System and method for controlling a trailer connected to a vehicle
First Claim
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1. An articulated vehicle system, comprising:
- a first vehicle;
a second vehicle selectively and pivotally connected to the first vehicle;
a first plurality of wheels mounted on the first vehicle, the first plurality of wheels including at least one steerable wheel pivotally connected to the first vehicle;
a first powertrain mounted on the first vehicle, the first powertrain configured to drive at least one of the first plurality of wheels, the first powertrain including at least one forward drive ratio and a reverse drive ratio;
a first steering mechanism connected to the at least one steerable wheel of the first plurality of wheels to pivot the at least one steerable wheel;
a second plurality of wheels mounted on the second vehicle, the second plurality of wheels including at least one steerable wheel pivotally connected to the second vehicle;
a second powertrain mounted on the second vehicle, the second powertrain configured to drive at least one of the second plurality of wheels;
a second steering mechanism connected to the at least one steerable wheel of the second plurality to pivot the at least one steerable wheel of the second plurality;
a steering input sensor configured to output data indicative of an intended steering direction input by an operator of the articulated vehicle system;
a gear selection sensor configured to output data indicative of a selection of the reverse drive ratio; and
a controller in electrical communication with each of the first powertrain, the second powertrain, the steering input sensor, and the gear selection sensor, wherein the controller is configured to,manipulate an output of the first powertrain and an output of the second powertrain based on the output data received from the gear selection sensor, andmanipulate the second steering mechanism to effect an angular position of the at least one steerable wheel of the second plurality of wheels based on the output data received from the steering input sensor and the gear selection sensor, where the angular position is measured relative to a longitudinal direction of the second vehicle.
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Abstract
An articulated vehicle system can include a first vehicle selectively and pivotally connected to a second vehicle. A first powertrain can be mounted on the first vehicle to drive a wheel mounted on the first vehicle. A second powertrain can be mounted on the second vehicle to drive a wheel mounted on the second vehicle independent from the drive of the wheel of the first vehicle. The vehicle system may also include a controller in electrical communication with each of the first powertrain, second powertrain, and steering mechanism to assist in steering and power distribution, especially when reversing the vehicle system.
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Citations
20 Claims
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1. An articulated vehicle system, comprising:
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a first vehicle; a second vehicle selectively and pivotally connected to the first vehicle; a first plurality of wheels mounted on the first vehicle, the first plurality of wheels including at least one steerable wheel pivotally connected to the first vehicle; a first powertrain mounted on the first vehicle, the first powertrain configured to drive at least one of the first plurality of wheels, the first powertrain including at least one forward drive ratio and a reverse drive ratio; a first steering mechanism connected to the at least one steerable wheel of the first plurality of wheels to pivot the at least one steerable wheel; a second plurality of wheels mounted on the second vehicle, the second plurality of wheels including at least one steerable wheel pivotally connected to the second vehicle; a second powertrain mounted on the second vehicle, the second powertrain configured to drive at least one of the second plurality of wheels; a second steering mechanism connected to the at least one steerable wheel of the second plurality to pivot the at least one steerable wheel of the second plurality; a steering input sensor configured to output data indicative of an intended steering direction input by an operator of the articulated vehicle system; a gear selection sensor configured to output data indicative of a selection of the reverse drive ratio; and a controller in electrical communication with each of the first powertrain, the second powertrain, the steering input sensor, and the gear selection sensor, wherein the controller is configured to, manipulate an output of the first powertrain and an output of the second powertrain based on the output data received from the gear selection sensor, and manipulate the second steering mechanism to effect an angular position of the at least one steerable wheel of the second plurality of wheels based on the output data received from the steering input sensor and the gear selection sensor, where the angular position is measured relative to a longitudinal direction of the second vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for controlling an articulated vehicle system including a first vehicle selectively and pivotally connected to a second vehicle, the method comprising:
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detecting a selection by an operator of the first vehicle of one of a reverse drive ratio and a forward drive ratio; detecting a steering input by the operator of the first vehicle; determining a first power output based on the detected selection of one of the reverse drive ratio and the forward drive ratio; determining a second power output based on the detected selection of one of the reverse drive ratio and the forward drive ratio; determining a steering angle for a steerable wheel pivotally mounted on the second vehicle based on the detected steering input, where the steering angle is measured relative to a straight forward driving axis of the second vehicle; signaling a first powertrain to drive a wheel mounted on the first vehicle with the first power output; signaling a second powertrain to drive a wheel of the second vehicle with the second power output; and signaling a steering mechanism mounted on the second vehicle to position a steerable wheel pivotally mounted on the second vehicle at the determined steering angle. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A trailer for use in an articulated vehicle system that includes a vehicle having a plurality of vehicle wheels with at least one of the plurality of vehicle wheels pivotally mounted to the vehicle, a vehicle powertrain having a reverse drive ratio and a plurality of forward drive ratios for driving at least one of the plurality of vehicle wheels, a steering input sensor configured to output data indicative of an intended steering direction input by an operator of the vehicle, and a gear selection sensor configured to output data indicative of a selection of the reverse drive ratio, the trailer comprising:
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a hitch assembly configured to releasably connect the trailer to the vehicle and to permit the trailer to pivot relative to the vehicle when the hitch assembly is connected to the vehicle; a plurality of trailer wheels mounted on the trailer, the plurality of trailer wheels including at least one steerable trailer wheel pivotally connected to the trailer; a trailer powertrain configured to drive at least one of the plurality of trailer wheels; a trailer steering mechanism connected to the at least one steerable trailer wheel to pivot the at least one steerable trailer wheel; a controller configured such that, when the hitch assembly is connected to the vehicle, the controller is in electrical communication with each of the powertrain, the trailer powertrain, the steering input sensor, and the gear selection sensor, the controller also being configured to manipulate an output of the vehicle powertrain and an output of the trailer powertrain based on the data received from the gear selection sensor when the hitch assembly is connected to the vehicle, and manipulate the trailer steering mechanism to effect an angular position of the at least one steerable trailer wheel based on the data received from the steering input sensor and the gear selection sensor when the hitch assembly is connected to the vehicle, where the angular position is measured relative to a straight forward driving axis of the trailer. - View Dependent Claims (17, 18, 19, 20)
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Specification