Towing vehicle equipment

Abstract

To provide a device for a traction vehicle and a control method of the device for a traction vehicle, each enabling the stability of traction travel of the traction vehicle to be improved even when the traction vehicle having no steering mechanism tows a traction-object vehicle.SOLUTION: Motors 32L, 32R can drive left and right wheels 22L, 22R of a traction vehicle 12, respectively. An ECU 50 estimates the mass of a traction object vehicle 14 by using a detection result of acceleration in the time of acceleration of the traction vehicle 12 in a towing state and a detection result of driving force, and controls the driving force of the left and right wheels 22L, 22R of the traction vehicle 12 by considering the influence by the estimated mass of the traction object vehicle 14 in the time of revolution of the traction vehicle 12 in the towing state.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a towing vehicle device. Place Regarding. [Background technology]

[0002] Patent Document 1 listed below discloses technology related to a vehicle control device mounted on a tractor (towing vehicle) that tows a trailer (towed vehicle). Briefly, this prior art includes a steering angle control unit that controls the steering angle of the tractor's wheels independently of the driver's steering, and a trailer characteristics estimation unit that estimates the trailer's characteristics based on the behavior of the tractor when the wheels are steered by the steering angle control unit. In other words, this prior art estimates the trailer characteristics from the behavior of the tractor when the tractor's wheels are steered. Using the results of this estimation makes it possible to stabilize the tractor's towing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-1473 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above prior art assumes that the tractor has a steering mechanism, and does not address cases where the towing vehicle does not have a steering mechanism.

[0005] In consideration of the above, an object of the present invention is to provide a towing vehicle device and a control method for a towing vehicle device that can improve the stability of towing by a towing vehicle, even when the towing vehicle does not have a steering mechanism and tows a towed vehicle. [Means for solving the problem]

[0006] The towing vehicle device of the present invention as set forth in claim 1 is a towing vehicle device mounted on a towing vehicle having left and right wheels that are not equipped with a steering mechanism and whose angle relative to the vehicle body cannot be changed in a plan view, and includes: a drive unit capable of independently driving each of the left and right wheels of the towing vehicle towing a towed vehicle; an acceleration detection unit that detects the acceleration of the towing vehicle; a drive force detection unit that detects the drive force of the towing vehicle; a mass estimating unit that estimates the mass of the towed vehicle using the detection results from the acceleration detection unit and the drive force detection unit when the towing vehicle accelerates in the towing state; and a control unit that, when the towing vehicle turns in the towing state, generates a difference in drive force between the left and right wheels of the towing vehicle in order to turn the towing vehicle, and controls the drive forces of the left and right wheels of the towing vehicle taking into account the effect of the mass of the towed vehicle estimated by the mass estimating unit. The towing vehicle includes wheel speed sensors that detect the speed of each wheel of the towing vehicle, and torque sensors that detect the torque of each wheel of the towing vehicle, the drive unit being a motor, the acceleration detection unit detecting the acceleration of the towing vehicle using the detection results of the wheel speed sensors, the drive force detection unit detecting the drive force of the towing vehicle using the detection result of the torque sensor, and a yaw inertia moment estimation unit estimating the yaw inertia moment of the towing vehicle in a towing state using the detection results of the wheel speed sensors and the torque sensor when the towing vehicle starts to turn in a towing state, and the control unit controls the drive forces of the left and right wheels of the towing vehicle when the towing vehicle in a towing state is turning, further taking into account the effect of the yaw inertia moment estimated by the yaw inertia moment estimator.

[0007] In addition, the "mass of the towed vehicle" in claim 1 refers to the mass of the towed vehicle when the towed vehicle is carrying objects, etc. (the same applies throughout this specification).

[0008] According to the above configuration, The towing vehicle device is mounted on a towing vehicle that does not have a steering mechanism and has left and right wheels that cannot change their angle relative to the vehicle body in a plan view. Drive unit teeth The left and right wheels of the towing vehicle that tows the towed vehicle can be driven independently. The acceleration detection unit detects the acceleration of the towing vehicle, and the driving force detection unit detects the driving force of the towing vehicle. Furthermore, the mass estimating unit estimates the mass of the towed vehicle using the detection results from the acceleration detection unit and the driving force detection unit when the towing vehicle accelerates in the towing state. Then, the control unit calculates the following when the towing vehicle turns in the towing state: To turn the towing vehicle, a difference in driving force is generated between the left and right wheels of the towing vehicle, and The driving force of the left and right wheels of the towing vehicle is controlled taking into account the influence of the mass of the towed vehicle estimated by the mass estimation unit. , without steering mechanism The towing vehicle's towing operation can be stabilized.

