Estimating device of articulated vehicle, control device of articulated vehicle, estimating method of articulated vehicle, and estimating program of articulated vehicle

Abstract

The estimation device (70) of the present application is applied to a connected vehicle (10) having a towing vehicle (20) and a trailer (30) towed by the towing vehicle. The estimation device has an execution device (72) configured to execute a retrieval process and a calculation process. The retrieval process is a process of retrieving at least one of a value of a prescribed model variable and a value of a motion variable of the connected vehicle based on an input from outside of the control device. The model variable is a variable that prescribes a model of the connected vehicle. The motion variable is a variable that represents a physical quantity after quantifying the motion of the connected vehicle. The calculation process is a process of calculating a value of the model variable as an estimation target based on the values of the variables retrieved by the retrieval process as input variables in a prescribed state of the connected vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle estimation device, a vehicle control device, a vehicle estimation method, and a vehicle estimation procedure. Background Technology

[0002] Patent document 1 below describes a method for performing trajectory control of a connected vehicle based on the weight of the load on the connected vehicle, which is estimated at the loading center.

[0003] Patent Document 1: U.S. Patent Application Publication No. 2020361492.

[0004] Under the aforementioned technology, the location for connecting vehicles to load cargo is limited to the loading center. Summary of the Invention

[0005] In one aspect of this disclosure, an estimation device is provided for a coupled vehicle comprising a tractor and a trailer towed by the tractor. The coupled vehicle estimation device includes an execution device configured to perform an acquisition process and a calculation process. The acquisition process is a process that acquires at least one of a value of a predetermined model variable and a value of an action variable of the coupled vehicle based on external input to the estimation device. The model variable is a variable that defines a model of the coupled vehicle. The action variable is a variable that represents a physical quantity after quantifying the action of the coupled vehicle. The calculation process is a process that, under a predetermined state of the coupled vehicle, calculates the value of the model variable, which is the object of estimation, based on the value of the variable acquired by the acquisition process as an input variable.

[0006] In another aspect of this disclosure, a method for estimating a coupled vehicle is provided, comprising a tractor and a trailer towed by the tractor. The method for estimating the coupled vehicle includes the execution of an acquisition process and the execution of a calculation process. The acquisition process involves obtaining at least one of two values: a value of a predetermined model variable and a value of an action variable of the coupled vehicle, based on input from outside the coupled vehicle. The model variable is a variable that defines a model of the coupled vehicle. The action variable is a variable that represents a physical quantity quantifying the action of the coupled vehicle. The calculation process involves calculating the value of the model variable, which is the object of estimation, based on the value of the variable obtained by the acquisition process as an input variable, under a predetermined state of the coupled vehicle.

[0007] In another aspect of this disclosure, a estimation procedure is provided for a coupled vehicle comprising a tractor and a trailer towed by the tractor. The coupled vehicle estimation procedure includes instructions for a computer to execute an acquisition process and a calculation process. The acquisition process involves obtaining at least one of two values: values ​​of a predetermined model variable and values ​​of motion variables of the coupled vehicle, based on external inputs to the coupled vehicle. The model variable is a variable that defines a model of the coupled vehicle. The motion variable is a variable representing a physical quantity that quantifies the motion of the coupled vehicle. The calculation process involves calculating the value of the model variable, which is the object of estimation, based on the value of the variable obtained by the acquisition process as an input variable, under a predetermined state of the coupled vehicle. Attached Figure Description

[0008] Figure 1 This is a perspective view showing the configuration of the connecting vehicle according to the first embodiment.

[0009] Figure 2 It means Figure 1 The diagram shown illustrates the configuration of the control system that connects to the vehicle.

[0010] Figure 3 It means Figure 2 The diagram shows a block diagram of the processes performed by the control devices in the control system.

[0011] Figure 4 This is a diagram showing a model of a connected vehicle according to the same implementation method.

[0012] Figure 5 It means Figure 2 The flowchart shows the processing steps performed by the control device in the control system shown.

[0013] Figure 6 It means Figure 2 The flowchart shows the processing steps performed by the control device in the control system shown.

[0014] Figure 7 This is a diagram showing a model of a connected vehicle according to the same implementation method.

[0015] Figure 8 It means Figure 2 The flowchart shows the processing steps performed by the control device in the control system shown.

[0016] Figure 9 This is a flowchart illustrating the processing steps performed by the control device according to the second embodiment.

[0017] Figure 10 This is a flowchart illustrating the processing steps performed by the control device according to the third embodiment.

[0018] Figure 11 This is a flowchart illustrating the processing steps performed by the control device according to the fourth embodiment.

[0019] Figure 12 This is a diagram showing the configuration of the control system according to the fifth embodiment.

[0020] Figure 13 It means Figure 12 The diagram shows a block diagram of the processes performed by the control devices in the control system shown.

[0021] Figure 14 This is a block diagram illustrating the processing performed by the control device according to the sixth embodiment. Detailed Implementation

[0022] <First Embodiment> Hereinafter, the first embodiment will be described with reference to the accompanying drawings.

[0023] "The composition of connected vehicles"

[0024] like Figure 1 As shown, the connected vehicle 10 includes a tractor unit 20 and a trailer unit 30. The tractor unit 20 has front wheels 22 and rear wheels 24. The front wheels 22 include a right front wheel and a left front wheel, and the rear wheels 24 include a right rear wheel and a left rear wheel. Additionally, Figure 1 In the example shown, a box trailer is illustrated as trailer 30. Trailer 30 has wheels 32. The wheels 32 include a right wheel and a left wheel. Alternatively, trailer 30 can also have left and right front wheels and left and right rear wheels, so that the total number of wheels of trailer 30 is 4.

[0025] The trailer 30 is connected to the rear of the tractor 20 via a ball joint 40. The ball joint 40 is a component that connects the trailer 30 in a manner that allows it to rotate relative to the tractor 20 about an axle 42. The axle 42 extends along the height of the tractor 20.

[0026] Figure 2 The image shows a portion of the components of the connected vehicle 10.

[0027] like Figure 2 As shown, the tractor 20 includes a steering system 50. The steering system 50 includes a steering wheel 52 and front wheels 22 as steering wheels. A reaction force generated by a reaction motor 54 is applied to the steering wheel 52. The reaction force is a torque with the opposite sign to the torque applied to the steering wheel 52 by the driver. The output voltage of an inverter 56 is applied to the terminals of the reaction motor 54.

[0028] On the other hand, power is applied to the front wheels 22 by the front wheel steering motor 60. The output voltage of the inverter 62 is applied to the terminals of the front wheel steering motor 60.

[0029] The steering control unit 70 includes a PU 72 and a storage device 74. The PU 72 is a processing unit that performs software processing. The PU 72 can be, for example, a CPU, a GPU, etc. The PU 72 controls the controlled object of the steering control unit 70 by executing the program stored in the storage device 74.

[0030] The steering control device 70 controls the steering wheel 52. Here, the control quantity of the controlled object is the reaction force. The steering control device 70 operates the inverter 56 to control the reaction force. Additionally, the steering control device 70 controls the front wheels 22. Here, the control quantity of the controlled object is the steering angle of the front wheels 22. The steering angle is the tire's shear angle. The steering control device 70 operates the inverter 62 to control the steering angle of the front wheels 22.

