come here" - for example, the following gestures are shown as:

[0266] · Wave: A person (user) extends their arm, holds their palm upright, away from their own face, and then rotates / tilts their hand / palm approximately 45 degrees from left to right and repeats.

[0267] · Come here: A person (user) extends their arm with their palm facing their own face and then moves their hand towards their head.

[0268] Other gestures are envisioned and the gesture video classifier 802 can be trained to recognize other gestures. The machine learning model of the gesture classifier 802 can be trained using typical training techniques to provide reliable and accurate recognition under a wide range of scenarios and environmental conditions, such as under different lighting conditions, different weather conditions, and background scenes, with sufficient sample images, videos, and other data of different ranges of people performing these gestures in the frame, fully and partially. The training set can include images, videos, and other data of "non-gestures" to train the neural network. The model is trained with sufficient sample images, videos, and other data such that it can reliably recognize different classes of gestures and classify them into discrete commands using a confidence score that describes how clearly the gesture is tracked and detected by the model(s). Several models can be used in series or in parallel combination to understand different criteria that can help the classifier 802 provide more accurate detection, e.g., a Human Pose Estimation Model, a Human Hand Model, a Human Person Model.

[0269] These can be video-based classifiers and models that are capable of tracking the temporal relationships of objects that appear in consecutive frames of the same video shot or video stream from a camera. This can be done by analyzing the changes in the position and / or orientation of the human arm in several frames - using techniques such as Long Short-Term Memory (LSTM) networks and Kalman filters. These processing techniques can be used to model the temporal dependencies and estimate the orientation more accurately.

[0270] The trailer 100 can include a pair of cameras (as described above). The cameras can be two stereo cameras (set at a fixed distance apart). The model can be trained to use depth estimation techniques and machine learning models to estimate how far an object, a person, or a person's hand might be from the camera and how the object, person, or person's hand moves in 3D space.

[0271] The vehicle following control video classifier 804 is a specially trained classifier designed to follow the vehicle in front of it (the leading vehicle, i.e., the tractor 1). The leading vehicle can be the tractor 1, such as a small or large truck, or it can be an ordinary passenger vehicle for public roads. The Vehicle Follow Control Classifier (VFCC) 804 is similar to the gesture control classifier 802, but instead looks for attributes related to the leading vehicle (the tractor) in the video, which could be, for example, brake lights, license plates, and the general shape of the rear end of a typical leading vehicle for each class of ordinary vehicle (such as a passenger vehicle).

[0272] The VFCC 804 can also be trained to look for changes in each of these attributes to be used as control signals for the trailer. For example, the leading vehicle (i.e., the tractor 1) can flash its right turn indicator. The VFCC 804 will detect this change in attribute (the yellow or turn indicator light is lit and then extinguished), and this information will be fed into the trailer controller, and the right turn signal of the trailer will start to flash while the turn signal of the leading vehicle is still active. The same is true for brake lights and reverse lights.

[0273] In addition to the control signals read from the dynamic hitch, these light states can be fed back as additional attributes into the braking, steering / maneuvering, or acceleration control decisions of the trailer. Additionally, the vehicle pose classifier 804 can use deep neural networks and other algorithms to estimate the plane of the "face" behind the leading vehicle. By continuously evaluating the angle of the leading vehicle relative to the front "face" of the trailer, further control information about the direction in which the trailer may turn next can be inferred. Figure 20 An example of this is shown.

[0274] Reference Figure 20 , an example of the tractor turning detected by the VFCC 804 is shown. The image labeled 1 shows the tractor 1 (i.e., the leading vehicle) moving straight forward. The wheel speeds on each side of the trailer are detected to be equal. The angles detected from the camera image are equal. The image labeled 2 shows the leading vehicle 1 turning to the right (when viewed from the top). The detected relative plane angle means the leading vehicle is turning right. The outer trailer wheel speeds increase, and if necessary, brakes are applied independently to each wheel to turn the trailer (as shown by the larger arrows) to follow the same path as the leading vehicle 1. The illustrated example shows the motors being driven at different speeds.

[0275] Returning to the description of method 900. Step 912 includes processing the image frames using the gesture video classifier 802 to identify one or more gestures being performed by the user. Step 914 includes processing the image frames using the video follow control video classifier 804. Both the gesture classifier and the video follow control classifier 804 can process the received image frames in parallel. If the user is making a gesture, the video follow control classifier (VFCC) will not detect any leading vehicle (i.e., the tractor), and the gesture classifier will detect the gesture. In the case where the trailer 100 is being towed by a tractor, the gesture classifier 802 will not detect a gesture, while the VFCC 804 will detect the movement of the tractor and appropriately control the motors to change the wheel speeds.

