| 主权项 |
1. A method for steering a towed vehicle, where a towing vehicle has a center axis extending the length of the towing vehicle and at least a front axle and rear axle, and the towed vehicle has a center axis extending the length of the towed vehicle and at least a front axle with steerable wheels and a rear axle, a first hitch point is secured to the towing vehicle at a position on the center axis of the towing vehicle and rearward of the rear axle of the towing vehicle, and a second hitch point is secured to the towed vehicle at a position on the center axis of the towed vehicle and forward of the front axle of the towed vehicle, the method comprising:
a. Determining a first factor, where the first factor is the result of 1−a/(a+c), where a is the distance between the rear axle of the towing vehicle and the first hitch point, and c is the distance between the rear axle of the towed vehicle and the second hitch point; b. Determining a second factor, where the second factor is the result of a/(a+b), where a is the distance between the rear axle of the towing vehicle and the first hitch point, and b is the distance between the first and second hitch points; c. Determining a third factor, where the third factor is the result of (c−c′)/c, where c is the distance between the rear axle of the towed vehicle and the second hitch point of the towed vehicle and c′ is the distance between the front axle of the towed vehicle and the second hitch point; d. Measuring a first angle between the center axis of the towing vehicle and a line interconnecting the first and second hitch points; e. Measuring a second angle between the center axis of the towed vehicle and the line interconnecting the first and second hitch points; and f. Steering the towed vehicle at a third angle, where the third angle is the result of the first factor multiplied by the third factor multiplied by the sum of the second angle and the second factor multiplied by the first angle. |
