JP6008605B2 - TOWED VEHICLE WHEELBASE DETECTING DEVICE AND VEHICLE CONTROL DEVICE HAVING TOWED VEHICLE WHEELBASE DETECTING DEVICE - Google Patents

Description

  The present invention relates to a towed vehicle wheelbase detection device and a vehicle control device provided in a towed vehicle.

  A towing vehicle is generally designed to be able to tow a towed vehicle of a plurality of vehicle types. However, the vehicle control device for a towed vehicle sometimes does not know which towed vehicle is being towed and performs vehicle control such as rollover prevention while keeping the towed vehicle information unknown. In this case, for example, vehicle control is performed assuming that the information on the towed vehicle that is unknown is the most disadvantageous, and the effect of the vehicle control may be insufficient.

  As an apparatus for detecting information on such a towed vehicle, for example, a device described in Patent Document 1 is known. In the trailer connection angle detection device described in Patent Document 1, the front surface of the trailer is photographed by a camera provided on the tractor side, and the image position of the corner edge of the trailer front is detected to detect the connection angle of the trailer with respect to the tractor. Is going.

JP 2002-68032 A

  However, for example, in order to accurately execute vehicle control of a towed vehicle that has pulled a towed vehicle, it is necessary to obtain more information on the towed vehicle, and in particular, to acquire wheelbase information of the towed vehicle. Is desirable. On the other hand, in order to be able to cope even if the towed vehicle is changed, it is necessary to acquire information only by equipment provided on the towed vehicle side.

  Therefore, the present invention provides a towed vehicle wheelbase detection device and a towed vehicle wheelbase detection device equipped with a towed vehicle and capable of obtaining a wheelbase of a towed vehicle towed by the towed vehicle. The purpose is to provide.

  In order to solve the above-described problems, the present invention provides a towed vehicle wheelbase detection device that detects a wheelbase of a towed vehicle towed by a towed vehicle via a connecting portion, and is attached to the towed vehicle. Image detecting means for detecting an image of the tire, storage means for storing the length of the first straight line connecting the image detecting means and the connecting portion, and connection angle detection for detecting the connection angle of the towed vehicle with respect to the towing vehicle And a calculating means for calculating a first angle formed by the first straight line and the second straight line connecting the tire and the image detecting means based on the lateral position on the tire image detected by the image detecting means. The computing means computes the second angle formed by the first straight line and the third straight line connecting the connecting portion and the tire based on the connecting angle detected by the connecting angle detecting means. The straight line length, the first angle, Beauty based on the second angle, detects the wheelbase of the towing vehicle.

  According to the towed vehicle wheelbase detection device, paying attention to the fact that the lateral position on the image of the towed vehicle tire detected by the image detecting means changes according to the direction of the towed vehicle relative to the towed vehicle. Can be detected by image processing such as pattern matching, and the first angle formed by the first straight line and the second straight line can be obtained. In the towed vehicle wheelbase detection device, the second angle formed by the first straight line and the third straight line is calculated based on the connection angle of the towed vehicle with respect to the towed vehicle, and is known in the towed vehicle. The length of the first straight line is stored. As a result, the length of one side (length of the first straight line) and two angles (first angle and second angle) of the image detection means, the detected tire, and the triangle whose apex is the connecting portion. Therefore, the length of the third straight line connecting the tire and the connecting portion in the towed vehicle can be obtained. Therefore, according to the towed vehicle wheelbase detection device, since the length of the third straight line connecting the tire and the connecting portion in the towed vehicle can be obtained, the length of the towed vehicle can be obtained using this length. The wheelbase can be detected. Further, according to the towed vehicle wheelbase detection device, since all the equipment is provided on the towed vehicle side, it is necessary to perform equipment installation on a new towed vehicle even if the towed vehicle is changed. The wheelbase can be easily detected.

