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.

A device for the steering assistance of a vehicle combination of a towing vehicle and an attached implement in which the attached implement swivels at a rear coupling point of the towing vehicle. The implement includes wheels that are arranged on opposite sides, which can be acted on by the control of corresponding individual wheel drives, independently of one another, with a drive torque. An electronic control unit applies a yawing moment to the implement by the asymmetrical control of the individual wheel drives in such a way that a transverse force exerted on the towing vehicle through the rear coupling point, builds up in the sense of the attainment of a pre-specified steering behavior of the vehicle combination.

A trailer angle detection system and method of detecting a trailer of a vehicle including a wide-angle camera and a controller. The controller is configured to receive a signal from the wide-angle camera representative of an area behind the vehicle. The controller transforms the signal into a top-down image. The controller determines a first plurality of values. Each of the first plurality of values is indicative of an amount of symmetry in a region of the top-down image. The controller determines a second plurality of values. Each of the second plurality of values is indicative of how closely a shape in the top-down image matches a predetermined shape. Then, the controller determines an estimate of an articulation angle based on the first plurality of values and the second plurality of values. Then controller performs an automated vehicle maneuver based on the estimate of the articulation angle.

In one embodiment, a steering system for an agricultural implement system includes a first actuating cylinder configured to rotate a first track relative to an implement frame where the first actuating cylinder is connected to a first frame of the first track, and a second actuating cylinder configured to rotate a second track relative to the implement frame where the second actuating cylinder is connected to a second frame of the second track. The steering system also includes a first fluid control conduit extending to a cap end of the first actuating cylinder, a second fluid control conduit extending between a rod end of the first actuating cylinder and a rod end of the second actuating cylinder, a third fluid control conduit extending to a cap end of the second actuating cylinder, and a steering control valve in fluid communication with the first and third fluid control conduits.

A steering system for steering a heavy haul trailer dolly comprising a turntable mounted on the dolly for connecting to another trailer unit. The dolly comprising a main frame, a wheel group mounted to the main frame, and a pivot frame mounted to the main frame between the turntable and the wheel group. A counter-steering linkage connects the pivot frame and the turntable. Hydraulic cylinders connect the pivot frame and the wheel group. To automatically steer the dolly, the hydraulic cylinders are locked in length. Rotation of the turntable in one direction causes the pivot frame and the wheel group to rotate in the opposite direction. To steer the dolly directly, the hydraulic cylinders are operated to extend and retract, pushing and pulling against the pivot frame and turntable to rotate the wheel group.

A motor-assisted joint system is provided to improve maneuverability and safety of an articulated bus. The motor-assisted joint system is enabled when the articulated bus is operated in an active damping mode. An articulated joint with a flat motor is used. According to the velocity of the articulated bus, a highly sensitive damping force is calculated and an opposing force is generated to balance the inertia of the articulated bus when an oversteering event or a tire slip event occurs. Consequently, the driving performance of the articulated bus in various aspects is enhanced.

A machine includes a frame and an oscillating hitch. A first cylinder couples to a first side of the oscillating hitch and a first side of the frame. A second cylinder couples to a second side of the oscillating hitch and a second side of the frame. A first isolating mechanism couples to the first cylinder and rotates in response to a first rotation of the first cylinder relative to the frame or the oscillating hitch. A first angle sensor senses a first angular displacement of the first isolating mechanism about a first rotational axis. A second isolating mechanism couples to the second cylinder and rotates in response to a second rotation of the second cylinder relative to the frame or the oscillating hitch. A second angle sensor senses a second angular displacement of the second isolating mechanism about a second rotational axis.

The invention relates to a method for assisting a driver in maneuvering a motor-vehicle combination (1) comprising, as vehicles, at least one tractor motor vehicle (2) and at least two trailers (3a, 3b) coupled thereto, wherein a target articulation angle (γ.sub.2) at least between two of the vehicles (3a, 3b) is externally specified and is adjusted by means of at least one steering actuator (5a, 5b) of at least one of the vehicles (2). The method comprises at least the following steps: a) dividing the motor-vehicle combination (1) into at least two sub-combinations (1a, 1b) in such a way that adjacent vehicles (2, 3a, 3b) form a sub-combination (1a, 1b) in pairs, in which sub-combination a first vehicle is used as a trailer unit (3a, 3b) and a second vehicle is used as a tractor vehicle unit (2, 3a), at least virtually; b) repeatedly determining a target angle (α, γ.sub.1, γ.sub.2) for a number of consecutive sub-combinations (1a, 1b) from a specified target articulation angle (γ.sub.1, γ.sub.2) between the tractor vehicle unit (2, 3a) and the trailer unit (3a, 3b), beginning with the sub-combination (1a) whose target articulation angle (γ.sub.2) was specified externally, wherein: —the determined target angle is adjusted as a target steering angle (α) for the tractor vehicle unit (2) of the sub-combination (1b) by means of the at least one steering actuator (5a, 5b) of the associated vehicle (2) if the tractor vehicle unit (2) has the at least one steering actuator (5a, 5b), or—the determined target angle is specified as the target articulation angle (γ.sub.1) for the next sub-combination (1b).

Pivoting snow-clearing trailer (1) intended to be towed by a towing vehicle (3) with a towing hitch (4), comprising: a chassis (5) extending longitudinally in a chassis direction (I-I) between a chassis anterior end (5a) and a chassis posterior end (5b), and developing transversely between a chassis first side (5c) and a chassis second side (5d) which are opposite one another, a snow-clearing blade (6) borne along the chassis first side (5c).

Detection means (10) are able to generate a presence signal when the snow-clearing trailer (1) is pivoted and when an object or an individual is stationed in an area (A1) to the side and/or an area (A2) to the rear of the chassis second side (5d).

A control apparatus controls the hydraulic connection between self steering wheels on a trailing vehicle, for example a grain cart, and the hydraulic system of a utility vehicle, for example a tractor, towing the trailing vehicle. An auxiliary circuit on the trailing vehicle forms a continuous loop receiving in series one or more wheel actuators associated with the self steering wheels. A valve arrangement is operable in a locked state or unlocked state in which the continuous loop is isolated from the tractor to prevent or allow a flow of fluid in the continuous loop regardless of the state of the tractor hydraulics. In a manual state, the flow in the loop is dependent upon the tractor hydraulics. In an automatic mode, a controller automatically operates the valve arrangement between the locked and unlocked states dependent upon one or more sensed operating conditions of the trailing vehicle.