Vehicle control device

Abstract

To allow a winch to be easily operated.SOLUTION: A vehicle control device provided on a first vehicle includes: a winch that is provided with a drum connected to a power source and a wire rope wound around the drum; and a control system having a processor and a memory that are connected to communicate with each other, to control the winch. The control system stops the rotation of the drum when a relative tilt angle between the first vehicle and another second vehicle is below a threshold value in a state where the first vehicle and the second vehicle are connected to each other via the wire rope and the drum is rotating.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control device. [Background technology]

[0002] Vehicles that tow trailers or other vehicles have been developed (see Patent Documents 1 and 2). Vehicles equipped with towing winches have also been developed to rescue vehicles or other vehicles that become stuck and unable to travel on rough roads such as mud (see Patent Document 3). Winches that can be mounted on vehicles include electric winches that are driven by an electric motor and PTO (Power Take Off) winches that are driven by engine power distributed from the transmission. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7060707 [Patent Document 2] Japanese Patent Application Laid-Open No. 2011-155800 [Patent Document 3] Special Publication No. 62-500235 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, when rescuing another vehicle (hereinafter referred to as a "stuck vehicle") that is stuck on rough roads, a wire rope extended from a winch is attached to the towing hook of the stuck vehicle, and the stuck vehicle is then pulled out of the rough road by reeling in the wire rope. Here, to rescue the stuck vehicle while ensuring safety, a worker must perform delicate winch reeling operations. However, because delicate reeling operations require skill, there is a demand for easier winch operation. [Means for solving the problem]

[0005] According to the present disclosure, a vehicle control device provided on a first vehicle includes a winch including a drum connected to a power source and a wire rope wound around the drum. The vehicle control device includes a processor and a memory communicatively connected to each other and a control system for controlling the winch. The control system stops the rotation of the drum when the relative tilt angle between the first vehicle and another second vehicle falls below a threshold value while the first vehicle and another second vehicle are connected to each other via the wire rope and the drum is rotating. [Effects of the Invention]

[0006] According to the present disclosure, operation of the winch can be simplified. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating an example of a vehicle equipped with a vehicle control device according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram illustrating a vehicle control device. [Figure 3] FIG. 3 is a diagram showing an example of the basic structure of an electronic control unit. [Figure 4] FIG. 4 is a flowchart showing an example of the execution procedure of the automatic traction control 1 for automatically winding up the wire rope. [Figure 5] FIG. 5 is a diagram showing an example of rescuing a stuck vehicle. [Figure 6] FIG. 6 is a diagram showing an example of rescuing a stuck vehicle. [Figure 7A] FIG. 7A is a diagram showing an example of image data obtained during the rescue process of a stuck vehicle. [Figure 7B] FIG. 7B is a diagram showing an example of image data obtained during the rescue process of the stuck vehicle. [Figure 8] FIG. 8 is a diagram showing an example of a situation in which a winch vehicle is stuck. [Figure 9]FIG. 9 is a diagram illustrating a vehicle control device according to another embodiment of the present disclosure. [Figure 10] FIG. 10 is a flowchart showing an example of the execution procedure of the automatic traction control 2 for automatically winding up the wire rope. [Figure 11] FIG. 11 is a diagram showing an example of rescuing a stuck vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, identical or substantially identical configurations and elements will be designated by the same reference numerals and repeated description will be omitted.

[0009] <Embodiment 1> <Vehicle> FIG. 1 is a diagram showing an example of a vehicle 11 equipped with a vehicle control device 10 according to an embodiment of the present disclosure. As shown in FIG. 1, the vehicle 11 has a power unit 14 consisting of an engine 12 and a transmission 13. An output shaft 15 of the power unit 14 is connected to wheels 18 via a propeller shaft 16 and a differential mechanism 17. Note that although the vehicle 11 shown in the figure is a rear-wheel drive vehicle, the vehicle is not limited to this and may be an all-wheel drive vehicle or a front-wheel drive vehicle.

[0010] A winch 22 equipped with an electric motor (power source) 21 is mounted on the front part 20 of the vehicle 11. The winch 22 has a drum 23 connected to the electric motor 21 and a wire rope 24 wound around the drum 23. A hook 25 is attached to the tip of the wire rope 24. Furthermore, the vehicle 11 is provided with a front camera (camera unit) 26 that captures images of the area ahead of the vehicle.