[0031] To control the amount of steering input, the steering control unit 70 refers to the steering torque Th detected by the torque sensor 80. The steering torque Th is the torque input to the steering wheel 52. Additionally, to control the amount of steering input, the steering control unit 70 refers to the rotation angle θmh of the reaction motor 54 detected by the rotation angle sensor 82. Furthermore, to control the amount of steering input, the steering control unit 70 refers to the rotation angle θmf of the front wheel steering motor 60 detected by the rotation angle sensor 84.

[0032] The tractor unit 20 is equipped with a drive system 86. The drive system 86 includes at least one of an internal combustion engine and a rotary electric motor as a thrust generating device for the vehicle.

[0033] The tractor unit 20 is equipped with a braking system 90. The braking system 90 includes a braking control unit 91 and a braking actuator 96. The braking actuator 96 is configured to apply braking force to the front wheels 22 and rear wheels 24 of the tractor unit 20. The braking control unit 91 includes a processing unit 92 and a storage unit 94. The processing unit 92 is a processing unit that performs software processing. The processing unit 92 can be, for example, a CPU, a GPU, etc. The processing unit 92 controls the controlled objects of the braking control unit 91 by executing the program stored in the storage unit 94.

[0034] The brake control device 91 controls the front wheels 22 and the rear wheels 24. The brake control device 91 operates the brake actuator 96 to control the amount of force applied to the controlled objects. The brake actuator 96 includes at least one of two devices: a device that slows the rotation of the wheels by friction, and a device that slows the rotation of the wheels by converting the power of the wheels into electrical energy. Alternatively, the device that slows the rotation of the wheels by converting power into electrical energy can also be shared with the rotary motor of the drive system 86.

[0035] The tractor unit 20 is equipped with an ADASECU 100. The ADASECU 100 includes a PU 102, a storage device 104, and a communication unit 106. The PU 102 is a processing unit that performs software processing. The PU 102 can be, for example, a CPU or GPU. The PU 92 controls the controlled object of the ADASECU 100 by executing the program stored in the storage device 104. The controlled object of the ADASECU 100 is the connected vehicle 10. Here, the control quantity is a variable representing the vehicle's behavior. The ADASECU 100 operates the steering system 50, the drive system 86, and the braking system 90 to control the control quantity.

[0036] Alternatively, the drive system 86 may also include a drive control unit that controls an internal combustion engine and a rotary electric motor. In this case, "ADASECU 100 operates drive system 86" means that ADASECU 100 outputs a command signal to the drive control unit. Furthermore, "ADASECU 100 operates braking system 90" means that ADASECU 100 outputs a command signal to braking control unit 91. Additionally, "ADASECU 100 operates steering system 50" means that ADASECU 100 outputs a command signal to steering control unit 70.

[0037] The connected vehicle 10 is equipped with a vehicle speed sensor 112 for detecting vehicle speed V. The connected vehicle 10 is equipped with a tractor side yaw rate sensor 114 for detecting tractor yaw rate γ. The connected vehicle 10 is equipped with a trailer side yaw rate sensor 116 for detecting trailer yaw rate γt. The connected vehicle 10 is equipped with a hinge angle sensor 118 for detecting the hinge angle θhi. The hinge angle θhi is the angle formed by the longitudinal direction of the tractor 20 and the longitudinal direction of the trailer 30. Alternatively, depending on the specifications, the hinge angle θhi can be estimated by means of hinge angle estimation without using the hinge angle sensor 118.

[0038] "Steering control device control"

[0039] Figure 3 The diagram shows the processing performed by the steering control device 70. Figure 3 The processing shown is achieved by PU72 repeatedly executing, for example, a program stored in storage device 74 at a predetermined period.

[0040] The target front wheel steering angle setting process M10 sets the target value of the steering angle of the front wheels 22 of the tractor 20, namely the target front wheel steering angle δf*0, based on the steering angle θh and vehicle speed V as input variables. Additionally, the steering angle θh is the rotation angle of the steering wheel 52. The steering angle θh is calculated by PU72 based on the rotation angle θmh as an input variable.

[0041] The target yaw rate setting process M20 sets the target value of the tractor yaw rate γ, i.e., the target tractor yaw rate γ*, based on the steering angle θh and vehicle speed V as input variables. The target tractor yaw rate γ* is set as an example to represent the yaw rate assumed to occur in the tractor 20 when it is not towing the trailer 30. This setting is intended to support lane changes and other functions of the connected vehicles 10.

[0042] The open-loop operation quantity calculation process M22 calculates the open-loop control operation quantity, i.e., the open-loop operation quantity Mff, based on the target yaw rate γ* of the tractor vehicle as the input variable. The open-loop operation quantity Mff is the correction amount used to bring the yaw rate of the tractor vehicle 20 close to the target yaw rate γ*, requiring the target front wheel steering angle δf*0. In detail, the open-loop operation quantity calculation process M22 uses specified... Figure 4 The open-loop operating quantity Mff is calculated by using the model variables of the model of vehicle 10.

[0043] Figure 4 The model shown has one front wheel C0 corresponding to the pair of front wheels 22 of the tractor 20, and one rear wheel B0 corresponding to the pair of rear wheels 24 of the tractor 20. That is, a two-wheel model is used for the tractor 20. Additionally, it has one wheel B1 corresponding to the pair of wheels 32 of the trailer 30. The hinge point C1 corresponds to... Figure 1 The 42nd section of the shaft.

[0044] The distance between the front wheels of the tractor unit (lf) is the distance between the front wheel C0 of the tractor unit 20 and its center of gravity. The distance between the rear wheels of the tractor unit (lr) is the distance between the rear wheel B0 of the tractor unit 20 and its center of gravity. The distance between the hinge points of the tractor unit (lh) is the distance between the center of gravity of the tractor unit 20 and its hinge point C1. The distance between the hinge points of the trailer unit (lft), which is a variable of the trailer unit's center of gravity, is the distance between the center of gravity of the trailer 30 and its hinge point C1. Hinge point C1 is equivalent to... Figure 1The axle 42 section. The distance between the trailer wheels, lrt, which is a variable of the trailer's center of gravity, is the distance between the center of gravity of the trailer 30 and wheel B1. The lateral force Sf of the tractor's front wheel is the lateral force applied to the front wheel C0. The lateral force Sr of the tractor's rear wheel is the lateral force applied to the rear wheel B0. In addition, in this model, the shear angle of the tire of the front wheel C0 is set as the front wheel steering angle δf. In addition, the shear angle of the tire of the rear wheel B0 is set as the rear wheel steering angle δr. However, in this embodiment, the rear wheel steering angle δr is always considered to be 0. In addition, in this model, the forward and backward movement speed of the center of gravity of the tractor 20 is considered to be the speed V of the connecting vehicle 10. The lateral velocity vy of the tractor represents the lateral velocity of the center of gravity of the tractor 20. The lateral velocity vyt of the trailer represents the lateral velocity of the center of gravity of the trailer 30. The crosswind force W of the tractor represents the force exerted on the tractor 20 by the lateral wind. The crosswind force Wt of the trailer represents the force exerted by the lateral wind on the trailer 30.

