Steering control for vehicle trains

• US 9,037,346 B2
• Filed: 10/31/2014
• Issued: 05/19/2015
• Est. Priority Date: 09/23/2011
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Keys, Gary S. II, Myers, Christopher A., Puetz, Craig A., Rekow, Andrew K., Sheidler, Alan D., Anderson, Noel W.
• Primary Examiner(s): Jen, Ian
• Application Number:
  US14/529,781
• Publication Number:
  US 20150051795A1
• Time in Patent Office: 200 Days
• US Class Current: 701/36
• CPC Class Codes: B60D 1/248 for measuring, indicating or displaying the weight
• CPC Class Codes: B60D 1/30 for sway control , e.g. stabilising or anti-fishtail devices; Sway alarm means
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B62D 11/04 by means of separate power sources
• CPC Class Codes: B62D 13/00 Steering specially adapted for trailers combined traction and steering hitches B60D
• CPC Class Codes: B62D 59/04 driven from propulsion unit on trailer

Abstract

A steering control system is disclosed for a vehicle train with a tow vehicle, a first towed vehicle with at least one ground-engaging member, and a second towed vehicle. A steering assembly may be configured to control steering of the at least one ground-engaging member. One or more sensing devices may be configured to determine orientation information for one or more of the tow vehicle, the first towed vehicle, and the second towed vehicle, during operation of the vehicle train. A steering correction may be determined for the second towed vehicle based upon the determined orientation information. The steering correction may be applied for the second towed vehicle by controlling the steering assembly to steer the first towed vehicle.

Claims

1. A steering control system for a vehicle train with a tow vehicle, a first towed vehicle with at least one ground-engaging member, and a second towed vehicle, the steering control system comprising:

a steering assembly for controlling steering of the at least one ground-engaging member of the first towed vehicle;

one or more sensing devices configured to determine orientation information for one or more of the tow vehicle, the first towed vehicle, and the second towed vehicle, during operation of the vehicle train; and

a controller configured to;

determine a steering correction for the second towed vehicle based upon the determined orientation information; and

apply the steering correction for the second towed vehicle by, at least in part, controlling the steering assembly to steer the first towed vehicle.

2. The steering control system of claim 1, wherein the first towed vehicle is towed by the tow vehicle via a first towing connection connecting the tow vehicle to the first towed vehicle, and the second towed vehicle is towed by the first towed vehicle via a second towing connection connecting the first towed vehicle to the second towed vehicle.

3. The steering control system of claim 2, wherein at least one of the controller and the one or more sensing devices is further configured to determine, based upon the determined orientation information, one or more of an angle between the tow vehicle and the first towing connection, an angle between the first towing connection and the first towed vehicle, an angle between the first towed vehicle and the second towing connection, and an angle between the second towing connection and the second towed vehicle;

and

wherein the controller is further configured to determine the steering correction based upon the determined one or more angles.

4. The steering control system of claim 1, wherein the second towed vehicle is towed by the tow vehicle via a first towing connection connecting the tow vehicle to the second towed vehicle, and the first towed vehicle is towed by second towed vehicle via a second towing connection connecting the second towed vehicle to the first towed vehicle.

5. The steering control system of claim 4, wherein one of the controller and the one or more sensing devices is further configured to determine, based upon the determined orientation information, one or more of an angle between the tow vehicle and the first towing connection, an angle between the first towing connection and the second towed vehicle, an angle between the second towed vehicle and the second towing connection, and an angle between the second towing connection and the first towed vehicle;

and

wherein the controller is further to determine the steering correction based upon the determined one or more angles.

6. The steering control system of claim 1, wherein the one or more sensing devices includes one or more of a GPS device and an angle-measuring device.

7. The steering control system of claim 1, wherein the controller is further configured to identify, based upon the orientation information, travel of one or more of the tow vehicle, the first towed vehicle, and the second towed vehicle over sloping terrain;

and

wherein the steering correction for the second towed vehicle is determined to correct for down-slope movement of one or more of the first towed vehicle and the second towed vehicle due to the sloping terrain.

8. The steering control system of claim 1, wherein the steering assembly includes at least one actuator for adjusting a direction of travel of the at least one ground-engaging member;

and

wherein applying the steering correction includes controlling the at least one actuator to adjust the direction of travel of the at least one ground-engaging member.