[0011] <Winch> Fig. 2 is a diagram showing the vehicle control device 10. As shown in Fig. 2, the vehicle control device 10 has a winch 22 consisting of an electric motor 21, a drum 23, a reduction gear train 30, and the like. The electric motor 21 has a rotor shaft 32 that passes through a hollow shaft 31 of the drum 23. The rotor shaft 32 of the electric motor 21 and the hollow shaft 31 of the drum 23 are connected to each other via the reduction gear train 30. The reduction gear train 30 has a gear 33 fixed to the rotor shaft 32, a gear 34 that meshes with the gear 33, a gear 35 that rotates integrally with the gear 34, and a gear 36 that meshes with the gear 35 and is fixed to the hollow shaft 31.

[0012] The winch 22 also has a brake mechanism 40 including a brake disc 37 provided on the rotor shaft 32 and an actuator 39 that fastens the brake disc 37 to the gear case 38. By controlling the actuator 39 to fasten the brake mechanism 40, the rotor shaft 32 can be fixed to the gear case 38, and the rotation of the drum 23 can be stopped. On the other hand, by controlling the actuator 39 to release the brake mechanism 40, the rotor shaft 32 can be separated from the gear case 38, and the rotation of the drum 23 can be permitted.

[0013] <Control System> As shown in FIG. 2, the vehicle control device 10 has a control system 50 consisting of an electronic control unit 51 for controlling the winch 22. The electronic control unit 51 is connected to an inverter 52 that controls the drive current of the electric motor 21 and a current control unit 53 that controls the drive current of the actuator 39. The electronic control unit 51 is also connected to a remote controller 54 that is operated when the winch is in operation. The remote controller 54 includes a power button 55 that is pressed to start or stop the winch 22, an out button 56 that is pressed to pay out the wire rope 24, and an in button 57 that is pressed to reel in the wire rope 24. The remote controller 54 also includes an auto button 58 that is pressed to automatically reel in the wire rope 24. The electronic control unit 51 is also connected to a front camera 26 that captures images in front of the vehicle, as well as a main switch 59 that is operated to start or stop the control system 50.

[0014] Fig. 3 is a diagram showing an example of the basic structure of the electronic control unit 51. As shown in Fig. 3, the electronic control unit 51 has a microcontroller 62 incorporating a processor 60, a main memory (memory) 61, and the like. A predetermined program is stored in the main memory 61, and the program is executed by the processor 60. The processor 60 and the main memory 61 are connected to each other so that they can communicate with each other. Note that a plurality of processors 60 may be incorporated into the microcontroller 62, and a plurality of main memories 61 may be incorporated into the microcontroller 62.

[0015] The electronic control unit 51 has an input circuit 63, a drive circuit 64, a communication circuit 65, an external memory 66, and a power supply circuit 67. The input circuit 63 converts signals input from various sensors into signals that can be input to the microcontroller 62. The drive circuit 64 generates drive signals for devices such as the inverter 52 based on signals output from the microcontroller 62. The communication circuit 65 converts signals output from the microcontroller 62 into communication signals directed to other electronic control units 51, etc. The communication circuit 65 also converts communication signals received from other electronic control units, etc. into signals that can be input to the microcontroller 62. The power supply circuit 67 supplies a stable power supply voltage to the microcontroller 62, the input circuit 63, the drive circuit 64, the communication circuit 65, the external memory 66, etc. The external memory 66, which is a non-volatile memory, etc., stores programs, various data, etc.

[0016] <Automatic Traction Control 1> <Stack situation 1> Fig. 4 is a flowchart showing an example of the execution procedure of automatic traction control 1, which automatically winds up the wire rope 24. Each step of automatic traction control 1 shown in Fig. 4 is executed by processor 60, which constitutes control system 50. Automatic traction control 1 is executed by control system 50 at predetermined intervals after control system 50 is started by operating main switch 59 and winch 22 is started by operating power button 55. Figs. 5 and 6 are diagrams showing an example of rescuing a stuck vehicle 100.

