To provide a vehicle control device, a control method for a vehicle control device, and a control program for a vehicle control device capable of suppressing the occurrence of a jackknife phenomenon even when a towing vehicle is braked in a state in which a bending angle is formed in a connection part between the towing vehicle and a towed vehicle.SOLUTION: An ECU 50 of a towing vehicle 12 estimates a yaw moment with respect to the towing vehicle 12 during braking of the towing vehicle 12, using respective detection results obtained by a rotation angle sensor 38 and a load sensor 40, and calculates a left-right difference in braking force of the towing vehicle 12 so as to suppress the yaw moment. The ECU 50 controls left and right braking forces of the towing vehicle 12 on the basis of the calculation result.SELECTED DRAWING: Figure 1
【課題】牽引車両と被牽引車両との連結部に折れ角度がついた状態で牽引車両が制動されてもジャックナイフ現象の発生を抑制することが可能な車両制御装置、車両制御装置の制御方法及び車両制御装置の制御プログラムを得る。【解決手段】牽引車両12のECU50は、回転角度センサ38及び荷重センサ40による各検出結果を用いて、牽引車両12の制動時に牽引車両12に対するヨーモーメントを推定し、そのヨーモーメントを抑制するように牽引車両12の制動力の左右差を算出する。ECU50は、その算出結果に基づいて、牽引車両12の左右の制動力を制御する。【選択図】図1
VEHICLE CONTROL DEVICE, CONTROL METHOD FOR VEHICLE CONTROL DEVICE, AND CONTROL PROGRAM FOR VEHICLE CONTROL DEVICE
車両制御装置、車両制御装置の制御方法及び車両制御装置の制御プログラム
2023-12-28
Patent
Elektronische Ressource
Japanisch
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 |
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