Towing vehicle control device, towing vehicle control method, and towing vehicle control program

Abstract

To provide a traction vehicle control apparatus, a traction vehicle control method and a traction vehicle control program which can make a traction object vehicle travel in a proper locus.SOLUTION: A traction vehicle control apparatus comprises: a calculation device which calculates a target vehicle body speed VTx and a target curvature of a traction vehicle 100 from a target vehicle body speed Vtu and a target curvature κref of a traction object vehicle 200 that can travel together with the traction vehicle 100 in a state of being connected to the traction vehicle 100 having the motive power via a connection part 150 being a universal joint, and generates a control signal of the motive power of the traction vehicle 100 on the basis of a target bending angle φref being a target value of a bending angle being an angle formed by the travel direction of the traction vehicle 100 calculated on the basis of the target curvature κref of the traction object vehicle 200 and the travel direction of the traction object vehicle 200, the target vehicle body speed VTx of the traction vehicle 100 and the target curvature of the traction vehicle 100; and a drive control unit which controls the motive power of the traction vehicle 100 according to the control signal.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a towing vehicle control device, a towing vehicle control method, and a towing vehicle control program for controlling a towing vehicle that tows a towed vehicle. [Background technology]

[0002] When a towed vehicle is coupled to the rear of a towing vehicle and the towed vehicle is caused to follow the towing vehicle, the towed vehicle is prone to lateral vibrations and the like.

[0003] Patent Document 1 discloses an invention for a vehicle travel control device that reduces lateral vibrations generated in a towed vehicle to stabilize the behavior of the towed vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-156066 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the invention described in Patent Document 1 corrects the steering of the towing vehicle based on the lateral swaying of the towed vehicle during towing, but since the correction does not take into account the driving trajectory of the towed vehicle, there is a problem in that it is difficult to make the towed vehicle travel on an appropriate trajectory.

[0006] The present invention has been made in consideration of the above problems, and has an object to realize a towing vehicle control device, a towing vehicle control method, and a towing vehicle control program that are capable of causing a towed vehicle to travel an appropriate trajectory. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the towing vehicle control device described in claim 1 includes a calculation unit that calculates a target body speed and target curvature of the towing vehicle from a target body speed and target curvature of a towed vehicle that is connected to a powered towing vehicle by a coupling unit that is a universal joint and can travel together with the towing vehicle, and generates a control signal for the power of the towing vehicle based on a target bend angle that is a target value of the bend angle between the traveling direction of the towing vehicle and the traveling direction of the towed vehicle, calculated based on the target curvature of the towed vehicle, the target body speed of the towing vehicle, and the target curvature of the towing vehicle, and a drive control unit that controls the power of the towing vehicle in accordance with the control signal.

[0008] According to the towing vehicle control device of claim 1, it is possible to make the towed vehicle travel along an appropriate trajectory by calculating the control conditions for the towing vehicle when turning the towed vehicle at a target curvature.

[0009] Depending on the target curvature, for example, the towing vehicle and the towed vehicle may interfere with each other. However, the towing vehicle control device described in claim 1 can cause the towed vehicle to travel in accordance with the target curvature by controlling the towing vehicle while restricting the positional relationship between the towing vehicle and the towed vehicle using the target bend angle.

[0010] The towing vehicle control device according to claim 2 further includes a wheel speed detection unit which detects the wheel speed of each of the towing vehicle, and a turn angle detection unit which detects the turn angle, and the calculation unit generates the control signal including information on the required speed of each wheel of the towing vehicle and information on the required torque of each wheel of the towing vehicle calculated based on each of the results of feedback control which eliminates the deviation between the target wheel speed of the towing vehicle, calculated from the target body speed of the towing vehicle and the target curvature of the towing vehicle, and the wheel speed detected by the wheel speed detection unit, and the result of feedback control which eliminates the deviation between the target turn angle and the turn angle detected by the turn angle detection unit.

[0011] According to the towing vehicle control device described in claim 2, a control signal including information on the required speed of each wheel of the towing vehicle and information on the required torque of each wheel of the towing vehicle can be generated by feedback control that eliminates the deviation between the actually detected observation value and the target value.

[0012] In the towing vehicle control device described in claim 3, the turn angle detection unit calculates the turn angle from an azimuth angle of the towing vehicle detected by an inertial measurement unit mounted on the towing vehicle and an azimuth angle of the towed vehicle detected by an inertial measurement unit mounted on the towed vehicle.

[0013] According to the towing vehicle control device of claim 3, the observed value of the turning angle between the towing vehicle and the towed vehicle can be detected by using the inertial measurement unit that is mounted on many vehicles.

[0014] In the towing vehicle control device described in claim 4, the turn angle detection unit calculates the turn angle based on either the position of the towed vehicle in image information acquired by an imaging device mounted on the towing vehicle, or the position of the towing vehicle in image information acquired by an imaging device mounted on the towed vehicle.