[0010] In addition, this towing vehicle deviceAccording to the document, the drive unit is a motor, wheel speed sensors detect the wheel speed of each towing vehicle wheel, and torque sensors detect the torque of each wheel of the towing vehicle. The acceleration detection unit detects the acceleration of the towing vehicle using the detection results of the wheel speed sensors, and the driving force detection unit detects the driving force of each wheel of the towing vehicle using the detection results of the torque sensor. Therefore, if a wheel speed sensor and a torque sensor are installed to control the motor, the acceleration of the towing vehicle and the driving force of each wheel of the towing vehicle can be detected without the need for additional sensors, thereby stabilizing the towing performance of the towing vehicle.

[0012] In addition, this towing vehicle device According to the disclosure, the yaw moment of inertia estimator estimates the yaw moment of inertia of the towing vehicle in a towing state using the detection results from the wheel speed sensors and torque sensors when the towing vehicle starts to turn in a towing state. Furthermore, the controller controls the drive forces of the left and right wheels of the towing vehicle when the towing vehicle is turning in a towing state, taking into account the influence of the yaw moment of inertia estimated by the yaw moment of inertia estimator. This makes it possible to further improve the stability of the towing vehicle during towing travel without adding any new sensors. [Effects of the Invention]

[0014] As described above, the present invention has the excellent effect of making it possible to improve the stability of the towing vehicle's towing travel, even in a configuration in which a towing vehicle without a steering mechanism tows a towed vehicle. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a simplified plan view showing the general configuration of a combination vehicle including a towing vehicle equipped with a towing vehicle device according to a first embodiment. [Figure 2] FIG. 2 is a simplified perspective view of the towing vehicle of FIG. 1. [Figure 3] 2 is a block diagram showing an example of a hardware configuration of the towing vehicle device of FIG. 1. FIG. [Figure 4]2 is a block diagram showing an example of the functional configuration of an ECU of the towing vehicle device of FIG. 1. FIG. [Figure 5] 2 is a flowchart showing an example of the flow of a travel control process for automatic driving by an ECU of the towing vehicle device of FIG. 1. [Figure 6] 2 is a schematic plan view showing an articulated vehicle when the towing vehicle in FIG. 1 is accelerating. FIG. [Figure 7A] 2 is a schematic plan view showing an articulated vehicle when the towing vehicle in FIG. 1 is turning left. FIG. [Figure 7B] 2 is a schematic plan view showing an articulated vehicle when the towing vehicle in FIG. 1 is turning right. FIG. [Figure 8] 10 is a flowchart showing an example of the flow of a control process for autonomous driving by an ECU of a towing vehicle device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] [First embodiment] A towing vehicle device and a method for controlling a towing vehicle device according to a first embodiment of the present invention will be described with reference to the drawings.

[0017] Figure 1 shows a simplified plan view of the general configuration of an articulated vehicle 10 including a towing vehicle 12 equipped with a towing vehicle device 30 according to this embodiment. The arrow FR shown in Figure 1 indicates the front side of the vehicle (similarly to Figure 2), and the arrow W indicates the width direction of the vehicle. As shown in Figure 1, in the articulated vehicle 10, the towing vehicle 12 tows a towed vehicle 14. The towing vehicle 12 is sometimes referred to as a towing mobility.

[0018] FIG. 2 shows a simplified perspective view of the towing vehicle 12. Note that the arrow UP in FIG. 2 indicates the upward direction of the vehicle. The towing vehicle 12 shown in FIGS. 1 and 2 is an autonomous vehicle, and is used, for example, to travel within a factory and transport parts, etc. The towing vehicle 12 has a body 20 and wheels 22L, 22R arranged on the left and right sides of the body 20, and does not have a steering mechanism. The left and right wheels 22L, 22R are drive wheels that can rotate independently, and are configured so that their angle with respect to the body 20 cannot be changed in plan view.

[0019] The towing vehicle 12 is also provided with motors 32L, 32R (elements broadly understood as "drive devices") that function as drive units capable of independently driving the left and right wheels 22L, 22R of the towing vehicle 12. The motors 32L, 32R are configured to output torque. The left motor 32L is provided for the left wheel 22L and is capable of driving the left wheel 22L in both forward and reverse directions, while the right motor 32R is provided for the right wheel 22R and is capable of driving the right wheel 22R in both forward and reverse directions. The left and right motors 32L, 32R are independently controllable, and the turning operation of the towing vehicle 12 can be controlled by varying the torque of the left and right motors 32L, 32R. The braking and driving operation of the towing vehicle 12 can be controlled by changing the rotational speed of the motors 32L, 32R.

