US 12,187,133 B2
Caravan with traction/thrust limitation
Rainer Buck, Wangen i. Allgau (DE); Marcus Metzler, Bad Waldsee (DE); Günter Dorn, Schlier (DE); and Rüdiger Freimann, Eberhardzell (DE)
Assigned to Erwin Hymer Group SE, Bad Waldsee (DE)
Appl. No. 17/270,099
Filed by Erwin Hymer Group SE, Bad Waldsee (DE)
PCT Filed Aug. 26, 2019, PCT No. PCT/EP2019/072734
§ 371(c)(1), (2) Date May 27, 2021,
PCT Pub. No. WO2020/039103, PCT Pub. Date Feb. 27, 2020.
Claims priority of application No. 10 2018 120 790.5 (DE), filed on Aug. 24, 2018.
Prior Publication US 2021/0291667 A1, Sep. 23, 2021
Int. Cl. B60L 15/20 (2006.01); B60K 1/02 (2006.01); B60T 7/20 (2006.01); B60T 8/24 (2006.01); B62D 11/04 (2006.01); B62D 13/00 (2006.01); B62D 59/04 (2006.01)
CPC B60L 15/2009 (2013.01) [B60K 1/02 (2013.01); B60T 7/20 (2013.01); B60T 8/248 (2013.01); B62D 11/04 (2013.01); B62D 13/00 (2013.01); B62D 59/04 (2013.01); B60L 2200/28 (2013.01); B60L 2240/18 (2013.01); B60L 2240/461 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A trailer comprising:
a battery and an axle or a tandem axle with wheels driven by way of electric motors on each of the wheels, wherein the battery is designed for supplying electricity to the electric motors;
a force sensor detecting forces on a coupling of the trailer in a longitudinal direction of the trailer, a transverse direction of the trailer, and a perpendicular direction of the trailer; and
a controller for controlling the electric motors so that a minimum limit value or a maximum limit value in the longitudinal direction of the trailer, the transverse direction of the trailer, or the perpendicular direction of the trailer is adhered to, wherein regulation software of the controller comprises an observer comprising a system model of the trailer to correct driving dynamics by way of the electric motors on each of the wheels, wherein the system model of the trailer is based on reference values of speed of rotation of the wheels, transverse acceleration, and articulation angle between a towing vehicle and the trailer, and compares the reference values with actual values and controls the electric motors of the wheels based on the observer.