[0015] According to the towing vehicle control device of claim 4, the observed value of the turn angle between the towing vehicle and the towed vehicle can be detected using imaging devices mounted on many vehicles.

[0016] In the towing vehicle control device described in claim 5, the calculation unit calculates the target bend angle when the towing vehicle is traveling while towing the towed vehicle.

[0017] According to the towing vehicle control device described in claim 5, when the towing vehicle moves forward while towing the towed vehicle, and when the towing vehicle moves backward while towing the towed vehicle, the towing vehicle is controlled with the target bend angle imposing restrictions on the positional relationship between the towing vehicle and the towed vehicle, thereby causing the towed vehicle to travel according to the target curvature.

[0018] In order to achieve the above-mentioned object, a towing vehicle control method as set forth in claim 6 includes the steps of: calculating a target body speed and target curvature of the towing vehicle from a target body speed and target curvature of a towed vehicle that is connected to a powered towing vehicle by a coupling portion that is a universal joint and is capable of traveling together with the towing vehicle; calculating a target bend angle, which is a target value of the bend angle that is the angle between the traveling direction of the towing vehicle and the traveling direction of the towed vehicle, based on the target curvature of the towed vehicle; generating a control signal for the power of the towing vehicle based on the target body speed of the towing vehicle, the target curvature of the towing vehicle, and the target bend angle; and controlling the power of the towing vehicle in accordance with the control signal.

[0019] According to the towing vehicle control method recited in claim 6, it is possible to make the towed vehicle travel on an appropriate trajectory by calculating the control conditions for the towing vehicle when turning the towing vehicle at a target curvature.

[0020] Depending on the target curvature, for example, the towing vehicle and the towed vehicle may interfere with each other. However, the towing vehicle control method described in claim 6 controls the towing vehicle while restricting the positional relationship between the towing vehicle and the towed vehicle using the target bend angle, thereby allowing the towed vehicle to travel in accordance with the target curvature.

[0021] In order to achieve the above-mentioned object, a towing vehicle control program as set forth in claim 7 causes a computer to function as a calculation unit that calculates a target body speed and target curvature of the towing vehicle from a target body speed and target curvature of a towed vehicle that is connected to a powered towing vehicle by a coupling portion that is a universal joint and can travel together with the towing vehicle, and that generates a control signal for the power of the towing vehicle based on a target bend angle, which is a target value of the bend angle between the traveling direction of the towing vehicle and the traveling direction of the towed vehicle, calculated based on the target curvature of the towed vehicle, the target body speed of the towing vehicle, and the target curvature of the towing vehicle, and also functions as a drive control unit that controls the power of the towing vehicle in accordance with the control signal.

[0022] According to the towing vehicle control program recited in claim 7, by calculating the control conditions for the towing vehicle when turning the towing vehicle at a target curvature, it becomes possible to make the towed vehicle travel on an appropriate trajectory.

[0023] Depending on the target curvature, for example, the towing vehicle and the towed vehicle may interfere with each other. However, the towing vehicle control program described in claim 7 controls the towing vehicle while restricting the positional relationship between the towing vehicle and the towed vehicle using the target bend angle, thereby allowing the towed vehicle to travel in accordance with the target curvature. Effect of the Invention

[0024] According to the present invention, it is possible to realize a towing vehicle control device, a towing vehicle control method, and a towing vehicle control program that are capable of causing a towed vehicle to travel an appropriate trajectory. [Brief description of the drawings]

[0025] [Figure 1] 1 is a schematic diagram of a towing vehicle equipped with a towing vehicle control device according to a first embodiment of the present invention, and a towed vehicle. [Diagram 2] 1 is a block diagram showing an example of a configuration of a towing vehicle control device according to a first embodiment of the present invention, which is included in a towing vehicle. [Diagram 3] 1 is a block diagram showing an example of a configuration of a towing vehicle control device according to a first embodiment of the present invention, which is included in a towed vehicle. [Figure 4] FIG. 2 is a block diagram showing an example of a specific configuration of a calculation device. [Diagram 5] 5 is a flowchart showing an example of processing in a calculation device of a towing vehicle of the towing vehicle control device according to the first embodiment of the present invention. [Figure 6] 1 is an explanatory diagram showing an example of the behavior of a towing vehicle and a towed vehicle during turning; [Figure 7] 10 is an explanatory diagram showing the behavior of a towing vehicle and a towed vehicle during turning when a target bend angle is calculated; FIG. [Figure 8]11 is an example of an activity diagram for calculating a right wheel target speed and a right wheel target torque of a towing vehicle. FIG. [Figure 9] FIG. 13(A) is a schematic diagram of a case where a towing vehicle in the first embodiment tows a towed vehicle, and FIG. 13(B) is a schematic diagram of a case where a towing vehicle in the second embodiment pushes a towed vehicle from behind. [Figure 10] 10 is a flowchart showing an example of processing in a calculation device of a towing vehicle of a towing vehicle control device according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] [First embodiment] Hereinafter, the present embodiment will be described in detail with reference to the drawings. As shown in Fig. 1, the towing vehicle control device 10 according to the present embodiment includes a drive control device 16 that controls a drive unit 28 of the towing vehicle 100 in consideration of the travel trajectory of a towed vehicle 200 towed by the towing vehicle 100 while being coupled to the towing vehicle 100 at a coupling unit 150.

