Self propelled trailer systems

A trailer system with independent propulsion and control configured to be towed by a lead vehicle, the trailer system comprising:

• a steerable first axle connected to a pair of first wheels;
• a second axle connected to a pair of second wheels;
• at least one electric traction motor configured to drive the steerable first axle;
• a high voltage battery system configured to power the at least one electric traction motor;
• a trailer control system (TCS) including a controller, having a processor and a non-transitory computer-readable storage medium, configured to steer, accelerate, and brake the first and/or second wheels;
• and
• a trailer sensor suite in signal communication with the TCS,
• wherein the TCS is configured for signal communication with a lead vehicle sensor suite,
• wherein the TCS is configured to control driving and/or operation of the trailer system based on one or more signals from the trailer sensor suite and the lead vehicle sensor suite,
• wherein the TCS is programmed to perform a reverse driving maneuver of the trailer system, comprising:
• activating, by the controller, one or more back up cameras of the trailer system sensor suite to provide one or more camera signals to a display in the lead vehicle;
• monitoring, by the controller, the lead vehicle sensor suite to determine lead vehicle steering, brake, and throttle control inputs;
• controlling, by the controller, the trailer system based on the determined lead vehicle steering, brake, and throttle control inputs;
• and
• controlling, by the controller, steering, brake, and throttle of the lead vehicle to follow a path of the trailer system.

A method of controlling a trailer system with independent propulsion and control configured to be towed by a lead vehicle, the trailer system including a steerable first axle connected to a pair of first wheels, a second axle connected to a pair of second wheels, at least one electric traction motor configured to drive the steerable first axle, a high voltage battery system configured to power the at least one traction motor, a trailer control system (TCS) including a controller, having a processor and a non-transitory computer-readable storage medium, configured to steer, accelerate, and brake the first and/or second wheels, and a trailer sensor suite in signal communication with the TCS, the method comprising:

• monitoring, with the controller, the trailer sensor suite;
• monitoring, with the controller, a lead vehicle sensor suite;
• and
• performing, with the controller, a forward movement maneuver of the trailer system, comprising:
• monitoring, by the controller, the lead vehicle sensor suite to determine a lead vehicle wheel speed, steering angle, and vehicle lane position;
• monitoring, by the controller, the trailer sensor suite to determine a trailer system wheel speed, steering angle, and trailer system lane position;
• and
• maintaining, by the controller, a speed and direction of the trailer system to match a forward movement maneuver of the lead vehicle;
• and
• performing, with the controller, a parallel offset maneuver, including:
• receiving, by the controller, lane biasing settings from the lead vehicle for a sustained parallel offset of the trailer system;
• and
• steering, by the controller, the trailer system into a travel path that is horizontally offset from and parallel to a travel path of the lead vehicle, based on the lane biasing settings.