In the towed vehicle wheelbase detection device, the storage means stores the vehicle width of the towed vehicle, and the computing means is based on the length of the first straight line, the first angle, and the second angle. Then, the length of the third straight line may be calculated, and the wheel base of the towed vehicle may be detected based on the length of the third straight line and the vehicle width of the towed vehicle.
According to the towed vehicle wheelbase detection device, the length of the two sides (the length of the third straight line) of the tire of the towed vehicle, the connecting portion, and the right triangle whose apex is the axle center of the tire. Therefore, the length of a straight line connecting the connecting portion and the center of the axle of the tire, that is, the wheel base of the towed vehicle can be obtained.

The present invention is a towed vehicle wheelbase detection device that detects a wheelbase of a towed vehicle towed by a towed vehicle via a connecting portion, and detects an image of a tire of the towed vehicle attached to the towed vehicle. Image detecting means, storage means for storing the length of the first straight line connecting the image detecting means and the connecting portion and the vehicle width of the towed vehicle, and connection angle detection for detecting the connecting angle of the towed vehicle with respect to the towed vehicle And a calculating means for calculating a first angle formed by the first straight line and the second straight line connecting the tire and the image detecting means based on the lateral position on the tire image detected by the image detecting means. The computing means computes the position of the projection point of the connecting portion with respect to a fourth straight line passing through the tire and parallel to the vehicle center line of the towed vehicle based on the connecting angle and the vehicle width of the towed vehicle. together, the connecting angle, the connecting portion of the Position of Kageten, and by calculating the position of the tire corresponding to the fourth straight line and the intersection of the second straight line based on the first angle, the towed vehicle is the linear distance of the tire and the projection point A wheel base is detected.

  According to the towed vehicle wheelbase detection device, paying attention to the fact that the lateral position on the image of the towed vehicle tire detected by the image detecting means changes according to the direction of the towed vehicle relative to the towed vehicle. Can be detected by image processing such as pattern matching, and the first angle formed by the first straight line and the second straight line can be obtained. Further, in the towed vehicle wheelbase detection device, the projection point of the connecting portion with respect to a fourth straight line passing through the tire and parallel to the vehicle center line of the towed vehicle based on the connecting angle and the vehicle width of the towed vehicle. The position of the tire corresponding to the intersection of the fourth straight line and the second straight line is calculated based on the first angle, so that the linear distance between the tire and the projection point is calculated. The wheelbase of the tow vehicle can be detected. Moreover, according to the towed vehicle wheelbase detection device, since all the equipment is provided on the towed vehicle side, it is necessary to perform equipment installation on a new towed vehicle even if the towed vehicle is changed. The wheelbase can be easily detected.

The present invention is a vehicle control device that includes the towed vehicle wheelbase detection device and performs vehicle control of the towed vehicle, and is based on the wheelbase of the towed vehicle detected by the towed vehicle wheelbase detection device. Vehicle control.
According to the vehicle control device, the towed vehicle wheelbase detection device can determine the wheelbase of the towed vehicle being towed by the towed vehicle. Thereby, in the said vehicle control apparatus, since vehicle control of the tow vehicle which considered the wheel base of the towed vehicle can be implement | achieved, vehicle control, such as rollover prevention, can be performed more effectively.

  ADVANTAGE OF THE INVENTION According to this invention, the towed vehicle wheelbase detection apparatus and vehicle control apparatus which can be calculated | required by the towed vehicle and can obtain | require the wheelbase of the towed vehicle towed by the towed vehicle can be provided.

It is a schematic plan view which shows the tractor provided with the vehicle control apparatus which concerns on this embodiment. It is a figure for demonstrating how to obtain | require _1st angle (theta) ₁ using the horizontal position X on the image of the tire Tr. (A) It is a figure which shows the shape of the image of the tire of the trailer in case connection angle (theta) _R is small. (B) It is a figure which shows the shape of the image of the tire of the trailer in case connection angle (theta) _R is large. It is a figure for demonstrating the other example of the detection of the wheelbase in a vehicle control apparatus.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

  As shown in FIG. 1, a vehicle control apparatus 10 according to the present embodiment is provided in a tractor (towed vehicle) T1, and performs vehicle stability control of a tractor T1 that pulls a trailer (towed vehicle) T2. is there. The tractor T1 and the trailer T2 are connected by locking the coupler (connection part) Co on the tractor T1 side and the king pin on the trailer T2 side. FIG. 1 shows a situation where the tractor T1 and the trailer T2 turn left.