[0045] The calculation of open-loop operation quantity for processing M22 is based on and Figure 4 The following equations of motion related to the model shown are used to calculate the yaw rate γ* of the target tractor.

[0046] m·V·(dβ / dt+γ)=Sf+Sr-F+W ...(c1)

[0047] Iz·dγ / dt=lf·Sf-lr·Sr+lh·F+lw·W+Mz ...(c2)

[0048] mt·V·(dβt / dt+γt)=Sfr+Ft+Wt ...(c3)

[0049] Izt·dγt / dt=lft·Ft-lrt·Srt+lwt·Wt+Mzt...(c4)

[0050] Sf=Cf·{δf-(vy+lf·γ) / V} ...(c5)

[0051] Sγ=Cr·{δr-(vy-lr·γ) / V} ...(c6)

[0052] Srt=-Crt·(vyt-lrt·γt) / V ...(c7)

[0053] However, the lateral slip angle β is the lateral slip angle of the tractor 20. The lateral slip angle βt is the lateral slip angle of the trailer 30. The tractor articulation force F is the force applied to the tractor 20 at the articulation point C1. The trailer articulation force Ft is the force applied to the trailer 30 at the articulation point C1. Furthermore, the tractor moment of inertia Iz is the moment of inertia of the tractor 20 in the vertical direction. Here, the vertical direction is the direction orthogonal to both the forward / backward and left / right directions of the tractor 20. Furthermore, the trailer moment of inertia Izt is the moment of inertia of the trailer 30 in the vertical direction. Furthermore, the tractor braking torque Mz is the torque generated by the brake actuator 96 on the tractor 20. Furthermore, the trailer braking torque Mzt is the torque applied to the trailer 30 when the trailer 30 is equipped with a brake actuator. However, in this embodiment, the trailer braking torque Mzt is zero. Furthermore, the distance lw between the tractor's wind force center and center of gravity is the distance between the center of the tractor 20 where the lateral wind is applied and the center of gravity of the tractor 20. The distance lwt between the center of gravity and the wind force center of the trailer is the distance between the center of the lateral wind applied to trailer 30 and the center of gravity of trailer 30. The lateral slip coefficient Cf of the tractor front wheel is the lateral slip coefficient of the front wheel C0 of tractor 20. The lateral slip coefficient Cr of the tractor rear wheel is the lateral slip coefficient of the rear wheel B0 of tractor 20. The lateral slip coefficient Crt of the trailer is the lateral slip coefficient of the trailer wheel B1.

[0054] Equation (c1) above represents the lateral movement of the tractor 20. Equation (c2) above represents the rotational movement of the tractor 20. Equation (c3) above represents the lateral movement of the trailer 30. Equation (c4) above represents the rotational movement of the trailer 30.

[0055] The open-loop operation quantity calculation process M22 includes substituting the target tractor yaw rate γ into the aforementioned tractor yaw rate γ. The open-loop operation quantity calculation process M22 also includes substituting the value obtained by subtracting the target front wheel steering angle δf*0 from the front wheel steering angle δf calculated by algebraically solving the simultaneous equations (c1) to (c7) into the open-loop operation quantity Mff. Furthermore, the unknowns in the aforementioned simultaneous equations are the tractor articulation force F, the trailer articulation force Ft, the slip angles β and βt, the tractor front wheel lateral force Sf and the tractor rear wheel lateral force Sr, and the front wheel steering angle δf. On the other hand, the tractor center of gravity distance between rear wheels lr, the tractor center of gravity distance between articulation points lh, the trailer center of gravity distance between articulation points lft, and the trailer center of gravity distance between wheels lrt are pre-stored in the storage device 74. Additionally, the tractor moment of inertia Iz and the trailer moment of inertia Izt are stored in the storage device 74. PU72 uses the detected value as the trailer yaw rate γt in the simultaneous equations (c1) to (c7) above. Furthermore, PU72 calculates the trailer weight mt, tractor weight m, tractor lateral velocity vy, and trailer lateral velocity vyt based on vehicle speed V, slip angle β, βt, etc. Additionally, the tractor crosswind force W, trailer crosswind force Wt, distance lw between the tractor's center of gravity and the trailer's center of gravity, and distance lwt between the trailer's center of gravity and the tractor's center of gravity are estimated by PU72 through the same processing described later in S38.

[0056] The deviation calculation process M24 calculates the deviation Δγ obtained by subtracting the yaw rate γ* from the target tractor yaw rate γ. The closed-loop operation quantity calculation process M26 calculates the closed-loop control operation quantity Mfb based on the deviation Δγ as the input variable, where the tractor yaw rate γ is the control quantity and the target tractor yaw rate γ* is the target value of the control quantity.

[0057] The operation quantity calculation process M28 is the process of substituting the sum of the open-loop operation quantity Mff and the closed-loop operation quantity Mfb into the correction quantity Δf.

[0058] Steering angle correction processing M30 is a process that substitutes the value obtained by adding the correction amount Δf to the target front wheel steering angle δf*0 into the target front wheel steering angle δf*.

[0059] The operation signal generation process M32 generates an operation signal MSf for the inverter 62 based on the target front wheel steering angle δf* as an input variable. Through the operation signal MSf, the torque of the front wheel steering motor 60 is controlled to bring the front wheel steering angle δf close to the target front wheel steering angle δf*.

[0060] Obtaining model variables

[0061] The trailer 30 towed by the tractor 20 can be freely changed by the driver. Therefore, the specifications of the trailer 30 may vary. Thus, in this embodiment, a portion of the model variables defining the trailer 30 are obtained through input from outside the connected vehicle 10.

[0062] Figure 5 The diagram shows the steps for obtaining the model variables for trailer 30. Figure 5 The series of processes shown are implemented by PU102 repeatedly executing, for example, the program stored in the storage device 104 of ADASECU100 at a predetermined cycle. Furthermore, the step numbers of each process are indicated below by numbers beginning with "S".

[0063] Figure 5 In the series of processes shown, PU102 first determines whether the target... Figure 2 The user interface 130 shown inputs values ​​for the model variables of the trailer 30 (S10). In the processing of S10, for example, the model variables are the trailer weight mt and the distance between the wheels at the articulation point lt. The distance between the wheels at the articulation point lt is the distance between wheel B1 of the trailer 30 and the articulation point C1.

[0064] If PU102 determines that the model variable values ​​have been input (S10: Yes), it stores the trailer weight mt and the distance between the articulated wheels lt in the storage device 104 (S12). Furthermore, if PU102 completes the processing in S12, or if a negative determination is made in the processing in S10, it will store the trailer weight mt and the distance between the articulated wheels lt in the storage device 104 (S12). Figure 5 The series of processes shown are as follows. Additionally, during the process of S12, PU72 retrieves the trailer weight mt and the wheel-to-wheel distance lt stored in storage device 104 from ADAS ECU100 and stores them in storage device 74. On the other hand, if the process of S12 is not completed, the open-loop operation calculates process M22, which includes reading the default values ​​pre-stored in storage device 74 as the trailer weight mt and the wheel-to-wheel distance lt. The processes of S10 and S12 correspond to the retrieval process.