[0020] As shown in FIG. 1, the towing vehicle 12 is also provided with wheel speed sensors 34L, 34R (shown as blocks in FIG. 1) that detect the wheel speeds of the towing vehicle 12 (the rotational speeds of the wheels 22L, 22R). The left wheel speed sensor 34L detects the rotational speed of the left wheel 22L, and the right wheel speed sensor 34R detects the rotational speed of the right wheel 22R. The towing vehicle 12 is also provided with torque sensors 36L, 36R (shown as blocks in FIG. 1) that detect the torque of the wheels 22L, 22R of the towing vehicle 12. The left torque sensor 36L detects the torque of the left wheel 22L, and the right torque sensor 36R detects the torque of the right wheel 22R. The detected torque values ​​of the wheels 22L, 22R of the towing vehicle 12 may alternatively be calculated from the current values ​​of the motors 32L, 32R.

[0021] As shown in Figure 1, the towed vehicle 14 connected to the towing vehicle 12 has a bed 24 and wheels 26L, 26R arranged on the left and right sides of the bed 24. In Figure 1, as an example, the wheels 26L, 26R are arranged only on the left and right sides of the rear of the bed 24, but they may also be similarly provided on the left and right sides of the front of the bed 24. The towed vehicle 14 is also sometimes called a dolly, trailer, etc.

[0022] The connection 16 between the towing vehicle 12 and the towed vehicle 14 includes a hitch 17 provided on the towing vehicle 12, a bracket 19 provided on the towed vehicle 14, and a connecting shaft 18 connecting the hitch 17 and the bracket 19. As an example, the hitch 17 and connecting shaft 18 are part of the towing vehicle 12, and the bracket 19 is part of the towed vehicle 14. The hitch 17 is fixed to the center of the rear end of the body 20 of the towing vehicle 12 in the vehicle width direction and extends toward the rear of the body. The bracket 19 is fixed to the center of the front end of the bed 24 of the towed vehicle 14 in the vehicle width direction and extends toward the front of the body. The connecting shaft 18 is disposed at the rear end of the hitch 17 with its axis directed up and down, and connects the hitch 17 and the bracket 19 rotatably about the axis in the up and down direction.

[0023] An example of the hardware configuration of the towing vehicle device 30 according to this embodiment is shown in block diagram in Figure 3. As shown in Figure 3, the towing vehicle device 30 includes the motors 32L, 32R, wheel speed sensors 34L, 34R, and torque sensors 36L, 36R described above, as well as a GPS (Global Positioning System) device 42, a map information storage unit 44, a surrounding conditions sensor 46, a user interface (abbreviated as "user I / F" in Figure 3) 48, and an ECU (Electrical Control Unit) 50.

[0024] The GPS device 42 acquires the current position of the towing vehicle 12. A map database is stored in the map information storage unit 44. The surrounding condition sensor 46 detects the surrounding conditions of the combination vehicle 10. The surrounding condition sensor 46 includes, for example, a radar that detects preceding vehicles traveling ahead of the towing vehicle 12 in the direction of travel, and a camera that captures information about the surroundings of the combination vehicle 10.

[0025] The user interface 48 is an interface through which the user operates the tow vehicle device 30. The user interface 48 includes, for example, at least one of a liquid crystal display equipped with a touch panel that allows the user to perform touch operations, and a voice input receiving unit that receives voice input from the user.

[0026] The ECU 50 performs automatic driving control processing that causes the towing vehicle 12 to travel automatically. Note that the ECU 50 is shown in block form in FIG. 1. As shown in FIG. 3, the ECU 50 is configured to include a CPU (Central Processing Unit: processor) 50A, a ROM (Read Only Memory) 50B, a RAM (Random Access Memory) 50C, a storage 50D, a communication interface (abbreviated as "communication I / F" in FIG. 3) 50E, and an input / output interface (abbreviated as "input / output I / F" in FIG. 3) 50F. The CPU 50A, ROM 50B, RAM 50C, storage 50D, communication interface 50E, and input / output interface 50F are connected to each other via a bus 50Z so as to be able to communicate with each other.

[0027] The CPU 50A is a central processing unit that executes various programs and controls each component. That is, the CPU 50A reads programs from the ROM 50B or storage 50D and executes the programs using the RAM 50C as a work area. The CPU 50A controls the above components and performs various arithmetic operations in accordance with the programs recorded in the ROM 50B or storage 50D.

