JP2003034261A - Linked vehicle retreat control device and retreat control method for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a linked vehicle retreat control device and a retreat control method for the same which enable easy and stable retreat by front wheel steering. SOLUTION: A trailer yaw angle computing unit 51 computes a trailer yaw angle based on a yaw angle and a linkage angle, a trailer rear shaft shift amount computing unit 53 computes a trailer rear shaft shift amount based on a tractor fifth wheel shift amount and the trailer yaw angle, and a standard steering angle computing unit 55 compute a standard steering angle to retain the linkage angle fixed based on the linkage angle. A target trailer yaw angle determination unit 57 decides a target trailer yaw angle based on the trailer rear shaft shift amount, and a trailer yaw angle error computing unit 59 computes a trailer yaw angle error between the target trailer yaw angle and the trailer yaw angle. A target linkage angle determination unit 61 decides a target linkage angle based on the trailer yaw angle error, and computes a linkage angle error between the target linkage angle and the linkage angle. A correction steering angle computing unit 65 computes a corrective steering angle based on the linkage angle error, and a target steering angle computing unit 67 computes the corrective steering angle and the standard steering angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reverse control device and a reverse control method for a combined vehicle including a tractor with steerable front wheels and a trailer connected to the tractor.

[0002]

2. Description of the Related Art Generally, when changing the direction of a vehicle while moving the vehicle backward, the steering wheel may be turned in the direction desired to be moved backward. For example, when the vehicle moves backward in the right direction, the steering wheel may be turned to the right when the vehicle moves backward. This is also the case when only the tractor that pulls the trailer is retracted.

On the other hand, in a combined vehicle comprising a tractor and a trailer connected to this tractor, it is not possible to retreat as in the case of only the tractor described above. That is, normally, the tractor and the trailer of the connected vehicle are rotatably connected by a connecting pin or the like, and at the time of steering,
A fold angle is formed between the tractor and the trailer with this pin as a fulcrum. Therefore, for example, in the case where such a connected vehicle is moved backward to the right rear, when the steering wheel is turned to the right as in the case of only the tractor described above, the rear end of the tractor swings to the right, and the front end of the trailer accordingly. Since the vehicle moves to the right, the trailing end of the trailer moves to the left rear, and the connected vehicle cannot be moved backward straight to the right. Also,
In some cases, the connected vehicle may bend around the connecting portion between the tractor and the trailer, which is a so-called jack knife phenomenon, and the vehicle may not be able to move backward.

As described above, when the connected vehicle is moved backward, it is impossible to perform the backward movement by a simple operation as in the case of only an ordinary automobile or a tractor, and a skilled driver's skill is required. That is, when the connected vehicle is moved backward, there is a problem that the driver needs to be skilled in the operation of the steering wheel and the burden on the driver is heavy.

Therefore, not only the front wheels of the tractor but also the rear wheels can be steered, and the steering angle of the rear wheels of the tractor is controlled when the connected vehicle moves backward, so that the tractor can be easily moved to a desired position and direction. A four-wheel steering type coupled vehicle capable of performing the above is proposed (for example, Japanese Patent Laid-Open No. 10-119808).
(See the official gazette).

[0006]

However, the articulated vehicle disclosed in Japanese Unexamined Patent Publication No. 10-119808 has the following problems.
Since it is necessary to provide a steering mechanism also on the rear wheels, there are problems that the structure of the tractor is complicated and the cost is increased. In order to solve these problems, it is necessary to establish a technique for easily and stably performing reverse traveling by steering the front wheels without providing a steering mechanism on the rear wheels.

The present invention has been made in view of the above points, and it is an object of the present invention to provide a reverse control device for a connected vehicle and a reverse control method therefor capable of easily and stably performing reverse travel by steering front wheels. To aim.

[0008]

A reverse control device for a combined vehicle according to the present invention is a reverse control device for a combined vehicle comprising a tractor with steerable front wheels and a trailer connected to the tractor. Tractor yaw angle detection means for detecting a yaw angle, connection angle detection means for detecting a connection angle between a tractor and a trailer, and tractor fifth wheel position deviation amount detection means for detecting a position deviation amount of a tractor fifth wheel in a connected vehicle. And a trailer yaw angle calculating means for calculating the yaw angle of the trailer based on the yaw angle of the tractor detected by the tractor yaw angle detecting means and the connecting angle detected by the connecting angle detecting means, and the tractor fifth wheel position deviation The rear axle of the trailer based on the displacement amount of the fifth wheel of the tractor detected by the amount detection means and the yaw angle of the trailer calculated by the trailer yaw angle calculation means. Trailer rear axis deviation amount calculating means for calculating the amount of deviation, and reference steering angle for calculating the reference steering angle of the front wheels of the tractor for keeping the connection angle constant based on the connection angle detected by the connection angle detection means Calculating means, target trailer yaw angle determining means for determining a target trailer yaw angle of the trailer based on the trailer rear axis deviation amount calculated by the trailer rear axis deviation amount calculating means, and trailer calculated by the trailer yaw angle calculating means And the trailer yaw angle error calculation means for calculating the trailer yaw angle error between the target trailer yaw angle determined by the target trailer yaw angle determination means, and the target connection based on the trailer yaw angle error calculated by the trailer yaw angle error calculation means. The target connecting angle determining means for determining the angle, the connecting angle detected by the connecting angle detecting means and the target connecting angle determining means are determined. Connection angle error calculating means for calculating a connection angle error with the target connection angle, and correction steering angle calculation means for calculating a correction steering angle of the front wheels of the tractor based on the connection angle error calculated by the connection angle error calculating means. A target steering angle calculation means for calculating a target steering angle of the front wheels of the tractor based on the reference steering angle calculated by the reference steering angle calculation means and the corrected steering angle calculated by the corrected steering angle calculation means. It is characterized by having.

On the other hand, a reverse control method for a combined vehicle according to the present invention is a reverse control method for a combined vehicle including a tractor whose front wheels can be steered and a trailer connected to the tractor, and detects a yaw angle of the tractor. Tractor yaw angle detection means, connection angle detection means for detecting the connection angle between the tractor and trailer, and tractor fifth wheel position deviation amount detection means for detecting the position deviation amount of the tractor fifth wheel in the connected vehicle. , A trailer yaw angle calculation step for calculating the trailer yaw angle based on the tractor yaw angle detected by the tractor yaw angle detection means and the connection angle detected by the connection angle detection means, and the tractor fifth wheel position displacement amount After the trailer based on the displacement amount of the fifth wheel of the tractor detected by the detection means and the yaw angle of the trailer calculated by the trailer yaw angle calculation means Trailer rear axis deviation amount calculation step for calculating the deviation amount, and a reference steering angle for calculating a reference steering angle of the front wheels of the tractor for keeping the connection angle constant based on the connection angle detected by the connection angle detection means. Calculation step and target trailer yaw angle determination step that determines the target trailer yaw angle of the trailer based on the trailer trailer axis deviation amount calculated in the trailer rear axis deviation amount calculation step, and the trailer yaw angle calculated in the trailer yaw angle calculation step Angle and the trailer yaw angle error between the target trailer yaw angle determined in the target trailer yaw angle determination step and the trailer yaw angle error calculated in the trailer yaw angle error calculation step, and the target connection angle is determined based on the trailer yaw angle error calculated in the trailer yaw angle error calculation step. The target connecting angle determination step and the connecting angle and the eye detected by the connecting angle detecting means. A connection angle error calculation step for calculating a connection angle error with the target connection angle determined in the connection angle determination step, and a corrected steering angle of the front wheel of the tractor is calculated based on the connection angle error calculated in the connection angle error calculation step A target steering angle for calculating the target steering angle of the front wheels of the tractor based on the correction steering angle calculation step, which is performed, and the reference steering angle calculated in the reference steering angle calculation step and the correction steering angle calculated in the correction steering angle calculation step. And a calculation step.