[0017] Next, a situation will be described in which a vehicle 100 that becomes unable to move on a rough road such as mud is rescued by a vehicle 11 equipped with a winch 22. In the following description, a vehicle 11 equipped with a winch 22 will be referred to as a winch vehicle 11, and a vehicle 100 that becomes unable to move on a rough road will be referred to as a stuck vehicle 100. As shown in FIG. 5 , when a stuck vehicle 100 is rescued by a winch vehicle 11, as a preliminary preparation, a wire rope 24 is pulled out from the winch 22 of the winch vehicle 11 and attached to a towing hook 101 of the stuck vehicle 100. The winch 22 incorporates a manual clutch (not shown). By operating this manual clutch, the drum 23 can be disconnected from the electric motor 21, allowing the wire rope 24 to be pulled out without starting the winch 22. In addition, a parking brake (not shown) is engaged on the winch vehicle 11, and a parking brake (not shown) is released on the stuck vehicle 100.

[0018] Once the advance preparations for connecting the winch vehicle 11 and the stuck vehicle 100 via the wire rope 24 are completed in this manner, the worker operates the power button 55 of the remote controller 54 to start the winch 22. Then, when the winch 22 is started, as shown in FIG. 4, the control system 50 proceeds to step S10 and determines whether the auto button 58 of the remote controller 54 has been pressed. If the control system 50 determines in step S10 that the auto button 58 has been pressed by the worker, the control system 50 proceeds to step S11 and rotates the electric motor 21 to release the brake mechanism 40 and perform winding of the wire rope 24.

[0019] Next, the control system 50 proceeds to step S12 and calculates the relative tilt angle between the winch vehicle (first vehicle) 11 and the stuck vehicle (second vehicle) 100 based on the image data of the front camera 26. Note that the oncoming vehicle shown in step S12 is the stuck vehicle 100 facing the winch vehicle 11. Here, as shown in FIG. 5, the control system 50 calculates the pitch angle P1 about a virtual rotation axis C1 extending in the vehicle width direction as the tilt angle of the stuck vehicle 100 relative to the winch vehicle 11. Note that it is not necessary to calculate the pitch angle P1 of the stuck vehicle 100 with high accuracy in step S12; it is sufficient to ensure calculation accuracy that can determine whether the stuck vehicle 100 is in a predetermined tilt state. Also, as shown in FIG. 5, the control system 50 can calculate the pitch angle P1 of the stuck vehicle 100 based on the size of the bottom surface 102 of the stuck vehicle 100, the position of the headlights 103, and the like obtained from the image data D1.

[0020] As shown in Fig. 4, the control system 50 proceeds to step S13 and determines whether the posture of the stuck vehicle 100 facing the winch vehicle 11 has changed to a horizontal state. In step S13, the control system 50 determines that the stuck vehicle 100 is in a horizontal state if the pitch angle P1 of the stuck vehicle 100 is below a predetermined threshold X1. In other words, in step S13, the control system 50 determines that the stuck vehicle 100 is in an inclined state if the pitch angle P1 of the stuck vehicle 100 is equal to or greater than the threshold X1. Then, when the control system 50 determines in step S13 that the stuck vehicle 100 is in a horizontal state, the control system 50 proceeds to step S14 and engages the brake mechanism 40 to stop the electric motor 21 and stop winding of the wire rope 24.

[0021] In other words, when the posture of the stuck vehicle 100 as seen from the winch vehicle 11 is tilted, the control system 50 rotates the drum 23 to continue winding the wire rope 24. On the other hand, when the posture of the stuck vehicle 100 as seen from the winch vehicle 11 changes from a tilted state to a horizontal state, the control system 50 stops the drum 23 to stop winding the wire rope 24. Here, the situation in which the posture of the stuck vehicle 100 changes to a horizontal state is when the stuck vehicle 100 escapes from the rough road, as shown in FIG. 6 . In this way, the drum 23 is stopped and winding of the wire rope 24 is stopped when the stuck vehicle 100 escapes from the rough road, so the stuck vehicle 100 can be safely rescued without bringing the stuck vehicle 100 too close to the winch vehicle 11. Moreover, because the control system 50 automatically stops the winch 22, it is possible to extremely simplify the operation of the winch 22 by the worker.