[0027] The towing vehicle 100 runs by rotating right wheels 110R and left wheels 110L using a drive unit 28, which is a power source. The towed vehicle 200 has right wheels 210R and left wheels 210L but does not have a power source, and runs by being towed by the towing vehicle 100 via a coupling unit 150. The drive unit 28, which is the power source of the towing vehicle 100, may be an internal combustion engine, but may also be an in-wheel motor provided on each wheel so that the distribution of driving force can be freely changed by individually controlling each wheel.

[0028] The towing vehicle 100 may be a manned vehicle driven by a driver, or may be an autonomous vehicle that travels autonomously based on information about the surroundings of the towing vehicle 100 acquired by imaging devices 22 (22A, 22B, 22C, 22D) such as on-board cameras. The towed vehicle 200 towed by the towing vehicle 100 is also provided with imaging devices 62 (62A, 62B, 62C, 62D) that acquire a wide range of image information that contributes to the autonomous driving of the towing vehicle 100.

[0029] The towing vehicle 100 turns depending on the difference in rotation speed between the left and right wheels. For example, if the rotation speed of the right wheel 110R is made faster than the rotation speed of the left wheel 110L, the towing vehicle 100 turns left. If the rotation speed of the left wheel 110L is made faster than the rotation speed of the right wheel 110R, the towing vehicle 100 turns right.

[0030] The connecting portion 150 is configured as a universal joint whose angle (bend angle) can be freely changed according to the traveling of the towing vehicle 100 and the towed vehicle 200.

[0031] Fig. 2 is a block diagram showing an example of the configuration included in the towing vehicle 100 of the towing vehicle control device 10 according to this embodiment. As shown in Fig. 2, the configuration included in the towing vehicle 100 of the towing vehicle control device 10 includes a storage device 18 that stores data necessary for the calculations of the calculation device 14 and the results of calculations by the calculation device 14, an image information processing unit 20 that converts image information acquired by an imaging device 22 into a format that allows image analysis by the calculation device 14, and a controller 24 that detects the position of the towing vehicle 100 based on the image information output by the image information processing unit 20, the speed of each wheel of the towing vehicle 100 detected by a vehicle speed sensor 24, the angular velocity and acceleration of the azimuth angle of the towing vehicle 100 detected by an IMU (inertial measurement unit) 26, and information received from satellites. the towing vehicle 100 in accordance with the control signal generated by the calculation device 14. The V2X communication unit 36 ​​is capable of communicating with the towed vehicle 200 and the like, and the drive control device 16 controls the drive unit 28, which is the power source of the towing vehicle 100, in accordance with the control signal generated by the calculation device 14. The V2X communication unit 36 ​​is designed for wireless communication, but wired communication via the coupling unit 150 may be used if the communication partner is limited to the towed vehicle 200.

[0032] The IMU 26 is an inertial measurement unit capable of detecting three-axis angular velocity (pitch rate, roll rate, yaw rate) and three-axis acceleration (forward / backward acceleration, lateral acceleration, up / down acceleration) that indicate the behavior of the vehicle while it is moving.

[0033] 3 is a block diagram showing an example of the configuration included in the towed vehicle 200 of the towing vehicle control device 10 according to the present embodiment. As shown in FIG. 3, the configuration included in the towed vehicle 200 of the towing vehicle control device 10 includes an input device 52, a calculation device 54, a storage device 58, an imaging device 62, an image processing unit 60, a vehicle speed sensor 64, an IMU 66, a GNSS device 68, and a V2X communication unit 70, similar to the configuration included in the towing vehicle 100. However, since the towed vehicle 200 does not have a power source, the drive control device 16 in the towing vehicle 100 and the drive unit 28 which is the power source are not included. The V2X communication unit 70 is assumed to perform wireless communication like the V2X communication unit 36 ​​of the towing vehicle 100, but if the communication partner is limited to the towing vehicle 100, wired communication via the coupling unit 150 may be used.

[0034] The IMU 66, like the IMU 26 of the towing vehicle 100, is an inertial measurement unit capable of detecting three-axis angular velocity and three-axis acceleration that indicate the behavior of the vehicle while it is traveling.

