Connected vehicle control device, connected vehicle control method, and connected vehicle control program

Abstract

The control device is applied to a connected vehicle, and the connected vehicle is provided with a tractor and a trailer towed by the tractor. The control device is configured to execute a traction angle variable acquisition process, a steering angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process.

Description

Technical Field

[0001] The present disclosure relates to a control device for a connected vehicle, a control method for a connected vehicle, and a control program for a connected vehicle. Background Art

[0002] Conventionally, there is a coupled vehicle in which a trailer is coupled to a vehicle as a tractor. In addition, Patent Document 1 proposes a control device for assisting the reverse operation of the coupled vehicle. When the driver uses an accelerator pedal and a brake pedal to control the reverse speed of the vehicle, the control device automatically steers the coupled vehicle so that the trailer moves along a reference path specified by the driver.

[0003] Patent Document 1: U.S. Patent No. 9592851

[0004] However, the driving of the coupled vehicle is basically performed by operating the steering angle of the tractor. However, there is a significant nonlinearity between the traveling direction of the trailer and the above-mentioned steering angle. Therefore, when controlling the traveling direction of the trailer, the design of the controller is accompanied by difficulties. Summary of the invention

[0005] A technical solution disclosed in the present invention is applicable to a control device for a connected vehicle, which includes a tractor and a trailer towed by the tractor. The control device is configured to perform a traction angle variable acquisition process, a steering angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process. The traction angle variable acquisition process is a process for acquiring the value of the traction angle variable. The traction angle variable is a variable representing the angle between the front and rear directions of the tractor and the front and rear directions of the trailer, that is, the traction angle. The steering angle variable acquisition process is a process for acquiring the value of the steering angle variable. The steering angle variable is a variable representing the steering angle of the tractor. The virtual steering angle variable calculation process is a process for calculating the value of the virtual steering angle variable using the value of the traction angle variable and the value of the steering angle variable as inputs. The virtual steering angle variable is a variable representing the direction of travel at the connection point between the tractor and the trailer. The target virtual steering angle variable acquisition process is a process for acquiring the value of the target virtual steering angle variable. The target virtual steering angle variable is a variable indicating the target value of the virtual steering angle variable. The feedback processing includes an operation amount calculation processing, a target steering angle variable calculation processing, and an operation processing. The operation amount calculation processing is a processing for calculating the operation amount for feedback control by taking the value of the virtual steering angle variable and the value of the target virtual steering angle variable as inputs. The target steering angle variable calculation processing is a processing for converting the operation amount into the value of the target steering angle variable based on the value of the traction angle variable and the value of the steering angle variable. The target steering angle variable is a variable indicating the target value of the steering angle. The operation processing is a processing for operating the steering angle based on the value of the target steering angle variable.

[0006] Other technical solutions disclosed in the present invention are applicable to a control method for a connected vehicle, which includes a tractor and a trailer towed by the tractor. The control method has the following steps, executing a traction angle variable acquisition process, a steering angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process. The traction angle variable acquisition process is a process for acquiring the value of the traction angle variable. The traction angle variable is a variable representing the angle between the front and rear directions of the tractor and the front and rear directions of the trailer, that is, the traction angle. The steering angle variable acquisition process is a process for acquiring the value of the steering angle variable. The steering angle variable is a variable representing the steering angle of the tractor. The virtual steering angle variable calculation process is a process for calculating the value of the virtual steering angle variable using the value of the traction angle variable and the value of the steering angle variable as inputs. The virtual steering angle variable is a variable representing the direction of travel at the connection point between the tractor and the trailer. The target virtual steering angle variable acquisition process is a process for acquiring the value of the target virtual steering angle variable. The target virtual steering angle variable is a variable indicating the target value of the virtual steering angle variable. The feedback processing includes an operation amount calculation processing, a target steering angle variable calculation processing, and an operation processing. The operation amount calculation processing is a processing for calculating the operation amount for feedback control by taking the value of the virtual steering angle variable and the value of the target virtual steering angle variable as inputs. The target steering angle variable calculation processing is a processing for converting the operation amount into the value of the target steering angle variable based on the value of the traction angle variable and the value of the steering angle variable. The target steering angle variable is a variable indicating the target value of the steering angle, and the operation processing is a processing for operating the steering angle based on the value of the target steering angle variable.