  The vehicle control device 10 functions as a towed vehicle wheelbase detection device that detects (calculates) the wheelbase WB of the trailer T2. The vehicle control device 10 detects the wheel base WB of the trailer T2 using a camera 11, a connection angle sensor (connection angle detection means) 12, and a vehicle control ECU [Electronic Control Unit] 13. The vehicle control device 10 detects the wheelbase WB every time it detects a connection with a new trailer.

  The camera 11 is, for example, a monocular camera attached at a position below the left side mirror in the tractor T1. The imaging direction of the camera 11 is set so that the tire Tr of the trailer T2 is included in the imaging range.

  As shown in FIG. 1, the camera 11 is provided so that the tire Tr can be imaged even when the tractor T1 turns left as well as when the tractor T1 goes straight. In addition, the camera 11 is provided at a position that takes into account trailers of various vehicle types that can be connected to the tractor T1 so that the tire of the trailer can be imaged even when the trailer pulled by the tractor T1 is changed.

  Such a camera 11 functions as an image detection unit that detects an image of the tire Tr of the trailer T2. Note that the orientation of the camera 11 may be fixed or changeable.

Coupling angle sensor 12 is an angle sensor for detecting a connecting angle theta _R trailer T2 for tractor T1. Coupling angle sensor 12 is provided near the coupler Co tractor T1, it detects the connecting angle theta _R from the rotation of the kingpin of the trailer T2 for coupler Co.

The connection angle θ _R corresponds to the angle formed by the vehicle center line Ax1 of the tractor T1 and the vehicle center line Ax2 of the trailer T2. Note that the connection angle θ _R in the present embodiment is an angle that is 180 ° when the tractor T1 and the trailer T2 are in the straight traveling direction among the angles formed by the vehicle center line Ax1 of the tractor T1 and the vehicle center line Ax2 of the trailer T2. It corresponds to.

  The vehicle control ECU 13 is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The vehicle control ECU 13 loads an application program stored in the ROM into the RAM and executes it by the CPU to perform arithmetic processing related to vehicle control such as rollover prevention control and brake assist.

  The vehicle control ECU 13 includes a database (storage means) that stores various information related to vehicle control of the tractor T1.

  In addition to the vehicle width and wheelbase of the tractor T1, the database stores the length La of the first straight line L1 that connects the camera 11 attached to the tractor T1 and the coupler Co of the tractor T1. The first straight line L1 is, for example, a straight line that connects the center of the camera lens of the camera 11 and the center of the coupler Co (the center of the kingpin), and is determined from the specifications of the tractor T1. In addition, information relating to the vehicle width W of the trailer T2 obtained from the specifications of the tractor T1 is stored in the database.

Further, the vehicle control ECU 13 calculates a _first angle θ ₁ formed by the second straight line L2 connecting the tire Tr and the camera 11 and the first straight line L1 based on the image of the tire Tr taken by the camera 11. Functions as a calculation means. Vehicle control ECU13, the horizontal position X on the image of the imaging tire Tr of the camera 11 is detected by pattern matching to determine the first angle theta _1.

Here, FIG. 2 is a diagram for explaining how to obtain the first angle θ ₁ using the lateral position X on the image of the tire Tr. In FIG. 2, the mounting angle of the camera 11 is θp, the optical axis of the lens of the camera 11 is H, the focal point distance of the lens is f, the angle of the tire Tr from the optical axis H is θt, and the trailer T2 connected to the coupler Co The connecting point is shown as CR. The mounting angle θp of the camera 11 is a known angle.

  The vehicle control ECU 13 detects a region similar in pattern to the original image of the tire Tr stored in the image of the trailer T2 captured by the camera 11 through the lens R (pattern matching). Perform position detection.