[0035] The arithmetic device 54 calculates the bend angle, which is the angle between the traveling direction of the towing vehicle 100 and the traveling direction of the towed vehicle 200 and is the angle at which the coupling section 150 turns in response to the traveling of the towing vehicle 100 and the towed vehicle 200 as described above. The bend angle may be calculated, for example, from image information acquired by the imaging device 62, or may be calculated based on information acquired by the MU 66 and the GNSS device 68. The bend angle calculated by the arithmetic device 54 is output to the arithmetic device 14 of the towing vehicle 100 via the V2X communication unit 70 and the V2X communication unit 36 ​​of the towing vehicle 100.

[0036] 4 is a block diagram showing an example of a specific configuration of the arithmetic device 14. The arithmetic device 14 is a type of computer, and includes a CPU (Central Processing Unit) 14B, a ROM (Read Only Memory) 14A, a RAM (Random Access Memory) 14C, and an input / output port 14D.

[0037] In the arithmetic device 14, the CPU 14B, ROM 14A, RAM 14C, and input / output port 14D are connected to one another via various buses such as an address bus, a data bus, and a control bus. The input / output port 14D is connected to various input / output devices such as the input device 12, a storage device 18 such as a hard disk (HDD), the drive control device 16, and a V2X communication unit 36.

[0038] A towing vehicle control program that generates a control signal for controlling the drive unit 28 is installed in the storage device 18. In this embodiment, the CPU 14B executes the towing vehicle control program to generate a control signal for controlling the drive unit 28. The CPU 14B also outputs the control signal generated by the towing vehicle control program to the drive control device 16. There are several methods for installing the towing vehicle control program of this embodiment in the arithmetic device 14. For example, the towing vehicle control program is stored on a CD-ROM or DVD together with a setup program, and the disk is inserted in an input / output device such as a disk drive, and the setup program is executed by the CPU 14B to install the towing vehicle control program in the storage device 18. Alternatively, the towing vehicle control program may be installed in the storage device 18 by communicating with another information processing device connected to the arithmetic device 14 via a public telephone line or a network.

[0039] Next, various functions realized by the CPU 14B of the calculation device 14 executing the towing vehicle control program will be described. The towing vehicle control program functions as a towed vehicle target speed / curvature calculation function for calculating a target speed and target curvature of the towed vehicle 200, a towing vehicle target speed / curvature calculation function for calculating a target speed and target curvature of the towing vehicle 100, a traveling direction determination function for determining the traveling direction of the towing vehicle 100, a target bend angle calculation function for calculating a target bend angle, and a towing vehicle each wheel target wheel speed calculation function for calculating a target wheel speed of each wheel of the towing vehicle 100. By executing the towing vehicle control program, the CPU 14B functions as a towed vehicle target speed / curvature calculation unit 40, a towing vehicle target speed / curvature calculation unit 42, a traveling direction determination unit 44, a target bend angle calculation unit 46, and a towing vehicle each wheel target wheel speed calculation unit 48.

[0040] FIG. 5 is a flowchart showing an example of processing in the arithmetic device 14 of the towing vehicle 100 of the towing vehicle control device 10 according to this embodiment.

[0041] In step S100, a target speed and a target curvature are calculated for the towed vehicle 200. When the towing vehicle 100 is a manned vehicle, for example, the target speed and target curvature of the towed vehicle 200 are calculated based on the operation amount of the driver of the towing vehicle 100, with the speed of the towing vehicle 100 set as the target speed of the towed vehicle 200. For example, as shown in the following formula, the yaw rate Y detected by the IMU 26 of the towing vehicle 100 is multiplied by the speed V of the towing vehicle 100: T The quotient obtained by dividing the curvature by the target curvature κ of the towed vehicle 200 is t Let us assume that. κ t =Y / V T

[0042] The yaw rate of the towing vehicle 100 is determined by the wheel speed V Tr and the wheel speed of the left wheel 110L, V Tl The wheel speed V of the right wheel 110R of the towing vehicle 100 is calculated by dividing the difference between the right wheel 110R and the left wheel 110L by the distance T (tread) between the right wheel 110R and the left wheel 110L, as shown in the following formula. Tr and the wheel speed of the left wheel 110L, VTl The difference between the tread T and the speed V of the towing vehicle 100 is T The quotient obtained by dividing the product of t It is also possible to use the following. κ t =(V Tr -V Tl ) / T·V T

[0043] Or, the target speed and the target curvature κ of the towed vehicle 200 t may be set arbitrarily.

[0044] In step S102, the target speed and the target curvature of the towing vehicle 100 are calculated from the target speed and the target curvature of the towed vehicle 200.

[0045] FIG. 6 is an explanatory diagram showing an example of the behavior of the towing vehicle 100 and the towed vehicle 200 during turning. In FIG. 6, tu , the target curvature κ of the towed vehicle 200 t , the target speed V of the towing vehicle 100 T , the target curvature κ of the towing vehicle 100 T , bending angle φ, distance l from the axle position of the towing vehicle 100 to the coupling portion 150 wb , the distance l3 from the coupling 150 to the axle position of the towed vehicle 200, the turning radius R which is the distance from the towing vehicle turning center 120 to the midpoint between the right wheel 110R and the left wheel 110L of the towing vehicle 100, T , and a turning radius R, which is the distance from the towed vehicle turning center 220 to the midpoint between the right wheel 210R and the left wheel 210L of the towed vehicle 200. t Each of these is defined.

