Vehicle control device, control method for vehicle control device, and control program for vehicle control device

Abstract

To provide a vehicle control device, a control method for a vehicle control device, and a control program for a vehicle control device capable of suppressing the occurrence of a jackknife phenomenon even when a towing vehicle is braked in a state in which a bending angle is formed in a connection part between the towing vehicle and a towed vehicle.SOLUTION: An ECU 50 of a towing vehicle 12 estimates a yaw moment with respect to the towing vehicle 12 during braking of the towing vehicle 12, using respective detection results obtained by a rotation angle sensor 38 and a load sensor 40, and calculates a left-right difference in braking force of the towing vehicle 12 so as to suppress the yaw moment. The ECU 50 controls left and right braking forces of the towing vehicle 12 on the basis of the calculation result.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 listed below discloses a braking force control device for articulated vehicles. Briefly, this braking force control device includes a means for calculating a total braking force according to the amount of brake operation, and a means for controlling the distribution ratio of the total braking force to the towed vehicle when braking while traveling downhill, so that it is increased by a percentage according to the gradient of the downhill slope compared to a reference value on a flat road. This braking force control device increases the distribution ratio of the total braking force to the towed vehicle when braking while traveling downhill, thereby preventing the occurrence of jackknife on downhill roads. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-278019 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the jackknife phenomenon can occur not only on downhill roads but also when the towing vehicle is braked with a bend at the connection between the towing vehicle and the towed vehicle, so there is room for improvement in the above-mentioned prior art.

[0005] Taking the above facts into consideration, the present invention aims to provide a vehicle control device, a control method for a vehicle control device, and a control program for a vehicle control device that can suppress the occurrence of a jackknife phenomenon even when the towing vehicle is braked when there is a bend angle at the connection between the towing vehicle and the towed vehicle. [Means for solving the problem]

[0006] The vehicle control device of the present invention described in claim 1 comprises: This is an autonomous vehicle that does not have a steering mechanism, has one wheel on each side that cannot change its angle relative to the vehicle body in a plan view, and travels along a planned course based on planned travel information stored in advance in a memory unit. The towed vehicle is connected to the towing vehicle. At the connection between the towing vehicle and the towed vehicle, a hitch fixed to the towing vehicle and a bracket fixed to the towed vehicle are connected to each other so as to be rotatable about the axis of a connecting shaft extending in the vertical direction. Applied to articulated vehicles, the left and right of the towing vehicle The aforementioned a braking / driving force detection unit that detects the braking / driving force of each wheel of the towing vehicle; and a mass estimation unit that estimates the mass of the towed vehicle. The aforementioned an angle detection unit that detects the bending angle of the connecting portion; a wheel speed detection unit that detects the wheel speed of each wheel of the towing vehicle, and a braking force is applied to each wheel of the towing vehicle so as to achieve a target deceleration calculated based on information including: a wheel speed detection unit that detects the wheel speed of each wheel of the towing vehicle; the detection results by the wheel speed detection unit; position information of the current position of the towing vehicle; and position information of an immediate target position determined based on the travel schedule information; and the angle detection unit in detection If the determined turn angle deviates from the required turn angle of the towing vehicle determined based on the current target point, The mass estimator of Estimation result and the target deceleration of the towing vehicle, calculates the force with which the towed vehicle pushes the towing vehicle from the rear, and based on the calculated pushing force and the distance from the axle of the towing vehicle to the center of the connecting shaft, The towing vehicle includes a yaw moment estimation unit that estimates a yaw moment relative to the towing vehicle, a calculation unit that calculates a difference in braking force between the left and right sides of the towing vehicle so as to suppress the yaw moment estimated by the yaw moment estimation unit, and a control unit that controls the braking forces on the left and right sides of the towing vehicle based on the calculation result of the calculation unit and using the detection result of the braking / driving force detection unit.

[0007] The "driving / braking force" in claim 1 refers to the force that accelerates or decelerates the towing vehicle, and includes both the braking force that decelerates the towing vehicle and the driving force that accelerates the towing vehicle (the same applies hereinafter in this specification). Also, the "mass of the towed vehicle" in claim 1 refers to the mass of the towed vehicle with the object or objects loaded on it, if any (the same applies hereinafter in this specification).