[0065] "Estimation of Model Variables: Static Estimation" In this embodiment, the estimation specifies that a portion of the model variables for the trailer 30 model are obtained through... Figure 5 The values ​​of variables that cannot be obtained through processing. Below, firstly, we will explain the presumption processing based on static analysis when connecting vehicle 10 to a parked location.

[0066] Figure 6 The steps of the presumption process based on the above statics analysis are shown in the figure. Figure 6 The processing shown is achieved by PU72 repeatedly executing, for example, a program stored in storage device 74 at a predetermined period.

[0067] Figure 6 In the series of processes shown, PU72 first determines whether the tractor 20 is in a state of towing the trailer 30 (S20). In other words, PU72 determines whether the trailer 30 is connected to the rear of the tractor 20 via the ball joint 40. The process of S20 could also be, for example, a process in which PU72 determines whether there is a history in the storage device 74 indicating that the driver has inputted the intention to connect the trailer 30 to the tractor 20 through an input operation to the user interface 130. Alternatively, for example, the process of S20 could also be performed using images captured by a camera located at the rear of the tractor 20.

[0068] If PU72 determines that it is in the state of towing trailer 30 (S20: Yes), it determines whether the connected vehicle 10 is stopped (S22). If PU72 determines that the connected vehicle 10 is stopped (S22: Yes), it reads the tractor weight m, trailer weight mt, tractor center of gravity distance between front wheels lf, and tractor center of gravity articulation point distance lh stored in the specified area of ​​storage device 74 (S24).

[0069] Then, PU72 estimates the distance between the trailer's center of gravity wheels lrt and the distance between the trailer's center of gravity articulation points lft based on the balance method (S26). The balance method is as follows (c8) to (c12). Figure 7 The model of the connected vehicle 10 when the balance is established is shown.

[0070] Szr·(lf+lr)+(-m·g)·lf+(-Fz)·(lf+lh)=0 ...(c8)

[0071] Szf·(lf+lr)+(-m·g)·lr+Fz·(lh-lr)=0 ...(c9)

[0072] Fzt·lt+lrt·(-mt·g)=0 ...(c10)

[0073] Fz + mg = Szf + Szr ...(c11)

[0074] lrt = lt - lft ...(c12)

[0075] In the above formulas, the force Szr applied to the rear wheel B0 of the tractor 20, the force Fz applied to the tractor 20 via the articulation point, and the gravitational acceleration g are used. Additionally, the force Szf applied to the front wheel C0 of the tractor 20 and the force Fzt applied to the trailer via the articulation point are used. Formula (c8) is the torque balance formula around the front wheel C0 of the tractor 20. Formula (c9) is the torque balance formula around the rear wheel B0 of the tractor 20. Formula (c10) is the torque balance formula around the wheel B1 of the trailer 30.

[0076] The unknowns in equations (c8) to (c12) above are the distance between the trailer's center of gravity wheels (lrt), the distance between the trailer's center of gravity hinge points (lft), and the forces Szr, Szf, Fz, and Fzt. However, "Fz = Fzt". PU72 solves the simultaneous equations of equations (c8) to (c12) algebraically to find the distance between the trailer's center of gravity wheels (lrt) and the distance between the trailer's center of gravity hinge points (lft).

[0077] Upon completion of process S26, PU72 updates the distance between trailer wheels and the distance between trailer articulation points stored in storage device 74 (S28). Furthermore, PU72 updates the distance stored in storage device 74 (S28) upon completion of process S28 and upon making a negative determination in processes S20 and S22. Figure 6 The series of processes shown. Process S26 corresponds to the calculation process. Process S28 corresponds to the correction process.

[0078] "Estimation of Model Variables: Dynamic Estimation"

[0079] The open-loop operation quantity calculation process M22 includes a process for calculating the open-loop operation quantity Mff using the default value pre-stored in the storage device 74 as the trailer sideslip coefficient Crt. The trailer sideslip coefficient Crt varies not only due to the specifications of the trailer 30, but also due to the changes in the wheels 32 of the trailer 30 over the years. Therefore, in this embodiment, the trailer sideslip coefficient Crt used by the open-loop operation quantity calculation process M22 is updated by estimating the trailer sideslip coefficient Crt based on dynamic considerations.

[0080] Figure 8 The diagram shows the processing steps related to updating the trailer lateral slip coefficient Crt. Figure 8 The series of processes shown are implemented by PU72 repeatedly executing, for example, a program stored in storage device 74 at a predetermined period.

[0081] Figure 8In the series of processes shown, PU72 first determines whether the tractor 20 is in a state of towing the trailer 30 (S30). If PU72 determines that it is in a towing state (S30: Yes), it determines whether the connected vehicle 10 is turning (S32). If PU72 determines that it is turning (S32: Yes), it reads the tractor weight m, the distance between the front wheels of the tractor center of gravity lf, the distance between the rear wheels of the tractor center of gravity lr, and the distance between the articulation points of the tractor center of gravity lh from the storage device 74 (S34). In addition, PU72 reads the trailer weight mt, the distance between the articulation points of the trailer center of gravity lft, the distance between the wheels of the trailer center of gravity lrt, and the trailer moment of inertia Izt from the storage device 74.

[0082] Additionally, PU72 obtains the vehicle speed V, articulation angle θhi, tractor yaw rate γ, trailer yaw rate γt, front wheel steering angle δf, and crosswind speed vw (S36). Here, the front wheel steering angle δf is calculated by PU102 based on the rotation angle θmf as an input variable. The crosswind speed vw is estimated by PU72 based on meteorological and map information. Meteorological information is used as an example, via... Figure 1 The communication unit 106 of the ADASECU100 shown is obtained.

[0083] Next, PU72 estimates the crosswind force W of the tractor, the distance lw between the center of gravity and the wind force center of the tractor, the distance lwt between the center of gravity and the wind force center of the trailer, and the crosswind force Wt of the trailer (S38). PU72 estimates the crosswind force W of the tractor and the crosswind force Wt of the trailer based on the crosswind speed vw. In addition, PU72 estimates the distance lw between the center of gravity and the wind force center of the tractor and the distance lwt between the center of gravity and the wind force center of the trailer based on the wind direction indicated by the meteorological information.

[0084] Next, PU72 calculates the trailer slip coefficient Crt (S40) based on equations (c1) to (c7) above. In the processing of S40, the slip angles β and βt, the slip coefficient of the tractor's front wheels Cf, the slip coefficient of the tractor's rear wheels Cr, the trailer slip coefficient Crt, the tractor's articulation force F, and the trailer's articulation force Ft are unknowns. PU72 solves the simultaneous equations (c1) to (c7) algebraically to obtain the trailer slip coefficient Crt.

[0085] If PU72 completes the processing of S40, it updates the trailer lateral slip coefficient Crt stored in storage device 74 to the value calculated by the processing of S40 (S42). Furthermore, if PU72 completes the processing of S42, or if a negative determination is made in the processing of S30 and S32, it will update the value once the process ends. Figure 8 The following series of processes are shown. Process S36 corresponds to the acquisition process. Process S40 corresponds to the calculation process. Process S42 corresponds to the correction process.

