JP2950237B2 - Steering control device for connected vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a vehicle connected to a tractor and a trailer connected to the tractor.
The present invention relates to a steering control device for a connected vehicle.

[0002]

2. Description of the Related Art Generally, when the direction of a vehicle is changed while the vehicle is moving backward, the steering wheel may be turned in the direction to be moved backward. For example, when the vehicle is moved backward in the right direction, the steering wheel may be turned right when the vehicle is moved backward. The same applies to the case where only a tractor that pulls a trailer is retracted.

[0003] This will be described with reference to Fig. 9A. Fig. 9A shows the movement of the tractor when the tractor 100 is retracted to the right rear. In the figure,
Arrows indicate the retracting direction of the tractor. In this case, as shown in FIG. 9A, the driver turns a steering wheel (not shown) to the right to rotate the front wheel 10 of the tractor 100.
The driver only has to turn the steering wheel to the right while turning the steering wheel 1 to the right.

On the other hand, a tractor 100 and this tractor 10
In a connected vehicle including a trailer connected to zero, it is not possible to retreat as in the case of only the tractor 100 described above. That is, the tractor 10 of the connected vehicle is normally used.
The trailer and the trailer are rotatably connected to each other by a connecting pin or the like. During steering, a bent angle is generated between the tractor and the trailer using the pin as a fulcrum.
Therefore, when such a connected vehicle is moved backward to the right, for example, 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 rightward, and accordingly, the front end of the trailer. Moves to the right, the trailing end of the trailer moves to the rear left, and the connected vehicle cannot be moved back to the rear right. In addition, the connected vehicle may bend around the connection between the tractor and the trailer, so that the vehicle may not be able to retreat.

Therefore, when the connected vehicle is moved backward, the driver needs to perform an operation different from that in the case where only the tractor is used. This will be described with reference to FIG. 9B. FIG. 9B shows an example of the movement of the connected vehicle when the connected vehicle is moved backward to the right. It should be noted that, in the drawing, the arrow indicates the retreat direction of the tractor.

That is, as shown in FIG. 9B, first,
The bent angle between the contactor and the trailer is set to substantially 0, and the connected vehicle is kept straight. Then, the driver turns the steering wheel (not shown) to the left (counterclockwise) in a direction opposite to the direction in which the driver retracts, and moves backward while turning the front wheel 101 of the tractor 100 to the left.
To the left. At this time, the trailer 103
Receives a force from the connecting pin 110 in the direction indicated by the arrow A in FIG. 9B.

As a result, the front end 103 of the trailer 103
a moves to the left, and the trailing end 103b of the trailer 103 moves toward the right rear. In this case, as long as the steering wheel is not turned back, the angle between the tractor 100 and the trailer 103 increases.
Then, after turning the trailing end 103b of the trailer 103 in the retreating direction, the driver subsequently turns back the steering wheel (not shown) to retreat, that is, in the retreating direction,
By turning it clockwise, the tractor 100 is moved backward while turning the front wheel 101 to the right. As a result, this time, the vehicle is straightened while the angle between the tractor 100 and the trailer 103 is reduced, and the reverse operation is completed.

[0008]

When the connected vehicle 102 is to be moved backward, first, the steering wheel is turned in a direction opposite to the direction in which the connected vehicle 102 is to be moved backward, and the trailer 103 is turned.
It is necessary to orient the rear end 103b, and it is not possible to perform retreat by a simple operation as in the case of only a normal automobile or the tractor 100, and a skill of a driver is required. In other words, when the connected vehicle is moved backward, the driver needs skill in operating the steering wheel and, as described above, requires an operation peculiar to the connected vehicle, so that there is a problem that the burden on the driver is large.

By the way, various techniques for steering the wheels of the trailer have been disclosed in order to improve the small turning ability of the connected vehicle when the connected vehicle moves forward. However, these techniques control the steering of the wheels of the trailer when the vehicle moves backward. Stop or
It is designed to be held at a neutral position. Also, for example, as to hold the trailer wheels in a neutral position,
There is a technique disclosed in Japanese Utility Model Laid-Open No. 3-37081.

[0010] However, such conventional techniques are as follows.
It is not intended to actively utilize the steering of the wheels of the connected vehicle in order to improve the reversibility of the connected vehicle. Also,
As a technique for enabling safe and easy driving when the connected vehicle moves backward, for example, there is a technique disclosed in Japanese Patent Application Laid-Open No. 1-273774. In this technique, a tractor and a trailer are connected by a tie rod, and the tie rod is moved by driving a tie rod drive motor to adjust a relative angle between the tractor and the trailer. In addition, a limit switch is provided to provide a buzzer alarm that the movement of the tie rod has reached a limit and stop the tie rod.

However, in this technique, before the vehicle is unable to retreat, the trailer must be temporarily stopped, the tractor must be advanced to adjust the relative angle with the trailer, and then the reverse operation must be performed again. There is a problem that it is not possible to sufficiently improve the operability when the connected vehicle retreats. The present invention has been made in view of such problems, and does not require the skill of a driver.
An object of the present invention is to provide a connected vehicle steering control device capable of easily retreating a connected vehicle and improving operability when the connected vehicle retreats.