[0022] <Stack situation 2> In the above description, the pitch angle P1 of the stuck vehicle 100 is calculated in step S12, but this is not limited to this. In other words, the inclination angle of the stuck vehicle 100 facing the winch vehicle 11 is not limited to the pitch angle P1 of the stuck vehicle 100, and may be the roll angle R1 of the stuck vehicle 100 depending on the road surface conditions. Here, Figures 7A and 7B are diagrams showing an example of image data obtained during the process of rescuing the stuck vehicle 100. Figure 7A shows image data of the stuck vehicle 100 before towing, and Figure 7B shows image data of the stuck vehicle 100 after towing. As shown in Figure 7A, depending on the road surface conditions, the stuck vehicle 100 may be tilted in the roll direction.

[0023] In this way, even if the stuck vehicle 100 is tilted in the roll direction, it is possible to safely rescue the stuck vehicle 100 from the rough road by executing the automatic traction control 1 described above. As shown in FIG. 4, after the control system 50 winds up the wire rope 24 in step S11, the process proceeds to step S12, where it calculates the relative tilt angle between the winch vehicle (first vehicle) 11 and the stuck vehicle (second vehicle) 100 based on image data from the front camera 26. Here, as shown in FIG. 7A, the control system 50 calculates the roll angle R1 about a virtual rotation axis C2 extending in the fore-and-aft direction of the vehicle as the tilt angle of the stuck vehicle 100. Note that it is not necessary to calculate the roll angle R1 of the stuck vehicle 100 with high accuracy in step S12; the accuracy of the calculation of the roll angle R1 in step S12 is sufficient as long as it is possible to determine whether the stuck vehicle 100 is in a predetermined tilt state. Furthermore, as shown in FIG. 7A, the control system 50 can calculate the roll angle R1 of the stuck vehicle 100 based on the position of the headlights 103 of the stuck vehicle 100 obtained from the image data D2.

[0024] The control system 50 proceeds to step S13 and determines whether the posture of the stuck vehicle 100 facing the winch vehicle 11 has changed to a horizontal state. In step S13, the control system 50 determines that the stuck vehicle 100 is in a horizontal state if the roll angle R1 of the stuck vehicle 100 is below a predetermined threshold X2. In other words, in step S13, the control system 50 determines that the stuck vehicle 100 is in an inclined state if the roll angle R1 of the stuck vehicle 100 is equal to or greater than the threshold X2. Then, when the control system 50 determines in step S13 that the stuck vehicle 100 is in a horizontal state, the control system 50 proceeds to step S14 and engages the brake mechanism 40 to stop the electric motor 21 and stop winding of the wire rope 24.

[0025] In other words, when the posture of the stuck vehicle 100 as seen from the winch vehicle 11 is tilted, the control system 50 rotates the drum 23 to continue winding the wire rope 24. On the other hand, when the posture of the stuck vehicle 100 as seen from the winch vehicle 11 changes from a tilted state to a horizontal state, the control system 50 stops the drum 23 to stop winding the wire rope 24. Here, the situation in which the posture of the stuck vehicle 100 changes to a horizontal state is when the stuck vehicle 100 escapes from the rough road, as shown in FIG. 7B. In this way, the drum 23 is stopped and winding of the wire rope 24 is stopped when the stuck vehicle 100 escapes from the rough road, so the stuck vehicle 100 can be safely rescued without bringing the stuck vehicle 100 too close to the winch vehicle 11. Moreover, because the control system 50 automatically stops the winch 22, it is possible to extremely simplify the operation of the winch 22 by the worker.

[0026] In the above description, the pitch angle P1 or roll angle R1 of the stuck vehicle 100 is calculated in step S12, but this is not limited to this, and both the pitch angle P1 and the roll angle R1 of the stuck vehicle 100 may be calculated. In other words, depending on the road surface conditions, it is possible that the stuck vehicle 100 will tilt in both the pitch direction and the roll direction. For this reason, the control system 50 may calculate both the pitch angle P1 and the roll angle R1 of the stuck vehicle 100 in step S12, and determine whether the stuck vehicle 100 is in a horizontal state based on both the pitch angle P1 and the roll angle R1 in step S13.

