JP2014240254A - Control device, traction vehicle, and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set a proper coupler position for many kinds of towed vehicles.SOLUTION: A control device 14 of a connection car 1, in a state where a towed vehicle 3 is connected to a traction vehicle 2, determines whether or not an axle load applied on an axle of the traction vehicle 2 exceeds a predetermined value. If the axle load exceeds a predetermined value, controls the towed vehicle 3 to be unable to travel. When the axle load is a predetermined value or less, it is determined whether or not a relative positional relation between the towed vehicle 3 and the traction vehicle 2 at a current position of a coupler 4 satisfies a predetermined condition determined for each car type of the towed vehicle 3. If the predetermined condition is met, both the traction vehicle 2 and the towed vehicle 3 are controlled to be able to travel. If the predetermined condition is not met, the traction vehicle 2 is controlled to be able to travel under a car speed limitation while the towed vehicle 3 is controlled to be able to travel.

Description

  The present invention relates to a control device, a towing vehicle, and a control method.

  A king pin as a connecting portion of the towed vehicle is inserted (that is, coupled) to the coupler of the towed vehicle to connect the towed vehicle and the towed vehicle. At this time, there is a tow vehicle including a slide-type connected towing device that can change the position of the coupler on the tow vehicle along the straight traveling direction (that is, the front-rear direction) of the tow vehicle (for example, see Patent Document 1).

  By using such a slide type connected towing device, the degree of freedom with respect to the restriction of the structure of the towed vehicle that can be towed by one towed vehicle is increased. Therefore, it is possible to connect various types of towed vehicles to one towed vehicle and tow the vehicle.

JP-A-5-162663

  In the above-described slide-type connected traction device, the position of the coupler is variously determined for each type of towed vehicle. The driver or driving assistant of the tow vehicle needs to set the coupler position determined for each vehicle type of the towed vehicle according to the type of the towed vehicle. At this time, if the position of the coupler that does not match the model of the towed vehicle is set by mistake, when the towed vehicle turns, the front corner of the towed vehicle hits the rear of the cab of the towed vehicle, or There is a possibility that inconveniences such as narrowing a pitching allowable range when the towing vehicle pitches may occur.

  The present invention has been made under such a background, and provides a control device, a tow vehicle, and a control method capable of setting appropriate coupler positions for various types of towed vehicles. With the goal.

  The first aspect of the present invention is a viewpoint as a control device. The present invention has a coupler to which a connecting portion of a towed vehicle is coupled when the towed vehicle is connected to a towed vehicle, and a position adjusting means capable of changing the position of the coupler along the straight traveling direction of the towed vehicle In a connected vehicle control device having a slide-type connected towing device with a towed vehicle, it is determined whether the axle load applied to the axle of the tow vehicle exceeds a predetermined value when the towed vehicle is connected to the tow vehicle When the axle weight exceeds a predetermined value, the towed vehicle is controlled so as not to travel. When the axle weight is less than the predetermined value, the distance between the towing vehicle and the towed vehicle at the current position of the coupler is controlled. The relative positional relationship between the towed vehicle and the towed vehicle is controlled so that both the towed vehicle and the towed vehicle can travel. When the prescribed conditions are not met, And has a control means for drivable controlling the towed vehicle as well as the travelable controlled dated speed limit.

  Furthermore, the control device of the present invention can include a display unit that displays whether or not each condition is satisfied for each item indicating the predetermined condition when the predetermined condition is not satisfied. .

  A second aspect of the present invention is a towing vehicle having the control device of the present invention.

  The third aspect of the present invention is a viewpoint as a control method. The present invention has a coupler to which a connecting portion of a towed vehicle is coupled when the towed vehicle is connected to a towed vehicle, and a position adjusting means capable of changing the position of the coupler along the straight traveling direction of the towed vehicle In a control method executed by a connected vehicle control device having a slide-type connected towing device, the axle load applied to the tow vehicle axle exceeds a predetermined value in a state where the towed vehicle is connected to the tow vehicle. If the axle weight exceeds a predetermined value, the towed vehicle is controlled so that it cannot travel, and if the axle weight is less than the predetermined value, the towed vehicle at the current position of the coupler and the It is determined whether or not the relative positional relationship with the towing vehicle satisfies a predetermined condition determined for each type of towed vehicle. When the predetermined condition is satisfied, both the towing vehicle and the towed vehicle are The vehicle is controlled so that it can run and the prescribed conditions are not met. Kiniwa, and has a control step of driving control to allow the towed vehicle with travel control to allow towing vehicle dated vehicle speed limiting.