[0028] ROM 50B stores various programs and various data. RAM 50C temporarily stores programs or data as a work area. Storage 50D is configured with a storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive), and stores various programs and various data. In this embodiment, ROM 50B or storage 50D stores an autonomous driving cruise control program and the mass of the towing vehicle 12. Storage 50D also stores predetermined vehicle control parameters (e.g., the mass of the towed vehicle 14, the yaw moment of inertia of the towing vehicle 12 in towing mode, etc.).

[0029] Here, a supplementary explanation will be given regarding the predetermined vehicle control parameters. For example, when a target driving mode is to be achieved using the motors 32L, 32R, the current values ​​required for the motors 32L, 32R vary depending on, for example, the mass of the towed vehicle 14 and the yaw moment of inertia of the towing vehicle 12 in the towing state. Therefore, in this embodiment, in order to calculate the current values ​​required for the motors 32L, 32R, for example, the mass of the towed vehicle 14 and the yaw moment of inertia of the towing vehicle 12 in the towing state are stored as updatable parameters in the storage 50D. Note that when the towing vehicle 12 is delivered to the user, the parameters are set to, for example, temporary initial values.

[0030] The communication interface 50E is an interface for communicating with other devices such as a mobile terminal (not shown), etc. For this communication, a wireless communication standard such as 4G, 5G, or Wi-Fi (registered trademark) is used.

[0031] The input / output interface 50F is an interface for communicating with each device mounted on the towing vehicle 12. In this embodiment, the motors 32L, 32R, wheel speed sensors 34L, 34R, torque sensors 36L, 36R, GPS device 42, map information storage unit 44, surrounding condition sensor 46, and user interface 48 are connected to the ECU 50 via the input / output interface 50F, for example. Note that the motors 32L, 32R, wheel speed sensors 34L, 34R, torque sensors 36L, 36R, GPS device 42, map information storage unit 44, surrounding condition sensor 46, and user interface 48 may also be directly connected to the bus 50Z.

[0032] Fig. 4 is a block diagram showing an example of the functional configuration of ECU 50. As shown in Fig. 4, ECU 50 has, as its functional configuration, an acceleration detection unit 501, a driving force detection unit 502, a mass estimation unit 503, a yaw moment of inertia estimation unit 504, and a control unit 505. Each functional configuration is realized by CPU 50A reading and executing a program (the aforementioned autonomous driving driving control program) stored in ROM 50B or storage 50D.

[0033] The acceleration detection unit 501 detects the acceleration a of the towing vehicle 12. Here, the acceleration detection unit 501 of this embodiment detects the acceleration a of the towing vehicle 12 using the detection results of the wheel speed sensors 34L, 34R. Supplementally, as an example, the acceleration detection unit 501 calculates the average left and right wheel speed ω from the detection results of the wheel speed sensors 34L, 34R, multiplies this wheel speed ω by the tire radius R to calculate the vehicle speed V, and then calculates (detects) the acceleration a by differentiating this vehicle speed V. Note that the tire radius R refers to the dynamic load radius of the wheels 22L, 22R. The tire radius R of the left and right wheels 22L, 22R is the same and is stored in advance in the ROM 50B or the storage 50D.

[0034] The driving force detection unit 502 detects the driving force F of the towing vehicle 12. Here, the driving force detection unit 502 of this embodiment detects the driving force F of the towing vehicle 12 using the detection results of the torque sensors 36L, 36R. Additionally, as an example, the driving force detection unit 502 calculates (detects) the driving force F by dividing the total value Tm obtained by adding the detection value TL from the left torque sensor 36L and the detection value TR from the right torque sensor 36R by the tire radius R of the wheels 22L, 22R.

[0035] The mass estimating unit 503 estimates the mass m2 of the towed vehicle 14 using the detection results from the acceleration detecting unit 501 and the driving force detecting unit 502 when the towing vehicle 12 is accelerating in the towing state. In other words, the mass estimating unit 503 calculates the mass m of the combination vehicle 10 from the relational expression F=ma using the acceleration a and driving force F, and then estimates the mass m2 of the towed vehicle 14 by subtracting the mass m1 of the towing vehicle 12 from the mass m of the combination vehicle 10. The mass of the towed vehicle 14 is one of the vehicle control parameters, and the mass m2 of the towed vehicle 14 estimated by the mass estimating unit 503 is stored in the storage 50D.

