A method of controlling tethered self-propelled platforms is provided. The method comprises providing a platform leader and a platform follower connected to the leader with a tether to define a first heading line of the leader and a first coordinate frame of the follower. Each of the leader and the follower is pivotally moveable relative to the tether, defining a leader angle and a follower angle. The method further comprises estimating a predicted position of the leader based on a current position, a current speed, and a current yaw rate of the leader. The predicted position of the leader defines a predicted heading line of the leader. The method further comprises determining a trajectory of the follower from the first coordinate frame to the predicted heading line defining a second coordinate frame of the follower. The trajectory is based on a desired distance the predicted heading line and a desired change in yaw angle of the follower. The method further comprises moving the follower along the trajectory to the second coordinate frame.

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.

An adjustable front axle for a towed trailer comprising: an axle that comprises an axle shaft and two pivot points, an axle lever; an actuator; two spindles; two spindle blocks; two wheels; and two kingpins. The actuator is configured to rotate the axle shaft and the two spindles from a positive canter angle to a negative canter angle, which causes the camber angle of the wheels to go from negative or neutral to positive. The towed trailer may have a pivotable draw bar.

A method for displaying an environment of a vehicle having a coupled trailer. The method includes: recording a sequence of vehicle camera images using at least three vehicle cameras; recording a sequence of trailer camera images using the trailer camera; acquiring odometry data of the vehicle; ascertaining the trailer angle; storing items of image information about the close range of the vehicle; adjusting the position of the stored items of image information as a function of the detected odometry data; and displaying an environment model from a virtual observational perspective, preprocessed current vehicle and trailer camera images being projected onto a projection area of the environment model and being joined. For partial areas of the environment of the vehicle that are not represented, the stored items of information are projected onto the projection area according to their position and are joined to the vehicle and trailer camera images.

A vehicle control apparatus and method include: a sensor sensing current trailer connection information, current trailer load information, current trailer traction information, and current trailer relative angle information; a determination unit determining whether a trailer is in a mounted state by using the sensed current trailer connection information, and determining whether an ESC is in an unstable operation state by using the sensed current trailer load information, current trailer traction information, and current trailer relative angle information when the trailer is in the mounted state; and a control unit transmitting a compensation signal to an ESC apparatus to compensate the ESC apparatus in accordance with the set target ESC stable operation control information to operate the ESC apparatus in a stable operation state according to the sensed current trailer load information, current trailer traction information, and current trailer relative angle information when the ESC is in the unstable operation state.

Examples of techniques for controlling a vehicle based on trailer sway are disclosed. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes estimating, by a processing device, an estimated articulation angle between a vehicle and a trailer coupled to the vehicle. The method further includes calculating, by the processing device, an expected articulation angle between the vehicle and the trailer. The method further includes comparing, by the processing device, the estimated articulation angle and the expected articulation angle to determine whether the trailer is experiencing trailer sway. The method further includes, responsive to determining that the trailer is experiencing sway, controlling, by the processing device, the vehicle to reduce the trailer sway.

The technology relates to fine maneuver control of large autonomous vehicles that employ multiple sets of independently actuated wheels. The control is able to optimize the turning radius, effectively negotiate curves, turns, and clear static objects of varying heights. Each wheel or wheel set is configured to adjust individually via control of an on-board computer system. Received sensor data and a physical model of the vehicle can be used for route planning and selecting maneuver operations in accordance with the additional degrees of freedom provided by the independently actuated wheels. This can include making turns, moving into or out of parking spaces, driving along narrow or congested roads, construction zones, loading docks, etc. A given maneuver may include maintaining a minimum threshold distance from a neighboring vehicle or other object.

An agricultural planter is configured to be moved over a supporting surface by a vehicle. The agricultural planter includes a frame and a planter assembly coupled to the frame. A first propulsion assembly is coupled to the frame at a first position with the first propulsion assembly having a first traction member configured to engage the supporting surface. A second propulsion assembly is coupled to the frame at a second position with the second propulsion assembly having a second traction member configured to engage the supporting surface. A drive assembly is operably coupled to at least one of the first or second propulsion assemblies and configured to drive at least one of the first or second traction members during operation of the planter assembly. The first traction member is configured to be driven independently of the second traction member.

An object of the present invention is to estimate a center-of-gravity position and inertia moment of a trailer and supply the center-of-gravity position and inertia moment for control of an articulated vehicle so as to enable further stabilization of a posture of the articulated vehicle during traveling.

A vehicle control device of the present invention is a vehicle control device mounted on a tractor which pulls a trailer, and is provided with: a steering angle control unit that controls a steering angle of wheels of the tractor independently of steering by a driver; and a trailer characteristic estimation unit that estimates a characteristic of the trailer based on a behavior of the tractor during wheel steering by the steering angle control unit.

A method for maneuvering a vehicle-trailer system in a reverse direction is provided. The method includes receiving images from a camera positioned on a rear portion of the trailer. The method includes: identifying one or more guide representations within the received images; and transmitting the received images to a user interface. The method also includes receiving from the user interface, an indication of a guide representation from the one or more guide representations. The method includes determining a path that includes maneuvers configured to move the vehicle-trailer system along the path to follow the guide associated with the identified guide representation while maintaining a minimum distance from the guide positioned behind the trailer. The method also includes transmitting to a drive system of the vehicle, one or more commands causing the vehicle-trailer system to autonomously move the vehicle-trailer system along the vehicle-trailer path in the reverse direction.