[0007] Other technical solutions disclosed in the present invention are applicable to a control program for a connected vehicle, which includes a tractor and a trailer towed by the tractor. The control program is configured to cause a computer to execute a traction angle variable acquisition process, a steering angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process. The traction angle variable acquisition process is a process for acquiring the value of the traction angle variable. The traction angle variable is a variable representing the angle between the front and rear directions of the tractor and the front and rear directions of the trailer, that is, the traction angle. The steering angle variable acquisition process is a process for acquiring the value of the steering angle variable. The steering angle variable is a variable representing the steering angle of the tractor. The virtual steering angle variable calculation process is a process for calculating the value of the virtual steering angle variable using the value of the traction angle variable and the value of the steering angle variable as inputs. The virtual steering angle variable is a variable representing the direction of travel at the connection point between the tractor and the trailer. The target virtual steering angle variable acquisition process is a process for acquiring the value of the target virtual steering angle variable. The target virtual steering angle variable is a variable indicating the target value of the virtual steering angle variable. The feedback processing includes an operation amount calculation processing, a target steering angle variable calculation processing, and an operation processing. The operation amount calculation processing is a processing for calculating the operation amount for feedback control by taking the value of the virtual steering angle variable and the value of the target virtual steering angle variable as inputs. The target steering angle variable calculation processing is a processing for converting the operation amount into the value of the target steering angle variable based on the value of the traction angle variable and the value of the steering angle variable. The target steering angle variable is a variable indicating the target value of the steering angle, and the operation processing is a processing for operating the steering angle based on the value of the target steering angle variable. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a perspective view showing a structure of a connected vehicle according to one embodiment.

[0009] Figure 2 It is a block diagram showing the structure of the control system of this embodiment.

[0010] Figure 3 This is a flowchart showing the procedure of processing executed by the control device of this embodiment.

[0011] Figure 4 It is a diagram showing a model of a connected vehicle according to this embodiment.

[0012] Figure 5 This is a block diagram for explaining the effects of this embodiment. DETAILED DESCRIPTION

[0013] Hereinafter, one embodiment will be described with reference to the drawings.

[0014] "Structure connecting vehicles"

[0015] like Figure 1 As shown, the coupled vehicle 10 has a tractor 20 and a trailer 30. Figure 1 In the figure, a pickup truck, which is a type of small truck, is exemplified as the tractor 20. The tractor 20 includes front wheels 22 and rear wheels 24. The front wheels 22 include two wheels, a right front wheel and a left front wheel, and the rear wheels 24 include two wheels, a right rear wheel and a left rear wheel. Figure 1 In FIG. 1 , a box-type trailer is exemplified as the trailer 30. The trailer 30 has wheels 32. The wheels 32 include two wheels, a right wheel and a left wheel.

[0016] The trailer 30 is connected to the rear portion of the tractor 20 via a ball joint 40. The ball joint 40 is a member that connects the trailer 30 to the tractor 20 so as to be rotatable about a shaft 42. The shaft 42 extends in the height direction of the tractor 20.

[0017] exist Figure 2 2 shows a part of the components of the tractor 20. Figure 2 As shown in FIG. 1 , the tractor 20 is provided with a control device 50. The control device 50 operates a steering system 60, a drive system 62, and a brake system 64 in order to control the control amount of the connected vehicle 10 as a control object. The control amount is the vehicle speed, the driving direction, and the towing angle. The towing angle is the angle formed by the front-rear direction of the tractor 20 and the front-rear direction of the trailer 30.

[0018] The steering system 60 includes a steering actuator for steering a steering wheel. Figure 1 The front wheel 22 is shown. In addition, the steering system 60 may also include a steering control device that operates the steering actuator. In this case, "the control device 50 operates the steering system 60" means that the control device 50 outputs a command signal to the steering control device.

[0019] The drive system 62 includes at least one of an internal combustion engine and a rotary electric machine as thrust generating devices of the vehicle. In addition, the drive system 62 may also include a drive control device that controls the internal combustion engine and the rotary electric machine. In this case, "the control device 50 operates the drive system 62" means that the control device 50 outputs a command signal to the drive control device.