[0036] The yaw moment of inertia estimator 504 estimates the yaw moment of inertia I of the towing vehicle 12 in a towing state using the detection results from the wheel speed sensors 34L, 34R and the torque sensors 36L, 36R when the towing vehicle 12 in a towing state starts to turn (when the towing vehicle 12 in a towing state starts to turn from straight ahead traveling). Supplementally, when the towing vehicle 12 in a towing state starts to turn, the yaw moment of inertia estimator 504 calculates the yaw angular acceleration YR_dot using the detection results from the wheel speed sensors 34L, 34R, calculates the yaw moment T of the towing vehicle 12 (torque about the center of gravity of the towing vehicle 12) using the detection results from the torque sensors 36L, 36R, and estimates the yaw moment of inertia I of the towing vehicle 12 in a towing state from the yaw angular acceleration YR_dot and the yaw moment T. The yaw moment of inertia of the towing vehicle 12 in the towing state is one of the vehicle control parameters, and the yaw moment of inertia I of the towing vehicle 12 in the towing state estimated by the mass estimator 503 is stored in the storage 50D.

[0037] When the towing vehicle 12 turns in the towing state, the control unit 505 controls the drive forces of the left and right wheels 22L, 22R of the towing vehicle 12, taking into consideration the influence of the mass m2 of the towed vehicle 14 estimated by the mass estimating unit 503. Furthermore, when the towing vehicle 12 turns in the towing state, the control unit 505 controls the drive forces of the left and right wheels 22L, 22R of the towing vehicle 12, taking into consideration the influence of the yaw moment of inertia I estimated by the yaw moment of inertia estimating unit 504.

[0038] (Actions and Effects) Next, the operation of the towing vehicle device 30 will be described.

[0039] 5 is a flowchart showing an example of the flow of the automatic driving cruise control process by the ECU 50. The CPU 50A reads an automatic driving cruise control program from the ROM 50B or storage 50D, expands it into the RAM 50C, and executes it, thereby performing the automatic driving cruise control process by the ECU 50. For example, when the ECU 50 receives a command to start the automatic driving of the towing vehicle 12, the execution of the automatic driving cruise control process shown in FIG.

[0040] First, the CPU 50A instructs the motors 32L, 32R to start the towing vehicle 12 and accelerate it at a target acceleration (see arrow A in FIG. 6) (step S100). That is, the CPU 50A outputs a current command value corresponding to the target acceleration to the motors 32L, 32R. As a result, the motors 32L, 32R shown in FIG. 6 generate a torque (shown by arrow T) corresponding to the current command value. R 1. T L (See 1)

[0041] Next, in step S102 shown in FIG. 5, the CPU 50A obtains the detected wheel speed values ​​from the wheel speed sensors 34L, 34R to calculate (detect) the acceleration a of the towing vehicle 12, and obtains the detected torque values ​​of each wheel 22L, 22R from the torque sensors 36L, 36R to calculate (detect) the driving force F.

[0042] Specifically, in step S102, the CPU 50A calculates the average left and right wheel speed ω from the detection results of the wheel speed sensors 34L, 34R, multiplies the wheel speed ω by the tire radius R to calculate the vehicle speed V, and differentiates the vehicle speed V to calculate (detect) the acceleration a of the towing vehicle 12. Also in step S102, the CPU 50A calculates (detects) the driving force F by dividing the sum Tm obtained by adding the detection value TL from the left torque sensor 36L and the detection value TR from the right torque sensor 36R by the tire radius R of the wheels 22L, 22R.

[0043] Next, the CPU 50A calculates the mass m of the combination vehicle 10 from the relational expression F=ma using the acceleration a and driving force F calculated in step S102, and then estimates the mass m2 of the towed vehicle 14 by subtracting the mass m1 of the towing vehicle 12 from the mass m of the combination vehicle 10 (step S104). Note that, if an object or the like is loaded on the towed vehicle 14, the mass m2 of the towed vehicle 14 refers to the mass of the towed vehicle 14 with the object or the like loaded.

[0044] Next, the CPU 50A instructs the motors 32L, 32R to perform automatic driving toward the destination point (step S106). Note that in step S106, before instructing the motors 32L, 32R, the CPU 50A calculates, for example, the current values ​​required for the motors 32L, 32R using vehicle control parameters.

[0045] Next, the CPU 50A determines whether the command given to the motors 32L, 32R in step S106 is the first command for turning (step S108). Note that the "command for turning" refers to a command given to the left and right motors 32L, 32R so as to generate a difference in driving force between the left and right wheels 22L, 22R of the towing vehicle 12 in accordance with the target turning trajectory.