  Furthermore, the control method of the present invention can include a display step for displaying whether or not each condition is satisfied for each item indicating the predetermined condition when the predetermined condition is not satisfied. .

  ADVANTAGE OF THE INVENTION According to this invention, an appropriate coupler position can be set with respect to many types of towed vehicles.

1 is an overall configuration diagram of a connecting vehicle according to an embodiment of the present invention. It is a whole block diagram of the tow vehicle of FIG. It is a block block diagram of the control apparatus and display part of FIG. It is a flowchart which shows operation | movement of the control apparatus of FIG. It is a figure which shows the example of a display of a monitor part among the display parts of FIG. It is a figure which shows the example of a display different from FIG. 5 of a monitor part among the display parts of FIG.

  As shown in FIG. 1, a towed vehicle 2 and a towed vehicle 3 are connected to a coupled vehicle 1 according to an embodiment of the present invention. When connecting the towed vehicle 3 to the towed vehicle 2, the coupler 4 is inserted with a king pin (not shown) as a connecting portion of the towed vehicle 3.

  As shown in FIG. 2, the coupler 4 is a top of a position adjustment mechanism 5 whose position can be changed along a direction along the straight traveling direction of the tow vehicle 2 (in the drawing, in the left-right direction, hereinafter referred to as the front-rear direction). Installed. The coupler 4 is installed on the position adjusting mechanism 5 so as to move freely within a predetermined angle range at least in the pitching direction of the towing vehicle 2. The coupler 4 and the position adjusting mechanism 5 constitute a slide type connecting and pulling device 6 as shown in the upper broken line frame in FIG. In addition, in order to explain the upper structure, the slide type connecting and pulling device 6 in the upper broken line frame in FIG. According to the slide type connecting and pulling device 6, the position of the coupler 4 can be changed, so that it is possible to deal with various vehicle types of the towed vehicle 3.

  As shown in the top structural diagram in the broken-line frame at the top of FIG. 2, the slide type connecting and pulling device 6 is pulled by the coupler 4 along a pair of rails 7 provided on the planar position adjusting mechanism 5. The vehicle 2 is configured to be slidable within a predetermined range in the front-rear direction. The coupler 4 is inserted with a king pin as a connecting portion of the towed vehicle 3 (not shown). The coupler 4 is provided with a mechanism for fixing the slide position. This is formed in a mechanism in which a pair of lock portions 8 provided on the coupler 4 side protrudes outward by a pneumatic cylinder 9 and is fitted to the unevenness of the rail 7 at an appropriate position in the front-rear direction.

  The pneumatic cylinder 9 is arranged on the back surface of the coupler 4 when viewed from the top structural diagram in the broken line frame at the top of FIG. Since this is in a position that cannot be seen from above, it is originally drawn with a broken line, but in FIG. 2, this is drawn with a solid line instead of a broken line for easy understanding. Air pressure is sent to the pneumatic cylinder 9 from an air tank (not shown) via an air valve (not shown). When air pressure is sent to the pneumatic cylinder 9, the lock portion 8 is disengaged from the rail 7, and the coupler 4 can slide along the rail 7. On the other hand, when the air pressure of the pneumatic cylinder 9 is lost, the lock portion 8 is engaged with the rail 7 by a spring force (not shown), and the coupler 4 is fixed on the rail 7. Note that the slide-type connecting and pulling device 6 is generally well known, and may have a structure other than that illustrated in FIG.

