Method of controlling driving of a plurality of mobility devices connected by a pivot mechanism

A second mobility device mechanically connected to and capable of traveling together with a first mobility device which comprises a plurality of first wheels, at least one first drive motor providing a driving force to the plurality of first wheels, a first high-voltage battery supplying power to the at least one first drive motor, a first controller controlling the at least one first drive motor, and a first pivot mechanism, the second mobility device comprising:

• a frame comprising a second pivot mechanism mechanically connected to the first pivot mechanism;
• a second left wheel positioned on a left side of the frame;
• a second right wheel positioned on a right side of the frame;
• at least one second drive motor configured to provide a driving force to the second left wheel and the second right wheel;
• a second high-voltage battery configured to supply power to the at least one second drive motor;
• and
• a second controller configured to control the at least one second drive motor;
• wherein the second controller is configured to:
• during backward driving of the first mobility device, control the at least one second drive motor according to a posture of the second mobility device with respect to the first mobility device to perform reverse steering of the second mobility device.

A first mobility device, comprising:

• a plurality of first wheels;
• at least one first drive motor configured to provide a driving force to the plurality of first wheels;
• a first high-voltage battery configured to supply power to the at least one first drive motor;
• a first controller configured to control the first drive motor;
• and
• a first pivot mechanism,
• wherein the first controller is configured to:
• while a second pivot mechanism of a second mobility device and the first pivot mechanism are in a mechanical connection, control the first drive motor to allow the first mobility device to perform backward driving;
• and
• during the backward driving of the first mobility device, transmit, to the second mobility device, posture information of the second mobility device with respect to the first mobility device.