To provide a steering support device for traction vehicle capable of performing automatic steering control in an almost same manner to automatic steering control performed by a vehicle to which no towed vehicle is connected, even when a traction vehicle performs traction travel of a towed vehicle.SOLUTION: A steering support control part 21 sets a target steering torque TM which is determined by PID control of a steering angle deviation x calculated from a difference of a target steering angle θt and an actual steering angle θγ, so that an own vehicle 1 travels along a target progress path, and variably sets a derivative gain of the PID control so that a trailer 5 travels along a target progress path, when the trailer 5 is connected to the own vehicle 1.SELECTED DRAWING: Figure 2
【課題】牽引車両が被牽引車両を牽引走行する場合であっても、被牽引車両が連結されていない車両とほぼ同じ自動操舵制御を行うことができるようにする。【解決手段】操舵支援制御部21は、自車両1が目標進行路に沿って走行するように、目標操舵角θtと実操舵角θγとの差分から算出する操舵角偏差xをPID制御して求める目標操舵トルクTMを、自車両1にトレーラ5が連結された場合は、トレーラ5が目標進行路に沿って走行するように、PID制御の微分ゲインを可変設定する。【選択図】図2
STEERING SUPPORT DEVICE FOR TRACTION VEHICLE
牽引車両の操舵支援装置
2019-02-21
Patent
Electronic Resource
Japanese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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