  The hose 12 is a pipe line for sending brake air pressure to the towed vehicle 3 connected to the towed vehicle 2. The hose 12 is provided with a sufficient length so as not to hinder the connection even if the mutual position of the tow vehicle 2 and the towed vehicle 3 changes. The brake air pressure is controlled by the air valve 13. A plurality of electric signal lines are connected between the towing vehicle 2 and the towed vehicle 3 in parallel with the hose 12 or wound around the hose 12. In addition to signals for the tail lamp and direction indicator lamp circuits of the towed vehicle 3 that have been conventionally used, various signals are transmitted to the electric signal line.

  The tow vehicle 2 includes a control device 14 and a display unit 15 that displays output information of the control device 14. The control device 14 and the display unit 15 will be described with reference to FIG. As shown in FIG. 3, the control device 14 includes a vehicle type coupler position storage unit 16. The vehicle type coupler position storage unit 16 stores information on an appropriate position of the coupler 4 in the vehicle type of the towed vehicle 3. The storage of information in the vehicle-specific coupler position storage unit 16 may be performed by the manufacturer of the towing vehicle 2 before the towing vehicle 2 is shipped, or the towing vehicle 2 is purchased after the towing vehicle 2 is shipped. It may be performed on the user side.

  The display unit 15 includes a monitor unit 15a on which image information is displayed, an alarm buzzer 15b, and an alarm lamp 15c. When the towed vehicle 3 is connected to the towed vehicle 2, the monitor unit 15 a displays the image information “trailer unknown” when the vehicle type information of the towed vehicle 3 is not yet input. Alternatively, the monitor unit 15a may indicate “unknown trailer” when the towed vehicle 3 is connected to the towed vehicle 2 and the vehicle type information is input, but the vehicle type information is not stored in the vehicle type coupler position storage unit 16. Display image information. Furthermore, the monitor unit 15a displays as image information whether or not each of the forward radius, the skirt radius, the total connection length, and the pitching angle of the towed vehicle 3 is within an appropriate value range. A specific example of displaying image information will be described later.

  The alarm buzzer 15b sounds when the axle weight applied to the axle of the towing vehicle 2 due to the towed vehicle 3 being connected to the towing vehicle 2 is not an appropriate value. For example, when the sum total of the axle loads applied to the front and rear wheel axles of the tow vehicle 2 exceeds a prescribed value, or even if the sum of axle loads applied to the front and rear axles of the towing vehicle 2 does not exceed the prescribed value. If the axle weight is biased to either the front wheel or the rear wheel of the towing vehicle 2 and the axle weight applied to the front wheel or the rear wheel exceeds the specified value, the axle weight applied to the axle of the towing vehicle 2 is not an appropriate value. It rings.

  The warning lamp 15c blinks when the towed vehicle 3 is connected to the towed vehicle 2 and the vehicle type information of the towed vehicle 3 is not yet input. Alternatively, the warning lamp 15 c blinks when the towed vehicle 3 is connected to the towed vehicle 2 and the vehicle type information is input, but the vehicle type information is not stored in the vehicle type coupler position storage unit 16. Furthermore, the warning lamp 15c blinks when any of the forward-turning radius, the skirt-around radius, the total connection length, and the pitching angle of the towed vehicle 3 is outside the range of appropriate values.

  When the coupler 4 is positioned at a position that matches the vehicle type of the towed vehicle 3, the forward radius, the skirt radius, the total length of connection, and the pitching angle of the towed vehicle 3 are within appropriate values. On the other hand, if the coupler 4 is positioned at a position that is incompatible with the vehicle type of the towed vehicle 3, any or all of the forward radius, the hem radius, the total connection length, and the pitching angle of the towed vehicle 3 are out of the proper range. become.

  Here, as an explanation of terms, the forward radius of the towed vehicle 3 is defined as the front side of the towed vehicle 3 connected to the towed vehicle 2 from the center of the coupler 4 to the front of the towed vehicle 3. The radius of a circle on the horizontal plane whose radius is the distance to the corner is called the forward radius. When the opposite side of the front of the towed vehicle 3 is defined as the back, the radius of a circle on the horizontal plane whose radius is the distance from the center of the coupler 4 to the back corner of the towed vehicle 3 is referred to as a skirt radius. In addition, the distance from the front part of the towed vehicle 2 to the rear part of the towed vehicle 3 when the vehicle is in a straight traveling state is referred to as a connected total length. Further, when the tow vehicle 2 is pitched while the tow vehicle 3 is kept in a state of being straight, the lower edge of the front portion of the towed vehicle 3 is not in contact with the tow vehicle 2. The angle is called the pitching angle.