[0027] <Stack situation 3> In the above description, the stuck vehicle 100 is rescued by the winch vehicle 11 equipped with the winch 22, but the present invention is not limited to this. For example, even if the winch vehicle 11 is stuck on a rough road, the winch vehicle 11 can be safely extricated from the rough road by executing the automatic towing control 1 described above. FIG. 8 is a diagram showing an example of a situation in which the winch vehicle 11 is stuck. As shown in FIG. 8, when the stuck winch vehicle 11 is to be extricated, as a preliminary preparation, the wire rope 24 is pulled out from the winch 22 of the winch vehicle 11 and attached to the towing hook 201 of the stopped vehicle 200. Note that the parking brake (not shown) of the winch vehicle 11 is released, and the parking brake (not shown) of the stopped vehicle 200 is engaged.

[0028] Once the advance preparations for connecting the winch vehicle 11 and the stopped vehicle 200 via the wire rope 24 are completed in this manner, the worker operates the power button 55 of the remote controller 54 to start the winch 22. Then, when the winch 22 is started, the control system 50 proceeds to step S10 and determines whether the auto button 58 of the remote controller 54 has been pressed, as shown in FIG. 4. If the control system 50 determines in step S10 that the auto button 58 has been pressed by the worker, the control system 50 proceeds to step S11 and rotates the electric motor 21 to release the brake mechanism 40 and perform winding of the wire rope 24.

[0029] Next, the control system 50 proceeds to step S12 and calculates the relative tilt angle between the winch vehicle (first vehicle) 11 and the stopped vehicle (second vehicle) 200 based on the image data of the front camera 26. The oncoming vehicle shown in step S12 is the stopped vehicle 200 facing the winch vehicle 11. Here, as shown in FIG. 8, the control system 50 calculates the pitch angle P3 about a virtual rotation axis C3 extending in the vehicle width direction as the tilt angle of the stopped vehicle 200. Note that it is not necessary to calculate the pitch angle P3 of the stopped vehicle 200 with high accuracy in step S12; it is sufficient to ensure calculation accuracy that can determine whether the stopped vehicle 200 is in a predetermined tilt state with respect to the winch vehicle 11. Also, as shown in FIG. 8, the control system 50 can calculate the pitch angle P3 of the stopped vehicle 200 based on the size of the bottom surface 202 of the stopped vehicle 200, the position of the headlights 203, and the like obtained from the image data D2.

[0030] As shown in Fig. 4, the control system 50 proceeds to step S13 and determines whether the attitude of the stopped vehicle 200 facing the winch vehicle 11 has changed to a horizontal state. In step S13, the control system 50 determines that the stopped vehicle 200 is in a horizontal state if the pitch angle P3 of the stopped vehicle 200 is below a predetermined threshold X1. On the other hand, in step S13, the control system 50 determines that the stopped vehicle 200 is in an inclined state if the pitch angle P3 of the stopped vehicle 200 is equal to or greater than the threshold X1. Then, when the control system 50 determines in step S13 that the stopped vehicle 200 is in a horizontal state, the control system 50 proceeds to step S14 and engages the brake mechanism 40 to stop the electric motor 21 and stop winding of the wire rope 24.

[0031] In other words, when the attitude of the stopped vehicle 200 as seen from the winch vehicle 11 is tilted, the control system 50 rotates the drum 23 to continue winding the wire rope 24. On the other hand, when the attitude of the stopped vehicle 200 as seen from the winch vehicle 11 changes from an inclined state to a horizontal state, the control system 50 stops the drum 23 to stop winding the wire rope 24. Here, the situation in which the attitude of the stopped vehicle 200 changes to a horizontal state is when the winch vehicle 11 escapes from the rough road. In this way, the drum 23 is stopped and winding of the wire rope 24 is stopped when the winch vehicle 11 escapes from the rough road, so the winch vehicle 11 can safely escape without coming into contact with the stopped vehicle 200. Moreover, because the control system 50 automatically stops the winch 22, operation of the winch 22 by the operator can be extremely simplified.

[0032] In the above explanation, in step S12, the pitch angle P3 of the stopped vehicle 200 relative to the winch vehicle 11 is calculated based on image data, but this is not limited to this, and the roll angle of the stopped vehicle 200 relative to the winch vehicle 11 may be calculated, or the pitch angle P3 and roll angle of the stopped vehicle 200 relative to the winch vehicle 11 may be calculated.