[0046] If the instruction to the motors 32L, 32R is not for the first turn (step S108: N), the CPU 50A proceeds to the process of step S116 (described below). If the instruction to the motors 32L, 32R is for the first turn (step S108: Y), the CPU 50A obtains detected wheel speed values ​​from the wheel speed sensors 34L, 34R and calculates the yaw angular acceleration YR_dot (see arrow B in FIG. 7A and arrow C in FIG. 7B) when the towing vehicle 12 in the towing state starts to turn (when the towing vehicle 12 in the towing state starts to turn from straight ahead traveling), and obtains detected torque values ​​of the wheels 22L, 22R from the torque sensors 36L, 36R and calculates the yaw moment T of the towing vehicle 12 (step S110). When yaw moment T is applied, a lateral force (see arrow D in Figure 7A and arrow E in Figure 7B) acts on the connecting portion between hitch 17 and bracket 19 at connecting portion 16 (the portion connected by connecting shaft 18) in the direction of travel of towing vehicle 12.

[0047] In step S110, the CPU 50A calculates the yaw angular acceleration YR_dot as follows: First, the CPU 50A calculates the moving speed VR of the right wheel 22R using the following (Equation 1), and calculates the moving speed VL of the left wheel 22L using the following (Equation 2). The moving speed of the right wheel 22R, VR = right wheel speed ωr × tire radius R (Equation 1) The moving speed of the left wheel 22L, VL = left wheel speed ωl × tire radius R (Equation 2) Next, the CPU 50A calculates the yaw rate YR using the following (Equation 3). Yaw rate YR = (movement speed VR of right wheel 22R - movement speed VL of left wheel 22L) ÷ tread (Equation 3) The tread is the distance between the centers of the tire contact surfaces of the left and right wheels 22L and 22R (see symbol X in FIG. 7A). Finally, the CPU 50A differentiates the yaw rate YR to calculate the yaw angular acceleration YR_dot.

[0048] Furthermore, in step S110, the CPU 50A calculates the yaw moment T of the towing vehicle 12 using the following (Equation 4). T = (torque TR of right wheel 22R / tire radius R) × tread / 2 - (torque TL of left wheel 22L / tire radius R) × tread / 2 (Equation 4) The torque TR of the right wheel 22R is indicated by the arrow T in FIG. R 2. Arrow T in Figure 7B R 3. The torque TL of the left wheel 22L is indicated by the arrow T L 2. Arrow T in Figure 7B L Please refer to 3.

[0049] Next, the CPU 50A uses the calculated values ​​of the yaw angular acceleration YR_dot and the yaw moment T calculated in step S110 to estimate the yaw moment of inertia I of the towing vehicle 12 in the towing state from the relationship in Equation 5 below (step S112). T=I×YR_dot...(Formula 5)

[0050] Next, the CPU 50A changes the vehicle control parameters based on the mass m2 of the towed vehicle 14 estimated in step S104 and the yaw moment of inertia I of the towing vehicle 12 in the towing state estimated in step S112 (step S114). That is, the values ​​of the mass of the towed vehicle 14 and the yaw moment of inertia I of the towing vehicle 12 in the towing state, which were stored as parameters in the storage 50D, are updated to the characteristic values ​​estimated in step S104 and step S112, respectively. After executing the process of step S114, the CPU 50A returns to step S106 and executes the processes from step S106 onwards.

[0051] In step S116, the CPU 50A determines whether to end the autonomous driving. The CPU 50A determines to end the autonomous driving when, for example, the towing vehicle 12 reaches the destination. If the CPU 50A determines not to end the autonomous driving (step S116: N), the CPU 50A repeats the processing from step S106 onwards. If the CPU 50A determines to end the autonomous driving (step S116: Y), the CPU 50A ends the processing based on the autonomous driving travel control program.

[0052] In addition, to provide additional explanation about the processing for automatic driving in step S106 described above, for example, when the towing vehicle 12 in a towing state turns, the CPU 50A uses vehicle control parameters to calculate the current value required for the motors 32L, 32R, taking into consideration the influence of the mass of the towed vehicle 14 and the influence of the yaw moment of inertia of the towing vehicle 12 in a towing state, and controls the driving force of the left and right wheels 22L, 22R of the towing vehicle 12.

[0053] As described above, according to this embodiment, the drive forces of the left and right wheels 22L, 22R of the towing vehicle 12 can be controlled taking into consideration the influence of the mass of the towed vehicle 14 and the influence of the yaw moment of inertia of the towing vehicle 12 in the towing state. Therefore, according to this embodiment, even if the towing vehicle 12 that tows the towed vehicle 14 does not have a steering mechanism, it is possible to improve the stability of the towing vehicle 12 during towing.