According to each of the reverse control device and the reverse control method for a combined vehicle according to the present invention, the tractor yaw angle and the connection angle detected by the tractor yaw angle detection means by the trailer yaw angle calculation means (trailer yaw angle calculation step). The yaw angle of the trailer is calculated based on the connection angle detected by the detection means, and is detected by the tractor fifth wheel position deviation amount detection means by the trailer rear axis deviation amount calculation means (trailer rear axis deviation amount calculation step). The trailer trailer axis deviation amount is calculated based on the calculated position deviation amount of the tractor fifth wheel and the trailer yaw angle calculated by the trailer yaw angle calculation means (trailer yaw angle calculation step), and the reference steering angle calculation means ( Based on the connection angle detected by the connection angle detection means in the reference steering angle calculation step), a track for maintaining the connection angle constant. Reference steering angle of the front wheels is calculated. Then, the target trailer yaw angle of the trailer is calculated based on the trailer rear-axis deviation amount calculated by the trailer rear-axis deviation amount calculation means (trailer rear-axis deviation amount calculation step) by the target trailer yaw angle determination means (target trailer yaw angle determination step). The trailer yaw angle error between the target trailer yaw angle and the trailer yaw angle calculated by the trailer yaw angle calculation means (trailer yaw angle calculation step) is calculated by the trailer yaw angle error calculation means (trailer yaw angle error calculation step). It Further, the target connection angle determination means (target connection angle determination step) determines the target connection angle based on the trailer yaw angle error calculated by the trailer yaw angle error calculation means (trailer yaw angle error calculation step). The connection angle error with the connection angle detected by the connection angle detection means is calculated by the connection angle error calculation means (connection angle error calculation step). Thereafter, the correction steering angle calculation means (correction steering angle calculation step) calculates the correction steering angle of the front wheel of the tractor based on the connection angle error calculated by the connection angle error calculation means (connection angle error calculation step). The target steering angle of the front wheels of the tractor is the target steering angle calculation means (target steering angle calculation step) based on the corrected steering angle and the reference steering angle calculated by the reference steering angle calculation means (reference steering angle calculation step). Will be calculated by As described above, according to the present invention, the target steering angle of the front wheels of the tractor is the reference steering angle for keeping the connection angle between the tractor and the trailer constant, and the correction steering angle for causing the trailer to travel in the desired backward direction. Therefore, by causing the connected vehicle to travel backward based on the target steering angle, it is possible to easily and stably perform the reverse traveling by steering the front wheels.

In the present application, the yaw angle of the tractor is defined as an angle formed by a straight line extending in a desired backward direction such as a traveling route line and the center line of the tractor left and right. The trailer yaw angle is defined as the distance from the straight line to the tractor fifth wheel position in the direction orthogonal to the straight line extending in the desired backward direction, such as the root line.
It is defined as the angle between the straight line extending in the desired backward direction such as the traveling route line and the trailer left-right center line, and the trailer trailing axis deviation amount is in the direction orthogonal to the straight line extending in the desired backward direction such as the traveling route line. It is defined as the distance from the straight line to the center position of the rear axle of the trailer. In addition, one side of each line is defined as positive and the other side is defined as negative.

Further, in the reverse control device for a combined vehicle according to the present invention, the trailer yaw angle calculating means is a trailer yaw angle (β) β = θ + α θ: connecting angle α detected by the connecting angle detecting means α: tractor yaw It is preferable to obtain the yaw angle detected by the angle detection means.

On the other hand, in the backward control method for a combined vehicle according to the present invention, in the trailer yaw angle calculating step, the yaw angle (β) of the trailer is β = θ + α θ: The connection angle α detected by the connection angle detecting means α: the tractor yaw It is preferable to obtain the yaw angle detected by the angle detection means.

With such a configuration, the yaw angle (β) of the trailer required to calculate the corrected steering angle can be appropriately obtained in each case.

Further, in the reverse control device for an articulated vehicle according to the present invention, the trailer rear-axis deviation amount calculating means calculates the trailer rear-axis deviation amount (x) as x = x _c −M · sin β x _c : tractor fifth It is preferable to obtain the positional deviation amount of the fifth wheel of the tractor detected by the wheel position deviation amount detecting means M: trailer reference axial distance β: the trailer yaw angle calculated by the trailer yaw angle calculating means.

On the other hand, in the backward control method for the combined vehicle according to the present invention, in the trailer rear-axis deviation amount calculation step, the trailer rear-axis deviation amount (x) is calculated as x = x _c −M · sin β x _c : tractor fifth It is preferable that the amount of position deviation of the fifth wheel of the tractor detected by the wheel position deviation amount detecting means M: trailer reference axial distance β: trailer yaw angle calculated by the trailer yaw angle calculating means.

In the case of such a configuration, the trailing axis deviation amount (x) of the trailer required to calculate the corrected steering angle can be appropriately obtained in each case.

Further, in the reverse control device for a combined vehicle according to the present invention, the reference steering angle calculation means sets the reference steering angle (δ _L ) of the front wheels of the tractor to δ _L = tan ^-1 ((F · sin θ) / ( G ・ cos θ-
M)) F: tractor reference axial distance θ: connection angle detected by the connection angle detecting means G: tractor fifth wheel offset M: trailer reference axial distance.

On the other hand, in the backward control method for the combined vehicle according to the present invention, in the reference steering angle calculation step, the reference steering angle (δ _L ) of the front wheels of the tractor is set to δ _L = tan ^-1 ((F · sin θ) / ( G ・ cos θ-
M)) F: tractor reference axial distance θ: connection angle detected by the connection angle detecting means G: tractor fifth wheel offset M: trailer reference axial distance.

With such a configuration, the reference steering angle (δ _L ) for keeping the connection angle between the tractor and the trailer constant can be appropriately obtained in each case.

Further, the reverse control device for a combined vehicle according to the present invention further comprises a traveling speed detecting means for detecting the traveling speed of the tractor or the trailer, and the target trailer yaw angle determining means is the vehicle specification data of the trailer and the traveling speed. Based on the traveling speed of the tractor or trailer detected by the detection means, the target trailer yaw angle is determined so as to become smaller as the trailer rear-axis deviation amount calculated by the trailer rear-axis deviation amount calculation means decreases. It is preferable.

On the other hand, in the backward control method for the combined vehicle according to the present invention, the traveling speed detecting means for detecting the traveling speed of the tractor or the trailer is further used, and in the target trailer yaw angle determining step, the vehicle specification data of the trailer and the traveling speed. Based on the traveling speed of the tractor or trailer detected by the detection means, the target trailer yaw angle is determined so as to become smaller as the trailer rear-axis deviation amount calculated by the trailer rear-axis deviation amount calculation means decreases. It is preferable.

In the case of such a configuration, the value of the target trailer yaw angle necessary for calculating the corrected steering angle is calculated by using the tractor reference axle distance, the tractor fifth wheel offset, the tread width, the trailer reference axle distance, Trailer axle distance, number of trailer tires, trailer mass, load mass,
It can be appropriately determined based on the vehicle specification data of the trailer such as the loaded weight and the traveling speed of the tractor or trailer detected by the traveling speed detecting means.

In the reverse control device for a combined vehicle according to the present invention, the trailer yaw angle error calculating means determines the trailer yaw angle error (βe) by βe = β'-ββ ': target trailer yaw angle determining means. Target trailer yaw angle β: It is preferable to obtain the trailer yaw angle calculated by the trailer yaw angle calculation means.

On the other hand, in the backward control method for the combined vehicle according to the present invention, in the trailer yaw angle error calculating step, the trailer yaw angle error (βe) is determined by βe = β'-ββ ': target trailer yaw angle determining means. Target trailer yaw angle β: It is preferable to obtain the trailer yaw angle calculated by the trailer yaw angle calculation means.

With such a configuration, the trailer yaw angle error (βe) required for calculating the corrected steering angle can be appropriately obtained in each case.

In the reverse control device for a combined vehicle according to the present invention, the target connection angle determining means may determine the target connection angle so that the trailer yaw angle error calculated by the trailer yaw angle error calculating means becomes smaller. preferable.

On the other hand, in the reverse control method for a combined vehicle according to the present invention, in the target connecting angle determining step, the target connecting angle may be determined so that the trailer yaw angle error calculated by the trailer yaw angle error calculating means becomes small. preferable.

With this configuration, the value of the target connecting angle required for calculating the corrected steering angle can be appropriately determined in each case.

Further, in the reverse control device for a combined vehicle according to the present invention, the connection angle error calculating means is configured to connect the connection angle error (θ
It is preferable to obtain e) from θe = θ′−θθ ′: target connection angle determined by the target connection angle determination means θ: connection angle detected by the connection angle detection means.

On the other hand, in the backward control method for the combined vehicle according to the present invention, in the connecting angle error calculating step, the connecting angle error (θe) is determined by θe = θ'-θθ ': the target connecting angle determining means. Target connection angle θ: It is preferable to obtain the target connection angle θ by the connection angle detected by the connection angle detection means.