  Here, the forward radius affects the maximum value of the steering angle when the connected vehicle 1 turns. That is, if the forward radius is inadequate, the angle in front of the towed vehicle 3 comes into contact with the towed vehicle 2 before the maximum steering angle normally permitted for the connected vehicle 1 is reached, which is normally permitted. The turning operation at the maximum rudder angle becomes impossible. Therefore, it is particularly important that the forward radius is appropriate. Similarly, the pitching angle affects the maximum value of the towing vehicle 2 pitching angle. That is, if the pitching angle is inappropriate, the lower edge of the front portion of the towed vehicle 3 comes into contact with the towing vehicle 2 before the maximum pitching angle normally permitted for the coupled vehicle 1 is reached. It becomes impossible to run at the maximum pitching angle. Therefore, it is particularly important that the pitching angle is appropriate.

  Therefore, when the towed vehicle 3 is connected to the towed vehicle 2, the control device 14 first detects the axle weight applied to the front and rear wheel axles of the towed vehicle 2, and the axle weight of any axle is an appropriate value. In some cases, next, whether or not the position of the coupler 4 is appropriate for the connected towed vehicle 3 is determined based on whether the position of the coupler 4 is the front radius, the bottom radius, the total length of connection, and the pitching. Each corner is judged.

  For example, from the vehicle type information of the towed vehicle 3, the forward radius and the skirt radius about the position of the king pin of the towed vehicle 3 (that is, the position of the coupler 4) are found. The validity of the position of the coupler 4 with respect to the forward radius can be confirmed by comparing the forward radius with the distance from the position of the coupler 4 of the towing vehicle 2 that is known in advance to the rear outer wall of the cab. . At the same time, the correctness of the position of the coupler 4 with respect to the pitching angle can be confirmed. Furthermore, the validity of the position of the coupler 4 with respect to the skirt radius can also be confirmed.

  Further, the total length of the towed vehicle 3 is determined from the vehicle type information of the towed vehicle 3. The legitimacy of the total length of the towed vehicle 3 can be confirmed from the total length of the towed vehicle 3 and the length of the towed vehicle 2 known in advance and the position of the coupler 4.

  The vehicle type information of the towed vehicle 3 is input to the control device 14 by a keyboard (not shown) or the like by the driver of the connected vehicle 1. At this time, when the vehicle type information of the towed vehicle 3 is not input, for example, “trailer unknown” is displayed on the display unit 15. Further, when the vehicle type information of the towed vehicle 3 is input, but the input vehicle type information does not match the information stored in advance in the vehicle type coupler position storage unit 16, the display unit 15 also displays “Unknown trailer”. Is displayed.

  At this time, if it is inappropriate, each item of the forward radius, the skirt radius, the total connection length, and the pitching angle of the towed vehicle 3 is displayed in order to notify where it is inappropriate. Further, even when any of the forward radius, the skirt radius, the total connection length, and the pitching angle of the towed vehicle 3 is inappropriate, the control is performed when the axle load applied to the axle of the towed vehicle 2 is an appropriate value. The device 14 performs control so as to enable traveling with a vehicle speed restriction as required. This makes it possible to change the parking position within the premises of a transportation company, although normal driving on public roads is not possible.

  Next, the operation of the control device 14 will be described with reference to the flowchart of FIG. The START condition in the flowchart of FIG. 4 is a condition that the towed vehicle 3 has completed the connection with the towed vehicle 2. Note that the flow from START to END in FIG. 4 is for one cycle, and if the START condition is satisfied when the flow proceeds to END, the flow is executed again.

  In step S1, when the vehicle type information is input to the control device 14 and the control device 14 acquires the position information of the coupler 4, the flow proceeds to step S2. The vehicle type information is input by a keyboard such as a driver connected to the control device 14 by an operator such as a driver. The position information of the coupler 4 is transmitted to the control device 14 by a sensor (not shown) attached to the position adjustment mechanism 5, for example.