[0086] "The function and effects of this implementation method"

[0087] PU72 sets the target tractor yaw rate γ* to the value of the yaw rate of tractor 20 when it is not connected to trailer 30, based on the steering angle θh and vehicle speed V. This allows the driver to perform lane changes with the connected vehicle 10 with the same ease as driving a normal vehicle. Here, PU72 calculates the open-loop operating amount Mff using the values ​​of model variables based on the target tractor yaw rate γ*. Therefore, if the values ​​of the model variables deviate from the actual values, the controllability of the tractor yaw rate γ determined by the open-loop operating amount Mff decreases.

[0088] On the other hand, since the trailer 30 can be chosen relatively freely by the user of the tractor 20, the values ​​of the model variables specifying the trailer 30 model are prone to variation. For example, the trailer weight mt, the distance between the trailer center of gravity wheels lrt, and the distance between the trailer center of gravity articulation points lft vary depending on the specifications of the trailer 30. In addition, the trailer lateral slip coefficient Crt varies depending on the specifications of the trailer 30's wheels 32 or over time.

[0089] Therefore, PU72 passes Figure 5 The process shown obtains the specifications of trailer 30 from the user. However, users sometimes find it difficult to obtain the distance between the trailer's wheels (lrt), the distance between the trailer's articulation points (lft), and the trailer's lateral slip coefficient (Crt). Therefore, PU72 estimates the distance between the trailer's wheels (lrt) and the distance between the trailer's articulation points (lft) based on a balance equation using model variables when the connected vehicle 10 is stationary. Furthermore, PU72 estimates the trailer's lateral slip coefficient (Crt) based on a motion equation using model variables when the connected vehicle 10 is turning.

[0090] Therefore, by estimating the distance between the trailer's center of gravity wheels (lrt), the distance between the trailer's center of gravity hinge points (lft), and the trailer's lateral slip coefficient (Crt), the open-loop operation amount (Mff) can be calculated to an appropriate value.

[0091] <Second Embodiment> Hereinafter, the second embodiment will be described with reference to the accompanying drawings, focusing on the differences from the first embodiment.

[0092] In the first embodiment described above, the updated model variable values ​​in the process M22 were calculated using open-loop operations. Therefore, in this embodiment, the updated model variable values ​​are also used to link the anomaly detection of vehicle 10.

[0093] "Tire malfunction"

[0094] Figure 9 The diagram shows the processing steps related to the abnormal detection of the wheels 32 of the trailer 30. Figure 9The processing shown is achieved by PU72 repeatedly executing, for example, a program stored in storage device 74 at a predetermined period.

[0095] Figure 9 In the series of processes shown, PU72 first obtains the trailer yaw coefficient Crt (S50). Next, PU72 determines whether the trailer yaw coefficient Crt is below the threshold Crtth (S52). If PU72 determines that the trailer yaw coefficient Crt is below the threshold Crtth (S52: Yes), it determines that there is an anomaly in the wheels 32 of the trailer 30 (S54). Then, PU72 notifies the driver of the anomaly in the wheels 32 of the trailer 30 via the user interface 130 (S56). For example, if the user interface 130 includes a speaker, PU72 can also notify the driver of the anomaly in the wheels 32 of the trailer 30 via voice information. Alternatively, for example, if the user interface 130 includes a display, PU72 only needs to display visual information indicating that there is an anomaly in the wheels 32 of the trailer 30.

[0096] Furthermore, if PU72 completes the processing of S56, or if a negative decision is made during the processing of S52, once the process ends... Figure 9 The following series of processes are shown. Processes S52 and S54 correspond to anomaly detection processing. Processing S56 corresponds to notification processing.

[0097] <Third Implementation>

[0098] Hereinafter, the third embodiment will be described with reference to the accompanying drawings, focusing on the differences from the first embodiment.

[0099] In this embodiment, the model variable used as the dynamic estimation object is set as the trailer moment of inertia Izt. Figure 10 The processing steps related to updating the trailer moment of inertia Izt are shown in the diagram. Figure 10 The series of processes shown are implemented by PU72 repeatedly executing, for example, a program stored in storage device 74 at a predetermined period. Additionally, Figure 10 In China, for the sake of Figure 8 For convenience, the corresponding processes shown are labeled with the same symbol.

[0100] Figure 10In the series of processes shown, after completing process S32, PU72 reads the tractor weight m, the distance between the front wheels of the tractor center of gravity lf, the distance between the rear wheels of the tractor center of gravity lr, and the distance between the hinge points of the tractor center of gravity lh from the storage device 74 (S34a). Additionally, PU72 reads the trailer weight mt, the distance between the hinge points of the trailer center of gravity lft, the distance between the wheels of the trailer center of gravity lrt, and the trailer lateral slip coefficient Crt from the storage device 74. Furthermore, in this embodiment, the trailer lateral slip coefficient Crt is pre-obtained based on the specifications of the wheels 32 of the trailer 30.

[0101] After further processing S36 and S38, PU72 estimates the trailer moment of inertia Izt (S40a). In the processing of S40a, the slip angles β and βt, the sideslip coefficient of the tractor's front wheel Cf, the sideslip coefficient of the tractor's rear wheel Cr, the trailer moment of inertia Izt, the tractor's articulation force F, and the trailer's articulation force Ft are unknowns. PU72 solves the simultaneous equations (c1) to (c7) algebraically to obtain the trailer moment of inertia Izt.

[0102] Upon completion of the processing in S40a, PU72 updates the trailer moment of inertia Izt stored in storage device 74 to the value calculated by the processing in S40a (S42a).

[0103] Furthermore, if PU72 completes the processing of S42a, and makes a negative determination in the processing of S30 and S32, once the process ends... Figure 11 The series of processes shown. The process of S40a corresponds to the calculation process.

[0104] <Fourth Implementation>

[0105] Hereinafter, the fourth embodiment will be described with reference to the accompanying drawings, focusing on the differences from the third embodiment.

[0106] In the third embodiment described above, the updated model variable values ​​in process M22 were calculated using open-loop operations. Therefore, in this embodiment, the updated model variable values ​​are also used to link the anomaly detection of vehicle 10.

[0107] Figure 11 The diagram shows the processing steps related to the detection of abnormal loading conditions on trailer 30. Figure 11 The processing shown is achieved by PU72 repeatedly executing, for example, a program stored in storage device 74 at a predetermined period.

[0108] Figure 11In the series of processes shown, PU72 first obtains the trailer moment of inertia Izt (S60). Then, based on the trailer moment of inertia Izt as an input variable, PU72 evaluates the center of gravity of the load (S62). For example, if the trailer moment of inertia Izt is too large, PU72 evaluates that the load is offset at the edge of the trailer 30.

[0109] Based on the evaluation result of S62, PU72 determines whether there is an abnormality in the position of the load (S64). If PU72 determines that there is an abnormality in the position of the load (S64: Yes), it notifies the driver of this through the user interface 130 (S66). For example, if the user interface 130 includes a speaker, PU72 can also notify the driver of the abnormality in the position of the load via voice information. Alternatively, if the user interface 130 includes a display, PU72 can simply display visual information indicating that there is an abnormality in the position of the load on the display.