[0033] <Embodiment 2> In the above description, the winch vehicle 11 is provided with the front camera 26, but this is not limiting, and the technology of the present disclosure can also be applied to a vehicle 72 that is not equipped with a front camera 26. FIG. 9 is a diagram showing a vehicle control device 70 according to another embodiment of the present disclosure. In FIG. 9, components that are the same as those shown in FIG. 2 are given the same reference numerals, and their description will be omitted. As shown in FIG. 9, the vehicle control device 70 has a control system 50 consisting of an electronic control unit 51 for controlling the winch 22. A wireless communication unit (wireless communication section) 71 that performs data communication with other vehicles is connected to the electronic control unit 51.

[0034] FIG. 10 is a flowchart showing an example of the execution procedure of automatic traction control 2, which automatically winds up the wire rope 24. In FIG. 10, steps that are the same as those shown in FIG. 4 are given the same reference numerals, and their description will be omitted. Each step of automatic traction control 2 shown in FIG. 10 is executed by processor 60, which constitutes control system 50. Automatic traction control 2 is a control that is executed by control system 50 at predetermined intervals after control system 50 is started by operating main switch 59 and winch 22 is started by operating power button 55. FIG. 11 is a diagram showing an example of rescuing a stuck vehicle 300.

[0035] Next, a situation will be described in which a stuck vehicle 300 that becomes unable to travel on a rough road such as mud is rescued by a winch vehicle 72 equipped with a vehicle control device 70. As shown in Fig. 11, when the stuck vehicle 300 is rescued by the winch vehicle 72, as a preliminary preparation, the wire rope 24 is pulled out from the winch 22 of the winch vehicle 72 and attached to the towing hook 301 of the stuck vehicle 300. In addition, the winch vehicle 72 has a parking brake (not shown) engaged, and the stuck vehicle 300 has a parking brake (not shown) released.

[0036] Once the advance preparations for connecting the winch vehicle 72 and the stuck vehicle 300 via the wire rope 24 are completed in this manner, the worker operates the power button 55 of the remote controller 54 to start the winch 22. Then, when the winch 22 is started, the control system 50 proceeds to step S20 and determines whether the auto button 58 of the remote controller 54 has been pressed, as shown in FIG. 10 . If the control system 50 determines in step S20 that the auto button 58 has been pressed by the worker, the control system 50 proceeds to step S21 and rotates the electric motor 21 to release the brake mechanism 40 and perform winding of the wire rope 24.

[0037] Next, the control system 50 proceeds to step S22, where it receives the inclination angle of the winch vehicle 72 from the stuck vehicle 300 via the wireless communication unit 71. Here, as shown in FIG. 11 , the stuck vehicle 300 has a front camera 302 that captures an image in front of the vehicle, and an electronic control unit 303 connected to the front camera 302. The electronic control unit 303 of the stuck vehicle 300 calculates the relative inclination angle between the winch vehicle (first vehicle) 72 and the stuck vehicle (second vehicle) 300 based on the image data of the front camera 302. Note that the oncoming vehicle shown in step S22 is the winch vehicle 72 facing the stuck vehicle 300. Then, the electronic control unit 303 of the stuck vehicle 300 transmits the inclination angle data to the wireless communication unit 71 of the winch vehicle 72.

[0038] 11, the electronic control unit 303 of the stuck vehicle 300 calculates the pitch angle P4 about a virtual rotation axis C4 extending in the vehicle width direction as the tilt angle of the winch vehicle 72. It is not necessary to calculate the pitch angle P4 of the winch vehicle 72 with high accuracy; it is sufficient to ensure a calculation accuracy that can determine whether the winch vehicle 72 is in a predetermined tilt state with respect to the stuck vehicle 300. The electronic control unit 303 of the stuck vehicle 300 can calculate the pitch angle P4 of the winch vehicle 72 based on the size of the bottom surface 73 of the winch vehicle 72, the position of the headlights 74, and the like, obtained from the image data D4.

[0039] 10, the control system 50 proceeds to step S23 and determines whether the attitude of the winch vehicle 72 facing the stuck vehicle 300 has changed to a horizontal state. In step S23, the control system 50 determines that the winch vehicle 72 is in a horizontal state if the pitch angle P4 of the winch vehicle 72 is below a predetermined threshold X1. On the other hand, in step S23, the control system 50 determines that the winch vehicle 72 is in an inclined state if the pitch angle P4 of the winch vehicle 72 is equal to or greater than the threshold X1. Then, when the control system 50 determines in step S23 that the winch vehicle 72 is in a horizontal state, the control system 50 proceeds to step S24 and engages the brake mechanism 40 to stop the electric motor 21 and stop winding of the wire rope 24.