[0276] Step 916 includes generating a classification result based on the processing of the image frame. Spatial data is also introduced at step 916. For example, the spatial data can be (inferred point cloud, or point cloud provided by a lidar-like sensor). The spatial data can be provided by a data frame from an optical sensor. Step 918 includes checking that the output is of high confidence. If the result is not of high confidence, an error can be reported at step 920, or the classification result can be discarded. The classification step 916 can determine a change in the trailer movement required based on the gesture or on the detected movement of the towing vehicle.

[0277] If the result of the classification is of high confidence, the method proceeds to step 922. At step 922, the Dynamic path planning sub system 806 (DPPSS) is configured to process the classification and spatial data to determine the path that the trailer 100 should follow. It is a software algorithm system that may include a neural network or a deep neural network. The system analyzes the input gesture or vehicle control and determines that the path that the trailer can follow has no obstacles or incompatible surfaces, such as water or very steep terrain. The system uses sensor data on several frames as well as optical sensor and optionally other additional sensor data, such as LiDAR (Light Detection and Ranging) or video or image data on several frames, to classify the objects and surfaces that would obstruct the path of the trailer to reach the final position. During the path traversal, the safety of the command to move the trailer being executed is continuously evaluated, and any obstacle or loss of sufficient sensor or camera input due to weather or lens obstruction (such as mud) will terminate the path traversal.

[0278] The DPPSS 806 can be configured to attempt to infer the boundary shape(s) that are well represented for each detected obstacle, which is close to its real-world dimensions and its position relative to the trailer camera. Using 3D geometry mathematics, the boundary geometry and 3D spatial data (inferred point cloud, or point cloud provided by a lidar-like sensor) will be added to a virtual 3D scene that is sufficiently close to the real world in terms of position, dimensions, and size in a 1:1 ratio to allow reliable and safe navigation. The DPPSS 806 can use a path-finding algorithm similar to "Dijkstra A*" to form a virtual path consisting of line segments or curves that can be safely followed from the current position to the target position, and this virtual path bypasses any obstacles detected from the sensors. The target position can be determined by gesture logic. For example, it can be the estimated physical position of the person making the gesture, or it can be an object or another input signal, such as a wireless pairing device (personal phone or other Bluetooth device paired with the trailer). The target position can also be the estimated new position of the vehicle in front of the trailer it is following.

[0279] Once the path is determined, the method proceeds to step 924. Step 924 includes executing the Trailer Dynamics Operation Sub-system 808. This sub-system can be a software engine or software module. The Trailer Dynamics Operation Sub-system (TDOSS) 808 can be configured to control motion-related functions such as independent acceleration of each wheel, independent braking using typical disc or drum brakes of each wheel, independent braking using the feedback resistor of each electric vehicle wheel motor, and switching each wheel to regenerative energy recovery. Appropriate control of motion is determined at step 924.

[0280] Step 926 includes checking whether the trailer 100 has reached its final position. If not, step 928 is executed. Step 928 includes checking whether it is safe to execute the required actions (i.e., required commands) determined at step 924. Safety can be considered by using optical sensors and optionally other additional sensors or other sensors to detect objects or obstacles. Camera images can optionally be used in combination with sensor data. The output of the TDOSS 806, i.e., the appropriate control, is continuously executed until the trailer 100 reaches its final target position based on the detected pose or the determined motion of the tractor 1. Once the trailer reaches its final position, the control commands stop.

[0281] If the classification output from the gesture classifier or the vehicle following control classifier is determined to be an operation change, step 930 is executed as an alternative to step 918. The operation change can include changing multiple operation aspects such as turning on lights or activating indicator lights, etc. At step 930, the Trailer Auxiliary Operation Sub-system (TAOSS) 810 controls the operation aspects of the trailer, such as triggering turn signals, brake lights, reverse lights, license plate lights, any central locking, or motors similar to controlling doors and covers on the trailer. An optional confidence check 932 can be performed before applying the TAOSS 810. Step 932 can be similar to step 918, where a low confidence output results in an error and / or the output is discarded. The output of the TAOSS can be fed to the dynamic and path planning sub-system, and the method can proceed forward through step 922.