[0012]

[0013]

Means for Solving the Problems] Therefore, the steering control apparatus for a combination vehicle of the present invention according to claim 1, provided in the combination vehicle composed of a trailer coupled to preparative Rakuta and the tractor, and the tractor In a steering control device for a connected vehicle that can steer wheels with the trailer, a connection angle detection sensor that detects a connection angle between the tractor and the trailer, a tractor steering angle sensor that detects a steering angle of the tractor,
A trailer steering device for steering wheels of the trailer, a trailer steering angle sensor for detecting a wheel steering angle of the trailer, and control means for controlling operation of the trailer steering device, wherein the control means includes: When the connected vehicle moves backward, the detection information from the tractor steering angle sensor ,
A target connection angle such that the turning center of the tractor coincides with the turning center of the trailer is calculated based on the wheel base of the motor and the wheel base of the trailer, and the connection angle detected by the connection angle detection sensor is calculated as the target angle. The trailer steering device is controlled to match the target connection angle.

According to a second aspect of the present invention, there is provided the steering control apparatus for a connected vehicle according to the first aspect , wherein the control means is configured to control the connection angle, the target connection angle and the target connection angle when the connected vehicle retreats. Is greater than a predetermined value, the trailer steering device is controlled to steer the wheels of the trailer to the maximum angle on the side where the difference between the connection angle and the target connection angle becomes smaller, and the connection When the difference between the angle and the target connection angle becomes smaller than the predetermined value, the detection information from the trailer steering angle sensor is adjusted so that the connection angle detected by the connection angle detection sensor matches the target connection angle. And the feedback control of the trailer steering device is performed based on the following.

The steering control apparatus for a combination vehicle of the present invention described in claim 3 is the apparatus according to claim 1 or 2, wherein, when retraction of the articulated vehicle, may be artificially set a steering angle of the wheels of the trailer A mode changeover switch capable of switching between a manual mode, an auto mode for automatically controlling the steering angle of the trailer wheels when the connected vehicle retreats, and an off mode for holding the trailer wheels at a neutral position. It is characterized in that it is provided on the tractor .

[0016]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a steering control apparatus for a connected vehicle according to an embodiment of the present invention; FIG. FIG. FIG. 1 is a schematic diagram showing the overall configuration of a connected vehicle provided with a connected vehicle steering control device of the present embodiment, and reference numeral 50 denotes a connected vehicle steering control device. As shown in FIG. 1, the connected vehicle steering control device 50 is provided in a connected vehicle 3 including a tractor 1 and a trailer 2 connected to the tractor 1, and includes a tractor steering device 51 and a trailer steering device 19. have.

The wheels 7a, 7b, 20a and 20b of the tractor 1 and the trailer 2 are steered by the tractor steering device 51 and the trailer steering device 19. The tractor 1 is provided with an engine 4, and a driving force from the engine 4 is transmitted to a rear wheel 6 of the tractor via a transmission 5. The front wheels 7a and 7b of the tractor 1 are connected via a steering linkage (link mechanism) 13 including a tie rod 8, arm members 9a and 9b, and the like.
The tractor front wheels 7a and 7b are connected to the tractor steering device 5
1 is steered.

The tractor steering device 51 is provided with a tractor front wheel steering gear box 12, and a tractor front wheel steering gear box 12 is provided with a steering shaft 11. Further, a steering wheel 10 is attached to the steering shaft 11. The tractor front wheel steering gear box 12 is connected to a link mechanism 13. When a driver operates the steering wheel 10, a steering force is transmitted via the link mechanism 13 and the arm member 9b, and the tractor front wheel is driven. 7a, 7
b is configured to be steered.

A tractor steering angle sensor 14 is attached to the steering shaft 11, and the tractor front wheels 7 are controlled according to the operating state of the steering wheel 10.
a, a steering angle of 7b and is capable of detecting the theta _f (steering angle of the tractor). On the other hand, the trailer 2 has trailer wheels 20a and 20b.
0a and 20b are tie rods 21 and arm members 22a and 2
Steering linkage (link mechanism) consisting of 2b etc.
23, the trailer wheels 20
A and 20b are steered by a trailer steering device 19.

The steering apparatus 19 for trailer is provided with a steering gear box 24 for trailer wheels. The steering gear box 24 for trailer wheels is connected to a link mechanism 23.
Via the arm member 22a, the trailer wheels 20a, 20
b is configured to be steered. A trailer wheel steering motor (steering motor) 25 is connected to the trailer wheel steering gear box 24.
The trailer wheels 20a and 20b are steered by the trailer wheel steering motor 25. Note that the trailer wheel steering motor 25 is configured to operate upon receiving a control signal from a controller 30 as control means.

Further, the trailer steering device 19 is provided with a hydraulic pump (electric hydraulic pump) 27 for assisting the driving force of the trailer wheel steering motor 25. A hydraulic supply passage 26 is connected to the steering wheel box 24 for trailer wheels, and the oil in a reservoir tank 28 is supplied by a hydraulic pump 27.

The hydraulic pump 27 is provided with an electric motor 29
The electric motor 2
Reference numeral 9 denotes a unit that operates upon receiving a control signal from the controller 30. Further, a trailer steering angle sensor 31 is attached to the trailer wheel steering motor 25, and the trailer steering angle sensor 31 can detect a trailer wheel steering angle (trailer wheel steering angle) θ _R. I can do it.

The connected vehicle 3 is provided with a mode changeover switch 40, and the steering device 1 for a trailer is provided.
Manual mode, auto mode,
You can switch to off mode. Here, the manual mode is a mode in which the steering angles of the wheels 20a and 20b of the trailer 2 are artificially set when the connected vehicle 3 retreats, and the auto mode is a mode in which the wheels 20a of the trailer 2 are set when the connected vehicle 3 retreats. , 20b is a mode for automatically controlling the steering angle.
When the connected vehicle 3 retreats, the wheels 20a, 20
In this mode, b is held at the neutral position.