[0008] According to the above configuration, the vehicle control device This is an autonomous vehicle that does not have a steering mechanism, has one wheel on each side that cannot change its angle relative to the vehicle body in a plan view, and travels along a planned course based on planned travel information stored in advance in a memory unit. The towed vehicle is connected to the towing vehicle. At the connection between the towing vehicle and the towed vehicle, a hitch fixed to the towing vehicle and a bracket fixed to the towed vehicle are connected to each other so as to be rotatable about the axis of the connecting shaft in the vertical direction. The towing vehicle is fitted with a braking / driving unit that applies braking / driving force independently to each of the left and right wheels of the towing vehicle. The braking / driving force detection unit detects the braking / driving force of each wheel of the towing vehicle, the mass estimation unit estimates the mass of the towed vehicle, and the angle detection unit detects the bending angle at the joint between the towing vehicle and the towed vehicle. The wheel speed detection unit detects the wheel speed of each of the towing vehicles. moreover, the yaw moment estimating unit applies braking force to each wheel of the towing vehicle so as to achieve a target deceleration calculated based on information including the detection results by the wheel speed detecting unit, position information of the towing vehicle's current position, and position information of an immediate target position determined based on the travel schedule information, and Angle detection unit in detection If the determined turning angle deviates from the required turning angle of the towing vehicle determined based on the current target point, Mass estimation part of Estimation result and the target deceleration of the towing vehicle, the force with which the towed vehicle pushes the towing vehicle from the rear side is calculated, and based on the calculated pushing force and the distance from the axle of the towing vehicle to the center of the connecting shaft, Yaw moment relative to the towing vehicle of The calculation unit calculates the difference in braking force between the left and right sides of the towing vehicle so as to suppress the yaw moment estimated by the yaw moment estimation unit. The control unit then controls the braking forces on the left and right sides of the towing vehicle based on the calculation result of the calculation unit and the detection results of the braking / driving force detection unit. This makes it possible to control the bending angle at the connection between the towing vehicle and the towed vehicle when braking the towing vehicle, thereby suppressing the occurrence of jackknife effects.

[0011] Claim 2 The vehicle control device of the present invention described in claim 1 to In the described configuration, the control unit controls the left and right braking forces of the towing vehicle so that the change gradient, which is the amount of change per unit time in each of the left and right braking forces of the towing vehicle, does not exceed a predetermined upper limit gradient.

[0012] With the above configuration, the control unit controls the left and right braking forces of the towing vehicle so that the change gradient, which is the amount of change per unit time in each of the left and right braking forces of the towing vehicle, does not exceed a preset upper gradient limit. This makes it possible to suppress the sudden generation of an anti-yaw moment, which is a force in the opposite direction to the yaw moment applied to the towing vehicle, and allows the towing vehicle to travel stably.

[0013] The control method for a vehicle control device according to the present invention as set forth in claim 3 comprises: This is an autonomous vehicle that does not have a steering mechanism, has one wheel on each side that cannot change its angle relative to the vehicle body in a plan view, and travels along a planned course based on planned travel information stored in advance in a memory unit. The towed vehicle is connected to the towing vehicle. At the connection between the towing vehicle and the towed vehicle, a hitch fixed to the towing vehicle and a bracket fixed to the towed vehicle are connected to each other so as to be rotatable about the axis of a connecting shaft extending in the vertical direction. Applied to articulated vehicles, the left and right of the towing vehicle The aforementioned a braking / driving force detection unit that detects the braking / driving force of each wheel of the towing vehicle; and a mass estimation unit that estimates the mass of the towed vehicle. The aforementioned an angle detection unit that detects the bending angle of the connecting portion; a wheel speed detection unit for detecting the speed of each wheel of the towing vehicle; In a vehicle control device comprising: a braking force is applied to each wheel of the towing vehicle so as to achieve a target deceleration calculated based on information including the detection result by the wheel speed detection unit, position information of the current position of the towing vehicle, and position information of an immediate target point determined based on the travel schedule information; and the angle detection unit in detection If the determined turn angle deviates from the required turn angle of the towing vehicle determined based on the current target point, The mass estimator of Estimation result and the target deceleration of the towing vehicle, calculates the force with which the towed vehicle pushes the towing vehicle from the rear, and based on the calculated pushing force and the distance from the axle of the towing vehicle to the center of the connecting shaft,The present invention also includes estimating the yaw moment relative to the towing vehicle, calculating a difference between the left and right braking forces of the towing vehicle so as to suppress the estimated yaw moment, and controlling the left and right braking forces of the towing vehicle based on the calculation results and the detection results from the braking / driving force detection unit. Therefore, as with the invention of claim 1, it is possible to control the bending angle of the joint between the towing vehicle and the towed vehicle when braking the towing vehicle, and it is possible to suppress the occurrence of jackknife.