Here, FIG. 3 (a) is a diagram showing the shape of the tire Tr images when connecting angle theta _R is small, and FIG. 3 (b) shape of the tire Tr images when connecting angle theta _R is large FIG. As shown in FIG. 3 (a) and 3 (b), the horizontal degree of deformation of the shape of the image of the tire Tr (degree collapse) varies depending on the size of the connecting angle theta _R. Therefore, by selecting according to the original image of the tire Tr to connecting angle theta _R, it can facilitate detection of the position of the tire Tr by pattern matching.

The determination of the shape of the tire Tr of the image by pattern matching, calculation precision as connecting angle theta _R is small is high. Therefore, depending on the turn of the tractor T1, when the smaller connecting angle theta _R is detected, it is preferable to perform pattern matching again. As a result, the position detection accuracy of the tire Tr can be improved while the tractor T1 is traveling.

  The vehicle control ECU 13 determines the lateral position X of the tire Tr on the image (the lateral distance between the tire Tr and the optical axis H on the image) based on the result of the position detection of the tire Tr on the image.

As shown in FIG. 2, the angle θt of the tire Tr of the trailer T2 with respect to the optical axis H is the same whether it is the actual trailer T2 or the trailer T2 on the image (on the imaging surface). When attention is paid to the lateral position X of the tire Tr on the image in this case (the lateral distance between the optical axis H and the tire Tr on the image), the focal point distance f of the lens R and the image The angle θt can be obtained by the equation (2) using the horizontal position X of

As shown in FIG. 2, the sum of the angle θt and the known camera mounting angle θp obtained by Equation (2) corresponds to the first angle theta _1, the first angle from the following equation (3) θ ₁ can be obtained.

  The vehicle control ECU 13 can also detect the number of axles of the trailer T2 by detecting the number of tires Tr from the image captured by the camera 11.

The vehicle control ECU13 based on the detected connecting angle theta _R of the connecting angle sensor 12, a second angle formed between the third straight line L3 connecting the coupler Co (kingpin) and tire Tr and the first straight line L1 θ ₂ is calculated.

なお、式（４）では、第３の直線Ｌ３とトレーラＴ２の車両中心線Ａｘ２とのなす角度θｗの影響は少ないものと仮定している。 Specifically, the vehicle control ECU 13 obtains the second angle θ ₂ based on the following equation (4). The angle θr shown in the equation (4) is an angle formed between the first straight line L1 and the vehicle center line Ax1 of the tractor T1, and is a known angle determined by the specifications of the tractor T1 and the position of the camera 11.

In Expression (4), it is assumed that the influence of the angle θw formed by the third straight line L3 and the vehicle center line Ax2 of the trailer T2 is small.

As shown in FIG. 1, the vehicle control ECU 13 determines the third straight line L3 based on the length La, the first first angle θ ₁ , and the second angle θ ₂ of the first straight line L1. The length Lb is calculated.

The vehicle control ECU 13 includes the length of one side (the length La of the first straight line L1) and two angles (the first angle θ ₁ and the second angle) among the triangles having the camera 11, the coupler Co, and the tire Tr as vertices. The length of the remaining side (the length Lb of the third straight line L3) is obtained geometrically based on the angle θ ₂ ).

Specifically, first, the vehicle control ECU 13 calculates a triangular area S with the camera 11, the coupler Co, and the tire Tr as vertices using the following equation (5).

Subsequently, the vehicle control ECU 13 obtains a _third angle θ ₃ formed by the second straight line L2 and the third straight line L3 using the following equation (6).

Vehicle control ECU13, the above formula (2), (3) by using the area S and the third angle theta ₃ triangles obtained, calculating the length Lb of the third straight line L3 from the following equation (7) To do.

Note that the method of obtaining the length Lb of the third straight line L3 is not limited to the calculation method described above. As an example, the length Lb may be obtained from the following equation (8) using a so-called sine theorem.

  Next, the vehicle control ECU 13 detects the wheel base WB of the trailer T2 based on the obtained length Lb of the third straight line L3 and the vehicle width W of the trailer T2 stored in the database.