[0054] Furthermore, in this embodiment, the mass m2 of the towed vehicle 14 and the yaw moment of inertia I of the towing vehicle 12 in the towing state are estimated using the wheel speed sensors 34L, 34R and torque sensors 36L, 36R required for controlling the motors 32L, 32R. Therefore, it is possible to control the towing travel of the towing vehicle 12 in accordance with the mass of the towed vehicle 14 and the yaw moment of inertia I of the towing vehicle 12 in the towing state, without having to add new sensors that directly detect, for example, yaw rate or lateral acceleration.

[0055] [Second embodiment] Next, a second embodiment will be described using Figure 8 while also reusing Figures 1 to 4. The hardware configuration of the towing vehicle device of this embodiment is similar to the hardware configuration of the towing vehicle device 30 of the first embodiment (see Figure 3), so Figure 3 will be used and illustrations and detailed explanations will be omitted. Furthermore, the functional configuration of the ECU 50 of this embodiment (see Figure 4) is similar to the functional configuration of the ECU 50 of the first embodiment, so Figure 4 will be used and illustrations and detailed explanations will be omitted.

[0056] In this embodiment, the ROM 50B or the storage 50D stores a control program for autonomous driving, which is a different program, instead of the autonomous driving control program described in the first embodiment. This control program for autonomous driving is a program that includes control of a test drive for parameter acquisition. In this embodiment, by reading and executing the control program for autonomous driving stored in the ROM 50B or the storage 50D, the functional configurations of the acceleration detection unit 501, the driving force detection unit 502, the mass estimation unit 503, the yaw moment of inertia estimation unit 504, and the control unit 505 shown in FIG. 4 are realized.

[0057] Figure 8 is a flowchart showing an example of the flow of the control process for autonomous driving by the ECU 50 of this embodiment. The control process for autonomous driving by the ECU 50 is performed by the CPU 50A reading a control program for autonomous driving from the ROM 50B or storage 50D, expanding it into the RAM 50C, and executing it. For example, when the ECU 50 receives a command to start autonomous driving of the towing vehicle 12 of this embodiment, execution of the control process for autonomous driving shown in Figure 8 is started. Note that in the flowchart shown in Figure 8, steps that are substantially the same as those in the flowchart of the first embodiment (see Figure 5) are assigned the same step numbers, and explanations thereof will be omitted as appropriate.

[0058] 8, first, the CPU 50A executes the processes of step S100, step S102, and step S104 in this order. Next, the CPU 50A instructs the motors 32L, 32R to make a predetermined turn with the towing vehicle 12 (step S109). Additionally, the CPU 50A instructs the left and right motors 32L, 32R, respectively, to generate a difference in driving force between the left and right wheels 22L, 22R of the towing vehicle 12 in accordance with a turning trajectory that has been set in advance for the test run.

[0059] Next, the CPU 50A executes the processes of step S110, step S112, and step S114 in this order. Next, the CPU 50A instructs the motors 32L, 32R to perform automatic driving toward the destination point (step S115). Note that step S115 is the same step as step S106 in the first embodiment (see FIG. 5), but is given a different step number here for convenience.

[0060] After step S115, the CPU 50A determines whether to end the autonomous driving (step S116). If the CPU 50A determines not to end the autonomous driving (step S116: N), the CPU 50A repeats the processing from step S115 onwards. If the CPU 50A determines to end the autonomous driving (step S116: Y), the CPU 50A ends the processing based on the control program for the autonomous driving.

[0061] As described above, the second embodiment also makes it possible to control the drive forces of the left and right wheels 22L, 22R of the towing vehicle 12, taking into consideration the influence of the mass of the towed vehicle 14 and the influence of the yaw moment of inertia of the towing vehicle 12 in the towing state. Therefore, the second embodiment makes it possible to improve the stability of the towing travel of the towing vehicle 12, even when the towing vehicle 12 does not have a steering mechanism and tows the towed vehicle 14. Furthermore, the second embodiment makes it possible to acquire vehicle control parameters during the test drive stage, thereby making it possible to stabilize the towing travel of the towing vehicle 12 when the towing vehicle 12 is autonomously driven toward the destination after the test drive.

[0062] [Supplementary explanation of the embodiment] As a modification of the first and second embodiments shown in FIGS. 1 to 8, the towing vehicle may be a vehicle that can switch between automatic and manual operation, and may be configured to estimate the mass (m2) of the towed vehicle (14) and the yaw moment of inertia (I) of the towing vehicle in the towing state during manual operation of the towing vehicle, and update the vehicle control parameters.