  In step S <b> 2, the control device 14 determines whether or not the axle load applied to the axle of the towing vehicle 2 due to the towed vehicle 3 being connected to the towing vehicle 2 is an appropriate value. If it is determined in step S2 that the axle load is appropriate, the flow proceeds to step S3. On the other hand, if it is determined in step S2 that the axle load is inappropriate, the flow proceeds to step S5. As for the information on the axle load applied to the axle of the towing vehicle 2 described above, for example, when the towing vehicle 2 is equipped with an air suspension, the air suspension before and after the towed vehicle 3 is coupled to the towing vehicle 2. Can be obtained by detecting a change in air pressure.

  In step S <b> 3, the control device 14 determines whether or not all the items of the forward radius, the skirt radius, the total connection length, and the pitching angle of the towed vehicle 3 are within a range of appropriate values. If it is determined in step S3 that all the above items are within the range of appropriate values, the flow proceeds to step S4. On the other hand, if it is determined in step S3 that any of the above is out of the range of appropriate values, the flow proceeds to step S7.

  In step S4, the control device 14 gives a control instruction to a not-shown engine ECU (Electric Control Unit) and a brake ECU as a normal travel enable control instruction so that the vehicle can travel normally, and a flow for one cycle. End (END).

  In step S5, the control device 14 locks the wheel of the towed vehicle 3 as a travel impossibility control instruction. Specifically, the control device 14 instructs the brake ECU of the tow vehicle 2 to use the brake of the wheel of the towed vehicle 3. Upon receiving this instruction, the brake ECU supplies air pressure in an air tank (not shown) on the side of the towing vehicle 2 to a brake actuator (not shown) of the towed vehicle 3 via the hose 12. When the process is completed in step S5, the flow proceeds to step S6.

  In step S6, the control device 14 sounds the alarm buzzer 15b and lights the alarm lamp 15c, and the flow ends the process for one cycle (END).

  In step S <b> 7, the control device 14 instructs the brake ECU to lock the wheels of the towed vehicle 3 as an inoperable control instruction. When the process is completed in step S7, the flow proceeds to step S8.

  In step S8, the control device 14 blinks the alarm lamp 15c and displays image information on the monitor unit 15a. At this time, the monitor unit 15a displays items that are out of the range of appropriate values for each of the forward radius, the skirt radius, the total connection length, and the pitching angle of the towed vehicle 3. In addition, the monitor unit 15 a displays image information “Unknown trailer” when the input vehicle type information is not stored in the vehicle type coupler position storage unit 16. When the process is completed in step S8, the flow proceeds to step S9.

  In step S9, the control device 14 determines whether or not an emergency movement mode switch (not shown) is in an ON state. If it is determined in step S8 that the emergency movement mode switch is in the ON state, the flow proceeds to step S10. On the other hand, if it is determined in step S9 that the emergency movement mode switch is in the OFF state, the flow ends the process for one cycle (END).

  In step S <b> 10, the control device 14 issues a travel enable control instruction with an upper limit on the engine rotation speed to the engine ECU as a vehicle speed limited travel enable control instruction. When the process is completed in step S10, the flow proceeds to step S11.

  In step S11, the control device 14 instructs the brake ECU to unlock the wheels of the towed vehicle 3 as a travelable control instruction. When the process is completed in step S11, the flow for one cycle is ended (END).

  Thereby, when the axle weight of the axle of the towed vehicle 2 exceeds an appropriate value, it is possible to prevent the connected vehicle 1 from being erroneously driven by locking the wheels of the towed vehicle 3. For example, when the sum total of the axle loads applied to the front and rear wheel axles of the tow vehicle 2 exceeds a prescribed value, or even if the sum of axle loads applied to the front and rear axles of the towing vehicle 2 does not exceed the prescribed value. If the axle weight is biased to either the front wheel or the rear wheel of the tow vehicle 2 and the axle weight applied to the front wheel or the rear wheel exceeds a specified value, the wheel of the towed vehicle 3 is locked.

