To provide a control device of a towing vehicle that can effectively prevent a jackknife phenomenon at the time of steering the towing vehicle.SOLUTION: A control part, when left and right front wheels are turned, predicts a maximum vehicle speed vmax which can be achieved in a predetermined period of time on the basis of time-series data on vehicle speed v if it is determined that estimated rear-wheel equivalent cornering power Kis a predetermined first threshold Th1 or less, and predicts a maximum steering quantity smax which can be generated in the predetermined period of time on the basis of time-series data on steering quantities s. The control part determines whether or not product of the predicted maximum vehicle speed vmax and the maximum steering quantity smax exceeds a predetermined second threshold Th2, and when determining that the product of the maximum vehicle speed vmax and the maximum steering quantity smax exceeds the predetermined second threshold Th2, controls turning actuators or braking actuators at left and right rear wheels so that yaw moment of a towing vehicle is applied in a direction in which lateral acceleration ggenerated in the towing vehicle is reduced.SELECTED DRAWING: Figure 6

    【課題】牽引車両の操舵時において、ジャックナイフ現象を効果的に防止することが可能な牽引車両の制御装置を提供する。【解決手段】制御部は、左右前輪が転舵されたときに、推定される後輪等価コーナリングパワーKrが所定の第1閾値Th1以下であると判定したとき、車速vの時系列データに基づいて所定期間内に発生し得る最大車速vmaxを予測するとともに操舵量sfの時系列データに基づいて所定期間内に発生し得る最大操舵量sfmaxを予測する。制御部は、予測された最大車速vmax及び最大操舵量sfmaxの積が所定の第2閾値Th2を超えるか否かを判定し、最大車速vmaxと最大操舵量sfmaxとの積が所定の第2閾値Th2を超えると判定したとき、牽引車両に発生する横加速度gyを小さくする方向に牽引車両のヨーモーメントを与えるように左右後輪の転舵アクチュエータ又は制動アクチュエータを制御する。【選択図】図6


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    Titel :

    CONTROL DEVICE OF TOWING VEHICLE


    Weitere Titelangaben:

    牽引車両の制御装置


    Beteiligte:
    NAGAO MAKOTO (Autor:in)

    Erscheinungsdatum :

    2019-12-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge



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