[0282] Method 900 can be executed continuously and repeatedly. Optionally, another subsystem can also be included to handle all software and power operations of a computing accessory connected via any USB (Universal Serial Bus) port or network port (such as RJ-45, WIFI, or Bluetooth and infrared, lidar, optical, and other sensors that can be included in the trailer), as well as to handle wheel speed and feedback from braking and moving components of the trailer system, such as current brake actuation / pressure, wheel speed, power output, power regeneration, etc. These can be connected to a computing device that allows various different applications and software to run and access data from the control bus to allow new functions to be introduced later through software added to the computing device. The computing device can include a 4G or high-speed mobile internet modem to allow the computing device and the software running on it to have restricted or unrestricted access to the internet.

[0283] The computing device can change or add control signals to allow different software to use software logic to modify the behavior of the trailer, including obtaining commands from remote software via the internet through an authenticated website, a mobile application, or other suitable software. These commands are always routed through the DPPSS 806 of the controller 150 to ensure they are safe and effective. Various software subsystems and software engines, such as classifier 802, 804, DPPSS 806, TDOSS 808, and TAOSS 810, can all be stored in the controller 150 and executed by the controller 150.

[0284] Motors 140, 142 are driven by a motor controller, which is a computing device that also includes a communication bus (such as a CAN bus) connected to the central controller 150. Alternatively, the central controller 150 can directly drive the motors. The CAN bus allows communication with controller subsystems such as DPPSS 806, which can run on the controller 150 or another computing device. This uses software to generate a series of control commands that the motor controller can execute. Some examples of commands are as follows:

[0285] · Set the rotational speed and / or power

[0286] · Set the operating direction of the motor (clockwise or counterclockwise)

[0287] · Set feedback (power generation) on / off

[0288] · Set the feedback intensity

[0289] · Stop the motor as soon as possible (cut off the power, set maximum feedback)

[0290] Each of these commands can be set to run for a given duration or change the state of the controller so that the motor maintains that state until the next command arrives or until power is lost. As part of method 900, the commands can be provided as output.

[0291] The neural networks used herein can be trained using typical training techniques to provide reliable and accurate identification in a wide range of scenarios and environmental conditions. The neural networks used in the classifier are trained for object recognition, such as the recognition of the posture or movement of a towing vehicle.

[0292] The trailer can additionally include other sensors, such as acoustic sensors. For example, the controller can use ultrasonic sensors. In addition, the trailer can also include additional sensors, such as non-optical sensors, such as magnetometers, barometers, and temperature sensors. At step 902, the data frames mentioned above can also include data frames from other sensors, such as the optical sensors and non-optical sensors described herein. The image frame at step 902 can also include an image frame from a side camera of the trailer, which can be used for spatial data identification.

[0293] The data from these other sensors can be processed by the controller and can be used to identify spatial data. The spatial data can include environmental data and other objects within or around the trailer's path. The spatial data can also include the identification of other features, such as people, other vehicles, vehicle lights, traffic signals, signal lights, body shapes, etc. The spatial data can also include the trajectory estimation of the same object, such as the path of a specific object, so that the controller can determine the likelihood of a collision. The controller uses cameras (such as side cameras) and optical sensors as well as other sensor inputs to determine the spatial data. The controller can implement a spatial data identification subsystem that is configured to process the data frames received from the side cameras, optical sensors, and other sensors to determine the spatial data.

[0294] The trailer described herein is advantageous because the trailer utilizes multiple sensors to determine the movement of the towing vehicle. The movement of the towing vehicle is used to control the electric motor to adjust the movement of the trailer to reduce the towing load. For example, if the towing vehicle is accelerating forward, mechanical sensors (such as force sensors), cameras, and optionally other sensors are used to determine the acceleration, and the controller controls the electric motor to accelerate the trailer forward, thereby reducing the towing load, i.e., the traction force on the towing vehicle. As the load on the towing vehicle decreases, this reduces fuel consumption. This is particularly useful for electric towing vehicles because the electric motor reduces the load on the trailer and increases the driving range of the towing vehicle. The same advantage applies to fuel-powered towing vehicles because the driving range is increased due to the reduced load on the towing vehicle.

[0295] The trailers described herein use mechanical sensors in combination with optical sensors, such as cameras. In particular, the trailer includes a combination of a mechanical sensor (force sensor) and a vision system based on a camera to provide a more precise determination of the movement of the towing vehicle. The combination of sensors is used synchronously to provide improved control and improved sensing. The controller can provide more precise control to the trailer based on the improved sensing.