[0040] In other words, when the attitude of the winch vehicle 72 as seen from the stuck vehicle 300 is tilted, the control system 50 rotates the drum 23 to continue winding the wire rope 24. On the other hand, when the attitude of the winch vehicle 72 as seen from the stuck vehicle 300 changes from a tilted state to a horizontal state, the control system 50 stops the drum 23 to stop winding the wire rope 24. Here, the situation in which the attitude of the winch vehicle 72 changes to a horizontal state is when the stuck vehicle 300 escapes from the rough road. In this way, the drum 23 is stopped and winding of the wire rope 24 is stopped when the stuck vehicle 300 escapes from the rough road. Therefore, the stuck vehicle 300 can be safely rescued without being brought too close to the winch vehicle 72. Moreover, because the control system 50 automatically stops the winch 22, it is possible to extremely simplify the operation of the winch 22 by the worker.

[0041] In the above description, in step S22, the pitch angle P4 of the winch vehicle 72 relative to the stuck vehicle 300 is received, but this is not limited to this, and the roll angle of the winch vehicle 72 relative to the stuck vehicle 300 may also be received, or the pitch angle P4 and roll angle of the winch vehicle 72 relative to the stuck vehicle 300 may also be received.

[0042] <Other variations> The present disclosure is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit and scope of the present disclosure. The winch 22 shown in the figure is an electric winch that uses an electric motor 21 as a power source, but is not limited to this. For example, it may be a winch that uses an engine 12 as a power source, or a winch that uses a traction motor as a power source. In other words, the winch 22 may be a PTO (Power Take Off) type winch that is driven by engine power or motor power distributed from a transmission.

[0043] In the above description, the control system 50 is configured using one electronic control unit 51, but this is not limited thereto, and the control system 50 may be configured using multiple electronic control units. In the illustrated example, the winch 22 is mounted on the front 20 of the vehicle 11, but this is not limited thereto, and the winch 22 may be mounted on the rear of the vehicle 11. In the illustrated example, the tilt angle is calculated using the front camera 26 that captures an image in front of the vehicle, but this is not limited thereto, and the tilt angle may be calculated using a rear camera that captures an image behind the vehicle. In the illustrated example, a stereo camera consisting of a pair of cameras is used as the front camera 26, but this is not limited thereto, and a monocular camera consisting of a single camera may be used. [Explanation of symbols]

[0044] 10...vehicle control device, 11...vehicle (first vehicle), 21...electric motor (power source), 22...winch, 23...drum, 24...wire rope, 26...front camera (camera unit), 50...control system, 60...processor, 61...main memory (memory), 70...vehicle control device, 71...wireless communication unit (wireless communication section), 72...winch vehicle (first vehicle), 100, 300...stuck vehicle (second vehicle), 200...stopped vehicle (second vehicle), P1, P3, P4...pitch angle (tilt angle), R1...roll angle (tilt angle), X1, X2...threshold

Claims

1. A vehicle control device provided in a first vehicle, a winch including a drum connected to a power source and a wire rope wound around the drum; a control system for controlling the winch, the control system comprising a processor and a memory communicatively connected to each other; and The control system includes: stopping the rotation of the drum when a relative tilt angle between the first vehicle and the second vehicle falls below a threshold value while the first vehicle and another second vehicle are connected to each other via the wire rope and the drum is rotating; Vehicle control device.

2. 2. The vehicle control device according to claim 1, The tilt angle is at least one of a pitch angle and a roll angle. Vehicle control device.

3. 2. The vehicle control device according to claim 1, A camera unit is provided to capture an image of the area in front of or behind the vehicle. the control system calculates the tilt angle based on image data captured by the camera unit. Vehicle control device.

4. 2. The vehicle control device according to claim 1, the control system includes a wireless communication unit that receives data on the inclination angle from the second vehicle. Vehicle control device.

5. 2. The vehicle control device according to claim 1, The power source is an electric motor. Vehicle control device.

Images