Further, the articulated vehicle 3 is provided with a manual steering switch 41 so that the driver
The steering angles (target steering angles) θ _R ′ of the a and 20b can be set. The manual steering switch 41 is used when the manual mode of the mode changeover switch 40 is selected. Also,
The tractor 1 and the trailer 2 are connected by a connecting pin 16 ', and a connecting portion 1 provided with the connecting pin 16' is provided.
6 is the connection angle (break angle) between the tractor 1 and the trailer 2
A connection angle detection sensor 17 for detecting θ _C is attached.

When the mode switch 40 is set to the auto mode, the controller 30
Then, when the connected vehicle 3 moves backward, the tractor steering angle sensor 1
4, the target connection angle θ such that the turning center of the tractor 1 and the turning center of the trailer 2 match.
_{It is configured} to calculate _CT and control the trailer steering device 19 so that the connection angle θ _C detected by the connection angle detection sensor 17 matches the target connection angle θ _CT .

The transmission 5 is provided with a reverse gear switch 15. The backward movement of the connected vehicle is detected based on the detection information from the reverse gear switch 15. Hereinafter, a case will be mainly described in which the apparatus is set to the auto mode by the mode changeover switch 40. Here, FIG.
FIG. 3 is a schematic diagram showing a state where the center of rotation of the tractor 1 and the center of rotation of the trailer 2 match. Here, for simplicity of explanation, only one wheel is shown and simplified. Arrows indicate the backward direction of the connected vehicle 3.

In FIG. 2, L is the wheel base of the tractor 1, L _T is the wheel base of the trailer 2, θ _C is the connection angle between the tractor 1 and the trailer 2, and θ _f is the tractor front wheel steering angle (tractor steering angle). , θ _R denotes a trailer wheel steering angle, respectively. Here, when the tractor 1 rotates right (clockwise) with respect to the trailer 2, the connection angle θ _C is equal to the tractor front wheel steering angle θ _f is equal to the tractor front wheels 7a, 7b.
Is turned to the right, the trailer wheel steering angle θ _R is positive when the trailer wheels 20a, 20b are steered in the opposite phase to the steering direction of the tractor front wheels 7a, 7b.

R indicates the radius of rotation of the tractor 1 and the trailer 2, and O indicates the center of rotation of the tractor 1 and the trailer 2. The connection angle between the tractor 1 and the trailer 2 in the state where the turning center of the tractor 1 and the turning center of the trailer 2 coincide with each other is defined as a target connection angle θ _CT , and the connection angle detected by the connection angle detection sensor 17. The trailer steering device 19 is controlled such that θ _C matches the target connection angle θ _CT .

[0029] That is, the turning center of the trailer 2 when retraction of the vehicle combination 3 is determined by the tractor front wheel steering angle theta _f and tractor wheel base L, but the trailer 2
The trailer wheels 20a and 20b are steered so that the turning center of the tractor 1 coincides with the turning center of the tractor 1, and the connection angle θ _C between the tractor 1 and the trailer 2 is controlled.

[0030] The target articulation angle theta _CT is tractor front wheel steering angle theta _f, tractor wheel base L, a trailer wheel base L _T, is obtained by the following expression (1). θ _CT = Sin ⁻¹ [Tan θ _f × L _T / (2 × L)] (1) Further, when the connected vehicle 3 moves backward, the controller 30 determines the connection angle θ _C and the target connection angle θ _CT . Is the predetermined value α
If the connection angle θ _C is larger than the connection angle θ _C and the target connection angle θ _CT
The trailer steering device 19 is steered so that the trailer wheels 20a and 20b are steered to the maximum angle β on the side where the difference between the trailer wheels 20a and 20b is reduced.
And the connection angle θ _C and the target connection angle θ _CT
Is smaller than the predetermined value α, the connection angle θ _C detected by the connection angle detection sensor 17 becomes the target connection angle θ.
_The trailer steering device 19 is configured to be feedback-controlled based on the detection information from the trailer steering angle sensor 31 so as to match the _CT .

That is, the connection angle θ _C and the target connection angle θ _CT
When the difference is large, as shown in FIG. 3A, the trailer wheels 20a and 20b are steered to the maximum angle β and the feedback control is performed so as to increase the connection angle θ _C. In addition, a predetermined control range (that is, the connection angle θ
When the difference between the _C and the target articulation angle theta _CT is coupled angle theta _C is increased to within) to be within a predetermined value α, as shown in FIG. 3 (b), as the steady turning state, the coupling angle theta _C And the target connection angle θ _CT are equalized.
The tractor 1 and the trailer 2 are configured to match the turning centers of the tractor 1 and the trailer 2 by performing feedback control on a and 20b.

The steering control device for a connected vehicle according to the present embodiment is configured as described above. Next, a specific operation will be described with reference to a flowchart shown in FIG. First, in step S1, the reverse gear switch 15
Is turned on, that is, whether the connected vehicle 3 is moving backward. If the result of this determination is that the reverse gear switch 15 is ON (during reverse), the flow proceeds to step S2, and if the reverse gear switch 15 is OFF, the flow proceeds to step S23.

Then, in step S2, information from the mode changeover switch 40 is fetched, and in step S3, the mode switched by the mode changeover switch 40 is a manual mode, an auto mode, or an off mode. Is determined. As a result, the process proceeds to step S18 in the case of the manual mode, proceeds to step S4 in the case of the auto mode, and proceeds to step S23 in the case of the off mode.