[0296] The description of any of these alternative embodiments is considered exemplary. Any alternative embodiment and the features in the alternative embodiments can be used in combination with each other, or in combination with the embodiments described with reference to the accompanying drawings.

[0297] The controller 150 may include programming instructions for detecting input conditions and controlling output conditions. The programming instructions may be stored in a storage unit of the controller 150. The programming instructions may correspond to the methods, procedures, and functions described herein. The programming instructions may be executed by one or more hardware processors (not shown) of the controller 150. The programming instructions may be implemented in C, C++, JAVA, or any other suitable programming language. Part or all of the programming instructions may be implemented in a dedicated circuit, such as an ASIC and an FPGA. The controller 150 may also include a circuit for receiving sensor signals. The trailer 100 may include a user interface, such as a display or an indicator light that can be used to display various warning messages. Warning messages and alerts may also be transmitted to a user device, such as a mobile device.

[0298] The phrase "computer-readable medium" or "machine-readable medium" as used in this specification and the claims should be understood to include a single medium or multiple media, unless the context otherwise implies. Examples of multiple media include a centralized or distributed database and / or an associated cache. The multiple media store one or more sets of computer-executable instructions. The phrase "computer-readable medium" or "machine-readable medium" should also be understood to include any medium that is capable of storing, encoding, or carrying a set of instructions that are executed by a processor of a computing device and that cause the processor to perform any one or more of the methods described herein. The "computer-readable medium" or "machine-readable medium" may be non-transitory.

[0299] Only some example embodiments of the present invention have been described above, and modifications may be made to the embodiments that are obvious to those skilled in the art without departing from the scope of the present invention. Modifications and variations that are obvious to those skilled in the art are considered to be within the scope of the present invention.

[0300] Conditional language such as "can", "will", "may", or "might", unless specifically stated otherwise or understood otherwise in the context in which it is used, generally is intended to convey that certain embodiments include certain features, elements, and / or steps, while other embodiments do not include those features, elements, and / or steps. Thus, such conditional language generally is not intended to imply that one or more embodiments in any way require features, elements, and / or steps, or that one or more embodiments must include logic for determining whether such features, elements, and / or steps are included in or will be performed in any particular embodiment, with or without user input or prompting.

[0301] Degree language used herein, such as the terms "approximate", "about", "substantially", and "roughly" used herein, represent a value, amount, or characteristic that is close to the stated value, amount, or characteristic and that still performs the desired function or achieves the desired result. For example, the terms "approximate", "about", "substantially", and "roughly" can refer to amounts that are less than 10%, less than 5%, less than 1%, less than 0.1%, and less than 0.01% of the stated amount.

[0302] The term "controller" includes, but is not limited to, any type of dedicated or special computer, or any machine or computer or server, or an electronic device having a microprocessor, processor, microcontroller, programmable controller, etc., or a cloud-based platform or other network of processors and / or servers, whether local or remote, or any combination of such devices.

[0303] In the foregoing description, the storage unit, i.e., the storage medium, can represent one or more devices for storing data, including read-only memory (ROM), random access memory (RAM), magnetic disk storage media, optical storage media, flash memory devices, and / or other machine or computer-readable media for storing information.

[0304] In addition, note that embodiments can be described as a process, which is depicted as a flowchart, process diagram, structure diagram, or block diagram. Although a flowchart may describe operations as a sequential process, many operations can be performed in parallel or simultaneously. In addition, the order of operations can be rearranged. When the operations of a process are completed, the process terminates. A process can correspond to a method, function, procedure, subroutine, subprogram, etc. in a computer program.. When a process corresponds to a function, its termination corresponds to the function returning to the calling function or the main function.

Claims

1. A trailer configured to be towed by a tractor, the trailer comprising a chassis, a hitch device that couples the trailer to the tractor, a container mounted on the chassis and defining a space for accommodating goods; a wheel assembly coupled to the chassis, the wheel assembly including at least a first wheel and a second wheel, at least one electric motor connected to or mounted on at least one wheel, the electric motor configured to drive the at least one wheel, at least one battery electrically coupled to the electric motor, and the electric motor configured to obtain electrical power from the battery to drive the at least one electric motor, one or more force sensors mounted on the trailer, at least one optical sensor mounted on the trailer, a controller arranged to communicate with the one or more force sensors and the at least one optical sensor, the controller configured to receive and process signals received from the force sensors and the optical sensors, the controller being electrically coupled to the electric motor and configured to control the operation of the electric motor, wherein the controller is further configured to: determine the force applied by the tractor on the hitch device based on processing the signals received from the one or more force sensors, determine the orientation of the tractor based on processing the images received from the optical sensor, control the electric motor based on the determined force and orientation.