[0020] The brake system 64 includes at least one of a device for decelerating the rotation of the wheel by friction and a device for decelerating the rotation of the wheel by converting the power of the wheel into electrical energy. In addition, the device for decelerating the rotation of the wheel by converting into electrical energy can also be shared with the rotating motor of the drive system. In addition, the brake system 64 can also include a brake control device that uses the device for decelerating the rotation of the wheel as a control object. In this case, "the control device 50 operates the brake system 62" means that the control device 50 outputs a command signal to the brake control device.

[0021] In order to control the control amount, the control device 50 refers to the steering angle α1 of the steering wheel detected by the steering angle sensor 70. The steering angle α1 is a value in which the sign of either right rotation or left rotation is positive and the sign of the other is negative. The steering angle α1 is the cutting angle of the tire. In addition, for example, when the steering system 60 has a rack and pinion mechanism, the steering angle sensor 70 can also be used as a sensor for detecting the pinion angle. However, in this case, the control device 50 performs a process of converting the pinion angle into the cutting angle of the tire. In the following, for the sake of convenience of explanation, even if the cutting angle of the tire is obtained by the above-mentioned conversion process, the cutting angle of the tire will be regarded as the detection value of the steering angle sensor 70.

[0022] In addition, the control device 50 refers to the towing angle β detected by the towing angle sensor 72. The towing angle β can have both positive and negative signs depending on the angle formed by the direction from the rear to the front of the tractor 20 and the direction from the rear to the front of the trailer 30. For example, the sign of the towing angle β may be positive when the direction from the rear to the front of the trailer 30 is offset counterclockwise by less than 180° relative to the direction from the rear to the front of the tractor 20. In addition, the control device 50 refers to the wheel speeds ωw1 to ωw4 detected by the wheel speed sensor 74. The wheel speeds ωw1 and ωw2 are the rotation speeds of the right front wheel 22 and the rotation speed of the left front wheel 22, respectively. The wheel speeds ωw3 and ωw4 are the rotation speeds of the right rear wheel 24 and the rotation speed of the left rear wheel 24, respectively.

[0023] The control device 50 sets the control amount according to the operation state of the user interface 80. The user interface 80 is used to transmit the user's intention to the control device 50, such as whether to connect the vehicle 10 by manual steering or automatic steering.

[0024] The control device 50 includes a PU 52 and a storage device 54. The PU 52 is a software processing device including at least one of a CPU, a GPU, and a TPU. The storage device 54 stores a reverse assisting program 54a.

[0025] The reverse assist program 54a defines an instruction for executing a reverse assist process. The reverse assist process is a process that the PU 52 should execute on the basis of assisting the reverse of the coupled vehicle 10. The reverse assist process is a process for automatically performing a steering operation of the tractor 20. However, in the reverse assist process, the braking operation and the acceleration operation are entrusted to the driver. In addition, the reverse assist process includes a process for accepting a request for a steering operation of the trailer 30. Moreover, in the reverse assist process, the steering angle of the tractor 20 is controlled to meet the request for a steering operation of the trailer 30.

[0026] Here, the request for steering the trailer 30 is input by the driver via the user interface 80. The request for steering is transmitted by indicating the virtual steering angle α2 of the trailer 30. The virtual steering angle α2 is a variable indicating the direction of travel at the connection point between the tractor 20 and the trailer 30. In other words, the virtual steering angle α2 refers to the steering angle of the virtual front wheels when the trailer 30 is virtually separated from the tractor 20 and regarded as a single vehicle with virtual front wheels. The indication of the virtual steering angle α2 can also be achieved, for example, by setting a dial that has a positive correlation with the virtual steering angle α2 on the user interface 80. Here, the rotation angle of the dial is not necessarily in a proportional relationship with the virtual steering angle α2. In addition, hereinafter, the virtual steering angle α2 indicated by the driver will be referred to as the target virtual steering angle α2*.

[0027] "Backward Assisted Processing"

[0028] exist Figure 3 The order of the processing related to the backoff auxiliary processing is shown in . Figure 3 The processing shown is realized by repeatedly executing the back-up assist program 54a at a predetermined cycle, for example, by the PU 52. In the following, the step number of each processing is expressed by a number with "S" added to the beginning.

