Self-powered actively steerable converter dollies for long combination vehicles

A long combination vehicle comprising:

• a tractor;
• and
• a trailer, detachably coupled to the tractor, wherein the trailer comprises a rear portion and a self-powered actively steerable converter dolly, coupled to the rear portion, wherein the self-powered actively steerable converter dolly comprises:
• steerable wheels;
• a battery;
• an electrical drive, mechanically coupled to the steerable wheels, electrically coupled to the battery, and configured to operate in one of operating modes selected from the group consisting of a power-generating mode, a torque-generating mode, and a passive mode, wherein:
• in the power-generating mode, the electrical drive is configured to convert mechanical power received from the steerable wheels into electrical power transmitted to the battery,
• in the torque-generating mode, the electrical drive is configured to convert electrical power received from the battery to mechanical power transmitted to the steerable wheels, and
• in the passive mode, the electrical drive is configured to neither generate nor convert electrical power or mechanical power;
• a steering component, mechanically coupled to the steerable wheels and electrically coupled to the battery, wherein the steering component is configured to change a steering angle of the steerable wheels;
• and
• a system controller, communicatively coupled to the electrical drive and to the steering component and configured to select one of the operating mode of the electrical drive and to determine the steering angle of the steerable wheels.

A method of operating a long combination vehicle, comprising a tractor a trailer, detachably coupled to the tractor, wherein the trailer comprises a self-powered actively steerable converter dolly, comprising steerable wheels, a battery, an electrical drive, and a steering component, and a system controller, the method comprising:

• determining an operating mode of the electrical drive, wherein the operating mode is determined using the system controller, and wherein the operating mode is selected from the group consisting of a power-generating mode, a torque-generating mode, and a passive mode;
• operating the electrical drive in the operating mode determined by the system controller, wherein:
• in the power-generating mode, the electrical drive converts mechanical power received from the steerable wheels into electrical power transmitted to the battery,
• in the torque-generating mode, the electrical drive converts electrical power received from the battery to mechanical power transmitted to the steerable wheels, and
• in the passive mode, the electrical drive neither generates nor converts electrical power or mechanical power;
• determining a steering angle of the steerable wheels, wherein the steering angle is determined using the system controller;
• setting the steering angle of the steerable wheels using the steering component, mechanically coupled to the steerable wheels and electrically coupled to the battery.