2. The trailer according to claim 1, wherein, The force sensor is configured to determine the linear force on the hitch device, wherein the force on the hitch device is applied by the tractor.

3. The trailer according to claim 1 or 2, wherein The controller is configured to determine the magnitude and direction of the force applied by the tractor on the hitch device.

4. The trailer according to any one of the preceding claims, wherein, The one or more force sensors are pressure elements.

5. The trailer according to any one of the preceding claims, wherein, The one or more force sensors are strain gauges.

6. The trailer according to claim 5, the trailer including four force sensors mounted on the hitch device, the four force sensors configured to sense the force applied by the tractor on the hitch device.

7. The trailer according to claim 6, wherein, The controller is configured to determine at least one or both of the magnitude and direction of the force sensed by each force sensor.

8. The trailer according to any one of claims 6 or 7, wherein, The controller is configured to determine the resultant force based on the forces sensed at each force sensor, and the controller is further configured to determine at least one or more of the magnitude and direction of the resultant force, wherein the resultant force represents the force applied by the tractor to the trailer.

9. The trailer according to any one of the preceding claims, including a hitch device plate and a coupling rod extending outwardly from the hitch device plate, the coupling rod configured to couple to the tractor, the force sensor being sandwiched between the hitch device plate and the container or between the hitch device plate and the chassis such that the hitch device plate is connected to the container or the chassis through the force sensor, wherein the force sensor is configured to sense the force applied by the tractor to the coupling rod.

10. The trailer according to claim 9, wherein, Each force sensor is mounted at or near a corner of the hitch device plate.

11. The trailer according to claim 10, wherein, The hitch device plate is generally square, and the force sensors are mounted equidistantly from each other.

12. The trailer according to any one of the preceding claims, comprising at least a pair of electric motors, each electric motor being mounted to one of the first wheel and the second wheel, the first wheel and the second wheel defining drive wheels, such that the electric motor is configured to drive the wheel to which it is mounted based on a control signal from the controller, and wherein the controller is configured to independently control each electric motor based on the determined force and orientation of the tractor.

13. The trailer according to claim 12, wherein, Each electric motor is an in-wheel motor, and each in-wheel motor is configured to drive the wheel to which it is mounted in a forward or backward direction.

14. The trailer according to any one of the preceding claims, wherein, The controller is configured to: Determine the magnitude and direction of the force exerted by the tractor on the coupling bar at each force sensor. Independently control each electric motor based on the determined magnitude and direction of the detected force.

15. The trailer according to any one of the preceding claims, wherein, Two force sensors are mounted on the hitch plate on the left side of the coupling bar to form a first set of sensors, and two force sensors are mounted on the hitch plate on the right side of the coupling bar to form a second set of sensors, wherein the controller is configured to: Determine the magnitude and direction of the force from the tractor detected at each force sensor in the first set. Determine the magnitude and direction of the force from the tractor detected at each force sensor in the second set. Determine the magnitude and direction of the resultant force at the first set of sensors. Determine the magnitude and direction of the resultant force at the second set of sensors. Control the first electric motor based on the magnitude and direction of the resultant force, and control the second electric motor based on the magnitude and direction of the resultant force, such that each wheel is independently driven.

16. The trailer according to claim 15, wherein, The control of each electric motor is proportional to the magnitude of the force.

17. The trailer according to any one of the preceding claims, wherein, The controller is configured to control each electric motor based on the magnitude and direction of the force detected by the force sensor to accelerate or decelerate the wheel to which the electric motor is mounted.

18. The trailer according to claim 17, wherein, The controller is configured to control each electric motor to accelerate or brake the electric motor based on the rate of change of the force detected by the one or more force sensors.

19. The trailer according to any one of the preceding claims, wherein, The at least one optical sensor is mounted on the front side of the container or the hitch.

20. The trailer according to any one of the preceding claims, wherein, The optical sensor is configured to focus on the tractor, and the controller is configured to receive a signal from the optical sensor and determine the orientation of the tractor and the distance between the tractor and the trailer.