Here, the case where it is determined in step S3 that the auto mode has been selected will be described.
In step S4, the electric motor 29 for driving the hydraulic pump 27 is operated by the controller 30. Next, in step S5, after capturing the tractor front wheel steering angle theta _f on the basis of the information from the tractor for the steering angle sensor 14, in step S6, the connection angle theta _C based on the information from the articulation angle sensor 17 take in.

Then, in step S7, the target connection angle θ _CT is calculated by the controller 30 using equation (1). Next, in step S8, the difference between the connection angle θ _C detected in step S6 and the target connection angle θ _CT calculated in step S7 and a predetermined value α (or −
α). That is, a value (θ _CT −θ _C ) obtained by subtracting the connection angle θ _C from the target connection angle θ _CT and a predetermined value α (or
-Α).

As a result, the target connection angle θ_CTAnd connection angle θ
_CDifference (θ_CT−θ_C) Is greater than the positive predetermined value + α
If [(θ_CT−θ_C)> + Α] is satisfied in step S9
To the target connection angle θ_CTAnd connection angle θ_CDifference (θ_CT
−θ_C) Is smaller than the negative predetermined value −α [(θ_CT−
θ_C) <-Α], the process proceeds to step S15, where the target
Connection angle θ_CTAnd connection angle θ_CDifference (θ_CT−θ_C)But,
Within ± α [| θ _CT−θ_C| ≦ α]
Proceed to step S12.

When the process proceeds to step S9, the target steering angle θ _R ′ of the trailer wheels 20a, 20b is set to the maximum angle β. The signs of the steering angles of the trailer wheels 20a, 20b are positive and negative for the steering angles of the tractor front wheels 7a, 7b and negative for the same phase. next,
In step S10, the trailer wheel steering motor 25 is operated to steer the trailer wheels 20a and 20b.

In step S11, it is determined whether or not the trailer wheel steering angle θ _R detected by the trailer steering angle sensor 31 matches the target steering angle θ _R 'of the tractor rear wheels 20a, 20b. As a result, if they do not match, the process returns to step S10, and the trailer wheel steering motor 25 is continuously operated.
Proceed to.

In step S27, the operation of the trailer wheel steering motor 25 and the electric hydraulic pump 27 is stopped by the controller 30, and the routine returns. On the other hand, if it is determined in step S8 that | θ _CT −θ _C | ≦ α, step S
Proceeding to 12, the target steering angle θ _R ′ of the tractor rear wheels 20a, 20b is calculated from the connection angle θ _C and the target connection angle θ _CT by the following equation (2).

Θ _R ′ = γ × (θ _CT −θ _C ) + θ _CT (2) where γ is a control gain. Then, step S13
Then, the trailer wheel steering motor 25 is operated to steer the trailer wheels 20a and 20b. Step S14
Then, it is determined whether or not the trailer wheel steering angle θ _R detected by the trailer steering angle sensor 31 matches the target steering angle θ _R ′ of the tractor rear wheels 20a, 20b.

As a result, if they do not match, the flow returns to step S13 to continue the trailer wheel steering motor 25.
Is operated, and if they match, the process proceeds to step S27. In step S27, the controller 30 stops the operation of the trailer wheel steering motor 25 and the electric hydraulic pump 27, and returns. In step S8, (θ _CT
If it is determined that −θ _C ) <− α, the process proceeds to step S15, and the target steering angle θ _R ′ of the tractor rear wheels 20a, 20b.
Is set to the maximum in-phase side angle -β with respect to the steering angle of the tractor front wheels 7a, 7b.

In step S16, the trailer wheel steering motor 25 is operated, and the trailer wheel 20 is turned on.
In step S17, the trailer wheel steering angle θ _R detected by the trailer steering angle sensor 31 and the target steering angle θ _R ′ of the trailer wheels 20a, 20b are determined.
It is determined whether or not matches. As a result, if they do not match, the process returns to step S16, and the trailer wheel steering motor 25 is continuously operated. If they match, the process proceeds to step S27.

In step S27, the operation of the trailer wheel steering motor 25 and the electric hydraulic pump 27 is stopped by the controller 30, and the routine returns. On the other hand, if it is determined in step S3 that the manual mode has been selected, the process proceeds to step S18, where the electric hydraulic pump 27
Is operated by the controller 30. Then, the process proceeds to step S19, and the target steering angle θ _R ′ of the trailer wheels 20a, 20b is set by the manual steering switch 41.

Next, in step S20, the trailer wheel steering angle θ _{R is taken} into the controller 30 on the basis of the information from the trailer steering angle sensor 31.
At 21, the trailer wheel steering motor 25 is operated to steer the trailer wheels 20a and 20b. afterwards,
Proceeding to step S22, it is determined whether or not the trailer wheel steering angle θ _R matches the target steering angle θ _R 'of the trailer wheels 20a, 20b.

As a result, if they do not match, the flow returns to step S21 to continue the trailer wheel steering motor 25.
Is operated, and when they match, the process proceeds to step S26. In step S26, the operation of the trailer wheel steering motor 25 and the electric hydraulic pump 27 is stopped by the controller 30, and the process returns. If it is determined in step S3 that the reverse gear switch 15 is off, the process proceeds to step S23, in which the motor 25 for trailer wheel steering and the electric hydraulic pressure for assisting the driving force of the motor 25 for trailer wheel steering are provided. By operating the pump 27 and steering the trailer wheels 20a, 20b, the trailer wheels 20a, 20b are returned to the neutral position.

