The invention relates to a traction vehicle control apparatus, a traction vehicle control method, and a computer readable medium. A traction vehicle control device includes: a calculation device that calculates a target vehicle body speed and a target curvature of a traction vehicle on the basis of a target vehicle body speed and a target curvature of a towed vehicle that can travel together with a traction vehicle in a state in which the vehicle is connected to the traction vehicle having power by a connection portion as a universal joint; and generate a control signal for the power of the towed vehicle on the basis of a target break angle, which is a target value of the break angle calculated on the basis of the target curvature of the towed vehicle, a target vehicle body speed of the towed vehicle, and a target curvature of the towed vehicle, the target break angle being a target value of the break angle calculated on the basis of the target curvature of the towed vehicle. The break angle is an angle formed by the advancing direction of the traction vehicle and the advancing direction of the towed vehicle; and a drive control unit that controls the power of the traction vehicle in accordance with the control signal.
本公开涉及牵引车辆控制装置、牵引车辆控制方法及计算机可读介质。牵引车辆控制装置包括:运算装置,根据能在通过作为万向接头的连结部连结于具备动力的牵引车辆的状态下与牵引车辆一起行驶的被牵引车辆的目标车身速度和目标曲率来计算出牵引车辆的目标车身速度和目标曲率,并且基于作为折角的目标值的目标折角、牵引车辆的目标车身速度以及牵引车辆的目标曲率来生成牵引车辆的动力的控制信号,其中,该目标折角是基于被牵引车辆的目标曲率而计算出的,该折角是牵引车辆的行进方向与被牵引车辆的行进方向所形成的角;以及驱动控制部,按照该控制信号来控制牵引车辆的动力。
TRACTION VEHICLE CONTROL DEVICE, TRACTION VEHICLE CONTROL METHOD, AND COMPUTER READABLE MEDIUM
牵引车辆控制装置、牵引车辆控制方法及计算机可读介质
2023-12-22
Patent
Electronic Resource
Chinese
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 |
TRACTION CONTROLLER, TRACTION CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM
European Patent Office | 2023
|European Patent Office | 2016
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