A reverse control device (40) performs reverse control of a connected vehicle (10) provided with: a tractor (11) having steered wheels (11F); and a trailer (12) towed by the tractor (11). The towing vehicle (11) is equipped with a steering control device (30D), and the steering control device (30D) is configured so as to execute feedback control for causing the steering angle of a steering wheel (11F) of the towing vehicle (11) to follow a target steering angle. The reverse control device (40) is provided with a control unit (42B) which is configured so as to calculate a target virtual steering angle such that a virtual steering angle follows the target virtual steering angle when a reverse operation of the linked vehicle (10) is performed. The virtual steering angle is a steering angle that is virtually present in a steering wheel of the trailer when the trailer (11) is regarded as a single vehicle, and the target virtual steering angle is a target value of the virtual steering angle that is set by a specific operation by an operator.
后退控制装置(40)实施连结车辆(10)的后退控制,上述连结车辆(10)具有:牵引车(11),其具有转向操纵轮(11F);以及拖车(12),其由上述牵引车(11)牵引。上述牵引车(11)搭载转向操纵控制装置(30D),上述转向操纵控制装置(30D)构成为执行使上述牵引车(11)的转向操纵轮(11F)的转向操纵角追随于目标转向操纵角的反馈控制。上述后退控制装置(40)具有控制部(42B),上述控制部(42B)构成为在进行上述连结车辆(10)的后退操作时以使假想转向操纵角追随于目标假想转向操纵角的方式运算上述目标转向操纵角。上述假想转向操纵角是在将上述拖车(11)视为单体车辆的情况下假想地存在于上述拖车的转向操纵轮的转向操纵角,上述目标假想转向操纵角是通过由操作者进行的特定的操作而设定的上述假想转向操纵角的目标值。
RETURN CONTROL DEVICE FOR CONNECTED VEHICLE, COMPUTER READABLE MEDIUM STORING RETURN CONTROL PROGRAM FOR CONNECTED VEHICLE, AND RETURN CONTROL METHOD FOR CONNECTED
连结车辆的后退控制装置、存储有连结车辆的后退控制程序的计算机可读介质以及连结车辆的后退控制方法
2024-02-09
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
European Patent Office | 2025
|European Patent Office | 2024
|European Patent Office | 2025
|European Patent Office | 2024
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