In step S24, it is determined whether or not the trailer wheel steering angle θ _R has become zero. As a result, if the trailer wheel steering angle θ _R has not become zero, the process returns to step S23, the trailer wheel steering motor 25 is continuously operated, and if the trailer wheel steering angle θ _R has become zero, the process returns to step S25. Proceed to. In step S25, the controller 30 stops the operation of the trailer wheel steering motor 25 and the electric hydraulic pump 27, and returns.

Next, the operation of the connected vehicle provided with the connected vehicle steering control device according to the present embodiment will be described with reference to FIGS. 5 and 6. In this example, a tractor 1 and a trailer connected to the tractor 1 are described. 2 shows the operation of the present apparatus when the connected vehicle 3 composed of No. 2 is moved backward to the right rear. 5 (A) to 5 (F) are simulation results and show the movement over time when the connected vehicle 3 moves backward, and FIG. 5 (A) shows the operation when the connected vehicle 3 starts moving backward. B) is, for example, 3 from the retreat starting state.
Seconds later, (C) shows, for example, 6 seconds after the retreat start state, (D)
Shows the respective states when the retreat operation is completed, for example, 9 seconds after the retreat start state, for example, 12 seconds after the retreat start state, and (F), for example, 15 seconds after the retreat start state. 5 (A) to 5 (F), the arrow indicates the connected vehicle 3
Shows the retreat direction of.

First, FIG. 5A shows a state at the start of the reversing operation of the connected vehicle 3, in which the tractor steering angle θ _f and the connection angle θ
_C and the trailer wheel steering angle θ _R are each 0 degree. From this state, the connected vehicle 3 is moved backward to the right. In this case, the driver turns the steering wheel 10 clockwise, that is, the wheels 7a and 7b of the tractor 1.
Is turned back to the right.

Then, as shown in FIG. 5B, the wheels 20a and 20b of the trailer 2 are connected to the wheels 7a and 7 of the tractor 1.
The steering is performed so as to turn to the left direction opposite to b. At this time,
The wheels 20a and 20b of the trailer 2 are steered to increase the connection angle θ _{C so} that the trailer wheel steering angle θ _R becomes larger than the tractor steering angle θ _f (here, the maximum angle β). The rear end is directed to the retreating direction (that is, right rearward).

That is, in the initial stage of such a reversing operation (here, 6 seconds after the start of the reversing operation), since the operating angle of the steering wheel 10 by the driver is generally large, the tractor steering angle θ _f is correspondingly increased. To increase. Therefore, since the difference (θ _CT −θ _C ) between the target connection angle θ _CT and the connection angle θ _C becomes larger than the predetermined value + α, the operations of steps S1 to S11 in FIG. 4 are repeated. .

Thereafter, the target connection angle θ _CT and the connection angle θ _C
(Θ _CT −θ _C ) falls within a predetermined range (−α to + α), the trailer wheel steering angle θ _R is set so that the difference between the target connection angle θ _CT and the connection angle θ _C becomes zero. Controlled. This corresponds to steps S1 to S8 and step S8 in FIG.
This corresponds to the operation from Step 12 to Step S14. In this manner, the connection angle θ _C is controlled so as to match the target connection angle θ _CT , and the turning center of the tractor 1 and the turning center of the trailer 2 match as shown in FIG. State. After reaching such a state, the wheels 20a and 20b of the trailer 2 are feedback-controlled so as to maintain the connection angle θ _C [FIG. 5 (D)].

Also in this case, the operations of steps S1 to S8 and steps S12 to S14 in FIG. 4 are repeated. And the connected vehicle 3 to an appropriate position
After retracting the, reducing the tractor steering angle theta _f Turn the steering wheel 10 to the left (counterclockwise) and, correspondingly, as shown in FIG. 5 (E), the trailer 2 wheels 20a , 20b are gradually steered so as to turn rightward, opposite to the wheels 7a, 7b of the tractor 1, to reduce the connection angle θ _C.

In this case, the steering wheel 10 is operated.
Tractor steering angle θ according to working angle_fIs also reduced
Is the target connection angle θ_CTIs reduced, the target connection angle θ
_CTFrom the connection angle θ_CMinus (θ_CT−θ_C) Is small
Become. And the operation angle of the steering wheel 10 is
The larger the target connection angle θ_CTFrom the connection angle θ _C
Minus (θ_CT−θ_C) Is smaller than the predetermined value -α.
Then, the wheels 20a and 20b of the trailer 2 are
Maximum angle -β on the same phase side with respect to wheels 7a and 7b of
Steer until This corresponds to steps S1 to S1 in FIG.
Step S8, corresponding to the operations of steps S15 to S17
I do.

Thereafter, the target connection angle θ _CT and the connection angle θ _C
If the difference (θ _CT −θ _C ) is within ± α, control is performed such that the connection angle θ _C matches the target connection angle θ _CT . In this case, as shown in FIG. 6 (a), the driver since the cuts back the steering wheel 10 tractor steering angle theta _f becomes close to zero. Therefore, the target connection angle θ _CT also approaches 0 according to equation (1). this is,
Steps S1 to S8 and Step S12 in FIG.
To step S14.

[0055] Then, as shown in FIG. 5 (F), the driver as wheel 7a of the tractor 1, 7b is in the neutral position, reverting the steering wheel 10, the tractor steering angle theta _f is 0 degrees Therefore, the target connection angle θ _CT also becomes 0 degree, and the connection angle θ _C is controlled so as to match this target connection angle θ _CT , and the connection angle θ _C also becomes 0 degree. In this way, the connection angle θ _C can be returned to 0 degrees.

