Control device for articulated vehicle, control method for articulated vehicle, and control program for articulated vehicle

Abstract

A connected vehicle (10) has a tractor (20) and a trailer (30) towed by the tractor. A control device (70) is configured to execute open-loop manipulated variable calculation processing, closed-loop manipulated variable calculation processing, manipulation processing, and correction processing. The open-loop manipulated variable calculation processing is processing that calculates an open-loop manipulated variable, which is a manipulated variable of open-loop control using a prescribed state variable of the connected vehicle as a control variable. The closed-loop manipulated variable calculation processing is processing that calculates a closed-loop manipulated variable, which is a manipulated variable of closed-loop control using the prescribed state variable as a control variable. The manipulation processing is processing that manipulates an actuator of the tractor based on both the open-loop manipulated variable and the closed-loop manipulated variable. The correction processing is processing that corrects the open-loop manipulated variable calculation processing when the magnitude of the manipulated variable of the closed-loop control is equal to or greater than a prescribed value.