[0029] exist Figure 3 In the series of processing shown, first, PU52 determines whether it is the reverse assist mode (S10). When PU52 determines that it is the reverse assist mode (S10: Yes), it obtains the target virtual steering angle α2* input to the user interface 80 (S12). Next, PU52 obtains the steering angle α1 detected by the steering angle sensor 70 (S14). In addition, PU52 obtains the traction angle β detected by the traction angle sensor 72 (S16). In addition, PU52 obtains the vehicle speed VB1 (S17). PU52 calculates the vehicle speed VB1 based on the wheel speeds ωw3 and ωw4. The vehicle speed VB1 can also be, for example, a simple average of the wheel speeds ωw3 and ωw4.

[0030] Then, PU72 uses the vehicle speed VB1, the steering angle α1, and the towing angle β as inputs, and performs mapping calculation on the virtual steering angle α2 (S18). In the present embodiment, as an example, the virtual steering angle α2 is defined by the angle formed by the traveling direction of the ball joint 40 relative to the front-rear direction of the trailer 30. Here, based on Figure 4 , the reason for calculating the virtual steering angle α2 based on the steering angle α1 and the traction angle β is described.

[0031] Figure 4 A model of the connected vehicle 10 used in the present embodiment is shown. Figure 4 The model shown considers the pair of front wheels 22 of the tractor 20 as one front wheel C0, and the pair of rear wheels 24 of the tractor 20 as one rear wheel B1. That is, the tractor 20 adopts a two-wheel model. In addition, the pair of wheels 32 of the trailer 30 are considered as one wheel B2. The angle formed by the line defined by the front wheel C0 and the connection point C1 and the line defined by the connection point C1 and the wheel B2 is the traction angle β. The connection point C1 is equivalent to Figure 1 The front wheel speed VC0 is represented as a vector moving in the direction of the steering angle α1. The steering angle α1 is quantified as the angle between the moving direction of the front wheel C0 and the line defined by the front wheel C0 and the connection point C1. The direction of the vehicle speed VB1 is parallel to the line defined by the front wheel C0 and the connection point C1. Figure 4 The angle formed by the line connecting the wheel B2 and the connection point C1 and the x direction is angle θ1. In addition, the angle formed by the line connecting the wheel B2 and the connection point C1 and the x direction is angle θ2. In addition, the distance l1 between the front wheel C0 and the rear wheel B1, the distance h1 between the rear wheel B1 and the connection point C1, and the distance l2 between the connection point C1 and the wheel B2 are defined.

[0032] According to the above definition, the direction of the speed VC1 of the connection point C1 relative to the direction from the wheel B to the connection point C1 is the virtual steering angle α2. If the angle γ1 formed by the direction of the speed VC1 of the connection point C1 relative to the direction from the connection point C1 to the front wheel C0 is used, the virtual steering angle α2 is "-(β-γ1)".

[0033] exist Figure 4 In the model shown, if the coordinates (xc0, yc0) of the front wheel C0, the coordinates (xb1, yb1) of the rear wheel B1, and the coordinates (xc1, yc1) of the connection point C1 are used, the following equations (c1) to (c3) are established.

[0034] VC0·cosα1=VB1…(c1)

[0035] xc0=xb1+l1·cosθ1…(c2)

[0036] xc1=xb1+h1·cosθ1…(c3)

[0037] When the equation obtained by differentiating both sides of the above equations (c2) and (c3) and equation (c1) are used, the following equation (c4) is obtained.

[0038] h1·tanα1+l1·tanγ1=0…(c4)

[0039] According to the above-mentioned formula (c4), the angle γ1 can be expressed by the steering angle α1. Therefore, the virtual steering angle α2 is expressed by the following formula (c5).

[0040] α2=-β-arctan{(h1 / l1)·tan(α1)}…(c5)

[0041] That is, the virtual steering angle α2 can be obtained from the traction angle β and the steering angle α1.

[0042] Specifically, PU52 uses Figure 2 The map data 54b shown is used to map the virtual steering angle α2. The map data 54b is stored in the storage device 54. The map data 54b uses the traction angle β and the steering angle α1 as input variables and uses the virtual steering angle α2 as an output variable.