[0014] The control program for the vehicle control device of the present invention described in claim 4 is This is an autonomous vehicle that does not have a steering mechanism, has one wheel on each side that cannot change its angle relative to the vehicle body in a plan view, and travels along a planned course based on planned travel information stored in advance in a memory unit. The towed vehicle is connected to the towing vehicle. At the connection between the towing vehicle and the towed vehicle, a hitch fixed to the towing vehicle and a bracket fixed to the towed vehicle are connected to each other so as to be rotatable about the axis of a connecting shaft extending in the vertical direction. Applied to articulated vehicles, the left and right of the towing vehicle The aforementioned a braking / driving force detection unit that detects the braking / driving force of each wheel of the towing vehicle; and a mass estimation unit that estimates the mass of the towed vehicle. The aforementioned an angle detection unit that detects the bending angle of the connecting portion; a wheel speed detection unit for detecting the speed of each wheel of the towing vehicle; A computer included in a vehicle control device comprising: a braking force is applied to each wheel of the towing vehicle so as to achieve a target deceleration calculated based on information including the detection result by the wheel speed detection unit, position information of the current position of the towing vehicle, and position information of an immediate target point determined based on the travel schedule information; and the angle detection unit in detection If the determined turn angle deviates from the required turn angle of the towing vehicle determined based on the current target point, The mass estimator of Estimation result and the target deceleration of the towing vehicle, calculates the force with which the towed vehicle pushes the towing vehicle from the rear, and based on the calculated pushing force and the distance from the axle of the towing vehicle to the center of the connecting shaft, The computer executes a process that includes estimating the yaw moment relative to the towing vehicle, calculating a difference between the left and right braking forces of the towing vehicle so as to suppress the estimated yaw moment, and controlling the left and right braking forces of the towing vehicle based on the calculation results and using the detection results from the braking / driving force detection unit. Therefore, when a computer executes the control program for a vehicle control device according to the invention recited in claim 4, the computer implements the control method for a vehicle control device recited in claim 3, and as with the inventions recited in claims 1 and 3, it is possible to control the bending angle of the joint between the towing vehicle and towed vehicle when braking the towing vehicle, thereby suppressing the occurrence of jackknife. [Effects of the Invention]

[0015] As described above, the present invention has the excellent effect of making it possible to suppress the occurrence of jackknife phenomenon even when the towing vehicle is braked with a bend angle at the connection between the towing vehicle and the towed vehicle. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a perspective view showing, in a simplified form, the general configuration of a combination vehicle equipped with a vehicle control device according to an embodiment; [Figure 2] 2 is a block diagram showing an example of a hardware configuration of the vehicle control device of FIG. 1. FIG. [Figure 3] 2 is a block diagram showing an example of a functional configuration of an ECU of the vehicle control device of FIG. 1. [Figure 4] 2 is a flowchart showing an example of the flow of a driving control process performed by an ECU of the vehicle control device of FIG. [Figure 5] 2 is a schematic plan view illustrating the bending angle at the coupling portion of the articulated vehicles in FIG. 1 and the distance between the axle of the towing vehicle and the coupling point. FIG. [Figure 6] 2 is a schematic plan view showing the state of the articulated vehicles in FIG. 1 with a bend angle at the coupling portion and before the towing vehicle is braked. FIG. [Figure 7] 1. FIG. 4 is a schematic plan view showing a state in which the towing vehicle is being braked with a bend angle formed at the coupling section of the coupled vehicles in the vehicle control device of FIG. [Figure 8] FIG. 10 is a schematic plan view showing a comparative example in which the towing vehicle is braked with a bend angle formed at the coupling portion of the combination vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0017] A vehicle control device, a control method for a vehicle control device, and a control program for a vehicle control device according to an embodiment of the present invention will be described with reference to the drawings.

[0018] [Configuration of the embodiment] Figure 1 is a simplified perspective view showing the general configuration of an articulated vehicle 10 equipped with a vehicle control device 30 according to this embodiment. As shown in Figure 1, the vehicle control device 30 is applied to an articulated vehicle 10 in which a towed vehicle 14 is connected to a towing vehicle 12. Note that the arrow FR shown in Figure 1 indicates the front side of the vehicle, the arrow UP indicates the upper side of the vehicle, and the arrow W indicates the width direction of the vehicle.

[0019] The towing vehicle 12 shown in Fig. 1 is an autonomous vehicle, and is used, for example, to travel within a factory and transport parts and the like. 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.

[0020] The towing vehicle 12 is also provided with in-wheel motors (also referred to as "in-wheel motors") 32L, 32R as braking / driving units that apply braking / driving forces independently to the left and right wheels 22L, 22R of the towing vehicle 12. The in-wheel motors 32L, 32R are configured to be able to output torque. The left in-wheel motor 32L is provided on the left wheel 22L and is able to drive the left wheel 22L in both forward and reverse directions, while the right in-wheel motor 32R is provided on the right wheel 22R and is able to drive the right wheel 22R in both forward and reverse directions. The left and right in-wheel motors 32L, 32R are able to be controlled independently, and the turning operation of the towing vehicle 12 can be controlled by setting a difference in torque between the left and right in-wheel motors 32L, 32R. The braking and driving operations of the towing vehicle 12 can be controlled by changing the rotation speeds of the in-wheel motors 32L, 32R.

[0021] The towing vehicle 12 is also provided with wheel speed sensors 34L, 34R as wheel speed detection units 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 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.

[0022] The towed vehicle 14 connected to the towing vehicle 12 is equipped with a cargo bed 24, wheels 26L, 26R arranged on the left and right sides of the front of the cargo bed 24, and wheels 28L, 28R arranged on the left and right sides of the rear of the cargo bed 24. The cargo bed 24 of the towed vehicle 14 is provided with a load sensor (also called a "mass sensor") 40 that detects the mass of a load (not shown) loaded on the cargo bed 24.