In the case of such a configuration, in each case, a connection angle error (θ
e) can be obtained appropriately.

Further, in the reverse control device for a combined vehicle according to the present invention, the correction steering angle calculation means changes the correction steering angle by changing the yaw angle of the tractor to obtain the connection angle error calculated by the connection angle error calculation means. It is preferable to ask for it to be small.

On the other hand, in the backward control method for the combined vehicle according to the present invention, in the correction steering angle calculation step, the connection angle error calculated in the connection angle error calculation step by changing the yaw angle of the tractor is used as the correction steering angle. It is preferable to ask for it to be small.

With this configuration, the corrected steering angle for causing the trailer to travel in the desired backward direction can be appropriately obtained in each case.

Further, in the reverse control device for a combined vehicle according to the present invention, the target steering angle calculation means determines the target steering angle (δ) of the front wheels of the tractor as δ = δ ′ + δ _L δ ′: corrected steering angle calculation means. Corrected steering angle δ _L calculated by: The reference steering angle calculated by the reference steering angle calculation means is preferably obtained.

On the other hand, in the backward control method for the combined vehicle according to the present invention, in the target steering angle calculation step, the target steering angle (δ) of the front wheels of the tractor is set to δ = δ '+ δ _L δ': corrected steering angle calculation means. Corrected steering angle δ _L calculated by: The reference steering angle calculated by the reference steering angle calculation means is preferably obtained.

With such a configuration, the target steering angle (δ) can be appropriately calculated for each of them.

Further, it is preferable that the reverse control device for a combined vehicle according to the present invention further comprises notifying means for notifying an occupant of the target steering angle of the front wheels of the tractor calculated by the target steering angle calculating means. With such a configuration, the notification means notifies the target steering angle of the front wheels of the tractor calculated by the target steering angle calculation means, and can be easily performed without requiring a skilled technique such as a driver. In addition, it becomes possible to perform reverse traveling stably.

In the reverse control device for a combined vehicle according to the present invention, the front wheel steering angle detecting means for detecting the steering angle of the front wheels of the tractor, and the steering angle detected by the front wheel steering angle detecting means are used to calculate the target steering angle. It is preferable to further include a steering control means for controlling the steering of the front wheels so that the target steering angle calculated by the means is obtained. With this configuration, the steering control means performs feedback control so that the steering angle of the front wheels becomes the target steering angle calculated by the target steering angle calculation means, so that the vehicle can travel more easily and stably in reverse. It becomes possible to do.

[0041]

BEST MODE FOR CARRYING OUT THE INVENTION A reverse control device for an articulated vehicle according to an embodiment of the present invention will be described with reference to the drawings. In the description, the same elements or elements having the same function will be denoted by the same reference symbols, without redundant description.

First, the structure of the connected vehicle according to the present embodiment will be described with reference to FIG.

The connected vehicle 1 comprises a tractor 3 (2-axis semi-tractor) and a trailer 5 (2-axis semi-trailer).
The tractor 3 has an AGV (Automatic Guided Vehicle)
Is used. The tractor 3 has a front wheel 7 and a rear wheel 9 on the left and right. The front wheels 7 can be steered, and the front wheel steering device 1
It is designed to be steered by 1. The rear wheel 9 is fixed straight ahead. The tractor 3 may be a two-wheel drive in which only one of the front wheel 7 and the rear wheel 9 is a drive wheel or may be an all-wheel drive in which both are drive wheels.

The trailer 5 has a connecting device 16 at the front.
To be rotatable around the kingpin 13 via the tractor 3
It is supported and connected to the rear part of the vehicle, and the left and right wheels 15
Is equipped with. Kingpin 13 is center line 1 of tractor left and right
7 and on the centerline 19 of the trailer left and right. Further, the kingpin 13 is located on the front side of the rear wheel 9 of the tractor 3. The kingpin 13 may be located rearward of the rear wheel 9 of the tractor 3.

Magnets are continuously embedded in the traveling route line 21, so that the connected vehicle 1 (tractor 3) is
The lateral deviation with respect to the travel route line 21 is detected from the magnetic field caused by the magnet, and steering is performed in a direction to eliminate the deviation, thereby realizing automatic travel along the travel route line 21. In FIG. 1, the travel route line 21 is a straight line. The reverse control, which will be described later, is on such a straight traveling route line 21.

Next, referring to FIG. 2, the definition of terms used in reverse control, which will be described later, will be described. 2 is a diagram showing the two-wheel model of the combined vehicle 1 shown in FIG. 1, and α> 0, β <0, θ <0, x <0, δ>.
The case of 0 is shown. α: Yaw angle of the tractor 3 (angle formed by the traveling route line 21 and the tractor left-right center line 17). The counterclockwise direction is positive with respect to the travel route line 21. β: The yaw angle of the trailer 5 (angle formed by the traveling route line 21 and the trailer left-right center line 19). The counterclockwise direction is positive with respect to the travel route line 21. θ: Connection angle (angle formed by the tractor left-right center line 17 and the trailer left-right center line 19). The counterclockwise direction is positive with respect to the tractor left-right center line 17. δ: Steering angle of the front wheels 7 of the tractor 3. The counterclockwise direction is positive with respect to the tractor left-right center line 17. x _c : misalignment amount of the fifth wheel of the tractor (travel route line 21
Distance from the travel route line 21 in the direction orthogonal to the position of the fifth wheel of the tractor (king pin 13)). The right side of the travel route line 21 is positive. x: Rear axle deviation amount of the trailer 5 (distance from the traveling route line 21 in the direction orthogonal to the traveling route line 21 to the trailer rear axle left-right center position (the trailer 5 rear wheel 9 position)). The right side of the travel route line 21 is positive. When the trailer 5 has a plurality of rear axles, the distance from the travel route line 21 in the direction orthogonal to the travel route line 21 to the trailer rear axle left-right center position in the front-rear center position between the rear axles of the trailer 5. And V: tractor traveling speed (reverse speed). The tractor traveling speed (reverse speed) is the position of the rear wheel 9 of the tractor 3. V _T: trailer traveling speed (reverse speed). The trailer traveling speed (reverse speed) is the position of the rear wheel 15 in the trailer 5. γ: Angle formed by the moving direction of the tractor fifth wheel position 13 and the tractor left-right center line 17. Vγ: moving speed of the tractor fifth wheel position 13

Next, the structure of the reverse control device for the combined vehicle according to the present embodiment will be described with reference to FIGS. 3 and 4.

As shown in FIG. 3, the reverse control device 31 includes a vehicle specification data input section 33 and a traveling speed detection section 35.
(Traveling speed detection means), tractor yaw angle detection section 37 (tractor yaw angle detection means), connection angle detection section 39 (connection angle detection means), tractor fifth wheel position deviation amount detection section 41 (tractor fifth wheel position deviation amount detection) Means), front wheel steering angle detection unit 4
3 (front wheel steering angle detecting means), a reverse control unit 45, an image display section 47 (informing means), a steering control section 49 (steering control means), and the like.

The vehicle specification data input unit 33 is connected to the reverse control unit 45, and allows the reverse control unit 45 to input various vehicle specification data described later. As the vehicle specification data input unit 33,
For example, a mouse or a keyboard is used, but the data received via a wired or wireless communication line may be input. The image display unit 47 is connected to the reverse control unit 45 and can display the front wheel steering angle information obtained by various calculation processes in the reverse control unit 45 on its display screen. As the image display unit 47, for example, a liquid crystal display or the like is used.

The steering control section 49 includes a reverse control unit 45.
Based on the front wheel steering angle information obtained by various calculation processes in the reverse control unit 45,
The front wheel steering device 11 is feedback-controlled so that the steering angle of the front wheels 7 becomes a value calculated by the reverse control unit 45. The reverse control unit 45 calculates the steering angle of the front wheels 7 as will be described later based on various vehicle specification data input in the vehicle specification data input section 33, data output from each detection section, and the like. The calculation result can be output to the image display unit 47 and the steering control unit 49 as front wheel steering angle information.