21. The trailer according to any one of the preceding claims, wherein, The controller is configured to process the signal from the optical sensor and determine whether the tractor is turning relative to the trailer, and the controller is configured to control the electric motor so that the trailer turns according to the turn of the tractor.

22. The trailer according to any one of the preceding claims, wherein, The trailer includes at least two optical sensors, and the at least two optical sensors are mounted on the trailer and spaced apart from each other.

23. The trailer according to claim 20, wherein, At least one optical sensor is located on the left side of the coupling bar, and another optical sensor is located on the right side of the coupling bar, such that the coupling bar is located between the two optical sensors.

24. The trailer according to any one of the preceding claims, wherein, The optical sensor includes a camera.

25. The trailer according to claim 22, wherein, The controller is configured to: Determine the distance between the tractor and the trailer based on the signal from the first optical sensor. Determine the distance between the towing vehicle and the trailer based on the signal from the second optical sensor, Compare the two distance measurements, and Determine whether the towing vehicle is turning based on the comparison of the distance measurements and the comparison that the difference between the distance measurements is higher than a threshold value.

26. The trailer according to claim 25, wherein, If the controller determines that the distance detected by one optical sensor is different from the distance detected by the other optical sensor, and the difference is greater than the threshold value, it is determined that the towing vehicle is turning.

27. The trailer according to claim 24, wherein, The camera is mounted on the trailer to focus on the towing vehicle, the controller is configured to receive an image stream from the camera, and the controller is configured to: Identify the towing vehicle in the image stream by applying an object detection algorithm, Determine the orientation of the towing vehicle relative to the trailer based on identifying the towing vehicle in the image stream, wherein the orientation is determined based on comparing the position of the towing vehicle in the image stream from the first camera and the position of the towing vehicle in the image stream from the second camera, Independently control each motor based at least on the determined orientation of the towing vehicle.

28. The trailer according to claim 27, wherein, The controller is configured to determine whether the towing vehicle is turning based on the determined orientation of the towing vehicle and the determined distance between the towing vehicle and each camera, and the controller is configured to control each motor so that the trailer turns according to the turn of the towing vehicle identified in the controller.

29. The trailer according to claim 28, wherein, The determined distance between the towing vehicle and the camera is based on the focal length of the camera.

30. The trailer according to claim 28, the controller is configured to: Determine the amount of the towing vehicle visible in the image of the image stream from the first camera, Determine the amount of the towing vehicle visible in the image of the image stream from the second camera, Determine whether the towing vehicle is turning based on the comparison of the amount of the towing vehicle visible in the image streams from the first camera and the second camera, Among them, If more of the towing vehicle is visible in the image from the first camera than in the image from the second camera, the controller determines that the towing vehicle is turning left, and if more of the towing vehicle is visible in the image from the second camera than in the image from the first camera, the controller determines that the towing vehicle is turning right.

31. The trailer according to any one of the preceding claims, wherein, The container includes a battery compartment, and the shape and size of the battery compartment are adapted to accommodate a plurality of batteries.

32. The trailer according to any one of the preceding claims, wherein, The container includes any one or more of the following: One or more power plugs, which are electrically connected to at least one battery to supply power to the power plugs, One or more speakers, One or more lights for illuminating the interior space of the container, One or more hooks arranged inside the container, An integrated refrigerator, An ice maker located inside the container, A waterproof lining attached to the inside of the container, One or more foldable seats, One or more mounting rails, One or more hooks, One or more accessories for holding various leisure items, One or more USB ports, One or more display lights on the body of the trailer for communicating with the user, At least two side plates that can be hinged between an open position and a closed position.

33. The trailer according to any one of claims 1 to 31, wherein, The trailer is a semi-trailer.

34. The trailer according to any one of claims 1 to 32, wherein, The trailer is a recreational trailer.

35. The trailer according to any one of claims 1 to 32, wherein, The trailer is any other form of trailer.

36. The trailer according to any one of the preceding claims, wherein, The container includes a lid that can move between an open position and a closed position.

37. The trailer according to claim 31, wherein, The battery compartment includes a plurality of contacts disposed in the battery compartment such that one or more batteries can be hot-swapped from the battery compartment, and wherein positioning the battery in the battery compartment electrically connects the battery to at least the electric motor.

38. The trailer according to any one of the preceding claims, comprising: A wireless transceiver, The controller communicates electronically with the wireless transceiver, The controller is configured to wirelessly pair the trailer to a device having a corresponding wireless transceiver, The controller is configured to control the electric motor when the trailer is wirelessly paired to the device so that the trailer automatically follows the movement of the device.