[0043] Here, mapping data refers to a set of data of discrete values ​​of input variables and values ​​of output variables corresponding to the values ​​of the input variables. In addition, as long as the value of the input variable is consistent with any one of the values ​​of the input variables of the mapping data, the mapping operation can be processed by using the value of the output variable of the corresponding mapping data as the result of the operation. In addition, as long as the value of the input variable is inconsistent with any one of the values ​​of the input variables of the mapping data, the mapping operation can be processed by using the value obtained by interpolating the values ​​of multiple output variables included in the mapping data as the result of the operation. Alternatively, the mapping operation can also be processed by using the value of the output variable of the mapping data corresponding to the closest value among the values ​​of the multiple input variables included in the mapping data as the result of the operation when the value of the input variable is inconsistent with any one of the values ​​of the input variables of the mapping data.

[0044] It should be noted that the process of S18 is regarded as a process of converting the steering angle α1 into the virtual steering angle α2 based on the traction angle β.

[0045] Next, PU52 calculates the operation amount v based on the feedback control using the virtual steering angle α2 as the control amount and the target virtual steering angle α2* as the target value of the control amount (S20). In this embodiment, a proportional controller is exemplified as the feedback controller. That is, PU52 substitutes the value obtained by multiplying the value obtained by subtracting the virtual steering angle α2 from the target virtual steering angle α2* by the proportional gain Kp into the operation amount v.

[0046] Then, the PU 72 converts the operation amount v into a target steering angle α1* based on the vehicle speed VB1, the traction angle β, and the steering angle α1 (S22). Here, the conversion process will be described in detail.

[0047] The first-order time differential of the pull angle β is expressed by the following equation (c6) in the above model.

[0048] dβ / dt=

[0049] (VB1 / l2)·sinβ

[0050] +{VB1 / (l1 / l2)}·{l2+h2·cosβ}·tanα1

[0051] …(c6)

[0052] In addition, regarding the first-order time differential of the steering angle α1, “(α1*-α1)·τ” is assumed using a time constant τ.

[0053] In this case, by differentiating both sides of the above-mentioned formula (c5), the following formula (c7) is obtained.

[0054] [Mathematical formula 1]

[0055]

[0056] In the above equation, if the time differential value of the virtual steering angle α2 is set to “v” and the target steering angle α1* is expressed by the traction angle β, the steering angle α1 and “v”, the following equation (c8) is obtained.

[0057] [Mathematical formula 2]

[0058]

[0059] According to the above-mentioned equation (c8), it can be understood that “v” can be converted into the target steering angle α1* using the vehicle speed VB1, the steering angle α1, and the traction angle β.

[0060] In the process of S22, the operation amount v is converted into the target steering angle α1* according to the coordinate conversion of (c8) above. Specifically, PU52 uses Figure 2The map data 54b shown performs a mapping operation on the target steering angle α1 *. In the map data 54b, the operation amount v, the vehicle speed VB1, the traction angle β, and the steering angle α1 are input variables, and the target steering angle α1 * is an output variable.

[0061] Then, the PU 52 outputs the operation signal MS to the steering system 60 in order to control the steering angle of the steered wheels so that the steering angle α1 follows the target steering angle α1 * ( S24 ).

[0062] In addition, when PU52 completes the processing of S24, it temporarily ends Figure 3 A series of processing is shown.

[0063] Here, the operation and effects of this embodiment will be described.

[0064] As described above, when the first-order time differential value of the virtual steering angle α2 is “v”, the time integrated value of “v” is the virtual steering angle α2. That is, a simple linear relationship holds between “v” and the virtual steering angle α2.

[0065] Therefore, by utilizing the coordinate conversion based on the above-mentioned equations (c5) and (c8), a virtual device is assumed that takes "v" as input and takes the virtual steering angle α2 as output.

[0066] Figure 5 9 shows the connection between the vehicle 10, that is, the actual device 90 and the virtual device 92.

[0067] As can be seen from the above formula (c5), the actual device 90 does not have a one-to-one correspondence between the steering angle α1 and the virtual steering angle α2. Therefore, in the process of S20, when the operation amount calculated by taking the difference between the target virtual steering angle α2* and the virtual steering angle α2 as input is used as the target steering angle α1*, the design of the controller that calculates the operation amount becomes difficult.