[0063] Furthermore, in the first and second embodiments described above, the towing vehicle 12 is used to travel within a factory and transport parts, etc., but the towing vehicle may also be used to travel in areas other than the factory and deliver items other than parts, etc.

[0064] Furthermore, in the first and second embodiments, the towing vehicle 12 has two wheels 22L, 22R, one on each side. However, as a modification of the first and second embodiments, the towing vehicle may have an auxiliary wheel on the rear side of the center of the vehicle width direction of the body (20) in addition to the left and right wheels (22L, 22R).

[0065] In the first and second embodiments, the driving units are the motors 32L and 32R. As a reference example that is not an embodiment of the present invention, The drive unit that drives the wheels may be a drive unit other than a motor.

[0066] Also, Reference Example Not an Embodiment of the Invention Alternatively, the acceleration detection unit may be an acceleration sensor that detects the acceleration of the towing vehicle (12) without using the detection results of the wheel speed sensors (34L, 34R). Reference Example Not an Embodiment of the Invention Alternatively, the driving force detection unit may detect the driving force of the towing vehicle (12) without using the detection results of the torque sensors (36L, 36R).

[0067] Furthermore, in the first and second embodiments, the yaw moment of inertia estimation unit 504 is provided. As a reference example that is not an embodiment of the present invention, A configuration without the yaw moment of inertia estimator 504 is also possible.

[0068] In addition, various processors other than a CPU may execute the processes executed by the CPU 50A shown in FIG. 3 after reading software (programs) in the above embodiments. Examples of processors in this case include programmable logic devices (PLDs) such as field-programmable gate arrays (FPGAs), whose circuit configuration can be changed after fabrication, and dedicated electrical circuits such as application-specific integrated circuits (ASICs), which are processors with circuit configurations specifically designed to execute specific processes. Each process may be executed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs, or a combination of a CPU and an FPGA). The hardware structure of these various processors is, more specifically, an electrical circuit that combines circuit elements such as semiconductor devices.

[0069] The programs described in the above embodiments may be provided in a form recorded on a recording medium such as a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versatile Disc Read Only Memory), a USB (Universal Serial Bus) memory, etc. The programs may also be downloaded from an external device via a network.

[0070] The above-described embodiment and the above-described modified examples can be implemented in appropriate combinations.

[0071] The above describes one example of the present invention, but the present invention is not limited to the above, and it goes without saying that the present invention can be implemented in various modified forms within the scope of the gist of the present invention. [Explanation of symbols]

[0072] 12 Towing vehicle 14 Towed vehicle 20 Body 22L,22R wheels 30 Towing vehicle equipment 32L, 32R motor (drive unit) 34L, 34R wheel speed sensor 36L, 36R torque sensor 501 Acceleration detection unit 502 Driving force detection unit 503 Mass estimation section 504 Yaw moment of inertia estimation unit 505 Control Unit

Claims

[Claim 1] A towing vehicle device mounted on a towing vehicle having left and right wheels that are not equipped with a steering mechanism and whose angle cannot be changed relative to the vehicle body in a plan view, a drive unit capable of independently driving each of the left and right wheels of the towing vehicle that tows the towed vehicle; an acceleration detection unit that detects the acceleration of the towing vehicle; a driving force detection unit that detects the driving force of the towing vehicle; a mass estimation unit that estimates the mass of the towed vehicle using the detection results from the acceleration detection unit and the driving force detection unit when the towing vehicle is accelerating in a towing state; a control unit that generates a difference in driving force between the left and right wheels of the towing vehicle when the towing vehicle turns in a towing state in order to turn the towing vehicle, and controls the driving force of the left and right wheels of the towing vehicle in consideration of the effect of the mass of the towed vehicle estimated by the mass estimating unit; a wheel speed sensor for detecting the speed of each wheel of the towing vehicle; a torque sensor for detecting torque of each wheel of the towing vehicle; Equipped with The drive unit is a motor, the acceleration detection unit detects the acceleration of the towing vehicle using the detection results of the wheel speed sensors; the driving force detection unit detects the driving force of the towing vehicle using the detection result of the torque sensor, a yaw moment of inertia estimation unit that estimates a yaw moment of inertia of the towing vehicle in a towing state using detection results from the wheel speed sensors and the torque sensor when the towing vehicle in a towing state starts to turn, The control unit controls the driving forces of the left and right wheels of the towing vehicle when the towing vehicle turns in a towing state, further taking into account the influence of the yaw moment of inertia estimated by the yaw moment of inertia estimation unit.

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