[0023] Furthermore, the connection portion 16 between the towing vehicle 12 and the towed vehicle 14 is configured to include a hitch 17 provided on the towing vehicle 12 side, a bracket 19 provided on the towed vehicle 14 side, and a connecting shaft 18 connecting the hitch 17 and the bracket 19. 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 with its axis directed vertically, and connects the hitch 17 and the bracket 19 so that they can rotate about the vertical axis.

[0024] The connector 16 is provided with a rotation angle sensor 38 as an angle detector that detects the bend angle of the connector 16 between the towing vehicle 12 and the towed vehicle 14. The bend angle of the connector 16 between the towing vehicle 12 and the towed vehicle 14 refers to the bend angle θ of the transverse centerline 12CL of the towing vehicle 12 relative to the transverse centerline 14CL of the towed vehicle 14, as shown in FIG.

[0025] An example of a hardware configuration of the vehicle control device 30 according to this embodiment is shown in a block diagram in Fig. 2. As shown in Fig. 2, the vehicle control device 30 includes the in-wheel motors 32L, 32R, wheel speed sensors 34L, 34R, torque sensors 36L, 36R, rotation angle sensor 38, and load sensor 40 described above, as well as a GPS (Global Positioning System) device 42, a map information storage unit 44, a surrounding situation sensor 46, a user interface (abbreviated as "user I / F" in Fig. 2) 48, and an ECU (Electrical Control Unit) 50 as a computer.

[0026] The GPS device 42 acquires the current position of the combination vehicle 10. 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.

[0027] The user interface 48 is an interface used when the user uses the vehicle control 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.

[0028] The ECU 50 performs automatic driving control processing that automatically drives the towing vehicle 12. The ECU 50 includes 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. 2) 50E, and an input / output interface (abbreviated as "input / output I / F" in FIG. 2) 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.

[0029] 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.

[0030] The ROM 50B stores various programs and various data. The RAM 50C temporarily stores programs or data as a work area. The storage 50D is configured with a storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs and various data. Note that data stored in a predetermined area of ​​the storage 50D can be updated using the user interface 48. In this embodiment, the ROM 50B or the storage 50D also stores an autonomous driving cruise control program (an example of a control program for a vehicle control device according to the present invention).

[0031] 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.

[0032] The input / output interface 50F is an interface for communicating with each device mounted on the combination vehicle 10. As an example, the in-wheel motors 32L, 32R, wheel speed sensors 34L, 34R, torque sensors 36L, 36R, rotation angle sensor 38, load sensor 40, GPS device 42, map information storage unit 44, surrounding condition sensor 46, and user interface 48 are connected to the ECU 50 of this embodiment via the input / output interface 50F. Note that the in-wheel motors 32L, 32R, wheel speed sensors 34L, 34R, torque sensors 36L, 36R, rotation angle sensor 38, load sensor 40, GPS device 42, map information storage unit 44, surrounding condition sensor 46, and user interface 48 may be directly connected to the bus 50Z.

[0033] Figure 3 is a block diagram showing an example of the functional configuration of ECU 50. As shown in Figure 3, ECU 50 has, as its functional configuration, a braking / driving force detection unit 501, a mass estimation unit 502, a yaw moment estimation unit 503, a calculation 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.

[0034] The braking / driving force detection unit 501 detects the braking / driving force of each wheel 22L, 22R of the towing vehicle 12. The braking / driving force detection unit 501 detects the braking / driving force of the left wheel 22L by dividing the value detected by the left torque sensor 36L by the tire radius (dynamic load radius) of the left wheel 22L, and detects the braking / driving force of the right wheel 22R by dividing the value detected by the right torque sensor 36R by the tire radius (dynamic load radius) of the right wheel 22R. The tire radii (dynamic load radius) of the wheels 22L, 22R are stored in advance in ROM 50B or storage 50D.

[0035] The mass estimation unit 502 estimates the mass of the towed vehicle 14. The mass estimation unit 502 estimates the mass of the towed vehicle 14 by adding the value detected by the load sensor 40 to the mass of the towed vehicle 14 when no load is loaded. The mass of the towed vehicle 14 when no load is loaded is pre-stored in the ROM 50B or storage 50D.

[0036] The yaw moment estimation unit 503 A braking force is applied to each wheel 22L, 22R of the towing vehicle 12 so as to achieve a target deceleration calculated based on information including the detection results of the wheel speed sensors 34L, 34R, position information of the current location of the towing vehicle 12, and position information of the immediate target location determined based on the travel schedule information, and Rotation angle sensor 38 in detection If the determined turn angle deviates from the required turn angle of the towing vehicle 12 determined based on the current target point, Mass estimation section 502 of Estimation result and the target deceleration of the towing vehicle 12, the force with which the towed vehicle 14 pushes the towing vehicle 12 from the rear side is calculated, and based on the calculated pushing force and the distance L from the axle of the towing vehicle 12 to the center of the connecting shaft 18 (see Figure 5), The yaw moment relative to the towing vehicle 12 is estimated.