Various vehicle specification data input by the vehicle specification data input unit 33 will be described with reference to FIG. FIG. 5 shows the combined vehicle 1 as a two-wheel model, and the actual wheel positions are shown by broken lines. F: tractor reference axle distance G: tractor fifth wheel offset bt: tread width M: trailer reference axle distance J: trailer axle distance N: number of trailer tires For definitions of these terms, refer to JASO (Japanese A
utomobile Standards Organization) "Z 006-9
2 (Form of right-angle turning trajectory diagram of semi-trailer and full-trailer) ”and the like. Further, other than the above-mentioned vehicle specification data, there are trailer mass, load load, and the like.

Referring again to FIG. Running speed detector 3
Reference numeral 5 is for detecting the traveling speed (reverse speed) of the trailer 5. For example, the traveling speed (reverse speed) of the tractor 3 is output from the output of the speed command of the ABS sensor and other speed sensors. Can also be obtained geometrically from the following procedure. In FIG. 2, when the traveling speed (reverse speed) of the tractor 3 is V, the yaw angle of the tractor 3 is α, the tractor reference axial distance is F, and the offset of the tractor fifth wheel is G, the tractor fifth wheel position 13 An angle γ formed between the moving direction and the tractor left-right center line 17 is obtained by the following equation (1). γ = tan ⁻¹ (G · tan α / F) (1) The moving speed Vγ of the fifth wheel position 13 of the tractor at this time is
It is obtained by the following equation (2). Vγ = V / cos (γ) also ... (2) When the running speed (retracting speed) V _T of the trailer 5, the angle of v? And V _T from _{γ-θ, V T = Vγ} · cos (γ- θ) = V · cos (γ−θ) / cos (γ) = V (cos θ + G · tan α · sin θ / F) (3), and the traveling speed (reverse speed) of the tractor 3 changes to the traveling speed (reverse speed) of the trailer 5. Speed). The output of the traveling speed detection unit 35 is output by the reverse control unit 45.
It is connected to the.

The tractor yaw angle detector 37 is provided for the tractor 3
Is detected, and its output is connected to the reverse control unit 45. Connection angle detector 39
Detects the connection angle (θ) between the tractor 3 and the trailer 5, and an existing angle sensor such as a displacement sensor, an image sensor, or an ultrasonic sensor can be used. The output of the connection angle detection unit 39 is connected to the reverse control unit 45. The tractor fifth wheel position deviation amount detection unit 41 is
The displacement amount (x _c ) of the fifth wheel of the tractor in the combined vehicle 1 is detected, and its output is connected to the reverse control unit 45. Front wheel steering angle detector 43
Is for detecting the steering angle of the front wheels 7 of the tractor 3, and an existing angle sensor such as a displacement sensor can be used. The output of the front wheel steering angle detection unit 43 is connected to the steering control unit 49.

Traction in the tractor yaw angle detector 37
Of the yaw angle (α) of the tractor 3 and the fifth wheel position of the tractor
Positional deviation amount of the fifth wheel of the tractor in the deviation amount detection unit 41
(X _c) Can be detected as follows.
It

In the tractor 3, as shown in FIG.
A front magnetic sensor array 23 and a rear magnetic sensor array 25 are arranged. It should be noted that FIG. 6 shows the tractor 3 in a two-wheel model, and the actual wheel positions are indicated by broken lines. Front magnetic sensor row 23 and rear magnetic sensor row 25
Extend in a straight line in the left-right direction of the tractor 3 at two locations separated by a predetermined distance W on the tractor left-right center line 17. Front magnetic sensor row 23 and rear magnetic sensor row 25
, Magnetic elements (for example, Hall ICs, magnetoresistive elements, coils, pickups, etc.) are arranged at equal intervals, and each magnetic sensor array 23, 25 detects the magnetic flux from the magnets on the travel route line 21. Then, it can be determined whether the vehicle is on the left side, the right side, or almost right above the traveling route line 21. In each of the front-side magnetic sensor row 23 and the rear-side magnetic sensor row 25, by determining which of the magnetic elements is directly above the traveling route line 21, the magnetic element located immediately above the traveling route line 21, that is, the traveling route line. It is possible to derive the distances d0 and d1 from 21 to the left and right centers of the front side magnetic sensor rows 23 and the rear side magnetic sensor rows.

The tractor yaw angle detector 37 is provided for the tractor 3
The yaw angle (α) of is set to α = tan ⁻¹ ((d0−d1) / W) (4) with the counterclockwise direction being positive with respect to the travel route line 21.

Also, the tractor fifth wheel position deviation amount detecting section 4
1 is the displacement amount (x _c ) of the fifth wheel of the tractor, with the counterclockwise direction being positive with respect to the travel route line 21, x _c = d1 · cos α + P · sin α (5) P: tractor left-right center line 17 It is determined by the distance from the fifth wheel of the tractor (king pin 13) to the rear magnetic sensor array 25.

The backward control unit 45 is configured as a computer having an interface, a CPU (central processing unit), a memory and the like. Reverse control unit 45
4, by executing various programs stored in the memory, the trailer yaw angle calculation unit 51 (trailer yaw angle calculation means), the trailer rear axis deviation amount calculation unit 53 (trailer rear axis deviation amount, as shown in FIG. Calculation means), reference steering angle calculation section 55 (reference steering angle calculation means), target trailer yaw angle determination section 57 (target trailer yaw angle determination means), trailer yaw angle error calculation section 59 (trailer yaw angle error calculation means), target connection angle determination Unit 61 (target connecting angle determining unit), connecting angle error determining unit 63 (connecting angle error calculating unit),
The correction steering angle calculation unit 65 (correction steering angle calculation means) and the target steering angle calculation unit 67 (target steering angle calculation means) are included.

The trailer yaw angle calculation unit 51 detects the yaw angle (α) of the tractor 3 detected by the tractor yaw angle detection unit 37 and the connection angle (θ) detected by the connection angle detection unit 39.
The yaw angle (β) of the trailer 5 is calculated based on and. In the trailer yaw angle calculation unit 51, the yaw angle (β) of the trailer 5 is obtained by β = θ + α (6)

The trailer rear-axis deviation amount calculation unit 53 calculates the trailer yaw angle calculation unit 51 with the position deviation amount (x _c ) of the tractor fifth wheel position detected by the tractor fifth wheel position deviation amount detection unit 41. The trailing axis deviation amount (x) of the trailer 5 based on the yaw angle (β) of the trailer 5 and the vehicle specification data (M: trailer reference shaft distance) input by the vehicle specification data input unit 33. Is calculated. In the trailer rear-axis shift amount calculation unit 53, the rear-axis shift amount (x) of the trailer 5 is obtained by x = x _c −M · sin β (7)

The reference steering angle calculation unit 55 includes the connection angle detection unit 3
9. The connection angle (θ) detected in 9 and the vehicle specification data input in the vehicle specification data input unit 33 (M: trailer reference axle distance, G: offset of tractor 3 fifth wheel, F: tractor). A reference steering angle (δ _L ) of the front wheels 7 of the tractor 3 for keeping the connection angle (θ) constant is calculated based on the reference axial distance). In the reference steering angle calculation unit 55, the reference steering angle (δ _L ) is obtained by δ _L = tan ⁻¹ ((F · sin θ) / (G · cos θ-M)) (8) as described later. .

The backward traveling of the combined vehicle 1 in the extremely low speed region is generally represented by the following geometrical mathematical model under the condition that the tires do not slip. The running speed (V)
Is at the position of the rear wheel 9 on the tractor 3. dα / dt-V ・ tanδ / F = 0 (9) dθ / dt + V ・ sinθ / M + V ・ (MG ・ cosθ) ・ tanδ / (M ・ F) = 0 (10) Connection angle The conditional expression for keeping (θ) at a constant value is dθ / dt = 0 (11). Therefore, the reference steering angle (δ _L ) for keeping the connection angle (θ) at a constant value can be calculated from the equation (10) by the above equation (8).

The target trailer yaw angle determination unit 57 determines the target trailer yaw angle (β ') of the trailer 5 based on the rear axis deviation amount (x) of the trailer 5 calculated by the trailer rear axis deviation amount calculation unit 53. .

By the way, when the vehicle travels backward with the connecting angle (θ) kept at a constant value, the traveling locus of the connecting vehicle 1 is an arc centered on the point o, as shown in FIG. . It should be noted that FIG. 7 shows the combined vehicle 1 in a two-wheel model. When the rearward traveling is continued in this state, the yaw angle (β) of the trailer 5 and the tractor 3 are increased as the rear axle of the trailer 5 approaches the traveling route line 21, that is, the rear axle deviation amount (x) of the trailer 5 becomes smaller. The yaw angle (α) of is increased and it becomes impossible to travel straight to the travel route line 21.