[0046] Based on the state shown in FIG. 6, the following equations (1) and (2) are defined. JPEG0007673693000001.jpg28128

[0047] From the above equations (1) and (2), the target speed V of the towing vehicle 100 is Tx and the target curvature κ of the towing vehicle 100.T In step S102, the target speed V of the towed vehicle 200 is calculated using the following equations (3) and (4). tu and the target curvature κ t , the target speed V of the towing vehicle 100 Tx and the target curvature κ T Calculate. JPEG0007673693000002.jpg35122

[0048] In step S104, it is determined whether the towing vehicle 100 is moving forward. As an example, the determination as to whether the towing vehicle 100 is moving forward is made based on the direction of acceleration detected by the IMU 26 provided in the towing vehicle 100. This is because when the towing vehicle 100 tows the towed vehicle 200, the bend angle φ only matters when moving forward.

[0049] If it is determined in step S104 that the towing vehicle 100 is moving forward, the procedure proceeds to step S106, and if it is determined that the towing vehicle 100 is not moving forward, the procedure proceeds to step S108.

[0050] In step S106, the target bending angle φ ref Figure 7 shows the target bending angle φ ref 7 is an explanatory diagram showing the behavior of the towing vehicle 100 and the towed vehicle 200 during turning in the calculation of the above. In Fig. 7, the turning center of the towing vehicle 100 and the turning center of the towed vehicle 200 are made to coincide with each other as the towed vehicle turning center and towing vehicle turning center (hereinafter abbreviated as "turning center") 130.

[0051] As shown in FIG. 7, when the towing vehicle 100 is turning, the midpoint between the right wheel 110R and the left wheel 110L moves in the x-axis direction at a target speed V Tx , lateral velocity V in the y-axis direction c At the midpoint between the right wheel 110R and the left wheel 110L, the wheel moves with a yaw rate of ω Tz is occurring.

[0052] In addition, when the towed vehicle 200 is turning, the midpoint between the right wheel 210R and the left wheel 210L moves in the u-axis direction at the target speed V tx, lateral velocity V in the v-axis direction d At the midpoint between the right wheel 210R and the left wheel 210L, the wheel moves with a yaw rate of ω tz Then, the link 150 moves in the direction of the velocity vector 160.

[0053] In this case, the target bending angle φ ref is expressed by the following equation (5). JPEG0007673693000003.jpg12117

[0054] As shown in Figure 7, the tangent of α1 is R ref / l3(R ref =1 / κ ref ), so α1 is expressed by the following equation (6). JPEG0007673693000004.jpg22115

[0055] Also, as shown in Figure 7, the tangent of α2 is R T / l wb Therefore, α2 is expressed by the following equation (7). JPEG0007673693000005.jpg20116

[0056] L, which is the square of the distance between the connecting part 150 and the turning center 130 2 is expressed as follows: L2=l3 2 +(1 / κ ref ) 2

[0057] As a result, R in the above formula (7) T is expressed by the following formula (8). T is the target curvature κ of the towing vehicle 100 as shown in FIG. T It may be calculated as the reciprocal of JPEG0007673693000006.jpg28128

[0058] In step S106, the target bending angle φ is calculated using the above equations (5) to (8). ref Calculate.

[0059] In step S108, a target wheel speed is calculated for each wheel of the towing vehicle 100. Below, the target wheel speed of the right wheel 110R is calculated as an example, but the target wheel speed of the left wheel 110L can also be calculated in a similar manner.

[0060] FIG. 8 is an example of an activity diagram for calculating the right wheel target speed and right wheel target torque of the towing vehicle 100. In step S1, the target vehicle speed VTx_ref (=V Tx ) of the towing vehicle 100, and in step S2, the target curvature curv_ref(=κ T In step S3, the wheel speed of the right wheel 110R of the towing vehicle 100, which is an observed value detected by the vehicle speed sensor 24, is detected. In step S4, the target turning angle φ ref However, in step S5, the bend angle φ, which is an observation value, is input. As an example, the bend angle φ, which is an observation value, is calculated by comparing an azimuth angle of the towing vehicle 100 obtained by time-integrating the yaw rate detected by the IMU 26 with respect to the position of the towing vehicle 100 in earth coordinates detected by the GNSS device 30 of the towing vehicle 100 as a reference, and an azimuth angle of the towed vehicle 200 obtained by time-integrating the yaw rate detected by the IMU 66 with respect to the position of the towed vehicle 200 in earth coordinates detected by the GNSS device 68 of the towed vehicle 200 as a reference.