[0037] The calculation unit 504 calculates the difference in braking force between the left and right sides of the towing vehicle 12 so as to suppress the yaw moment estimated by the yaw moment estimation unit 503. The calculation unit 504 also calculates a target total braking force based on the detection results from the wheel speed sensors 34L, 34R and the travel schedule of the towing vehicle 12, and when calculating the difference in braking force between the left and right sides of the towing vehicle 12 so as to suppress the yaw moment estimated by the yaw moment estimation unit 503, the calculation unit 504 calculates the braking forces on the left and right sides of the towing vehicle 12 without changing the target total braking force.

[0038] The control unit 505 controls the left and right braking forces of the towing vehicle 12 based on the calculation results of the calculation unit 504 and the detection results of the braking / driving force detection unit 501. The control unit 505 also controls the left and right braking forces of the towing vehicle 12 so that the change gradient, which is the amount of change per unit time in each of the left and right braking forces of the towing vehicle 12, does not exceed a preset upper limit gradient.

[0039] [Actions and Effects of the Embodiments] Next, the operation of the vehicle control device 30 will be described.

[0040] Figure 4 is a flowchart showing an example of the flow of the driving control process performed by the ECU 50. The driving control process is performed by the ECU 50 when the CPU 50A reads a driving control program from the ROM 50B or storage 50D, loads it into the RAM 50C, and executes it. For example, when the ECU 50 receives a command to start driving the towing vehicle 12, the CPU 50A starts executing the control process shown in Figure 4 when it causes the towing vehicle 12 to drive using the driving force of the in-wheel motors 32L, 32R.

[0041] First, the CPU 50A determines an immediate destination point for travel based on the travel schedule information stored in the storage 50D, for example (step S100). The immediate destination point is a point on the planned travel course.

[0042] Next, based on the information about the target point determined in step S100, the CPU 50A determines that the required turning angle θ (see FIG. 5) of the towing vehicle 12 should be θ1, and controls the drive of the in-wheel motors 32L, 32R so that the required turning angle θ of the towing vehicle 12 becomes θ=θ1 (step S101). Note that when the towing vehicle 12 travels straight, θ1=0°, and when the towing vehicle 12 turns, |θ1|>0°. To provide additional information about when the towing vehicle 12 turns, if it is necessary to turn along a target turning trajectory to reach the target point, the turning center and turning radius are uniquely determined, and the required turning angle can be determined.

[0043] Next, the CPU 50A acquires the detection value φ of the rotation angle sensor 38 (step S102). Next, the CPU 50A determines whether or not it is necessary to brake the towing vehicle 12 (step S103). If it is not necessary to brake the towing vehicle 12 (step S103: N), the CPU 50A returns to the processing of step S100. If it is necessary to brake the towing vehicle 12 (step S103: Y), the CPU 50A brakes the towing vehicle 12 by controlling the in-wheel motors 32L, 32R in step S104. Next, the CPU 50A determines whether the detection value φ of the rotation angle sensor 38 deviates from the required bend angle θ1 (i.e., whether or not |θ1-φ|>0[°]) (step S105).

[0044] If the value φ detected by rotation angle sensor 38 does not deviate from the required bending angle θ1 (step S105: N), the CPU 50A proceeds to the process of step S115 (described below). If the value φ detected by rotation angle sensor 38 deviates from the required bending angle θ1 (step S105: Y), the CPU 50A acquires the value of the mass m of the towed vehicle 14 with a load in step S106. That is, in step S106, the CPU 50A adds the value detected by load sensor 40 to the mass of the towed vehicle 14 with no load to acquire an estimated value of the mass m of the towed vehicle 14 with a load.

[0045] Next, the CPU 50A acquires the value of the target deceleration (target negative acceleration) a for the towing vehicle 12 (step S107). The CPU 50A calculates the target deceleration a based on information including the detection results from the wheel speed sensors 34L, 34R and position information for the current position and target point of the towing vehicle 12. The position information for the current position and target point of the towing vehicle 12 can be used to calculate the planned traveling distance from the current position of the towing vehicle 12 to the target point.

[0046] Next, based on the value obtained in step S106 (the value of the mass m of the towed vehicle 14 when loaded with cargo) and the value obtained in step S107 (the value of the target deceleration a of the towing vehicle 12), the CPU 50A calculates the force F that the towed vehicle 14 exerts on the towing vehicle 12 from behind due to the deceleration of the towing vehicle 12, using the formula F=m×a (step S108).

[0047] Next, the CPU 50A calculates the yaw moment (also called "spin moment") M using the formula M=F×L based on the value calculated in step S108 (the value of the force F with which the towed vehicle 14 pushes the towing vehicle 12 from behind) and the distance L (see FIG. 5) between the axle of the towing vehicle 12 and the center (connection point) of the connecting shaft 18 (step S109). In other words, the CPU 50A estimates the yaw moment M.