  On the other hand, if the axle weight of the towing vehicle 2 is an appropriate value, the connected vehicle 1 can be run while the vehicle speed is limited even if there is a problem in the positional relationship between the towing vehicle 2 and the towed vehicle 3. . According to this, the position adjustment of the coupler 4 can be performed after moving the connecting vehicle 1 to an appropriate place.

  In addition, it is possible to display whether the value is appropriate for each item. According to this, for example, when the forward radius and the pitching angle are NG, but the total length of the connection is OK, it can be seen that there is a margin for further retracting the coupler 4. Conversely, when the forward radius and the pitching angle are OK, it can be seen that there is room to further advance the coupler 4 when the total connection length is NG. In this way, the position of the coupler 4 can be set to an appropriate position for each vehicle type of the towed vehicle 3.

  When it is determined “No” in step S <b> 2 of the above-described flow, an operator such as a driver executes readjustment of the position adjustment mechanism 5. In general, the axle load applied to the rear wheel of the tow vehicle 2 often exceeds an appropriate value because the load of the towed vehicle 3 is excessively biased to the rear wheel of the tow vehicle 2. Therefore, the operator moves the position of the coupler 4 to the front of the towing vehicle 2 (that is, toward the cab). Thereby, the axial weight biased to the rear wheel of the towing vehicle 2 is also distributed to the front wheel. According to this, the axle load applied to the axle of the towing vehicle 2 can be equalized between the front and rear wheels, and the axle load applied to the axle can be set to an appropriate value. At this time, although the wheels of the towed vehicle 3 are locked, the towed vehicle 2 can normally travel. Therefore, by releasing the lock portion 8 of the position adjusting mechanism 5 and slightly moving the towed vehicle 2 in the front-rear direction, The position of the coupler 4 can be changed.

  In addition, when it is determined “No” in step S3 of the above-described flow, the operator such as the driver can also use the position adjustment mechanism 5 as in the case where “No” is determined in step S2. Perform readjustment. Furthermore, when it is determined “No” in step S3, it is determined “Yes” in step S2. Therefore, there is no problem with straight running or running on a road surface with small pitching. Therefore, if it is determined as “No” in step S3, the vehicle is allowed to travel with a vehicle speed limit. According to this, since the connection vehicle 1 can be moved, for example, the position adjustment mechanism 5 can be readjusted by moving the connection vehicle 1 to another location.

  A display example of the monitor unit 15a will be described with reference to FIGS. The example of FIG. 5 is an example in which “trailer unknown” and image information are displayed. For example, the character color of “unknown trailer” may be a conspicuous color such as red or yellow, and the character may blink.

  The example of FIG. 6 is an example in which “OK” or “NG” is displayed on the right side of the screen for each item of “forward radius”, “hem radius”, “total length of connection”, and “pitching angle”. is there. In addition to the example of FIG. 6, for example, instead of directly displaying “OK” and “NG”, the character color may be changed for each item between “OK” and “NG”. Good. Alternatively, in the case of “NG” for each item, characters may be blinked. Further, in the case of “NG” for each item, it may be blinked while changing the character color.

  Note that the display example of the display unit 15 may be variously changed. For example, the alarm lamp 15c may be omitted such that the monitor unit 15a displays image information corresponding to the alarm lamp 15c. Or if the monitor part 15a is a type which has a speaker, the alarm buzzer 15b can be abbreviate | omitted and the function of the alarm buzzer 15b can be substituted by the speaker of the monitor part 15a. According to this, the display part 15 can be only the monitor part 15a.

  Moreover, you may connect between the control apparatus 14 and the display part 15 by radio | wireless communication. According to this, the display of the display part 15 can be confirmed in the place away from the connecting vehicle 1.

  Further, the display unit 15 may be provided with an input function (keyboard or the like) of vehicle type information (not shown).

  Further, the input of the vehicle type information may be performed by reading a bar code, a QR code, an IC tag or the like attached to the towed vehicle 3 instead of being manually performed by an operator such as a driver. In this case, a reading function such as a barcode, QR code, or IC tag is provided on the control device 14 side.