9. The steering control system of claim 1, wherein the steering assembly includes a first motor for powering movement of a first ground-engaging member of the first towed vehicle, in order to move the first towed vehicle, and a second motor for powering movement of a second ground-engaging member of the first towed vehicle, in order to move the first towed vehicle;

and

wherein applying the steering correction includes controlling at least one of the first and second motors to steer the first towed vehicle by causing a speed difference between respective ground-engaging speeds of the first and second ground-engaging members.

10. The steering control system of claim 1, wherein the controller is further configured to apply the steering correction during one or more of reverse travel and turning travel of the vehicle train.

11. A steering control method for a vehicle train with a tow vehicle, a first towed vehicle with at least one ground-engaging member and a steering assembly for controlling steering of the at least one ground-engaging member, and a second towed vehicle, the steering control method comprising:

determining, by one or more sensing devices, orientation information for one or more of the tow vehicle, the first towed vehicle, and the second towed vehicle, during operation of the vehicle train;

determining a steering correction for the second towed vehicle based upon the determined orientation information; and

applying the steering correction for the second towed vehicle by, at least in part, controlling the steering assembly to steer the first towed vehicle.

12. The steering control method of claim 11, wherein the first towed vehicle is towed by the tow vehicle via a first towing connection connecting the tow vehicle to the first towed vehicle, and the second towed vehicle is towed by the first towed vehicle via a second towing connection connecting the first towed vehicle to the second towed vehicle.

13. The steering control method of claim 12, further comprising:

determining, based upon the determined orientation information, one or more of an angle between the tow vehicle and the first towing connection, an angle between the first towing connection and the first towed vehicle, an angle between the first towed vehicle and the second towing connection, and an angle between the second towing connection and the second towed vehicle; and

determining the steering correction based upon the determined one or more angles.

14. The steering control method of claim 11, wherein the second towed vehicle is towed by the tow vehicle via a first towing connection connecting the tow vehicle to the second towed vehicle, and the first towed vehicle is towed by second towed vehicle via a second towing connection connecting the second towed vehicle to the first towed vehicle.

15. The steering control method of claim 14, further comprising:

determining, based upon the determined orientation information, one or more of an angle between the tow vehicle and the first towing connection, an angle between the first towing connection and the second towed vehicle, an angle between the second towed vehicle and the second towing connection, and an angle between the second towing connection and the first towed vehicle; and

determining the steering correction based upon the determined one or more angles.

16. The steering control method of claim 11, wherein the steering assembly includes at least one actuator for adjusting a direction of travel of the at least one ground-engaging member;

and

wherein applying the steering correction includes controlling the at least one actuator to adjust the direction of travel of the at least one ground-engaging member.

17. The steering control method of claim 11, further comprising:

identifying, based upon the orientation information, travel of one or more of the tow vehicle, the first towed vehicle, and the second towed vehicle over sloping terrain;

wherein the steering correction for the second towed vehicle is determined to correct for down-slope movement of one or more of the first towed vehicle and the second towed vehicle due to the sloping terrain.

18. The steering control method of claim 17, further comprising:

determining, based upon the orientation information, that a first ground-engaging member of the first towed vehicle is disposed down-slope of a second ground-engaging member of the first towed vehicle, with respect to the sloping terrain;

wherein the steering assembly includes a first motor for powering movement of the first ground-engaging member of the first towed vehicle, in order to move the first towed vehicle, and a second motor for powering movement of the second ground-engaging member of the first towed vehicle, in order to move the first towed vehicle;

wherein applying the steering correction includes controlling at least one of the first and second motors such that the first ground-engaging member operates at a higher ground-engaging speed than the second ground-engaging member.

19. The steering control method of claim 11, wherein the steering assembly includes a first motor for powering movement of a first ground-engaging member of the first towed vehicle, in order to move the first towed vehicle, and a second motor for powering movement of a second ground-engaging member of the first towed vehicle, in order to move the first towed vehicle;

and

wherein applying the steering correction includes controlling at least one of the first and second motors to steer the first towed vehicle by causing a speed difference between respective ground-engaging speeds of the first and second ground-engaging members.

20. The steering control method of claim 11, further comprising:

identifying one or more of reverse travel and turning travel of the vehicle train;

wherein the steering correction is applied during one or more of the reverse travel and turning travel of the vehicle train.