[0048] Next, the CPU 50A calculates the difference in braking force between the left and right sides of the towing vehicle 12 so as to suppress the yaw moment M calculated in step S109 (step S110). Here, the CPU 50A calculates a target total braking force corresponding to the target deceleration based on the detection results from the wheel speed sensors 34L, 34R and the travel schedule of the towing vehicle 12, and when calculating the difference in braking force between the left and right sides of the towing vehicle 12 so as to suppress the yaw moment M, the CPU 50A calculates the braking forces on the left and right sides of the towing vehicle 12 without changing the target total braking force.

[0049] Next, based on the calculation results in step S110, the CPU 50A controls the left and right braking forces of the towing vehicle 12 to suppress the yaw moment M (step S111). In other words, in step S111, the CPU 50A generates a regenerative braking force so as to generate a force in the opposite direction to the yaw moment M. This makes it possible to control the bend angle θ of the connection portion 16 between the towing vehicle 12 and the towed vehicle 14 when braking the towing vehicle 12, thereby making it possible to suppress the occurrence of a jackknife effect.

[0050] Furthermore, in step S111, the CPU 50A controls the left and right braking forces of the towing vehicle 12 so that the change gradient, which is the amount of change per unit time in each of the left and right braking forces of the towing vehicle 12, does not exceed a preset upper limit gradient. To further explain, in this embodiment, if the change gradient exceeds the upper limit gradient, the CPU 50A limits the change gradient to the upper limit gradient and controls the left and right braking forces of the towing vehicle 12 so that the change gradient gradually approaches the left and right difference in braking force calculated in step S110. This makes it possible to prevent the sudden generation of an anti-yaw moment, which is a force in the opposite direction to the yaw moment M applied to the towing vehicle 12, allowing the towing vehicle 12 to travel stably.

[0051] Next, the CPU 50A acquires the detection value φ of the rotation angle sensor 38 (step S112). Then, the CPU 50A determines whether the detection value φ of the rotation angle sensor 38 matches the required bending angle θ1 (i.e., whether |θ1-φ|=0[°]) (step S113).

[0052] If the detected value φ of the rotation angle sensor 38 does not match the required bend angle θ1 (step S113: N), the CPU 50A returns to the process of step S107. If the detected value φ of the rotation angle sensor 38 matches the required bend angle θ1 (step S113: Y), the CPU 50A continues to control the left and right braking forces of the towing vehicle 12 until it reaches the target point in step S114, and proceeds to the process of step S115.

[0053] In step S115, the CPU 50A determines whether or not the final destination point has been reached. If the final destination point has not been reached (step S115: N), the CPU 50A returns to the processing of step S100. If the final destination point has been reached (step S115: Y), the CPU 50A ends the processing based on the driving control program.

[0054] Here, the control of the bending angle θ of the coupling section 16 shown in Figure 5 will be further explained using schematic plan views of Figures 6 to 8. Note that Figure 8 shows the behavior of a comparative articulated vehicle 100. Possible situations in which the coupling sections 16, 116 of the articulated vehicles 10, 100 will have a bending angle in plan view include when turning, when traveling on a canted road (especially when the load mass of the towed vehicle is large), and when traveling downhill.

[0055] First, as shown in Figure 6, when the towing vehicle 12 travels on a flat road or uphill at a constant speed or at an acceleration in the direction of target trajectory T1 with equal driving force on both sides, with the articulated vehicle 10 having a bend angle at the joint 16, no force is applied to push the towing vehicle 12 from the towed vehicle 14. Therefore, the direction of the actual trajectory Ta of the towing vehicle 12 will be the same as the direction of target trajectory T1. In this way, when the direction of the target trajectory T1 and the direction of the actual trajectory Ta of the towing vehicle 12 are the same, there is no need to take measures to control the bend angle of the joint.

[0056] On the other hand, as shown in Figure 8, if equal braking forces are applied to the left and right sides of a towing vehicle 112 traveling with a bend in the coupling section 116 of a comparative articulated vehicle 100, the towing vehicle 112 will decelerate, but the towed vehicle 114 will attempt to inertially move forward. This causes a pushing force to act on the towing vehicle 112 from the towed vehicle 114 side, generating a yaw moment (see arrow M) that tends to rotate the towing vehicle 112 about its center of gravity 112A. As a result, the towing vehicle 112 will turn to the left of the direction of the target trajectory T3, causing the actual trajectory Tc of the towing vehicle 112 to deviate from the target trajectory T3.

[0057] In contrast, in this embodiment, as shown in Figure 7, when the towing vehicle 12 traveling with a bend angle at the coupling section 16 of the articulated vehicle 10 generates braking force and deviates from the target trajectory T2, the left and right wheels 22L, 22R are controlled to generate an anti-yaw moment (see arrow A) about the center of gravity 12A. That is, in this embodiment, the regenerative braking forces of the left and right wheels 22L, 22R are controlled independently. In the case of Figure 7, the braking force BL on the left wheel 22L is reduced and the braking force BR on the right wheel 22R is increased, thereby generating an anti-yaw moment (see arrow A). This makes it possible to achieve the required bend angle, allowing the towing vehicle 12 to follow the target trajectory T2 (in other words, aligning the actual trajectory Tb of the towing vehicle 12 with the target trajectory T2).