[0110] Furthermore, if PU72 completes the processing of S66 and makes a negative determination in the processing of S64, once the process ends... Figure 11 The series of processes shown. Incidentally, Figure 11 The illustrated processing is particularly effective when trailer 30 consists only of a cargo platform and lacks a roof or similar features. Processes S62 and S64 correspond to anomaly detection processing. Processing S66 corresponds to notification processing.

[0111] <Fifth Implementation>

[0112] Hereinafter, the fifth embodiment will be described with reference to the accompanying drawings, focusing on the differences from the first embodiment.

[0113] Figure 12 The diagram shows a portion of the components included in the connecting vehicle 10 according to this embodiment. Additionally, Figure 12 In China, for the sake of Figure 2 For convenience, the components shown are labeled with the same symbol.

[0114] like Figure 12 As shown, in this embodiment, power can be transmitted between the steering wheel 52 and the front wheels 22 via the steering shaft 53. The torque of the auxiliary motor 64 is applied to the steering shaft 53. The output voltage of the inverter 66 is applied to the terminals of the auxiliary motor 64. Additionally, the rear wheels 24 can be steered by the torque of the rear wheel steering motor 120. The output voltage of the inverter 122 is applied to the terminals of the rear wheel steering motor 120. The steering control device 70 refers to the rotation angle θmf of the auxiliary motor 64 detected by the rotation angle sensor 124. The steering control device 70 refers to the rotation angle θmr of the rear wheel steering motor 120 detected by the rotation angle sensor 126.

[0115] The steering control device 70 controls the steering shaft 53 and the rear wheels 24. The steering control device 70 operates the inverter 66 to apply an auxiliary torque, as a control quantity, to the steering shaft 53 to assist the driver in steering. The steering control device 70 operates the inverter 122 to control the steering angle δr of the rear wheels 24, which is also a control quantity.

[0116] Figure 13 The diagram shows the processing performed by the steering control device 70. Figure 13 The processing shown is achieved by PU72 repeatedly executing a program stored in storage device 74 at a predetermined period. Additionally, Figure 13 In China, for the sake of Figure 3 For convenience, the corresponding processes shown are labeled with the same symbol.

[0117] The open-loop operation calculation process M22a calculates the open-loop control operation, namely the open-loop operation Mff, based on the target tractor yaw rate γ* as the input variable. The open-loop operation Mff is the rear wheel steering angle δr required to bring the tractor 20's yaw rate close to the target tractor yaw rate γ*. In detail, the open-loop operation calculation process M22a uses a specified... Figure 4 The process shown is to calculate the open-loop operating quantity Mff using the model variables of the connected vehicle 10 model. The open-loop operating quantity calculation process M22a involves substituting the actual value of the front wheel steering angle δf from the simultaneous equations (c1) to (c7) above, and then algebraically solving for the rear wheel steering angle δr as an unknown, and substituting the result into the open-loop operating quantity Mff. Furthermore, the actual front wheel steering angle δf is calculated by PU72 based on the rotation angle θmf.

[0118] The closed-loop operating quantity calculated by processing M26a is the operating quantity of the closed-loop control with the yaw rate γ of the tractor as the control quantity, and the correction quantity of the open-loop operating quantity Mff.

[0119] The operation quantity calculation process M28a involves substituting the sum of the open-loop operation quantity Mff and the closed-loop operation quantity Mfb into the target rear wheel steering angle δr*. The operation signal generation process M32a generates the inverter 122's operation signal MSr based on the target rear wheel steering angle δr* as an input variable.

[0120] As described above, in this embodiment, the control operation quantity for the tractor yaw rate γ is the target rear wheel steering angle δr*. Furthermore, its open-loop operation quantity Mff is calculated using a model based on the target tractor yaw rate γ* as an input variable. The model variables of the trailer 30 used to calculate the open-loop operation quantity Mff are updated sequentially.

[0121] <Sixth Implementation>

[0122] Hereinafter, the sixth embodiment will be described with reference to the accompanying drawings, focusing on the differences from the first embodiment.

[0123] Figure 14 The process performed by the brake control device 91 is shown in the figure. Figure 14 The processing shown is achieved by PU92 repeatedly executing, for example, a program stored in storage device 94 at a predetermined period. Additionally, Figure 14 In China, for the sake of Figure 3 For convenience, the corresponding processes shown are labeled with the same symbol.

[0124] The open-loop operation quantity calculation process M22b is based on the target tractor yaw rate γ* as an input variable. It calculates the vertical torque required to bring the tractor 20's yaw rate close to the target tractor yaw rate γ*, i.e., the open-loop operation quantity Mff. Specifically, the open-loop operation quantity calculation process M22b uses specified... Figure 4 The open-loop operating quantity Mff is calculated using the model variables of the connected vehicle 10 model. The open-loop operating quantity calculation process M22b includes substituting the front wheel steering angle δf in the simultaneous equations (c1) to (c7) above into the actual value, and algebraically solving for the tractor braking torque Mz as an unknown. The open-loop operating quantity calculation process M22b also includes substituting the calculated tractor braking torque Mz into the open-loop operating quantity Mff.

[0125] The closed-loop operation quantity calculation process M26b is the process of calculating the closed-loop operation quantity Mfb as the correction amount for the tractor braking torque Mz. The operation quantity calculation process M28b is the process of substituting the sum of the open-loop operation quantity Mff and the closed-loop operation quantity Mfb into the target braking torque Mz*.

[0126] The operation signal generation process M32b is a process that generates the operation signal MSb of the brake actuator 96 based on the target braking torque Mz* as an input variable. As described above, in this embodiment, the control operation quantity for the tractor yaw rate γ is the target braking torque Mz*. Furthermore, its open-loop operation quantity Mff is calculated using a model based on the target tractor yaw rate γ* as an input variable. The model variable of the trailer 30 used to calculate the open-loop operation quantity Mff is updated sequentially. The calculation process is as follows: <Other Embodiments> In addition, this embodiment can be implemented with the following modifications. This embodiment and the following modifications can be combined and implemented within the scope of technical non-contradiction.

[0127] "Regarding the calculation process" (a) Calculation process considering static properties

[0128] As a calculation method that takes into account static properties, it is not limited to the simultaneous equations of the above equations (c8) to (c12). For example, the following equations can also be used in addition to the above equations (c8) to (c12).

[0129] mfint·g=-kf·xfint ...(c14)

[0130] mrint·g = -kr·xrint ...(c15)

[0131] mf·g = -kf·xf ...(c16)

[0132] mr·g = -kr·xr ...(c17)

[0133] Szf = mf·g ...(c18)

[0134] Szr = mr·g ...(c19)

[0135] Here, the front wheel spring multiplier kf, the rear wheel spring multiplier kr, the front wheel side displacement xfint, the front wheel side displacement xf, the rear wheel side displacement xrint, and the rear wheel side displacement xr are used. Additionally, the front wheel side mass mf, the front wheel side mass mfint, the rear wheel side mass mr, and the rear wheel side mass mrint are used in the above formulas. Here, the front wheel spring multiplier kf is the elastic constant of the front wheel 22 side, including the suspension, etc. The rear wheel spring multiplier kr is the elastic constant of the rear wheel 24 side, including the suspension, etc. The front wheel side displacement xf is the displacement of the rotation axis of the front wheel 22. The rear wheel side displacement xr is the displacement of the rotation axis of the rear wheel 24. The front wheel side displacement xfint and the rear wheel side displacement xrint when the tractor 20 is not connected to the trailer 30 are the front wheel side displacement xf and the rear wheel side displacement xr, respectively. The front wheel side mass mf, the rear wheel side mass mr, the front wheel side mass mfint when not traction, and the rear wheel side mass mrint when not traction are defined by the above equations (c18) and (c19).

