A control system of a self-driving tractor can access sensor data to determine a set of trailer configuration parameters of a cargo trailer coupled to the self-driving tractor. Based on the set of trailer configuration parameters, the control system can configure a motion planning model for autonomously controlling the acceleration, braking, and steering systems of the tractor.

A road transport system of a header of a harvesting machine includes two pairs of wheels and two wheel frames. Each wheel frame is connected to a pair of wheels. The two wheel frames are rotatable between a field operation position and a road transport position. A header of a harvesting machine includes two pairs of wheels and two wheel frames. Each wheel frame is connected to a pair of wheels. The two wheel frames are rotatable between a field operation position and a road transport position. A method of converting a header of a harvesting machine from a field operation mode to a road transport mode includes: releasing wheel frames of the header from the header; rotating the wheel frames from a field operation position to a road transport position; and enabling kingpin steering connections between at least one of the wheel frames and a pair of wheels.

Methods and apparatus are provided for performing an assisted driving trailer reversing operation including a camera operative to capture an image, an interactive user interface operative to display a graphical user interface and to receive a user input, a processor operative to generate the graphical user interface in response to the user input, the user input being indicative of a trailer destination, to generate a left maneuverability margin and a right maneuverability margin in response to a trailer dimension and a hitch angle, and a projected trailer path in response to the trailer destination, wherein the graphical user interface includes the image and a plurality of graphics overlaid on the image indicative of the left maneuverability margin, the right maneuverability margin, the projected trailer path and the trailer destination, and a vehicle controller operative to perform a trailer reversing operation in response to the control signal.

A system for assisting in the exit of a vehicle from a parking spot includes at least one camera on the vehicle for obtaining one or more images of an object near the parking spot. A sensor is configured to sense a path of the vehicle as the vehicle exits the parking spot. A controller is configured to determine whether a collision between the vehicle and the object is imminent based on the sensed path and the one or more images and initiating a vehicle response if the collision is imminent.

A system for assisting in the exit of a vehicle from a parking spot includes at least one camera on the vehicle for obtaining one or more images of an object near the parking spot. A sensor is configured to sense a path of the vehicle as the vehicle exits the parking spot. A controller is configured to determine whether a collision between the vehicle and the object is imminent based on the sensed path and the one or more images and initiating a vehicle response if the collision is imminent.

A steerable caddy trailer is provided that has an improved structure including a main frame assembly, spindle assemblies attached to each end of the main frame for attachment of a wheel, a pair of swinging arms forwardly extending from the main frame and pivotally attached to the main frame, and tie rods connecting the swinging arms with the spindle assembly such that pivoting of the swinging arms steers the wheel.

A steerable caddy trailer is provided that has an improved structure including a main frame assembly, spindle assemblies attached to each end of the main frame for attachment of a wheel, a pair of swinging arms forwardly extending from the main frame and pivotally attached to the main frame, and tie rods connecting the swinging arms with the spindle assembly such that pivoting of the swinging arms steers the wheel.

A method for steering an articulated vehicle traveling on a road, the vehicle comprising a tractor and a trailer, the method comprising determining a position of the tractor in relation to the road, and adjusting the steering in dependence on the determined tractor position. The method further comprises determining an orientation of the trailer in relation to the road, and/or an angular velocity of the trailer in relation to the road, and adjusting the steering in dependence on the determined trailer orientation and/or the determined angular velocity.

A method for steering an articulated vehicle traveling on a road, the vehicle comprising a tractor and a trailer, the method comprising determining a position of the tractor in relation to the road, and adjusting the steering in dependence on the determined tractor position. The method further comprises determining an orientation of the trailer in relation to the road, and/or an angular velocity of the trailer in relation to the road, and adjusting the steering in dependence on the determined trailer orientation and/or the determined angular velocity.

The invention relates to a drilling rig with a drilling tower, a base structure, on which the drilling tower is arranged, and at least three support units being part of the base structure, each support unit having at least one wheel rotatable around a horizontal wheel axis, wherein at least one of the support units comprises a vertical steering axis, around which the at least one wheel can be turned by a steering drive. The invention further relates to a method for moving such a mobile drilling rig.