[0058] As described above, according to the present embodiment shown in Figures 1 to 7, it is possible to suppress the occurrence of jackknife phenomenon even when the towing vehicle 12 is braked with a bend angle at the connection portion 16 between the towing vehicle 12 and the towed vehicle 14.

[0059] [Supplementary explanation of the embodiment] In the above embodiment, the towing vehicle 12 is an autonomous vehicle without a driver's seat, but the towing vehicle may also be an autonomous vehicle with a driver's seat. Also, in the above embodiment, the towing vehicle 12 is used to transport parts and the like by traveling within a factory, but the towing vehicle may also be used to deliver goods and the like other than parts by traveling within an area other than a factory.

[0060] Furthermore, in the above embodiment, the calculation unit 504 calculates the target total braking force based on the detection results of the wheel speed sensors 34L, 34R and the travel schedule of the towing vehicle 12, and when calculating the difference in braking force between the left and right sides of the towing vehicle 12 so as to suppress the yaw moment estimated by the yaw moment estimation unit 503, the calculation unit calculates the left and right braking forces of the towing vehicle 12 without changing the target total braking force. However, the calculation unit may also be configured to calculate the left and right braking forces of the towing vehicle 12 by appropriately changing the target total braking force based on surrounding conditions, including weather and traffic conditions, for example.

[0061] Furthermore, in the above embodiment, the control unit 505 controls the left and right braking forces of the towing vehicle 12 so that the change gradient, which is the amount of change per unit time in each of the left and right braking forces of the towing vehicle 12, does not exceed a preset upper limit gradient. Although such a configuration is preferable, it is also possible to adopt a configuration in which an upper limit gradient is not set, taking into account the driving course of the articulated vehicles to which the vehicle control device is applied, etc.

[0062] Furthermore, in the above embodiment, the braking / driving units are in-wheel motors 32L, 32R, but the braking / driving units may also be, for example, braking / driving units in which a motor and a friction brake device work together to apply braking / driving forces independently to each of the left and right wheels (22L, 22R) of the towing vehicle (12).

[0063] Furthermore, in the above embodiment, the angle detection unit is the rotation angle sensor 38 provided at the connecting portion 16 shown in FIG. 1, but the angle detection unit may also be an angle detection unit that includes, for example, an imaging camera provided on the rear surface of the body 20 of the towing vehicle 12 and an image detection device that detects the bending angle of the connecting portion 16 between the towing vehicle 12 and the towed vehicle 14 from image data captured by the imaging camera.

[0064] In the above embodiments, the processes executed by the CPU 50A shown in FIG. 2 after reading software (programs) may be executed by various processors other than a CPU. Examples of such processors include programmable logic devices (PLDs) such as field-programmable gate arrays (FPGAs), whose circuit configuration can be changed after fabrication, and application-specific integrated circuits (ASICs), which are dedicated electrical circuits that are processors with circuit configurations specifically designed to execute specific processes. Each process may be executed by one of these 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 processors is, more specifically, an electrical circuit that combines circuit elements such as semiconductor devices.

[0065] 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.

[0066] The above-described embodiment and the above-described modified examples can be implemented in appropriate combinations.

[0067] 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]

[0068] 10 Articulated Vehicles 12 Towing vehicle 14 Towed vehicle 16 Connecting part 17 Hitch 18 Connecting shaft 19 Bracket 22L,22R wheels 30 Vehicle control device 32L, 32R in-wheel motor (braking / driving section) 34L, 34R Wheel speed sensor (wheel speed detection section) 38 Rotation angle sensor (angle detection part) 50 ECU (computer) 50D Storage (memory section) 501 Braking / driving force detection unit 502 Mass estimation section 503 Yaw moment estimation unit 504 Calculation Unit 505 Control Unit L Distance from the towing vehicle axle to the centre of the connecting axle

