US Patent 11186314 Articulated vehicle assembly and articulation system for use therein

An articulated vehicle assembly comprising a master vehicle having a master steering system and an onboard sensor arrangement configured to monitor at least said master steering system; a slave vehicle having a slave steering system and an onboard actuator arrangement configured to manipulate at least said slave steering system; an articulation system for articulating in a queue the master and the slave vehicles along a common longitudinal axis; and a processing unit configured to receive input signals from the onboard sensor arrangement and produce corresponding output signals to the onboard actuator arrangement to manipulate said slave steering system so as to maintain the master vehicle and the slave vehicle aligned along the common longitudinal axis, at least when the master vehicle performs a turn on a horizontal plane.