The invention relates to a control device for connected vehicles. A connected vehicle (10) is provided with a tractor (11) having steered wheels (11F), and a trailer (12) towed by the tractor (11). A control device (42) for a connected vehicle (10) is provided with an estimation unit (42C). The estimation unit (42C) estimates the length of the trailer (12) on the basis of the mathematical expression. The mathematical expression is obtained by solving, for the length of the trailer (12), a simultaneous equation of an equation of motion of a hook angular velocity (beta (.)), which is a rate of change over time of a hook angle (beta), and an equation of motion of a virtual steering angular velocity (alpha 2 (.)), which is a rate of change over time of a virtual steering angle (alpha 2) of the trailer. The mathematical expression makes the parameter include the virtual steering angular velocity (alpha 2 (.)).
本发明涉及连结车辆的控制装置。连结车辆(10)具有:具有转向操纵轮(11F)的牵引车(11)、以及被牵引车(11)牵引的拖车(12)。连结车辆(10)的控制装置(42)具有推断部(42C)。推断部(42C)基于数学式来推断拖车(12)的长度,该数学式是通过针对拖车(12)的长度求解挂钩角(β)的时间变化率亦即挂钩角速度(β(·))的运动方程式、和拖车的虚拟转向操纵角(α2)的时间变化率亦即虚拟转向操纵角速度(α2(·))的运动方程式的联立方程式而得到的数学式,且该数学式使参数包含虚拟转向操纵角速度(α2(·))。
CONTROL DEVICE FOR CONNECTED VEHICLE
连结车辆的控制装置
2024-09-20
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
European Patent Office | 2024
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