Claims

1. Applicable to a coupled vehicle in which a towed vehicle is coupled to a towing vehicle which is an automatically driven vehicle that has one wheel on each side that cannot change angle relative to the vehicle body in a plan view without being equipped with a steering mechanism, and which travels along a planned course based on planned travel information stored in advance in a memory unit, and at the connection between the towing vehicle and the towed vehicle, a hitch fixed to the towing vehicle and a bracket fixed to the towed vehicle are connected so as to be rotatable around the axis of the connecting shaft in the vertical direction, a braking / driving unit that applies braking / driving forces independently to each of the left and right wheels of the towing vehicle; a braking / driving force detection unit that detects the braking / driving force of each wheel of the towing vehicle; a mass estimation unit that estimates the mass of the towed vehicle; an angle detection unit that detects a bending angle of the connecting portion; a wheel speed detection unit for detecting the speed of each wheel of the towing vehicle; a yaw moment estimating unit that calculates a pushing force applied by the towed vehicle from behind the towing vehicle based on the estimation result of the mass estimating unit and the target deceleration of the towing vehicle, when braking forces are applied to each wheel of the towing vehicle to achieve a target deceleration calculated based on information including the detection results by the wheel speed detecting unit, position information of the towing vehicle's current location, and position information of an immediate target location determined based on the travel schedule information, and when the bend angle detected by the angle detecting unit deviates from the required bend angle of the towing vehicle determined based on the immediate target location, and when the bend angle detected by the angle detecting unit deviates from the required bend angle of the towing vehicle based on the estimation result of the mass estimating unit and the target deceleration of the towing vehicle, and estimates a yaw moment relative to the towing vehicle based on the calculated pushing force and the distance from the axle of the towing vehicle to the center of the connecting shaft; a calculation unit that calculates a difference between left and right braking forces of the towing vehicle so as to suppress the yaw moment estimated by the yaw moment estimation unit; a control unit that controls the left and right braking forces of the towing vehicle based on the calculation result of the calculation unit and using the detection result of the braking / driving force detection unit; A vehicle control device comprising:

2. 2. The vehicle control device according to claim 1, wherein the control unit controls the left and right braking forces of the towing vehicle so that a change gradient, which is an amount of change per unit time in each of the left and right braking forces of the towing vehicle, does not exceed a preset upper limit gradient.

3. Applied to a coupled vehicle in which a towed vehicle is coupled to a towing vehicle which is an autonomous vehicle that has one wheel on each side and whose angle cannot be changed relative to the vehicle body in a plan view without being equipped with a steering mechanism, and which travels along a planned course based on planned travel information stored in advance in a memory unit, and at the connection between the towing vehicle and the towed vehicle, a hitch fixed to the towing vehicle and a bracket fixed to the towed vehicle are connected so as to be rotatable around the axis of the connecting shaft in the vertical direction, a braking / driving unit that applies braking / driving forces independently to each of the left and right wheels of the towing vehicle; a braking / driving force detection unit that detects the braking / driving force of each wheel of the towing vehicle; a mass estimation unit that estimates the mass of the towed vehicle; an angle detection unit that detects a bending angle of the connecting portion; a wheel speed detection unit for detecting the speed of each wheel of the towing vehicle; In a vehicle control device comprising: When braking forces are applied to each wheel of the towing vehicle so as to achieve the target deceleration calculated based on information including the detection results by the wheel speed detection unit, position information of the towing vehicle's current location, and position information of an immediate target location determined based on the travel schedule information, and when the turn angle detected by the angle detection unit deviates from the required turn angle of the towing vehicle determined based on the immediate target location, the system calculates the force with which the towed vehicle pushes the towing vehicle from the rear based on the estimation results from the mass estimator and the target deceleration of the towing vehicle, estimates a yaw moment relative to the towing vehicle based on the calculated pushing force and the distance from the axle of the towing vehicle to the center of the connecting shaft, calculates a difference in braking forces between the left and right of the towing vehicle so as to suppress the estimated yaw moment, and controls the braking forces on the left and right of the towing vehicle based on the calculation results and the detection results by the braking / driving force detection unit. A control method for a vehicle control device, comprising:

4. Applied to a coupled vehicle in which a towed vehicle is coupled to a towing vehicle which is an autonomous vehicle that has one wheel on each side and whose angle cannot be changed relative to the vehicle body in a plan view without being equipped with a steering mechanism, and which travels along a planned course based on planned travel information stored in advance in a memory unit, and at the connection between the towing vehicle and the towed vehicle, a hitch fixed to the towing vehicle and a bracket fixed to the towed vehicle are connected so as to be rotatable around the axis of the connecting shaft in the vertical direction, a braking / driving unit that applies braking / driving forces independently to each of the left and right wheels of the towing vehicle; a braking / driving force detection unit that detects the braking / driving force of each wheel of the towing vehicle; a mass estimation unit that estimates the mass of the towed vehicle; an angle detection unit that detects a bending angle of the connecting portion; a wheel speed detection unit for detecting the speed of each wheel of the towing vehicle; A computer included in a vehicle control device comprising: a control program for a vehicle control device that causes processing to include: when braking forces are applied to each wheel of the towing vehicle so as to achieve a target deceleration calculated based on information including the detection results by the wheel speed detection unit, position information of the towing vehicle's current location, and position information of an immediate destination point determined based on the travel plan information, and when the turn angle detected by the angle detection unit deviates from the required turn angle of the towing vehicle determined based on the immediate destination point, calculating a force with which the towed vehicle pushes the towing vehicle from behind based on the estimation results from the mass estimating unit and the target deceleration of the towing vehicle, estimating a yaw moment with respect to the towing vehicle based on the calculated pushing force and the distance from the axle of the towing vehicle to the center of the connecting shaft, calculating a difference in braking forces between the left and right of the towing vehicle so as to suppress the estimated yaw moment, and controlling the braking forces on the left and right of the towing vehicle based on the calculation results and the detection results by the braking / driving force detection unit.

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