Next, the respective changes in the tractor steering angle θ _f , the connection angle θ _C , and the trailer wheel steering angle θ _R during the retreat as shown in FIGS. 5A to 5F will be described with reference to FIG. explain. 6 (a) to 6 (c), (A) to
(F) corresponds to each state of FIGS. 5 (A) to (F).

That is, the tractor steering angle θ _f , the connection angle θ _C , the trailer wheel steering angle θ on (A) to (F) in FIG.
The respective values of _R indicate the tractor steering angle θ _f , the connection angle θ _C , and the trailer wheel steering angle θ _R in the states of FIGS. FIGS. 6 (a) shows changes of the tractor steering angle theta _f. In FIG. 6A, the case where the wheels 7a and 7b of the tractor 1 are steered rightward is regarded as a plus.

[0058] In this case, as an example at the time of steering retracted, tractor steering angle theta _f is continue to gradually increase toward the right from 0 degrees, then held constant angle, then the angle is reduced Then, an example of steering when the angle becomes 0 ° (ie, the example of steering in FIG. 5) is shown. This corresponds to the operation angle of the steering wheel 10 by the driver. Where the angle increases from 0 degrees to the right, the driver turns the steering wheel 10 to the right, and the angle is constant. Where held, the driver is holding the steering wheel 10, and where the angle decreases, the driver is turning the steering wheel 10 back, i.e., turning to the left.

FIG. 6B shows a change in the connection angle θ _C. In FIG. 6B, the case where the tractor 1 rotates right (clockwise) with respect to the trailer 2 is regarded as a plus. Note that, in this case, the angle gradually increases to the right from 0 degrees, and the angle is kept constant, and thereafter, the angle decreases to 0 degrees. In other words, it has changed to follow the change of the tractor steering angle theta _f.

FIG. 6C shows a change in the trailer wheel steering angle θ _R. In FIG. 6C, the wheels 20a and 20b of the trailer 2 are connected to the wheels 7a and 7 of the tractor 1.
b. A case where the steering is performed in the opposite phase to the steering direction is defined as a plus. According to this, the angle gradually increases to the left from 0 degrees, and is maintained at a constant angle. Thereafter, the angle decreases, and further increases to the right, and finally the angle increases. Indicates that the angle is 0 degrees.

Next, a modified example of the present apparatus will be described.
This modified example describes an operation when a driver performs a different operation from the above-described embodiment, and has the same configuration as the above-described embodiment. Hereinafter, the operation of this modified example will be described with reference to FIGS. FIG.
(A) to (G) show the simulation results, showing the time-dependent movement when the connected vehicle 3 moves backward, (A) at the start of the operation when the connected vehicle 3 is moved backward, (B) Is, for example, 3 seconds after the start of retreat,
(C) is, for example, 6 seconds after the retreat start state, (D) is, for example, 9 seconds after the retreat start state, (E) is, for example, 12 seconds after the retreat start state, and (F) is, for example, is 15 from the retreat start state.
When the reversing operation is completed after a lapse of second, (G) indicates each state, for example, 18 seconds after the retreat starting state. FIG.
In (A) to (G), the arrow indicates the backward direction of the connected vehicle 3.

The operations shown in FIGS. 7A to 7D in this modified example are the same as those in the above-described embodiment, and a description thereof will be omitted here. FIG. 7E shows a state in which the turning center of the tractor 1 and the turning center of the trailer 2 coincide with each other, and after the connecting vehicle 3 is moved backward to an appropriate position, the driver turns the steering wheel 10 to the left (counterclockwise). back around), the wheels 7a of the tractor 2, 7b, i.e., to reduce the tractor steering angle theta _f, in response to this,
This shows a state where the wheels 20a and 20b of the trailer 2 are steered and come to the neutral position. In this case, the tractor steering angle θ
_f is larger than the trailer wheel steering angle θ _R ,
The connection angle θ _C is decreasing.

[0063] That is, since the reduced tractor steering angle theta _f in response to the operation angle of the steering wheel 10, thereby reducing also the target articulation angle theta _CT, the target articulation angle theta _CT
(Θ _CT −θ _C ) between the angle and the connection angle θ _C is a negative value.
Since the operation angle of the steering wheel 10 is large, the difference between the target connection angle θ _CT and the connection angle θ _C (θ _CT −
θ _C ) becomes smaller than the predetermined value −α, so that the trailer 2
Of the tractor 2 to the maximum in-phase side angle -β with respect to the wheels 7a, 7b of the tractor 2. This corresponds to steps S1 to S8, S15 to S15 in FIG.
This corresponds to the operation of step S17.

Thereafter, the target connection angle θ _CT and the connection angle θ _C
(Θ _CT −θ _C ) falls within a predetermined range (−α to + α), the trailer wheel steering angle θ _R is set so that the difference between the target connection angle θ _CT and the connection angle θ _C becomes zero. Controlled. This corresponds to steps S1 to S8 and step S8 in FIG.
This corresponds to the operation from Step 12 to Step S14. And FIG.
As shown in (F), the driver operates the wheels 7 of the tractor 1.
a, when 7b returns off the steering wheel 10 so that the neutral position, the tractor steering angle theta _f also becomes 0 degree target articulation angle theta _CT to become 0 °, the target connection angle theta
_The connection angle θ _C is controlled so as to match the _CT , and the connection angle θ _C also becomes 0 degree.