  The control device 14 can be realized by executing a predetermined program in which the information processing device is installed in advance. Such an information processing apparatus has, for example, a memory, a CPU (Central Processing Unit), an input / output port, and the like. The CPU of the information processing apparatus reads and executes a control program as a predetermined program from a memory or the like. Thereby, the function of the control device 14 is realized in the information processing apparatus. An ASIC (Application Specific Integrated Circuit), a microprocessor (microcomputer), a DSP (Digital Signal Processor), or the like may be used instead of the CPU.

  Further, even if the predetermined program described above is stored in the memory of the information processing apparatus before shipment of the control device 14, it is stored in the memory of the information processing apparatus after shipment of the control device 14. It may be a thing. Further, a part of the program may be stored in a memory of the information processing apparatus after the control device 14 is shipped. The program stored in the memory or the like of the information processing apparatus after shipment of the control device 14 may be, for example, the one installed on a computer-readable recording medium such as a CD-ROM or the Internet. The one downloaded via the transmission medium may be installed.

  The predetermined program described above includes not only a program that can be directly executed by the information processing apparatus but also a program that can be executed by being installed on a hard disk or the like. Also included are those that are compressed or encrypted.

  Thus, by realizing the control device 14 with the information processing device and the program, it becomes possible to flexibly cope with mass production and specification change (or design change).

  Note that the program executed by the information processing apparatus may be a program that is processed in time series in the order described in this specification, or may be necessary in parallel or when a call is made. It may be a program that performs processing at timing.

DESCRIPTION OF SYMBOLS 1 ... Connection vehicle, 2 ... Towing vehicle, 3 ... Towed vehicle, 4 ... Coupler, 5 ... Position adjustment mechanism (position adjustment means), 6 ... Slide type connection traction device, 14 ... Control device, 15 ... Display part (display) means)

Claims (5)

A coupler that is coupled to a connected portion of the towed vehicle when the towed vehicle is coupled to the towed vehicle, and a position adjusting unit that can change a position of the coupler along a straight traveling direction of the towed vehicle. In a connected vehicle control device equipped with a slide-type connected traction device,
With the towed vehicle connected to the towed vehicle,
It is determined whether or not the axle load applied to the axle of the tow vehicle exceeds a predetermined value, and when the axle weight exceeds a predetermined value, the towed vehicle is controlled to be unable to travel, and the axle weight is controlled. Is less than or equal to a predetermined value, whether the relative positional relationship between the towed vehicle and the towed vehicle at the current position of the coupler satisfies a predetermined condition determined for each type of the towed vehicle When the predetermined condition is satisfied, the tow vehicle and the towed vehicle are controlled to be able to travel together, and when the predetermined condition is not satisfied, the tow vehicle is controlled with a vehicle speed limit. And a control means for controlling the towed vehicle so that the towed vehicle can travel.
A control device characterized by that. The control device according to claim 1,
When the predetermined condition is not satisfied, the display unit displays whether or not the individual condition is satisfied for each item indicating the predetermined condition.
A control device characterized by that.   A towing vehicle comprising the control device according to claim 1. A coupler to which a towed vehicle connecting portion is coupled when the towed vehicle is connected to the towed vehicle, and a position adjusting means capable of changing the position of the coupler along the straight traveling direction of the towed vehicle. In a control method executed by a connected vehicle control device including a slide-type connected towing device,
With the towed vehicle connected to the towed vehicle,
It is determined whether or not the axle load applied to the axle of the tow vehicle exceeds a predetermined value, and when the axle weight exceeds a predetermined value, the towed vehicle is controlled to be unable to travel, and the axle weight is controlled. Is less than or equal to a predetermined value, whether the relative positional relationship between the towed vehicle and the towed vehicle at the current position of the coupler satisfies a predetermined condition determined for each type of the towed vehicle When the predetermined condition is satisfied, the tow vehicle and the towed vehicle are controlled to be able to travel together, and when the predetermined condition is not satisfied, the tow vehicle is controlled with a vehicle speed limit. And a control step for controlling the towed vehicle so that the towed vehicle can travel.
A control method characterized by that. The control method according to claim 4, wherein
When the predetermined condition is not satisfied, a display step for displaying whether or not the individual condition is satisfied for each item indicating the predetermined condition,
A control method characterized by that.

Images