[0068] In contrast, in this embodiment, if Figure 5 As shown, the virtual device 92 is constituted by the coordinate transformation M14 expressed by the above-mentioned formula (c8) and the coordinate transformation M16 expressed by the above-mentioned formula (c5). In this case, the relationship between the operation amount v and the virtual steering angle α2 becomes a simple linear relationship. Therefore, it is possible to simply design the controller M12, which calculates the operation amount v by taking the difference between the target virtual steering angle α2* calculated by the deviation calculation processing M10 and the virtual steering angle α2 as input. That is, in this embodiment, the controller M12 is reduced to the design of the fixed value, that is, the proportional gain Kp.

[0069] According to the above-mentioned embodiment, the following effects are further achieved.

[0070] (1) PU 52 converts the operation amount v into the target steering angle α1* according to the vehicle speed VB1 In other words, PU 52 converts the operation amount v into the target steering angle α1*, which is the value of the target steering angle variable, according to the vehicle speed of the tractor 20 .

[0071] The characteristics of the actual device depend on the vehicle speed. In contrast, the PU 52 converts the operation amount into the target steering angle α1* in consideration of the vehicle speed, thereby suppressing the vehicle speed dependency of the virtual device. Therefore, the control accuracy of the feedback process can be suppressed from being dependent on the vehicle speed.

[0072] (2) PU52 uses the mapping data 54b to perform mapping calculation on the target steering angle α1*. When a mathematical expression is used to express the process of converting the operation amount v into the target steering angle α1* using the traction angle β and the steering angle α1, the mathematical expression expressed is complex. Therefore, when the process of S22 is performed as a mathematical expression calculation process, the requirements for the specifications of the control device 50 are likely to become high. In contrast, in this embodiment, by using the mapping data 54b, it is possible to suppress the requirements for the specifications of the control device from becoming high.

[0073] (3) PU 52 acquires the target virtual steering angle α2* based on the driver's input operation to the user interface 80. Since the target virtual steering angle α2* is determined by the driver, the requirements on the control device 50 can be reduced compared with the case where the target virtual steering angle α2* is determined by the control device 50.

[0074] <Other embodiments>

[0075] In addition, the present embodiment can be implemented by being modified as follows. The present embodiment and the following modified examples can be implemented in combination with each other within the range that there is no technical contradiction.

[0076] "About virtual steering angle variable calculation processing"

[0077] In the above embodiment, the virtual steering angle α2 is calculated by taking the steering angle α1 and the traction angle β as inputs, but the present invention is not limited to this. For example, as the value of the steering angle variable, the target steering angle α1* may be used instead of the steering angle α1. In addition, as the value of the traction angle variable, it is not limited to the latest sampled value of the traction angle β. For example, an estimated value of the traction angle predicted based on the steering angle α1 and the traction angle β acquired by the previous processing of S14 and S16 may be used.

[0078] It is not essential to perform mapping calculation on the virtual steering angle α2, and it may be calculated using the above-mentioned equation (c5), for example.

[0079] "About target steering angle variable calculation processing"

[0080] In the above embodiment, PU52 calculates the target steering angle α1* by taking the operation amount v, vehicle speed VB1, steering angle α1 and traction angle β as inputs, but the present invention is not limited to this. For example, instead of steering angle α1, PU52 may use the target steering angle α1* calculated by the previous process of S22 as the value of the steering angle variable. In addition, the value of the traction angle variable is not limited to the latest sampled value of the traction angle β. For example, PU52 may use the estimated value of the traction angle predicted based on the steering angle α and traction angle β acquired by the previous processes of S14 and S16. In addition, for example, in the case where the values ​​that the vehicle speed VB1 can take are limited to a certain extent, such as in the reverse assist process, the vehicle speed VB1 may be replaced by a sensor-based detection value and may be a pre-set fixed value. That is, it is not necessary to use the vehicle speed VB1 as the input of the target steering angle variable calculation process.

[0081] It is not essential that the PU 52 performs mapping calculation on the target steering angle α1*. For example, the PU 52 may calculate the target steering angle α1* using the above-mentioned equation (c8).