In this manner, the connection angle θ _C can be returned to 0 degree. From this state, the driver turns the steering wheel 10 to the left (counterclockwise) in order to further retreat the connected vehicle 3 to the rear left. ) And turn to tractor 1
Wheel 7a, 7b is steered to the left. Correspondingly, as shown in FIG. 7 (G), the wheels 20a, 20b of the trailer 2 are steered to the right, opposite to the wheels 7a, 7b of the tractor 1. Here, the wheels 20a and 20b of the trailer 2 are steered to the maximum angle β.

[0066] In this case, in general, due to the large operating angle of the steering wheel 10 by the driver, also increases tractor steering angle theta _f accordingly. Therefore, the difference (θ _CT −θ _C ) between the target connection angle θ _CT and the connection angle θ _C becomes larger than the predetermined value + α, and therefore, in FIG.
Steps S11 to S11 are repeated. Then, the difference between the target connection angle θ _CT and the connection angle θ _C (θ _CT −
θ _C ) falls within a predetermined range (−α to + α), the trailer wheel steering angle θ _R is controlled so that the difference between the target connection angle θ _CT and the connection angle θ _C becomes zero. This corresponds to steps S1 to S8 and steps S12 to S8 in FIG.
14 operation.

In this way, the connected vehicle 3 can be first made to retreat to the right rear, and subsequently to the left rear. Next, the connection angle θ _C and the trailer wheel steering angle θ _R at the time of retreat as shown in FIGS.
Will be described with reference to FIG.
8A and 8B, (A) to (G) all show in FIG.
It corresponds to each state of (A) to (G). Incidentally, the tractor 1 (in the figure, the lower side) right that go bent in a direction, articulation angle theta _C is the fact that increases in the plus side with respect to the trailer 2.

That is, the respective values of the connection angle θ _C and the trailer wheel steering angle θ _R on (A) to (G) in FIG.
7A and 7G show the connection angle θ _C and the trailer wheel steering angle θ _R , respectively. FIG. 8 (a)
Indicates a change in the connection angle θ _C. Note that FIG.
In (a), the case where the tractor 1 rotates rightward (clockwise) with respect to the trailer 2 is a plus.

[0069] In this case, as an example at the time of steering retracted, tractor steering angle theta _f is continue to gradually increase toward the right from 0 degrees, then held constant angle, then the angle is reduced FIG. 7 shows a steering example (ie, the steering example in FIG. 7) in the case where the angle increases further to the left. FIG. 8 (b) shows a change of the trailer wheels steering angle theta _R. In FIG. 8B, the wheels 20a, 20b of the trailer 2 are connected to the wheels 7a, 7b of the tractor 1.
The case where the vehicle is steered in the opposite phase with respect to the steering direction is positive.

In this case, the angle gradually increases to the left from 0 degrees, is maintained at a constant angle, and then decreases, and further increases to the right. It shows that it goes. And even in such a modified example, the same effect as in the above-described embodiment can be obtained.

By the way, in the above description, the case where the mode changeover switch 40 is switched to the auto mode at the time of retreating the connected vehicle 3 has been described as an example.
Switching to the manual mode, the trailer wheels 20a,
The steering wheel 20b may be steered. In this case, FIG.
Medium, steps S1 to S3 and step S18
And the operation of step S22 is repeated.

In order to return the wheels 20a and 20b of the trailer 2 of the connected vehicle 3 to the neutral position, the mode switch 40 may be switched to the off mode. In this case, in FIG.
Then, the operation from step S23 to step S25 is repeated. As described above, according to the present device, there is an advantage that the operability at the time of retreating the connected vehicle 3 is improved, and the burden on the driver can be reduced. That is, when the driver is switched to the auto mode, the connected vehicle 3 can be moved backward only by operating the steering wheel 10 in the direction in which the driver wants to move backward, as in the case of moving only the tractor 1 backward. The operability at the time of retreat is remarkably improved.

When the mode is switched to the auto mode, the controller 30 controls the trailer steering device 19, so that the driver does not need to steer the wheels 20a and 20b of the trailer 2. There is also an advantage that the operation load does not increase. Further, when the absolute value | θ _CT −θ _C | of the difference between the connection angle θ _C and the target connection angle θ _CT is larger than the predetermined value α, the wheels 20a and 20b of the trailer 2 are steered to the maximum angle β. With such control, there is an advantage that control of the trailer steering device 19 by the controller 30 can be simplified, and responsiveness to a driver's instruction can be improved.

When the absolute value | θ _CT −θ _C | of the difference between the connection angle θ _C and the target connection angle θ _CT becomes equal to or smaller than a predetermined value α,
By configuring the controller 30 to perform feedback control of the trailer steering device 19, there is also an advantage that fine control in accordance with a driver's instruction becomes possible. In addition, when the connected vehicle 3 retreats, the mode changeover switch 40 appropriately switches between the manual mode, the auto mode, and the off mode, so that the trailer 2 can cope with various situations when the connected vehicle 3 retreats.
There is an advantage that the steering angle θ _R of the wheels 20a and 20b can be controlled.

[0075]

[0076]

As described above in detail, according to the steering control apparatus for a combination vehicle of the present invention described in claim 1, it is possible to improve the operability at the time of backward movement of the vehicle combination, a skilled driver There is an advantage that the connected vehicle can be easily moved backward without the need. This also has the advantage that the burden on the driver can be reduced.
Further, since the trailer steering device is controlled by the control means, there is an advantage that the driver does not need to steer the wheels of the trailer and the operation load does not increase.