Therefore, the target trailer yaw angle determination unit 57
As shown in FIG. 8, the target trailer yaw angle (β ′) becomes smaller as the trailer axis deviation amount (x) calculated by the trailer trailer axis deviation amount calculation unit 53 becomes smaller. decide. It should be noted that FIG. 8 shows the combined vehicle 1 in a two-wheel model. In detail, based on various vehicle specification data input by the vehicle specification data input unit 33 and the traveling speed (reverse speed) of the trailer 5 detected by the traveling speed detection unit 35, as shown in FIG. By setting the functions L _A (x) and L _B (x) as shown, this function L
_A (x), to determine target Torerayo angle (beta ') from L _B (x). For example, when the various vehicle specification data input in the vehicle specification data input unit 33 and the traveling speed (reverse speed) of the trailer 5 are the group A, the target trailer yaw angle (β ′) is calculated by the function L _A (x). determines, when the running speed of the various vehicle specification data and the trailer 5 is input in the vehicle specification data input unit 33 (reverse speed) is group B, the target Torerayo angle by function L _B (x) (beta ') Is determined. Here, the target trailer yaw angle (β ') is positive in the counterclockwise direction with respect to the travel route line 21. The function for determining the target trailer yaw angle (β ′) is not limited to the functions L _A (x) and L _B (x) as shown in FIG. It is only necessary that the target trailer yaw angle (β ′), which becomes smaller as (x) becomes smaller, can be determined.

Since the trailer yaw angle error calculation unit 59 needs to make the yaw angle (β) of the trailer 5 follow the target trailer yaw angle (β ′) as shown in FIG. A trailer yaw angle error (βe) between the calculated trailer 5 yaw angle (β) and the target trailer yaw angle (β ′) determined by the target trailer yaw angle determination unit 57 is calculated. Trailer yaw angle error calculator 59
In, the trailer yaw angle error (βe) is obtained by βe = β′−β (12).

The target connection angle determination unit 61 calculates the trailer yaw angle error (β) calculated by the trailer yaw angle error calculation unit 59.
The target connection angle (θ ′) is determined based on e). By the way, since the trailer 5 itself does not have a steering device, in order to actually change the yaw angle (β) of the trailer 5, the trailer 5 shown in FIG.
As shown in, it is necessary to change the yaw angle (α) of the tractor 3 to change the connecting angle (θ). Therefore, the target connection angle determination unit 61 determines the target connection angle (θ ′) based on a predetermined function N (βe) so that the trailer yaw angle error (βe) calculated by the trailer yaw angle error calculation unit 59 becomes small. To do.

Since the connection angle error determination unit 63 needs to make the connection angle (θ) follow the target connection angle (θ ′) as shown in FIG. 8, the connection angle detection means detects the connection angle. A connection angle error (θe) between the angle (θ) and the target connection angle (θ ′) determined by the target connection angle determination unit 61 is calculated. In the connection angle error determination unit 63, the connection angle error (θe) is calculated by θe = θ′−θ (13).

The corrected steering angle calculation unit 65 calculates the corrected steering angle (δ ′) of the front wheels 7 of the tractor 3 based on the connection angle error (θe) calculated by the connection angle error determination unit 63. As shown in FIG. 8, the correction steering angle calculation unit 65 changes the correction steering angle (δ ′) to the yaw angle (α) of the tractor 3 and calculates the connection angle error calculated by the connection angle error determination unit 63. (Θ
It is calculated based on a predetermined function Q (θe) so that e) becomes smaller.

The target steering angle calculation unit 67 stores the reference steering angle (δ _L ) calculated by the reference steering angle calculation unit 55 and the corrected steering angle (δ ′) calculated by the correction steering angle calculation unit 65. The target steering angle (δ) of the front wheels 7 of the tractor 3 is calculated based on At this time, the target steering angle (δ) is obtained by δ = δ ′ + δ _L (14) from the condition that the connection angle error (θe) becomes small.

Then, the target steering angle calculation section 67 outputs information on the obtained target steering angle (δ) to the steering control section 49. As a result, the steering control unit 49 feedback-controls the front wheels 7 of the tractor 3 so that the steering angle of the front wheels 7 of the tractor 3 detected by the front wheel steering angle detection unit 43 becomes the target steering angle (δ).

Further, the target steering angle calculation unit 67 outputs information regarding the obtained target steering angle (δ) to the image display unit 47. As a result, the target steering angle (δ) of the front wheels 7 of the tractor 3 is notified. In the present embodiment, since the AGV is used as the tractor 3, it is not always necessary to notify by the image display unit 47. However, in the case of the tractor 3 steered by the driver, the driver uses the image display unit 47. By steering the steering wheel or the like based on the notification, the steering angle of the front wheels 7 of the tractor 3 is feedback-controlled to the target steering angle (δ).

Next, the operation of the reverse control unit 45 (reverse control method) will be described with reference to the flowchart shown in FIG. As described above, the CPU configuring the retreat control unit 45 reads out various programs from the memory and performs the following retreat control processing and the like.

First, at the vehicle specification data input unit 33, the tractor reference axle distance (F), the offset of the fifth wheel of the tractor 3 (G), the tread width (bt), the trailer reference axle distance (M), the trailer axle. When values such as the distance (J) and the number of trailer tires (N) are input, the CPU of the reverse control unit 45 stores and stores them in the memory (S101). Then, the reverse control unit 45 determines whether or not the connected vehicle 1 is traveling backward based on the output from the traveling speed detection unit 35 (S103). If connected vehicle 1 is not traveling backward, that is, traveling forward or is stopped (NO in S103), the process ends.

When the connected vehicle 1 is traveling backward (S
(YES in 103), the reverse control unit 45 determines the target trailer yaw based on the various vehicle specification data stored in the memory and the traveling speed (reverse speed) of the trailer 5 detected by the traveling speed detection unit 35. The function L _A (x) or L _B (x) for obtaining the angle (β ′) is set (S10).
5). Then, the reverse control unit 45 reads the outputs from the tractor yaw angle detection unit 37, the connection angle detection unit 39, the tractor fifth wheel position deviation amount detection unit 41, and the front wheel steering angle detection unit 43 (S107).

When the outputs from the respective detectors 37, 39, 41, 43 are read, the retreat control unit 45 causes the trailer yaw angle calculator 51 and the trailer rear axis deviation amount calculator 5 described above.
3 and the reference steering angle calculation unit 55, and calculates and obtains the yaw angle (β) of the trailer 5, the trailer rear axis deviation amount (x), and the reference steering angle (δ _L ) (S109: trailer yaw angle calculation). Step, trailer trailer axis deviation amount calculation step, reference steering angle calculation step). When the yaw angle (β) of the trailer 5, the trailer rear axis deviation amount (x), and the reference steering angle (δ _L ) are obtained, the reverse control unit 45 functions as the above-described target trailer yaw angle determination unit 57, and S10
Based on the function L _A (x) or L _B (x) set in 5, the target trailer yaw angle (β ′) corresponding to the trailer trailer axis deviation amount (x) obtained in S109 is determined (S11).
1: Step of determining target trailer yaw angle).

When the target trailer yaw angle (β ') is determined, the retreat control unit 45 functions as the trailer yaw angle error calculation unit 59 described above, and is determined in S111 with the yaw angle (β) of the trailer 5 calculated in S109. Trailer yaw angle error (βe) from the set target trailer yaw angle (β ')
Is calculated (S113: trailer yaw angle error calculation step). Then, the reverse control unit 45 functions as the above-described target connection angle determination unit 61, and determines the target connection angle (θ ′) based on the trailer yaw angle error (βe) calculated in S113 (S115: target connection angle). Decision step).

When the target connection angle (θ ') is determined, the retreat control unit 45 functions as the above-described connection angle error determination unit 63, and the connection angle (θ) read in S107 and S1.
A connection angle error (θe) with the target connection angle (θ ′) determined in 15 is calculated (S117: connection angle error calculation step). Then, the reverse control unit 45 functions as the above-described corrected steering angle calculation unit 65, and calculates the corrected steering angle (δ ′) of the front wheels 7 of the tractor 3 based on the connection angle error (θe) calculated in S117. (S119: Corrected steering angle calculation step).