39. The trailer according to claim 37, wherein, The controller is configured to control the trailer to automatically follow the device based on the signal strength of the wireless pairing.

40. The trailer according to claim 38, wherein, The controller is configured to activate the at least one optical sensor. The controller is configured to detect the device or a person associated with the paired device based on processing of a signal from the optical sensor. The controller is further configured to control the electric motor based on the signal from the optical sensor so that the trailer automatically follows the device or a user associated with the device.

41. The trailer according to any one of the preceding claims, comprising a regenerative braking system configured to obtain electrical power when the wheels are braked or idling, and the regenerative braking system is configured to use the obtained electrical power to charge the battery.

42. The trailer according to claim 40, wherein, The regenerative braking system includes a regenerative braking circuit connected between the battery and the electric motor. The regenerative braking circuit is configured to transfer electrical power to the electric motor when the wheels are driven, and transfer the electrical power back to the battery for charging when the wheels are braked or when the electric motor is braked.

43. The trailer according to any one of the preceding claims, wherein, The controller is configured to use: Inputs from at least two cameras mounted on the front of the trailer, Inputs from one or more optical sensors, Inputs from the force sensor, The controller is further configured to use all these inputs to determine the orientation and movement of the towing vehicle, The controller is configured to independently control the electric motor to adjust one or more of the speed, orientation, acceleration, and deceleration of the trailer.

44. The trailer according to claim 43, wherein, The optical sensor is a lidar or a laser sensor.

45. A trailer according to any one of the preceding claims, wherein, The controller is configured to perform a method of controlling the trailer based on the movement of the towing vehicle and / or based on the user's gesture. The method includes the following steps: Receiving one or more image frames from at least two cameras, Processing the received image frames to identify one or more gestures performed by the user, wherein the image frames are processed by a gesture classifier configured to perform object recognition to identify one or more gestures, Process the received image frame to identify the movement of the tractor, where the image frame is processed by a vehicle following control classifier configured to perform object recognition to identify the movement of the tractor. In response to the recognized gesture or the recognized movement of the tractor, determine the path that the trailer needs to take, where the path of the trailer is determined by a dynamic path planning subsystem. Generate a control signal to control the movement of the trailer, where the control signal is generated by a trailer dynamic operation subsystem and is transmitted to the electric motor. Determine whether the trailer has reached its final position and, once the trailer has reached its final position, stop the trailer.

46. The trailer according to claim 45, wherein, The method includes additional steps of classifying the recognized gesture or the recognized action of the tractor by adding spatial data from other sensors.

47. The trailer according to claim 45, wherein, The method includes additional steps of determining a need for a change in an aspect of the trailer operation, where the change in the aspect of the operation is identified by a trailer auxiliary operation subsystem, and where the aspect of the operation is a change in a subsystem of the trailer, and where the change in the aspect of the operation includes at least one or more of the following: turning on the lights, activating the indicator lights.

48. A trailer configured to be towed by a tractor, the trailer includes a chassis, a hitch device that couples the trailer to the tractor, a container mounted on the chassis and defining a space for accommodating goods, a wheel assembly coupled to the chassis, the wheel assembly including at least a first wheel and a second wheel, at least one electric motor connected to or mounted on at least one of the wheels, the electric motor configured to drive the at least one wheel, at least one battery electrically coupled to the electric motor, and the electric motor configured to obtain electrical power from the battery to drive the motor, a sensor assembly including one or more sensors configured to track the force exerted by the tractor and / or track the movement of the tractor, a controller arranged to communicate with the plurality of sensors in the sensor assembly, the controller being electrically coupled to the electric motor and configured to control the operation of the electric motor, wherein the controller is further configured to: determine the orientation of the tractor based on processing signals from the sensors in the sensor assembly and / or determine the force exerted by the tractor on the trailer based on processing signals from the sensors in the sensor assembly, and control the electric motor based on the determined force and / or orientation of the tractor.

49. The trailer according to claim 42, wherein, The sensor assembly includes one or more force sensors or one or more optical sensors or one or more acoustic sensors.

50. The trailer according to claim 43, wherein, The controller is configured to determine the force exerted by the tractor based on signals from the one or more force sensors, and the controller is further configured to determine the orientation based on signals from the one or more optical sensors, and the controller is configured to control the electric motor based on the force and orientation of the tractor.