According to the second aspect of the present invention, in addition to the above effects, when the difference between the connection angle and the target connection angle is larger than a predetermined value, the trailer wheel is set to the maximum. By controlling to steer to an angle, there is an advantage that control of the trailer steering device by the control means can be simplified and responsiveness to a driver's instruction can be improved. Further, when the difference between the connection angle and the target connection angle becomes smaller than a predetermined value, the control unit performs feedback control of the trailer steering device,
There is also an advantage that fine control can be performed in accordance with a driver's instruction.

According to the steering control device for a connected vehicle of the third aspect of the present invention, when the connected vehicle retreats, the manual mode, the auto mode, and the off mode are appropriately switched, so that various operations can be performed when the connected vehicle retreats. There is an advantage that the steering angle of the wheels of the trailer can be controlled according to the situation.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing an overall configuration of a connected vehicle including a connected vehicle steering control device as one embodiment of the present invention.

FIG. 2 illustrates a tractor steering angle θ _f , a connection angle θ _C , a trailer wheel steering angle θ _R , and a target connection angle θ _CT in a connected vehicle including a connected vehicle steering control device according to an embodiment of the present invention. FIG.

FIG. 3 is a schematic diagram for explaining a control state of a wheel steering angle of a trailer in a connected vehicle including a connected vehicle steering control device as one embodiment of the present invention.

FIG. 4 is a flowchart for illustrating a control operation of a wheel steering angle of a trailer in a connected vehicle steering control device as one embodiment of the present invention.

FIG. 5 is a schematic diagram for explaining an operation of the connected vehicle including the connected vehicle steering control device as one embodiment of the present invention.

FIG. 6 is a diagram for explaining changes over time of a tractor steering angle θ _f , a connection angle θ _C , and a trailer wheel steering angle θ _R of a connected vehicle including a connected vehicle steering control device according to an embodiment of the present invention; It is.

FIG. 7 is a diagram showing a modification of the steering control device for a connected vehicle as one embodiment of the present invention, and is a diagram corresponding to FIG. 5;

FIG. 8 is a diagram illustrating a temporal change of a connection angle θ _C and a trailer wheel steering angle θ _R in a modified example of the connected vehicle steering control device as one embodiment of the present invention.

FIG. 9 is a schematic diagram for explaining movement of the conventional tractor and the connected vehicle when the vehicle is moving backward.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tractor 2 Trailer 3 Connected vehicle 4 Engine 5 Transmission 6 Tractor rear wheel 7a, 7b, 7c Tractor front wheel 8 Axle 9a, 9b Arm member 10 Steering wheel 11 Steering shaft 12 Steering gear box for tractor front wheel 13 Link mechanism 14 Tractor steering angle Sensor 15 Reverse gear switch 16 Connecting portion 16 'Connecting pin 17 Connection angle detection sensor 19 Trailer steering device 20a, 20b, 20c Trailer wheel 21 Axle 22a, 22b Arm member 23 Link mechanism 24 Trailer wheel steering gear box 25 Trailer wheel Steering motor 26 Hydraulic supply passage 27 Hydraulic pump (electric hydraulic pump) 28 Reservoir tank 29 Electric motor 30 Controller 31 Trailer steering angle sensor 40 Motor The rear end of the front end 103b trailer of the changeover switch 41 manual steering switch 50 rear 101 wheels 102 coupled vehicle 103 trailers 103a trailer tractor steering apparatus 100 tractor 100a tractor for connecting a vehicle steering control apparatus 51 tractor

Claims (3)

(57) [Claims] 1. A connected vehicle steering control device provided in a connected vehicle including a tractor and a trailer connected to the tractor and capable of steering wheels of the tractor and the trailer, comprising: A connection angle detection sensor that detects a connection angle; a tractor steering angle sensor that detects a steering angle of the tractor; a trailer steering device that steers wheels of the trailer; and a trailer that detects a wheel steering angle of the trailer. A steering angle sensor; and control means for controlling the operation of the trailer steering device, wherein the control means detects information from the tractor steering angle sensor and a wheel of the tractor when the connected vehicle retreats.
Calculating a target connection angle such that the turning center of the tractor and the turning center of the trailer coincide with each other based on the base and the wheel base of the trailer; and the connection angle detected by the connection angle detection sensor is the target connection angle. A steering control device for a connected vehicle, characterized in that the steering control device is configured to control the trailer steering device so as to correspond to the following. 2. The control device according to claim 1, wherein, when the connecting vehicle retreats, when a difference between the connecting angle and the target connecting angle is larger than a predetermined value, a difference between the connecting angle and the target connecting angle is determined. The trailer steering device is controlled to steer the wheel of the trailer to the maximum angle to the smaller side, and when the difference between the connection angle and the target connection angle becomes smaller than the predetermined value, the connection angle detection sensor The feedback control of the trailer steering device is performed based on the detection information from the trailer steering angle sensor so that the connection angle detected from the steering angle coincides with the target connection angle. The steering control device for a connected vehicle according to claim 1 . To 3. During retraction of the articulated vehicle, the manual mode capable of artificially setting a steering angle of the wheels of the trailer, when retraction of the articulated vehicle, for automatically controlling the steering angle of the wheels of the trailer The tractor is capable of switching between an auto mode and an off mode in which the wheels of the trailer are held at a neutral position.
Characterized in that provided in the steering control apparatus for a combination vehicle according to claim 1 or 2, wherein.