[0136] In the above formula, the front wheel spring multiplier kf, the rear wheel spring multiplier kr, the front wheel side displacement xfint when not traction, and the rear wheel side displacement xrint when not traction are stored in the storage device 74. On the other hand, the front wheel side displacement xf and the rear wheel side displacement xr are variables that may vary depending on the trailer 30 connected to the tractor 20. If the front wheel side displacement xf and the rear wheel side displacement xr can be measured, the force Szf applied to the front wheel C0 and the force Szr applied to the rear wheel B0 can be calculated. The front wheel side displacement xf and the rear wheel side displacement xr can be calculated based on the detection result of the pitch angle of the tractor 20. The pitch angle of the tractor 20 can be detected, for example, based on images of the tractor 20 and its surrounding road surface.

[0137] As a calculation process considering static properties, it is not limited to solving simultaneous equations algebraically. For example, statistical methods can also be used. For example, PU72 substitutes various values ​​of the trailer center of gravity wheel distance lrt, the trailer center of gravity hinge point distance lft, and forces Szr, Szf, Fz, and Fzt into (c8) to (c19) above to calculate the front wheel side displacement xf and the rear wheel side displacement xr. Then, PU72 calculates the pitch angle from the front wheel side displacement xf and the rear wheel side displacement xr. Then, PU72 adopts the group of the above-substituted values ​​where the difference between the calculated pitch angle and the detected pitch angle becomes smaller as the estimated value.

[0138] For example, the calculation object in the static characteristic calculation process using (c8) to (c19) mentioned above may include the trailer weight mt. In this case, the trailer weight mt may not be a value determined by specifications, but rather a weight that includes the load weight. In addition to the trailer weight mt, the amount of load variation also includes the distance between the trailer wheels, lrt, the distance between the trailer hinge points, lft, and the trailer moment of inertia Izt. Using several of these values, the state of the load can be evaluated. That is, for example, if the trailer moment of inertia Izt is large relative to the trailer weight mt, PU72 can estimate that the load is offset towards the edge of the trailer 30. Therefore, PU72 can inform the user of this.

[0139] (b) Calculation process considering dynamic characteristics

[0140] As a calculation process considering dynamic characteristics, it is not limited to algebraic solutions of simultaneous equations. For example, statistical methods can also be used. Specifically, for example, in equations (c1) to (c7) above, PU72 does not substitute one of the obtainable sensor detection values ​​into the simultaneous equations, but sets it as an estimated value derived from the simultaneous equations. Furthermore, the value of the unknown that minimizes the difference between the estimated value and the actual sensor value when various values ​​are set for the group of unknowns is set is set as the value to be found. In this process, the number of unknowns can be greater than the number of simultaneous equations. Therefore, for example, it is also possible to replace... Figure 8 In this process, the trailer lateral slip coefficient Crt and the trailer moment of inertia Izt are used as estimation objects. Alternatively, the trailer weight mt can also be included in the estimation objects. Here, the trailer weight mt is the weight of the trailer 30 including the load weight.

[0141] Regarding the control quantity

[0142] The physical quantity that defines the driving state of the connected vehicle 10, serving as the control quantity for both open-loop and closed-loop control, is not limited to the tractor yaw rate γ. This physical quantity could, for example, be the trailer yaw rate γt. Additionally, for example, the physical quantity could be the articulation angle θhi. Furthermore, the physical quantity is not necessarily singular. For example, it could be both the tractor yaw rate γ and the trailer yaw rate γt.

[0143] "Regarding the calculation and processing of open-loop operation quantities"

[0144] It is not necessary to calculate the target tractor yaw rate γ* using the above equations (c1) to (c7) in the open-loop operation calculation process. For example, the target tractor yaw rate γ* can also be calculated using the above equations (c1) to (c7) after removing the terms containing the tractor crosswind force W and the trailer crosswind force Wt.

[0145] The open-loop operand calculation process is not necessarily required to calculate the open-loop operand Mff by algebraically solving the simultaneous equations (c1) to (c7) above. The open-loop operand calculation process may, for example, include setting one of the values ​​detected by the sensor, such as the trailer yaw rate γt, as an estimate, and substituting various values ​​into the variables that are unknowns during the algebraic solution. In this case, the open-loop operand calculation process includes exploring the values ​​of the aforementioned unknowns to make the value of the variable set as the estimate closest to the sensor value.

[0146] The open-loop operand calculation process is not necessarily a process that calculates the open-loop operand by operating on the values ​​of the model variables of the modified object, which have been modified by the modification process. For example, the open-loop operand calculation process can also be a process in which the PU performs mapping operations on the open-loop operand while the mapping data is stored in the storage device. Here, the mapping data is the data whose output variable is the open-loop operand.

[0147] Regarding the correction process

[0148] The values ​​of the model variables of the object being corrected by the correction process are not limited to the values ​​of the variables exemplified in the above embodiments. For example, the values ​​of the model variables of the object being corrected by the correction process could also be the moment of inertia in the vertical direction of the trailer 30. The values ​​of the model variables of the object being corrected by the correction process are also not limited to the values ​​of the model variables of the trailer 30 model. For example, the values ​​of the model variables of the object being corrected by the correction process could also be the values ​​of the model variables of the tractor unit 20 model.

[0149] The correction process, which corrects the values ​​of the model variables used in the calculation of the open-loop operands, is not mandatory. For example, as described in the "Regarding the Calculation Process of Open-Loop Operands" section above, when the open-loop operands are calculated through mapping operations, the correction process can also be, for example, the following: That is, the correction process can also be the process of calculating the correction value of the mapping operation result based on the update amount of the model variable values.

[0150] Regarding operational procedures

[0151] The actuator that operates on the object based on the open-loop control operation quantity is not limited to any one of the actuators that steer the front wheels of the tractor 20, the actuators that steer the rear wheels of the tractor 20, or the brake actuator. For example, it could be both the actuator that steers the front wheels of the tractor 20 and the actuator that steers the rear wheels of the tractor 20. The actuator that operates on the object based on the open-loop control operation quantity is not limited to several of the three actuators that steer the front wheels of the tractor 20, the actuator that steers the rear wheels of the tractor 20, or the brake actuator. For example, if the thrust generating device of the tractor 20 has an in-wheel motor, the actuator that operates on the object based on the open-loop control operation quantity could also be the thrust generating device.