51. The trailer according to claim 43, wherein, The trailer includes at least two or more types of sensors, wherein the two or more types of sensors include optical sensors, acoustic sensors or force sensors.

52. The trailer according to claim 43, wherein, The trailer includes one or more force sensors, one or more optical sensors and one or more acoustic sensors, each sensor communicating with the controller, and the controller being configured to at least determine the orientation of the towing vehicle based on processing of signals from these sensors.

53. The trailer according to claim 46, wherein, The controller is configured to determine the force exerted by the towing vehicle on the trailer based on processing of signals from one or more force sensors, and the controller is further configured to determine the orientation of the towing vehicle based on processing of signals from the one or more optical sensors and / or the one or more acoustic sensors.

54. The trailer according to claims 42 to 44 further includes any one or more features of claims 2 to 41.

55. A trailer configured to be towed by a towing vehicle, comprising: A chassis, A hitch device that couples the trailer to the towing vehicle, A wheel assembly coupled to the chassis, the wheel assembly including at least a first wheel and a second wheel, At least one electric motor connected to or mounted on at least one wheel, the electric motor being configured to drive the at least one wheel, At least one battery electrically coupled to the electric motor, and the electric motor being configured to obtain electrical power from the battery to drive the motor, A sensor assembly including one or more sensors configured to sense movement of the towing vehicle, A controller arranged to communicate with the plurality of sensors in the sensor assembly, The controller being electrically coupled to the electric motor and configured to control the operation of the electric motor, Wherein the controller is further configured to: Determine the position of the towing vehicle based on processing of signals from sensors in the sensor assembly, and Control the electric motor based on the determined force and / or orientation of the towing vehicle.

56. The trailer according to claim 49 includes any one or more features of claims 2 to 41.

57. The trailer according to claim 49 includes any one or more features of claims 43 to 47.

58. A controller for a trailer, the trailer including a chassis, a pair of wheels and a hitch device, the controller including: A processor, A storage unit, The controller being arranged to communicate with one or more sensors of the sensor assembly of the trailer, The controller being electrically coupled to at least one electric motor of the trailer, the controller being configured to control the operation of the at least one electric motor, the at least one electric motor being connected to one of the pair of wheels to drive the wheel, The controller being configured to: Determine the orientation of the towing vehicle based on processing of signals from the sensors in the sensor assembly, and / or determine the force exerted by the towing vehicle on the trailer based on processing of signals from the sensors in the sensor assembly, and Control the electric motor based on the determined force and / or orientation of the towing vehicle.

59. A trailer control method, the method being based on the movement of a tractor and / or based on a user's gesture, comprising the following steps: Receiving one or more image frames from at least two cameras, Processing the received image frames to identify one or more gestures performed by the user, wherein the image frames are processed by a gesture classifier configured to perform object recognition to identify one or more gestures, Processing the received image frames to identify the movement of the tractor, wherein the image frames are processed by a vehicle following control classifier configured to perform object recognition to identify the movement of the tractor, Determining a path that the trailer needs to take in response to the identified gesture or the identified movement of the tractor, wherein the path of the trailer is determined by a dynamic path planning subsystem, Generating a control signal to control the movement of the trailer, the control signal being generated by a trailer dynamic operation subsystem and transmitted to the electric motor, Determining whether the trailer has reached its final position and stopping the trailer once the trailer has reached its final position.

60. The method according to claim 59, wherein, The method includes an additional step of classifying the identified gesture or the identified action of the tractor by adding spatial data from other sensors.

61. The method according to claim 59, wherein, The method includes an additional step of determining a required change in an operating aspect of the trailer, the change in the operating aspect being identified by a trailer auxiliary operation subsystem, and wherein the operating aspect is a change in a subsystem of the trailer, and wherein the change in the operating aspect includes at least one or more of the following: turning on lights, activating indicator lights.

62. A method for controlling the operation of one or more electric motors of a trailer, the trailer including one or more cameras configured to capture images of a tractor, the one or more electric motors configured to drive one or more wheels of the trailer, wherein the method for controlling the operation of the one or more electric motors of the trailer includes the following steps: Receiving a video stream from the one or more cameras, Identifying the tractor in the video stream, Identifying the movement of the tractor, Determining a required movement of the trailer in response to the identified movement of the tractor, Generating a control signal and transmitting the control signal to the one or more electric motors to control the trailer based on the required movement.

Images