[0082] "About operation amount calculation processing"

[0083] The operation amount calculation process does not necessarily have to be a process in which the output value of the proportional element having the difference between the target virtual steering angle α2* and the virtual steering angle α2 is used as the operation amount v. The operation amount calculation process may be, for example, a process in which the sum of the output value of the proportional element having the difference as the input and the output value of the integral element is used as the operation amount v. In addition, for example, the operation amount calculation process may be a process in which the sum of the output value of the proportional element having the difference as the input and the output value of the differential element is used as the operation amount v. In addition, for example, the operation amount calculation process may be a process in which the sum of the output value of the proportional element having the difference as the input and the output value of the integral element having the difference as the input and the output value of the differential element is used as the operation amount v.

[0084] "About Backward Assist Processing"

[0085] The reverse assist process does not necessarily have to be a process of entrusting the acceleration operation and the braking operation to the driver. For example, the reverse assist process may be a process of automatically controlling the speed of the tractor 20.

[0086] "About feedback processing and operation processing"

[0087] The feedback process does not necessarily have to be performed in the reverse assist process. For example, the feedback process and the operation process may be performed by the control device 50 in the automatic steering process in which the target virtual steering angle α2* is set by the control device 50. In addition, the automatic steering process does not necessarily have to be performed when the connected vehicle 10 is reversed. That is, the feedback process and the operation process may also be performed by the control device 50 in the automatic steering process when the connected vehicle is moved forward.

[0088] About Input Variables

[0089] The input variables of the above-mentioned processes are not limited to the traction angle β, the steering angle α1, etc. For example, the above-mentioned pinion angle itself may be used as an input variable instead of the steering angle α1.

[0090] About the Control Device

[0091] As a control device, it includes PU52 and storage device 54, and is not limited to executing software processing. For example, it may also include a dedicated hardware circuit such as ASIC that performs hardware processing on at least a part of the various processes executed in the above-mentioned embodiments. That is, the control device only needs to be any one of the following structures (a) to (c). (a) A processing circuit, including a processing device that executes all the above-mentioned processes according to a program and a program storage device such as a storage device that stores the program. (b) A processing circuit, including a processing device that executes a part of the above-mentioned processes according to a program and a program storage device, and a dedicated hardware circuit that executes the remaining processes. (c) A processing circuit, including a dedicated hardware circuit that executes all the above-mentioned processes. Here, there may be multiple software execution devices and dedicated hardware circuits equipped with a processing device and a program storage device.

[0092] About Computer

[0093] The computer that executes the control program such as the back-up assist program 54a is not limited to the computer mounted on the connected vehicle 10. For example, the computer may be constituted by both the PU 52 mounted on the connected vehicle 10 and the driver's mobile terminal. In this case, for example, the processing of S18 to S22 may be executed by the mobile terminal.

[0094] "About Vehicles"

[0095] As a connected vehicle, not limited to Figure 1 The vehicle illustrated in FIG.

Claims

1. A control device for a coupled vehicle, the coupled vehicle comprising a tractor and a trailer towed by the tractor, wherein: The control device is configured as follows: executing a traction angle variable acquisition process, a steering angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process, The traction angle variable acquisition process is a process of acquiring the value of the traction angle variable. The towing angle variable is a variable representing the angle formed by the front-rear direction of the tractor and the front-rear direction of the trailer, that is, the towing angle. The steering angle variable acquisition process is a process of acquiring the value of the steering angle variable. The steering angle variable is a variable representing the steering angle of the tractor. The virtual steering angle variable calculation process is a process of calculating the value of the virtual steering angle variable by taking the value of the traction angle variable and the value of the steering angle variable as inputs, The virtual steering angle variable is a variable indicating the traveling direction at the connection point between the tractor and the trailer. The target virtual steering angle variable acquisition process is a process of acquiring the value of the target virtual steering angle variable. The target virtual steering angle variable is a variable indicating a target value of the virtual steering angle variable. The feedback processing includes operation amount calculation processing, target steering angle variable calculation processing, and operation processing. The operation amount calculation process is a process of calculating the operation amount for feedback control by taking the value of the virtual steering angle variable and the value of the target virtual steering angle variable as inputs. The target steering angle variable calculation process is a process of converting the operation amount into a target steering angle variable value based on the value of the traction angle variable and the value of the steering angle variable. The target steering angle variable is a variable indicating a target value of the steering angle. The operation process is a process of operating the steering angle according to the value of the target steering angle variable.