[0061] The bend angle φ, which is an observed value, may be calculated from image information acquired by the imaging device 22 of the towing vehicle 100 or the imaging device 62 of the towed vehicle 200. Specifically, the bend angle φ, which is an observed value, is calculated based on the position of the towed vehicle 200 in the image information acquired by the imaging device 22B of the towing vehicle 100. Alternatively, the bend angle φ, which is an observed value, may be calculated based on the position of the towing vehicle 100 in the image information acquired by the imaging device 62A of the towed vehicle 200.

[0062] In block B1, the target wheel speed of the towing vehicle 100 is calculated from the target vehicle body speed VTx_ref and the target curvature curv_ref. As described above, the yaw rate of the towing vehicle 100 is calculated based on the wheel speed V Tr and the wheel speed of the left wheel 110L, VTl The target curvature curv_ref is a quotient obtained by dividing the difference between the right wheel 110R and the left wheel 110L by the tread T, which is the distance between the right wheel 110R and the left wheel 110L. The target curvature curv_ref is a quotient obtained by dividing the yaw rate of the towing vehicle 100 by the target vehicle speed VTx_ref of the towing vehicle 100, so the relationship shown in the following equation is recognized. curv_ref=(V Tr -V Tl ) / T·VTx_ref

[0063] As an example, in block B1, for example, when the towing vehicle 100 is turning left, the above formula is: V Tr > VTx_ref > V Tl The target wheel speeds of the right wheel 110R and the left wheel 110L are calculated on the assumption that the above formula is satisfied.

[0064] In the following block B2, the target wheel speed calculated in block B1 is subjected to PI control (Proportional-Integral Controller), which is a feedback control, to eliminate any deviation from the wheel speed of the right wheel 110R of the towing vehicle 100, which is an observation value detected by the vehicle speed sensor 24. In block B1, proportional control (P control) that eliminates the deviation as a linear function and integral control (I control) that eliminates the deviation in proportion to the time integral of the deviation are executed.

[0065] The target bending angle φ input in step S4 ref In block B3, the deviation from the bending angle φ, which is the observed value input in step S5, is eliminated by I control, which is feedback control.

[0066] Then, the right wheel target torque is calculated from the output result of block B2 and the output result of block B3. An algorithm for calculating the right wheel target torque from the right wheel speed value which is the output result of block B2 and the bend angle φ value which is the output result of block B3 is constructed through machine learning, for example.

[0067] After the target wheel speed (and target torque) of each wheel of the towing vehicle 100 is calculated in step S108, the process ends.

[0068] The arithmetic unit 14 outputs a control signal including the calculated target wheel speeds (and target torque) for each wheel of the towing vehicle 100 to the drive control device 16, and the drive control device 16 controls the drive unit 28 in accordance with the input control signal.

[0069] As described above, according to this embodiment, by calculating the control conditions for the towing vehicle 100 when the towed vehicle 200 is turned at an arbitrary curvature, it is possible to make the towed vehicle travel along an appropriate trajectory.

[0070] In this embodiment, when calculating the target wheel speeds of the towing vehicle 100, the target curvature κ T As shown in FIG. 6, the target curvature κ of the towing vehicle 100 is T can be calculated geometrically.

[0071] However, depending on the driving conditions, the geometrically calculated target curvature κ T For example, it becomes difficult to drive the towing vehicle 100 with the target curvature κ T If the towing vehicle 100 is caused to interfere with the towed vehicle 200, the positional relationship between the towing vehicle 100 and the towed vehicle 200 will not be established, and the calculated target curvature κ T The towing vehicle 100 cannot be driven.

[0072] In this embodiment, a restriction is imposed on the positional relationship between the towing vehicle 100 and the towed vehicle 200, so that the target curvature κ of the towed vehicle 200 is quasi- t can be set arbitrarily. Specifically, the constraint on the positional relationship in this embodiment is the bend angle φ, which is the angle between the towing vehicle 100 and the towed vehicle 200. In this embodiment, the target bend angle φ for realizing a certain target curvature is ref is approximately calculated and taken into consideration as a constraint on the positional relationship between the towing vehicle 100 and the towed vehicle 200.

[0073] Geometrically, any desired target curvature κ of the towed vehicle 200t Therefore, the bending angle φ cannot be uniquely determined. In this embodiment, however, the target bending angle φ ref and reflecting this in the control of the towing vehicle 100, the target curvature κ of the towed vehicle 200 is t can be set arbitrarily.

[0074] Generally, the towed vehicle 200 carries passengers or baggage, and is the main entity when considering the travel trajectory. On the other hand, the towing vehicle 100 that tows the towed vehicle 200 is a secondary entity to the towed vehicle 200. Also, when the towed vehicle 200 is very large, such as a trailer, control that matches the size of the towed vehicle 200 is required. In this embodiment, as described above, the target curvature κ of the towed vehicle 200 is set to 1 / 2. t Since it is possible to set the towing vehicle 100 at will, it becomes possible to control the towing vehicle 100 in accordance with the movement of the towed vehicle 200 simply by first considering how to move the towed vehicle 200.

