A trailer platform system with independent propulsion and control includes a steerable first axle connected to a pair of first wheels, a second axle connected to a pair of second wheels, and at least one electric traction motor configured to drive the steerable first axle and/or the second axle. A high voltage battery system is configured to power the at least one electric traction motor. A load platform is supported by a chassis and a suspension, wherein the load platform is a wagon-style platform with the first and second wheels located at the four corners of the load platform. A lead vehicle hitch connection is configured to removably couple to a lead vehicle.

A multi-vehicle control system (MVCS) for dynamic stability and control of a multi-vehicle system having a lead vehicle and a trailer vehicle each with independent propulsion and control. The MVCS includes a controller in signal communication with the lead vehicle and a trailer vehicle advanced driver assistance system (ADAS) or autonomous driving system via a controller area network (CAN) bus. The controller is configured to (i) receive throttle, brake, and steering signals respectively from a throttle-by-wire system, a brake-by-wire system, and a steer-by-wire system of the trailer vehicle ADAS or autonomous driving system, (ii) receive lead vehicle control inputs from the lead vehicle, and (iii) modify a throttle, a steering, and a braking of the trailer vehicle, based on the received lead vehicle control inputs, to dynamically stabilize the multi-vehicle system such that the trailer vehicle does not induce forces that accelerate or slow the lead vehicle.

A trailer system with independent propulsion and control is configured to be towed by a lead vehicle. The trailer system includes a steerable first axle connected to a pair of first wheels, a second axle connected to a pair of second wheels, at least one electric traction motor configured to drive the steerable first axle, and a high voltage battery system configured to power the at least one electric traction motor. A trailer control system (TCS) includes a controller configured to steer, accelerate, and brake the first and/or second wheels. A trailer sensor suite is in signal communication with the TCS. The TCS is configured for signal communication with a lead vehicle sensor suite, and is configured to control driving and/or operation of the trailer system based on one or more signals from the trailer sensor suite and the lead vehicle sensor suite.

A dolly platform system with independent propulsion and control is configured to support a trailer and includes a steerable first axle connected to a pair of first wheels, a second axle connected to a pair of second wheels, and at least one electric traction motor configured to drive the steerable first and/or second axle. The system further includes a high voltage battery system configured to power the at least one electric traction motor, a load platform having a trailer hitch structure configured to removably couple to the trailer, and a lead vehicle hitch connection configured to removably couple to a lead vehicle. An advanced driver assistance system (ADAS) or autonomous driving system includes a controller in signal communication with one or more sensors and/or cameras. The controller is configured to steer, accelerate, and brake the dolly platform system, based on signals from the one or more sensors and/or cameras.

A human machine interface (HMI) system for a multi-vehicle system having a lead vehicle and a trailer vehicle with independent propulsion and control includes a display disposed in the lead vehicle, a lead vehicle sensor suite, a trailer vehicle sensor suite, and a controller in signal communication with the display, the lead vehicle sensor suite, and the trailer vehicle sensor suite. The controller is programmed to generate a trailer mode screen on the display when the trailer vehicle is connected to the lead vehicle. The trailer mode screen includes (i) a trailer top view section providing a top-view graphical representation of the multi-vehicle system, and (ii) a trailer enhanced view section providing a 3D dynamic representation of the multi-vehicle system.

A work vehicle includes left and right track assemblies, each track assembly having a main frame, a pivot member, a pivot shaft coupled to the pivot member, and an electrical actuator coupled between the pivot shaft and the main frame. The work vehicle also includes a control system having a controller communicatively coupled to each electrical actuator of the track assemblies. The controller includes processors that control the electrical actuator to steer the work vehicle about a generally vertical steering axis. Each pivot member is mounted to the main frame of the track assemblies. Each track assembly is pivotal about a generally horizontal pitch axis of the pivot shaft to permit pitch movement of the track assembly. Each track assembly is pivotal about a generally horizontal camber axis through a portion of the pivot member to permit camber movement of the track assembly.

A method for reversing an articulated vehicle comprising a tractor and one or more towed vehicle units, the method comprising arranging an electrified trailer (e-trailer) comprising one or more electric machines (EMs) and a steering function as a rearmost towed vehicle unit of the articulated vehicle, obtaining a reversal command indicative of a desired reversal maneuver by the articulated vehicle, configuring the e-trailer in a reverse towing mode of operation, wherein the e-trailer uses the one or more EMs and the steering function to reverse according to the reversal command while towing the tractor and any further trailer units of the articulated vehicle, configuring the tractor and the further trailer units of the articulated vehicle in a passive towed mode of operation, wherein the tractor and the further trailer units are towed by the e-trailer, and reversing the articulated vehicle by issuing the reversal command to the e-trailer.

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.

The subject matter of the invention is a trackless tugger train having at least one transportation module and at least two axle modules. Each transportation module is arranged between two axle modules, wherein each axle module has a wheel axle and a steering device for steering the wheel axle, wherein the steering devices of the axle module are embodied in each case in such a way that each steering device steers the axle module which is assigned to it, independently of a steering device of another axle module.

A system for assisting in reversing of a vehicle-trailer combination includes a vehicle steering system and a controller. The controller outputs a steering signal to the steering system to maintain the vehicle-trailer combination along a straight backing path and determines a straight-backing offset of a hitch angle in the vehicle-trailer combination as a proportion of an integral of a measured characteristic of the vehicle-trailer combination that varies from a desired zero value.