The connected vehicle is provided with a tractor and a trailer towed by the tractor. The linked vehicle is provided with an interface (80) for instructing a target virtual steering angle, which is a target value of the virtual steering angle, by a driver. The virtual steering angle is a variable indicating a traveling direction of a connection portion between the trailer and the tractor. The control device (50) is configured to execute: a process for acquiring a target virtual steering angle; a virtual steering angle control process for operating a steering system (60) of the connected vehicle in order to control the virtual steering angle to the target virtual steering angle; and a process for limiting the absolute value of the vehicle speed of the linked vehicle to a smaller side using the target virtual steering angle as an input during execution of the virtual steering angle control process. The linked vehicle is provided with an interface (80) for instructing a target virtual steering angle, which is a target value of the virtual steering angle, by a driver. The virtual steering angle is a variable indicating a traveling direction of a connection portion between the trailer and the tractor. The control device (50) is configured to execute: a process for acquiring a target virtual steering angle; a virtual steering angle control process for operating a steering system (60) of the connected vehicle in order to control the virtual steering angle to the target virtual steering angle; and a process for limiting the absolute value of the vehicle speed of the linked vehicle to a smaller side using the target virtual steering angle as an input during execution of the virtual steering angle control process.
连结车辆具备牵引车、以及由牵引车牵引的拖车。连结车辆具备用于由驾驶员指示虚拟转向操纵角的目标值即目标虚拟转向操纵角的接口(80)。虚拟转向操纵角为表示拖车与牵引车的连结部位的行进方向的变量。控制装置(50)构成为执行如下的处理:获取目标虚拟转向操纵角的处理;为了将虚拟转向操纵角控制为目标虚拟转向操纵角而对连结车辆的转向操纵系统(60)进行操作的虚拟转向操纵角控制处理;以及在虚拟转向操纵角控制处理的执行中,将目标虚拟转向操纵角作为输入而将连结车辆的车速的绝对值限制在较小的一侧的处理。连结车辆具备用于由驾驶员指示虚拟转向操纵角的目标值即目标虚拟转向操纵角的接口(80)。虚拟转向操纵角为表示拖车与牵引车的连结部位的行进方向的变量。控制装置(50)构成为执行如下的处理:获取目标虚拟转向操纵角的处理;为了将虚拟转向操纵角控制为目标虚拟转向操纵角而对连结车辆的转向操纵系统(60)进行操作的虚拟转向操纵角控制处理;以及在虚拟转向操纵角控制处理的执行中,将目标虚拟转向操纵角作为输入而将连结车辆的车速的绝对值限制在较小的一侧的处理。
CONNECTED VEHICLE CONTROL DEVICE, CONNECTED VEHICLE CONTROL METHOD, AND CONNECTED VEHICLE CONTROL PROGRAM
连结车辆的控制装置、连结车辆的控制方法、以及连结车辆的控制程序
2025-01-24
Patent
Electronic Resource
Chinese
European Patent Office | 2025
|European Patent Office | 2024
|European Patent Office | 2024
|European Patent Office | 2024
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