[0075] [Second embodiment] Next, a second embodiment of the present invention will be described. Fig. 9(A) is a schematic diagram of the towing vehicle 100 in the first embodiment towing the towed vehicle 200, and Fig. 9(B) is a schematic diagram of the towing vehicle 100 in this embodiment pushing the towed vehicle 200 from behind. The difference between this embodiment and the first embodiment is whether the towing vehicle 100 pushes the towed vehicle 200 from behind or tows the towed vehicle 200, so the configurations of the towing vehicle 100 and the towed vehicle 200 are the same as those in the first embodiment. Therefore, the same reference numerals as those in the first embodiment are used for the same configurations as those in the first embodiment, and detailed description thereof will be omitted.

[0076] FIG. 10 is a flowchart showing an example of processing in the arithmetic unit 14 of the towing vehicle 100 of the towing vehicle control device 10 according to this embodiment.

[0077] In step S200, the target speed and the target curvature κ of the towed vehicle 200 are calculated, similarly to step S100 in FIG 5 of the first embodiment. tmay be set arbitrarily.

[0078] In step S202, the target speed and the target curvature of the towing vehicle 100 are calculated from the target speed and the target curvature of the towing vehicle 200, similar to step S102 in FIG. 5 of the first embodiment.

[0079] In step S204, similarly to step S104 in Fig. 5 in the first embodiment, it is determined whether the towing vehicle 100 is moving forward. As an example, the determination of whether the towing vehicle 100 is moving forward is made based on the direction of acceleration detected by the IMU 26 provided in the towing vehicle 100. When the towing vehicle 100 pushes the towed vehicle 200 from behind, the bend angle φ becomes an issue only when traveling backward. This is because when traveling backward in this embodiment, the towing vehicle 100 travels while towing the towed vehicle 200, similarly to when traveling forward in the first embodiment.

[0080] If it is determined in step S204 that the towing vehicle 100 is moving forward, the procedure proceeds to step S208, and if it is determined that the towing vehicle 100 is not moving forward, the procedure proceeds to step S206.

[0081] In step S206, similarly to step S106 in FIG. 5 of the first embodiment, the target bending angle φ ref Calculate.

[0082] In step S208, similarly to step S108 in FIG. 5 of the first embodiment, the target wheel speed of each wheel of the towing vehicle 100 is calculated.

[0083] After the target wheel speed (and target torque) of each wheel of the towing vehicle 100 is calculated in step S208, the process ends.

[0084] The arithmetic unit 14 outputs a control signal including the calculated target wheel speeds (and target torque) for each wheel of the towing vehicle 100 to the drive control device 16, and the drive control device 16 controls the drive unit 28 in accordance with the input control signal.

[0085] As described above, according to this embodiment, when the towing vehicle 100 and the towed vehicle 200 are moving backward, the target bend angle is reflected in the control of the towing vehicle 100, so that the target curvature κ t can be set arbitrarily. Then, the towed vehicle 200 is moved to an arbitrary target curvature κ t By calculating the control conditions for the towing vehicle 100 when turning at a right angle, it is possible to make the towed vehicle travel along an appropriate trajectory.

[0086] In addition, the processing executed by the CPU after reading the software (program) in each of the above embodiments may be executed by various processors other than the CPU. In this case, examples of the processor include a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit configuration can be changed after manufacture, and a dedicated electric circuit such as an ASIC (Application Specific Integrated Circuit) which is a processor having a circuit configuration designed exclusively for executing a specific processing. In addition, the processing may be executed by one of these various processors, or may be executed by a combination of two or more processors of the same or different types (for example, a plurality of FPGAs, a combination of a CPU and an FPGA, etc.). In addition, the hardware structure of these various processors is, more specifically, an electric circuit that combines circuit elements such as semiconductor elements.

[0087] In addition, in each of the above embodiments, the program is described as being pre-stored (installed) in a disk drive or the like, but the present invention is not limited to this. The program may be provided in a form stored in a non-transitory storage medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a USB (Universal Serial Bus) memory. The program may also be downloaded from an external device via a network.

[0088] The "calculation unit" in the claims corresponds to the "calculation device 14" in the detailed description of the invention in the specification, the "drive control unit" in the claims corresponds to the "drive control device 16" in the same, the "wheel speed detection unit" in the claims corresponds to the "vehicle speed sensor 24" in the same, and the "turn angle detection unit" in the claims corresponds to the "IMU 26," "imaging device 22," and "calculation device 14" in the same.

