公开(公告)号：WO2021160252A1

公开(公告)日：2021-08-19

申请号：PCT/EP2020/053423

申请日：2020-02-11

Applicant: VOLVO TRUCK CORPORATION

Inventor： FRÖJD, Niklas ,  LAINE, Leo ,  ISLAM, Mohammad, Manjurul

IPC: B62D13/00 ,  B62D13/02 ,  B62D15/02 ,  B62D53/00 ,  B62D53/06 ,  B62D53/08

Abstract: A method for controlling steering of a self-powered steerable dolly vehicle during a maneuver, the method comprising determining an articulation angle associated with a drawbar of the dolly vehicle, determining a longitudinal velocity of the dolly vehicle, and controlling the steering of the dolly vehicle based on the articulation angle and on the longitudinal velocity of the dolly vehicle, wherein the controlling comprises initially steering the dolly vehicle in a direction of the articulation angle direction in case the longitudinal velocity of the dolly vehicle is above a velocity threshold.