[0152] The uses of the open-loop operand Mff

[0153] In the above embodiments, the open-loop operation quantity Mff is used for support processing such as lane changes that the driver can easily perform, but it is not limited to this. For example, the open-loop operation quantity Mff based on the values ​​of successively updated model variables can also be used for behavior control of the connected vehicle 10 related to parking. Here, the control related to parking is not limited to control performed by the driver, but can also be autonomous driving.

[0154] "The uses of the estimated values ​​of model variables"

[0155] The estimated values ​​of the model variables do not necessarily need to reflect the open-loop operations Mff. For example, the estimated values ​​of the model variables can also be as follows: Figure 9 This is used for anomaly detection, but it is not reflected in the open-loop operation quantity Mff.

[0156] "Regarding the presumption device and control device for connecting vehicles"

[0157] In the first embodiment described above, the steering control device 70 is shown to be performing... Figure 6 and Figure 8 Examples of processing are given, but not limited to these. For example, ADASECU100 can also perform... Figure 6 and Figure 8 The processing.

[0158] In the second embodiment described above, the steering control device 70 is shown to be performing... Figure 9 Examples of processing are given, but not limited to these. For example, ADASECU100 can also perform... Figure 9 The above-described sixth embodiment shows an example of the brake control device 91 performing correction processing, but it is not limited thereto. For example, the ADASECU 100 can also perform correction processing.

[0159] The estimation and control devices for connecting vehicles are not limited to devices equipped with a PU and a storage device that perform software processing. For example, they may also include dedicated hardware circuits such as ASICs that perform at least a portion of the various processes performed in the above embodiments. That is, the estimation and control devices may also include any of the following processing circuits (a) to (c): (a) A processing circuit equipped with a processing device that performs all of the above processes according to a program, and a program storage device such as a storage device for storing the program. (b) A processing circuit equipped with a processing device that performs a portion of the above processes according to a program, a program storage device, and dedicated hardware circuits that perform the remaining processes. (c) A processing circuit equipped with dedicated hardware circuits that perform all of the above processes. Here, there may be multiple software execution devices equipped with processing devices and program storage devices, as well as multiple dedicated hardware circuits.

[0160] "Regarding the entities responsible for implementing the presumption and control methods for connected vehicles"

[0161] In the above embodiments and their variations, the main body performing each process is not necessarily the processing circuit mounted on the connected vehicle 10.

Claims

1. A device for estimating a coupled vehicle, the coupled vehicle comprising a tractor and a trailer towed by the tractor, the device comprising an execution unit configured to perform an acquisition process and a calculation process, the acquisition process being a process of acquiring at least one of a value of a predetermined model variable and a value of an action variable of the coupled vehicle based on input from outside the device, the model variable being a variable defining a model of the coupled vehicle, the action variable being a variable representing a physical quantity that quantifies the action of the coupled vehicle, and the calculation process being a process of calculating the value of the model variable being estimated based on the value of the variable acquired by the acquisition process as an input variable under a predetermined state of the coupled vehicle.

2. The vehicle estimation device according to claim 1, wherein, The specified variables include at least one of the following: trailer center of gravity variable, trailer lateral slip coefficient, and trailer vertical moment of inertia. The trailer center of gravity variable is a variable representing the center of gravity of the trailer.

3. The vehicle estimation device according to claim 1, wherein, The system includes a storage device that stores data representing the mass of the trailer, data representing the value of the center of gravity variable of the tractor, and data representing the mass of the tractor. The specified state is the stopped state of the coupled vehicle. The calculation process includes a process that, when the coupled vehicle is stopped, calculates the value of the specified variable based on the torque balance formula of the coupled vehicle using the value of the center of gravity variable of the tractor, the mass of the tractor, and the mass of the trailer. The center of gravity variable of the tractor is a variable representing the center of gravity of the tractor, and the specified variable includes the center of gravity variable of the trailer, which is a variable representing the center of gravity of the trailer.

4. The vehicle-connecting estimation device according to claim 1, wherein, The specified state is the turning operation state of the connected vehicle. The motion variables include the speed of the connected vehicle and the yaw rate of the trailer. The calculation process includes the process of calculating the value of the specified variables based on the motion equation using the speed of the connected vehicle and the yaw rate of the trailer. The specified variables include the lateral slip coefficient of the trailer.

5. The vehicle estimation device according to claim 1, wherein, The specified state is the turning operation state of the connected vehicle. The motion variables include the speed of the connected vehicle and the yaw rate of the trailer. The calculation process includes the process of calculating the value of the specified variables based on the motion equations using the speed of the connected vehicle and the yaw rate of the trailer. The specified variables include the moment of inertia in the vertical direction of the trailer.

6. A control device for a connected vehicle, comprising the execution device of the vehicle-connecting estimation device of claim 1, wherein the execution device is configured to perform an open-loop operation quantity calculation process, an operation process, and a correction process, wherein the open-loop operation quantity calculation process is a process of calculating an open-loop operation quantity, the open-loop operation quantity being an open-loop control operation quantity that defines a physical quantity of the driving state of the connected vehicle as a control quantity, the operation process is a process of operating the actuators of the connected vehicle according to the open-loop operation quantity, and the correction process includes a process of correcting the open-loop operation quantity according to the value of the model variable calculated by the calculation process.

7. A control device for a connected vehicle, comprising the execution device of the vehicle-connecting estimation device of claim 4, the execution device being configured to perform anomaly detection processing and notification processing, the anomaly detection processing being a process for detecting tire anomalies of the trailer based on the lateral slip coefficient of the trailer as an input variable, and the notification processing being a process for notifying a user of the detection of the tire anomaly.

8. A control device for a connected vehicle, comprising the execution device of the vehicle-connecting estimation device of claim 5, the execution device being configured to perform anomaly detection processing and notification processing, the anomaly detection processing being processing for detecting anomalies in the cargo of the trailer based on the moment of inertia in the vertical direction of the trailer as an input variable, and the notification processing being processing for notifying a user of the detection of anomalies in the cargo of the trailer.

9. A method for estimating a coupled vehicle, the coupled vehicle comprising a tractor and a trailer towed by the tractor, the estimation method comprising executing an acquisition process and executing a calculation process, the acquisition process being a process of acquiring at least one of a value of a predetermined model variable and a value of an action variable of the coupled vehicle based on external input from the coupled vehicle, the model variable being a variable defining a model of the coupled vehicle, the action variable being a variable representing a physical quantity that quantifies the action of the coupled vehicle, and the calculation process being a process of calculating the value of the model variable as the object of estimation based on the value of the variable acquired by the acquisition process as an input variable under a predetermined state of the coupled vehicle.

10. A estimation procedure for a coupled vehicle, the coupled vehicle comprising a tractor and a trailer towed by the tractor, the estimation procedure comprising instructions for a computer to execute an acquisition process and a calculation process, the acquisition process being a process of acquiring at least one of a value of a predetermined model variable and a value of an action variable of the coupled vehicle based on input from outside the coupled vehicle, the model variable being a variable defining a model of the coupled vehicle, the action variable being a variable representing a physical quantity that quantifies the action of the coupled vehicle, and the calculation process being a process of calculating the value of the model variable being estimated based on the value of the variable acquired by the acquisition process as an input variable under a predetermined state of the coupled vehicle.

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