[0089] (Additional note 1) Memory, at least one processor coupled to the memory; Including, The processor, calculating a target vehicle body speed and a target curvature of the towing vehicle from a target vehicle body speed and a target curvature of a towed vehicle which is connected to a powered towing vehicle by a coupling part which is a universal joint and which can travel together with the towing vehicle; calculating a target bend angle, which is a target value of the bend angle between the traveling direction of the towing vehicle and the traveling direction of the towed vehicle, based on the target curvature of the towed vehicle; generating a power control signal for the towing vehicle based on a target vehicle speed of the towing vehicle, a target curvature of the towing vehicle, and the target turn angle; controlling the power of the towing vehicle in accordance with the control signal; A towing vehicle control device configured as follows. [Explanation of symbols]

[0090] 10. Towing vehicle control device 12 Input Devices 14 Arithmetic unit 14A ROM 14B CPU 14C RAM 14D Input / Output Ports 16 Drive control device 18 Storage device 20 Image information processing section 22 (22A, 22B, 22C, 22D) Imaging device 24 Vehicle speed sensor 28 Drive unit 30 GNSS equipment 36 V2X communication section 40 Towed vehicle target speed / curvature calculation section 42 Towing vehicle target speed and curvature calculation unit 44 Direction determination 46 Target bending angle calculation unit 48 Towing vehicle each wheel target wheel speed calculation unit 52 Input Device 54 Arithmetic unit 58 Storage device 60 Image Processing Unit 62 (62A, 62B, 62C, 62D) Imaging device 64 Vehicle speed sensor 68 GNSS equipment 70 V2X Communication Unit 100 Towing Vehicles 110L left wheel 110R right wheel 120 Towing vehicle turning centre 130 Turning center 150 Connection section 200 Towed Vehicle 210L left wheel 210R Right wheel 220 Towed vehicle turning center

Claims

1. a calculation unit which calculates a target body speed and a target curvature of the towing vehicle from a target body speed and a target curvature of a towed vehicle which is connected to a powered towing vehicle by a coupling part which is a universal joint and which can travel together with the towing vehicle, and which generates a control signal for the power of the towing vehicle based on a target body speed of the towing vehicle, which is a target value of the bend angle which is the angle between the traveling direction of the towing vehicle and the traveling direction of the towed vehicle, calculated based on the target curvature of the towed vehicle, the target body speed of the towing vehicle, and the target curvature of the towing vehicle; a drive control unit that controls the power of the towing vehicle in accordance with the control signal; A towing vehicle control device comprising:

2. a wheel speed detection unit for detecting a wheel speed of each of the towing vehicles; A bend angle detection unit that detects the bend angle; Further comprising:

2. The towing vehicle control device according to claim 1, wherein the calculation unit generates the control signal including information on the required speed of each wheel of the towing vehicle and information on the required torque of each wheel of the towing vehicle, calculated based on a target body speed of the towing vehicle and a result of feedback control that eliminates a deviation between a target wheel speed of the towing vehicle calculated from a target curvature of the towing vehicle and the wheel speed detected by the wheel speed detection unit, and a result of feedback control that eliminates a deviation between the target bend angle and the bend angle detected by the bend angle detection unit.

3. 3. The towing vehicle control device according to claim 2, wherein the bend angle detection unit calculates the bend angle from an azimuth angle of the towing vehicle detected by an inertial measurement unit mounted on the towing vehicle and an azimuth angle of the towed vehicle detected by an inertial measurement unit mounted on the towed vehicle.

4. 3. The towing vehicle control device according to claim 2, wherein the bend angle detection unit calculates the bend angle based on either the position of the towed vehicle in image information acquired by an imaging device mounted on the towing vehicle, or the position of the towing vehicle in image information acquired by an imaging device mounted on the towed vehicle.

5. 5. The towing vehicle control device according to claim 1, wherein the calculation unit calculates the target bend angle when the towing vehicle is traveling while towing the towed vehicle.

6. calculating a target vehicle speed and a target curvature of the towing vehicle from a target vehicle speed and a target curvature of a towed vehicle that is connected to a powered towing vehicle by a coupling portion that is a universal joint and that can travel together with the towing vehicle; calculating a target bend angle, which is a target value of the bend angle between the traveling direction of the towing vehicle and the traveling direction of the towed vehicle, based on the target curvature of the towed vehicle; generating a power control signal for the towing vehicle based on a target vehicle speed of the towing vehicle, a target curvature of the towing vehicle, and the target turn angle; controlling the power of the towing vehicle in accordance with the control signal; A towing vehicle control method comprising:

7. Computer, a towing vehicle control program which causes a calculation unit to calculate a target body speed and target curvature of the towing vehicle from a target body speed and target curvature of a towed vehicle which is connected to a powered towing vehicle by a coupling part which is a universal joint and which can travel together with the towing vehicle, and which generates a control signal for the power of the towing vehicle based on a target bend angle which is a target value of the bend angle which is the angle between the traveling direction of the towing vehicle and the traveling direction of the towed vehicle, calculated based on the target curvature of the towed vehicle, the target body speed of the towing vehicle, and the target curvature of the towing vehicle; and a towing vehicle control program which causes the towing vehicle to function as a drive control unit which controls the power of the towing vehicle in accordance with the control signal.

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