When the corrected steering angle (δ ') is calculated, the reverse control unit 45 functions as the above-described target steering angle calculation section 67, and the reference steering angle (δ _L ) calculated in S109.
Then, the target steering angle (δ) of the front wheels 7 of the tractor 3 is calculated based on the corrected steering angle (δ ′) calculated in S119 (S121: target steering angle calculation step). Then, the reverse control unit 45 outputs information on the target steering angle (δ) calculated in S121 to the image display unit 47 (S1).
23) and the target steering angle (δ) calculated in S121
The information on the steering control section 49 is output (S12
5), the process ends.

11 to 14 show an example of the calculation result of the reverse control device 31 (reverse control unit 45) having the above-mentioned configuration. FIG. 11 shows the time variation of the trailer trailer axis deviation amount (x), FIG. 12 shows the time variation of the target trailer yaw angle (β ′), and FIG. 13 shows the time variation of the target connecting angle (θ ′). 14 shows the change over time of the target steering angle (δ). As can be seen from FIGS. 11 to 14, the combined vehicle 1 has a trailer rear axis deviation amount (x) of 250 in about 40 seconds.
It is possible to change from a state of about mm to a state along the travel route line 21.

As described above, in the reverse control device 31 (reverse control method) of this embodiment, the trailer yaw angle calculation unit 51 is used.
(Trailer yaw angle calculation step), based on the yaw angle (α) of the tractor 3 detected by the tractor yaw angle detection unit 37 and the connection angle (θ) detected by the connection angle detection unit 39, the yaw angle of the trailer 5 (Β) is calculated, and the position deviation amount of the fifth tractor wheel (x) detected by the tractor fifth wheel position deviation amount detection unit 41 by the trailer rear axis deviation amount calculation unit 53 (trailer rear axis deviation amount calculation step). _c ) and the yaw angle (β) of the trailer 5 calculated by the trailer yaw angle calculation unit 51 (trailer yaw angle calculation step), the rear axis deviation amount (x) of the trailer 5 is calculated, and the reference steering angle calculation unit is calculated. Based on the connection angle (θ) detected by the connection angle detection unit 39 at 55 (reference steering angle calculation step), the reference steering angle (δ) of the front wheels 7 of the tractor 3 for keeping the connection angle (θ) constant. _L) is of operation That. Then, based on the rear axis deviation amount (x) of the trailer 5 calculated by the target trailer yaw angle determining section 57 (target trailer yaw angle determining step) in the trailer rear axis deviation amount calculating section 53 (trailer rear axis deviation amount calculating step). The target trailer yaw angle (β ') of the trailer 5 is determined, and the target trailer yaw angle (β') is determined.
And the trailer yaw angle error (βe) between the trailer yaw angle calculation unit 51 (trailer yaw angle calculation step) and the yaw angle (β) of the trailer 5 are calculated by the trailer yaw angle error calculation unit 59 (trailer yaw angle error calculation step). To be done. Further, the target connection angle (θ ') is calculated based on the trailer yaw angle error (βe) calculated by the trailer yaw angle error calculation unit 59 (trailer yaw angle error calculation step) by the target connection angle determination unit 61 (target connection angle determination step). Is determined, and the connection angle error (θe) between this target connection angle (θ ′) and the connection angle (θ) detected by the connection angle detection unit 39 is the connection angle error determination unit 63 (connection angle error calculation step). Is calculated by After that, the front wheel 7 of the tractor 3 is calculated by the correction steering angle calculation unit 65 (correction steering angle calculation step) based on the connection angle error (θe) calculated by the connection angle error determination unit 63 (connection angle error calculation step). The corrected steering angle (δ ′) is calculated, and the corrected steering angle (δ ′) and the reference steering angle calculation unit 5 are calculated.
The target steering angle (δ) of the front wheels 7 of the tractor 3 is based on the reference steering angle (δ _L ) calculated in 5 (reference steering angle calculation step) and the target steering angle calculation unit 67 (target steering angle calculation step) Is calculated by In this way, the target steering angle (δ) of the front wheels 7 of the tractor 3 is set so that the reference steering angle (δ _L ) for keeping the connection angle between the tractor 3 and the trailer 5 constant and the trailer 5 along the desired backward direction. Therefore, the combined vehicle 1 is allowed to travel backward based on the target steering angle (δ), so that the front wheels 7 can be steered to perform the backward travel easily and stably. Is possible.

Further, in the reverse control device 31 (reverse control method) of this embodiment, the trailer yaw angle calculation unit 51 (trailer yaw angle calculation step) calculates the yaw angle (β) of the trailer 5 by the above-mentioned equation (6). ing. As a result, the yaw angle (β) of the trailer 5 required to calculate the corrected steering angle (δ ′) can be appropriately obtained.

Further, in the reverse control device 31 (reverse control method) of the present embodiment, the trailer rear axis deviation amount calculation section 53 (trailer rear axis deviation amount calculation step) uses the trailer 5.
The rear-axis deviation amount (x) is calculated by the above-mentioned equation (7). As a result, the rear-axis deviation amount (x) of the trailer 5 required for calculating the corrected steering angle (δ ′) can be appropriately obtained.

Further, in the reverse control device 31 (reverse control method) of this embodiment, the reference steering angle calculation unit 55 (reference steering angle calculation step) sets the reference steering angle (δ _L ) of the front wheels 7 of the tractor 3 to the above-mentioned value. It is calculated by the equation (8). Thereby, the reference steering angle (δ _L ) can be appropriately obtained.

Further, in the reverse control device 31 (reverse control method) of the present embodiment, the target trailer yaw angle determination unit 57 (target trailer yaw angle determination step) determines the target trailer yaw angle (β ') as a function L _A (x) or L _B (x) is determined so that it becomes smaller as the trailing axis deviation amount (x) of the trailer 5 calculated by the trailer trailing axis deviation amount calculation unit 53 (trailer trailing axis deviation amount calculation step) becomes smaller. ing. As a result, the value of the target trailer yaw angle (β ') necessary for calculating the corrected steering angle (δ') can be appropriately determined.

Further, in the reverse control device 31 (reverse control method) of this embodiment, the trailer yaw angle error calculation unit 59 (trailer yaw angle error calculation step) obtains the trailer yaw angle error (βe) by the above-mentioned equation (12). ing. As a result, the trailer yaw angle error (βe) required for calculating the corrected steering angle (δ ′) can be appropriately obtained.

Further, in the reverse control device 31 (reverse control method) of the present embodiment, the target connection angle (θ ') is set to the predetermined function N (βe) in the target connection angle determination unit 61 (target connection angle determination step). Thus, the trailer yaw angle error calculation unit 59
The trailer yaw angle error (βe) calculated in (trailer yaw angle error calculation step) is determined to be small. This makes it possible to appropriately determine the value of the target connection angle (θ ′) required to calculate the corrected steering angle (δ ′).

Further, in the reverse control device 31 (reverse control method) of the present embodiment, the connection angle error determination unit 63 (connection angle error calculation step) obtains the connection angle error (θe) by the above equation (13). ing. As a result, the connection angle error (θe) required to calculate the corrected steering angle (δ ′)
Can be properly requested.

Further, in the reverse control device 31 (reverse control method) of the present embodiment, the corrected steering angle (δ ′) is set to the predetermined function Q (θe) in the corrected steering angle calculation section 65 (corrected steering angle calculation step). Thus, the yaw angle (α) of the tractor 3 is changed so that the connection angle error (θe) calculated by the connection angle error determination unit 63 (connection angle error calculation step) is reduced. The corrected steering angle (δ ′) for moving the trailer 5 in the desired backward direction can be appropriately obtained.

Further, in the reverse control device 31 (reverse control method) of this embodiment, the target steering angle (δ) of the front wheels 7 of the tractor 3 is described above in the target steering angle calculation section 67 (target steering angle calculation step). It is calculated by the equation (14). Thereby, the target steering angle (δ) can be appropriately obtained.

Further, the reverse control device 31 (reverse control method) of the present embodiment further includes an image display section 47,
The front wheels 7 of the tractor 3 calculated by the target steering angle calculation unit 67 (target steering angle calculation step) of the reverse control unit 45.
The target steering angle (δ) of is notified to the occupant. As a result, it becomes possible to easily and stably perform the backward traveling without requiring the skill such as a driver.