2. The vehicle-connected control device according to claim 1, wherein: The target steering angle variable calculation process is a process of converting the operation amount into a target steering angle variable value based on the vehicle speed of the tractor in addition to the value of the traction angle variable and the value of the steering angle variable.

3. The vehicle-connected control device according to claim 1, wherein: A storage device is provided, The storage device stores mapping data that defines a relationship between a value of the target steering angle variable and a value of the operation amount, a value of the traction angle variable, and a value of the steering angle variable. The target steering angle variable calculation process is a process of calculating the value of the target steering angle variable using the map data.

4. The vehicle-connected control device according to claim 1, wherein: The connected vehicle includes an interface for a driver to indicate a value of the target virtual steering angle variable. The target virtual steering angle variable acquisition process is a process of acquiring a value of the target virtual steering angle variable according to an input operation of the driver to the interface.

5. The vehicle-connected control device according to claim 1, wherein: The operation amount calculation process includes a proportional controller.

6. The vehicle-connected control device according to claim 5, wherein: The gain of the proportional controller is set to a fixed value.

7. A method for controlling a coupled vehicle, the coupled vehicle comprising a tractor and a trailer towed by the tractor, wherein: The control method includes the following steps: executing a traction angle variable acquisition process, a steering angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process. The traction angle variable acquisition process is a process of acquiring the value of the traction angle variable. The towing angle variable is a variable representing the angle formed by the front-rear direction of the tractor and the front-rear direction of the trailer, that is, the towing angle. The steering angle variable acquisition process is a process of acquiring the value of the steering angle variable. The steering angle variable is a variable representing the steering angle of the tractor. The virtual steering angle variable calculation process is a process of calculating the value of the virtual steering angle variable by taking the value of the traction angle variable and the value of the steering angle variable as inputs, The virtual steering angle variable is a variable indicating the traveling direction at the connection point between the tractor and the trailer. The target virtual steering angle variable acquisition process is a process of acquiring the value of the target virtual steering angle variable. The target virtual steering angle variable is a variable indicating a target value of the virtual steering angle variable. The feedback processing includes operation amount calculation processing, target steering angle variable calculation processing, and operation processing. The operation amount calculation process is a process of calculating the operation amount for feedback control by taking the value of the virtual steering angle variable and the value of the target virtual steering angle variable as inputs. The target steering angle variable calculation process is a process of converting the operation amount into a target steering angle variable value based on the value of the traction angle variable and the value of the steering angle variable. The target steering angle variable is a variable indicating a target value of the steering angle. The operation process is a process of operating the steering angle according to the value of the target steering angle variable.

8. A control program for a coupled vehicle, the coupled vehicle comprising a tractor and a trailer towed by the tractor, wherein: The control program is composed of: causing the computer to execute a traction angle variable acquisition process, a steering angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process, The traction angle variable acquisition process is a process of acquiring the value of the traction angle variable. The towing angle variable is a variable representing the angle formed by the front-rear direction of the tractor and the front-rear direction of the trailer, that is, the towing angle. The steering angle variable acquisition process is a process of acquiring the value of the steering angle variable. The steering angle variable is a variable representing the steering angle of the tractor. The virtual steering angle variable calculation process is a process of calculating the value of the virtual steering angle variable by taking the value of the traction angle variable and the value of the steering angle variable as inputs, The virtual steering angle variable is a variable indicating the traveling direction at the connection point between the tractor and the trailer. The target virtual steering angle variable acquisition process is a process of acquiring the value of the target virtual steering angle variable. The target virtual steering angle variable is a variable indicating a target value of the virtual steering angle variable. The feedback processing includes operation amount calculation processing, target steering angle variable calculation processing, and operation processing. The operation amount calculation process is a process of calculating the operation amount for feedback control by taking the value of the virtual steering angle variable and the value of the target virtual steering angle variable as inputs. The target steering angle variable calculation process is a process of converting the operation amount into a target steering angle variable value based on the value of the traction angle variable and the value of the steering angle variable. The target steering angle variable is a variable indicating a target value of the steering angle. The operation process is a process of operating the steering angle according to the value of the target steering angle variable.

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