Self propelled trailer systems

A multi-vehicle control system (MVCS) for control of a multi-vehicle system having independently powered and steered lead and trailer vehicles connected by a slidable length sensing tow bar system, the MVCS comprising:

• a controller in signal communication with the lead vehicle, the trailer vehicle, and the slidable length sensing tow bar system, the controller configured to:
• receive throttle, brake, and steering signals from the lead vehicle;
• receive signals from the tow bar system indicating an extension length of the tow bar system, a front angle deviation of the lead vehicle, and a rear angle deviation of the trailer vehicle;
• determine, based on the received signals, a trailer vehicle acceleration/deceleration output and a trailer vehicle steering output;
• determine a driving scenario of the multi-vehicle system;
• and
• operate the multi-vehicle system based on the determined driving scenario and the determined trailer vehicle acceleration/deceleration output and trailer vehicle steering output.