Further, the reverse control device 31 (reverse control method) of the present embodiment further includes a front wheel steering angle detection section 43 and a steering control section 49, and the steering angle of the front wheels 7 is the target of the reverse control unit 45. Feedback control is performed so that the target steering angle (δ) calculated by the steering angle calculation unit 67 (target steering angle calculation step) is obtained. As a result, it becomes possible to perform the backward traveling more easily and stably.

The present invention is not limited to the above embodiment. For example, the values of various vehicle specification data input in the vehicle specification data input unit 33 are the combined vehicle 1
It is appropriately changed depending on the structure of the (trailer 5). As a result, even when the structure (specifications) of the combined vehicle 1 (trailer 5) is different, it is possible to easily and stably perform the backward traveling by steering the front wheels.

Further, in the present embodiment, the present invention is applied to a connected vehicle composed of a two-shaft semi-tractor and a two-shaft semi-trailer, but the present invention is not limited to this, and the present invention is applied to various connected vehicles. can do. For example, 2
When the present invention is applied to the axle full tractor and the two-axis full trailer, at least the connection point 29 between the dolly 27 and the trailer 5 is fixed at the time of traveling backward, and various types of data input by the vehicle specification data input unit 33 are input. Vehicle specification data is shown in Fig. 1.
Set as shown in FIG. F: tractor reference axle distance G ': tractor fifth wheel offset G ": tractor fifth wheel offset bt: tread width M: trailer reference axle distance M': trailer reference axle distance when traveling backward U: dolly reference axle Distances are defined in the above-mentioned JASO “Z
006-92 "and the like. In addition, FIG.
The connected vehicle 1 is shown by a two-wheel model, and the actual wheel positions are shown by broken lines.

Further, in this embodiment, the tractor 3
Although the AGV is used for the above, the present invention is not limited to this, and a fork type towing vehicle or a connected vehicle type bus having a coupler at the front of the forklift may be used, and the number of trailers 5 to be connected is also limited. It is not limited to one. Further, when the trailer 5 is provided with a self-steering caster, it is necessary to fix the trailer 5 vertically to the trailer axle at the time of retreating.

Further, in the present embodiment, the reverse control unit 45 and the steering control section 49 are separately configured, but the present invention is not limited to this, and the reverse control unit 45 has the function of the steering control section 49. Let the reverse control unit 45
May control the front wheel steering device 11.

Further, in the present embodiment, both the image display section 47 (informing means) and the steering control section 49 (steering control means) are provided, but at least one of them may be provided. In particular, in the case of the combined vehicle 1 (tractor 3) driven by the driver, the image display unit 47 (informing means) may be provided.

Further, the notifying means is not limited to the image display section 47 such as a liquid crystal display, but a target steering angle calculation for a driver or the like such as a method of notifying the front wheel steering angle information by voice. It is sufficient that the target steering angle (δ) calculated by the unit 67 (target steering angle calculation step) can be notified.

[0099]

As described above in detail, according to the present invention, there is provided a reverse control device for a combined vehicle and a reverse control method therefor capable of easily and stably performing reverse travel by front wheel steering. be able to.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of an articulated vehicle according to an embodiment of the present invention.

FIG. 2 is a diagram for explaining definitions of terms used for reverse control in the reverse control device for a combined vehicle according to the embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of a reverse control device for an articulated vehicle according to an embodiment of the present invention.

FIG. 4 is a block diagram for explaining the function of the reverse control unit included in the reverse control device for the combined vehicle according to the embodiment of the present invention.

FIG. 5 is a diagram for explaining various vehicle specification data input by a vehicle specification data input unit included in the reverse control device for a combined vehicle according to the embodiment of the present invention.

FIG. 6 is an explanatory diagram for obtaining a yaw angle (α) of the tractor and a displacement amount (x _c ) of the fifth wheel of the tractor, where d0 <0, d
The case where 1 <0, α> 0, and x _c <0 is shown.

FIG. 7 is a diagram for explaining a travel locus of the connected vehicle when the vehicle travels backward with the connecting angle (θ) kept at a constant value.

FIG. 8 is a diagram for explaining calculation of a target steering angle (δ) in the reverse control device for a combined vehicle according to the embodiment of the present invention.

FIG. 9 is a diagram for explaining a function for determining a target trailer yaw angle (β ′).

FIG. 10 is a flowchart showing an operation of a reverse control unit (a reverse control method for a combined vehicle) included in the reverse control device for a combined vehicle according to the embodiment of the present invention.

FIG. 11 is a diagram showing a change over time in the trailer trailer axis deviation amount (x).

FIG. 12 is a diagram showing a change over time in a target trailer yaw angle (β ′).

FIG. 13 is a diagram showing a change over time of a target connection angle (θ ′).

FIG. 14 is a diagram showing a change over time of a target steering angle (δ).

FIG. 15 is a diagram for explaining an example of various vehicle specification data input by a vehicle specification data input unit included in the reverse control device for a combined vehicle according to the embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Connected vehicle, 3 ... Tractor, 5 ... Trailer, 7 ... Front wheel, 9 ... Rear wheel, 11 ... Front wheel steering device, 13 ... King pin, 15 ... Wheel, 16 ... Coupling device, 17 ... Tractor left-right center line, 19 ... Trailer left / right center line, 21 ... Running route line, 23 ... Front side magnetic sensor row, 25 ... Rear side magnetic sensor row, 31 ... Reverse control device, 33 ... Vehicle specification data input section, 35 ... Running speed detection section, 37 ... Tractor yaw angle detection unit, 39 ... Connection angle detection unit, 41 ... Tractor fifth wheel position deviation amount detection unit, 43 ... Front wheel steering angle detection unit, 45 ... Reverse control unit, 47 ... Image display unit, 49 ... Steering control unit, 51
... Trailer yaw angle calculation unit, 53 ... Trailer rear axis deviation amount calculation unit, 55 ... Reference steering angle calculation unit, 57 ... Target trailer yaw angle determination unit, 59 ... Trailer yaw angle error calculation unit, 61 ...
Target connection angle determination unit, 63 ... Connection angle error determination unit, 65 ... Corrected steering angle calculation unit, 67 ... Target steering angle calculation unit.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Masao Kimura             3-1, Okawa, Kanazawa-ku, Yokohama-shi, Kanagawa Tokyu             Vehicle Manufacturing Co., Ltd. F term (reference) 3D032 CC02 DA03 DA23 DA33 DA88                       DD02 EB04 GG05

Claims (22)

[Claims] 1. A reverse control device for a combined vehicle comprising a tractor with steerable front wheels and a trailer connected to the tractor, the tractor yaw angle detecting means detecting a yaw angle of the tractor, the tractor and the tractor. Connection angle detection means for detecting the connection angle with the trailer, tractor fifth wheel position deviation amount detection means for detecting the position deviation amount of the tractor fifth wheel in the connected vehicle, and tractor yaw angle detection means A trailer yaw angle calculating means for calculating a yaw angle of the trailer based on a yaw angle and a connecting angle detected by the connecting angle detecting means; and the tractor detected by the tractor fifth wheel position deviation amount detecting means. The trailer rear axle shift amount is calculated based on the position shift amount of the fifth wheel and the trailer yaw angle calculated by the trailer yaw angle calculation means. Trailer rear-axis deviation amount calculating means, and reference steering angle calculating means for calculating a reference steering angle of the front wheels of the tractor for keeping the connection angle constant based on the connection angle detected by the connection angle detection means. And a target trailer yaw angle determining means for determining a target trailer yaw angle of the trailer based on the trailer rear axis deviation amount calculated by the trailer rear axis deviation amount calculating means, and the trailer yaw angle calculating means for calculating. A trailer yaw angle error calculating means for calculating a trailer yaw angle error between the trailer yaw angle and the target trailer yaw angle determined by the target trailer yaw angle determining means; and the trailer yaw angle error calculating means for calculating the trailer yaw angle error. Target connecting angle determining means for determining a target connecting angle based on the angle error, and the connecting angle detected by the connecting angle detecting means. Based on the connection angle error calculated by the connection angle error calculation means, a connection angle error calculation means for calculating a connection angle error between the connection angle and the target connection angle determined by the target connection angle determination means Correction steering angle calculation means for calculating the correction steering angle of the front wheels of the tractor, the reference steering angle calculated by the reference steering angle calculation means, and the correction steering angle calculated by the correction steering angle calculation means And a target steering angle calculation means for calculating a target steering angle of the front wheels of the tractor based on the above. 2. The trailer yaw angle calculation means calculates the yaw angle (β) of the trailer β = θ + α θ: connection angle detected by the connection angle detection means α: yaw angle detected by the tractor yaw angle detection means The reverse control device for a combined vehicle according to claim 1, wherein 3. The trailer rear axis deviation amount calculating means detects the trailer rear axis deviation amount (x) by x = x _c −M · sin β x _c : tractor fifth wheel position deviation amount detecting means. 2. The reverse control device for a coupled vehicle according to claim 1, wherein the displacement amount of the fifth wheel of the tractor is M: trailer reference axial distance β: trailer yaw angle calculated by the trailer yaw angle calculation means. . 4. The reference steering angle calculation means calculates the reference steering angle (δ _L ) of the front wheels of the tractor as δ _L = tan ⁻¹ ((F · sin θ) / (G · cos θ−).
M)) F: tractor reference axial distance θ: connection angle detected by the connection angle detection means G: offset of the fifth wheel of the tractor M: trailer reference axial distance. Vehicle reverse control device. 5. The vehicle further comprises traveling speed detecting means for detecting the traveling speed of the tractor or the trailer, and the target trailer yaw angle determining means is detected by the vehicle specification data of the trailer and the traveling speed detecting means. Based on the traveling speed of the tractor or the trailer, the target trailer yaw angle is determined so as to become smaller as the trailer rear-axis deviation amount calculated by the trailer rear-axis deviation amount calculating means becomes smaller. The reverse control device for an articulated vehicle according to claim 1. 6. The trailer yaw angle error calculating means outputs the trailer yaw angle error (βe) to βe = β′−ββ ′: target trailer yaw angle β: trailer yaw angle calculating means determined by the target trailer yaw angle determining means. The reverse control device for a coupled vehicle according to claim 1, wherein the yaw angle of the trailer is calculated as follows. 7. The target connection angle determination means determines the target connection angle so that the trailer yaw angle error calculated by the trailer yaw angle error calculation means becomes smaller. Reversing control device for connected vehicles. 8. The connecting angle error calculating means sets the connecting angle error (θe) to θe = θ′−θθ ′: target connecting angle θ determined by the target connecting angle determining means: connecting angle detecting means. The reverse control device for a combined vehicle according to claim 1, wherein the backward angle is obtained from the detected connection angle. 9. The correction steering angle calculation means obtains the correction steering angle so that the connection angle error calculated by the connection angle error calculation means is reduced by changing the yaw angle of the tractor. The reverse control device for an articulated vehicle according to claim 1, which is characterized in that. 10. The target steering angle calculation means calculates the target steering angle (δ) of the front wheels of the tractor δ = δ ′ + δ _L δ ′: the corrected steering angle δ _L calculated by the correction steering angle calculation means: The reverse control device for a combined vehicle according to claim 1, wherein the reverse steering control device calculates the reference steering angle calculated by the reference steering angle calculation means. 11. The connection according to claim 1, further comprising informing means for informing an occupant of the target steering angle of the front wheels of the tractor calculated by the target steering angle calculating means. Vehicle reverse control device. 12. A front wheel steering angle detection means for detecting a steering angle of front wheels of the tractor, and the target calculated by the target steering angle calculation means for the steering angle detected by the front wheel steering angle detection means. The reverse control device for a combined vehicle according to claim 1, further comprising: steering control means for controlling steering of the front wheels so that a steering angle is obtained. 13. A backward control method for an articulated vehicle comprising a tractor with steerable front wheels and a trailer connected to the tractor, the tractor yaw angle detecting means detecting a yaw angle of the tractor, the tractor and the tractor. The tractor yaw angle detection means uses connection angle detection means for detecting a connection angle with a trailer, and tractor fifth wheel position deviation amount detection means for detecting a position deviation amount of the tractor fifth wheel in the connected vehicle. A trailer yaw angle calculation step of calculating a yaw angle of the trailer based on the detected yaw angle and the connection angle detected by the connection angle detection means; and the trailer yaw angle displacement amount detection means. The trailer trailer based on the displacement amount of the fifth wheel of the tractor and the yaw angle of the trailer calculated by the trailer yaw angle calculating means. A trailer rear-axis deviation amount calculation step for calculating a deviation amount, and a reference for calculating a reference steering angle of the front wheels of the tractor for keeping the connection angle constant based on the connection angle detected by the connection angle detection means. A steering angle calculation step, a target trailer yaw angle determination step of determining a target trailer yaw angle of the trailer based on the trailer rear axis deviation amount calculated in the trailer rear axis deviation amount calculation step, and a trailer yaw angle calculation step. A trailer yaw angle error calculation step of calculating a trailer yaw angle error between the trailer yaw angle calculated by the above and the target trailer yaw angle determined in the target trailer yaw angle determination step; and the trailer yaw angle error calculation step calculated by the trailer yaw angle error calculation step. The target connection angle determination step for determining the target connection angle based on the angle error. And a connection angle error calculation step for calculating a connection angle error between the connection angle detected by the connection angle detection means and the target connection angle determined in the target connection angle determination step, and the connection angle error calculation A correction steering angle calculation step of calculating a correction steering angle of the front wheels of the tractor based on the connection angle error calculated in step, and the reference steering angle and the correction steering angle calculation calculated in the reference steering angle calculation step. A target steering angle calculation step of calculating a target steering angle of the front wheels of the tractor based on the corrected steering angle calculated in step. 14. In the trailer yaw angle calculating step, the yaw angle (β) of the trailer is β = θ + α θ: connection angle detected by connection angle detection means α: yaw angle detected by tractor yaw angle detection means 14. The reverse control method for a combined vehicle according to claim 13, wherein 15. In the trailer rear-axis deviation amount calculating step, the trailer rear-axis deviation amount (x) is detected by x = x _c −M · sin β x _c : tractor fifth wheel position deviation amount detecting means. 14. The reverse control method for a combined vehicle according to claim 13, wherein the displacement amount of the fifth wheel of the tractor M: trailer reference axial distance β: the trailer yaw angle calculated by the trailer yaw angle calculation means. . 16. In the reference steering angle calculation step, the reference steering angle (δ _L ) of the front wheels of the tractor is set to δ _L = tan ⁻¹ ((F · sin θ) / (G · cos θ−).
M)) F: tractor reference axial distance θ: connection angle detected by the connection angle detecting means G: offset of the fifth wheel of the tractor M: trailer reference axial distance, and connection according to claim 13. Vehicle reverse control method. 17. A traveling speed detecting means for detecting a traveling speed of the tractor or the trailer is further used, and in the target trailer yaw angle determining step, the vehicle specification data of the trailer and the traveling speed detecting means are detected. Based on the traveling speed of the tractor or the trailer, the target trailer yaw angle is determined so as to become smaller as the trailer rear-axis deviation amount calculated by the trailer rear-axis deviation amount calculating means becomes smaller. The reverse control method for a combined vehicle according to claim 13, wherein: 18. In the trailer yaw angle error calculating step, the trailer yaw angle error (βe) is set to βe = β′−ββ ′: target trailer yaw angle β determined by target trailer yaw angle determining means: trailer yaw angle calculating means. 14. The reverse control method for a combined vehicle according to claim 13, wherein the yaw angle of the trailer is calculated as follows. 19. The target connecting angle determining step determines the target connecting angle so that the trailer yaw angle error calculated by the trailer yaw angle error calculating means becomes small. Reverse control method for linked vehicles. 20. In the connecting angle error calculating step, the connecting angle error (θe) is set to θe = θ′−θ θ ′: a target connecting angle θ determined by a target connecting angle determining means: a connecting angle detecting means. 14. The reverse control method for a combined vehicle according to claim 13, wherein the backward angle is obtained from the detected connection angle. 21. In the correction steering angle calculation step, the correction steering angle is calculated so as to reduce the connection angle error calculated in the connection angle error calculation step by changing the yaw angle of the tractor. 14. The method according to claim 13,
A backward control method for a combined vehicle according to item 1. The method according to claim 22, wherein the target steering angle calculating step, the target steering angle of the front wheels of the tractor ([delta]) the _{δ = δ '+ δ L δ} ': correction steering angle, which is calculated by the correction steering angle calculating means [delta] _L: 14. The reverse control method for a combined vehicle according to claim 13, wherein the method is obtained by the reference steering angle calculated by the reference steering angle calculation means.