  Here, as shown in FIG. 1, in the trailer T2, a coupler Co (kingpin), a tire Tr, and a right triangle whose apex is the center Ac of the axle A of the tire Tr are assumed. Of the straight lines (sides) forming this right triangle, the length of the straight line connecting the tire Tr and the axle center Ac of the tire Tr corresponds to a half value (W / 2) of the vehicle width W of the trailer T2, and the coupler A straight line connecting Co and the axle center Ac corresponds to the wheel base WB of the trailer T2.

In the trailer T2, the vehicle control ECU 13 sets the length of two sides (the length Lb of the third straight line, the length of the half of the axle) of the coupler Co, the tire Tr, and the right triangle whose apex is the axle center Ac of the tire Tr. Based on (W / 2), the length of the remaining side (wheel base WB) is obtained by the following equation (9).

  As described above, the vehicle control apparatus 10 according to the present embodiment can detect the wheel base WB of the trailer T2 connected to the tractor T1. Moreover, in the vehicle control device 10, the wheel base WB can be detected only by the camera 11, the connection angle sensor 12, and the vehicle control ECU 13 provided in the tractor T1, so that even if the trailer pulled by the tractor T1 is changed, a new trailer can be obtained. There is no need to install equipment on the trailer, and the wheelbase WB can be easily detected.

  Moreover, in this vehicle control apparatus 10, the number of axles of the trailer T2 can also be detected by detecting the number of tires Tr from the captured image of the camera 11. And in this vehicle control apparatus 10, the wheel base WB corresponding to each axle can be calculated | required by the method mentioned above.

  Therefore, according to the vehicle control apparatus 10, the number of axles of the trailer T2 to which the tractor T1 is towed and the wheel base WB for each axle can be obtained. Therefore, the number of axles of the trailer T2 and the wheel base WB for each axle are obtained. Considerable vehicle control of the tractor T1 is possible, and vehicle control such as rollover prevention can be executed more effectively.

  In addition, this invention is not limited to embodiment mentioned above. For example, it is not always necessary to detect the trailer wheel base based on the assumption of the right triangle described above, and the approximate wheel base WB is obtained by multiplying the length Lb of the third straight line L3 by a predetermined coefficient. An aspect may be sufficient.

  Further, the camera may be provided on the right side instead of the left side of the tractor, and may be provided on both the left and right sides. Furthermore, there is no particular limitation on the mounting height of the monocular camera as long as it is possible to image the trailer tire. The camera is not necessarily a monocular camera, and a stereo camera or the like may be employed.

  Further, the detection of the connection angle is not necessarily performed by the angle sensor. For example, the connection angle may be detected by distance measurement by a radar, or the connection angle may be detected by recognizing the corner position of the trailer by image processing from a captured image of the camera. The camera in this case can also be used as the image detection means described in the claims. Alternatively, when not only the tractor but also a position detection system such as GPS is provided on the trailer side, it is possible to detect the connection angle based on the position information of the tractor and trailer.

  Further, the vehicle width of the trailer may be obtained using equipment instead of being preliminarily stored from the specifications of the tractor. For example, the vehicle width of the trailer can be detected by processing an image detected by a camera. This camera may also be used as the image detection means described in the claims. The detected hole base of the trailer is not necessarily used for vehicle control. For example, the vehicle information may be used for providing information to other vehicles by inter-vehicle communication.

  Next, wheelbase detection of the vehicle control device 10 in another example will be described. FIG. 4 is a diagram for explaining wheelbase detection of the vehicle control device 10 in another example.

  In FIG. 4, the detection of the wheel base WB will be described using a polar coordinate system (distance r, angle θ) with the position of the coupler Co as the origin. As shown in FIG. 4, the polar coordinate angle θ is positive in the counterclockwise direction with respect to the vehicle center line Ax1 on the traveling direction side of the tractor T1. In this case, if the position of the camera 11 is c1, the length La of the first straight line L1 and the camera attachment angle θr are known, and therefore the coordinates of c1 can be expressed as (La, θr). For ease of explanation, the size of each component is not considered.

  Next, a fourth straight line L4 passing through the tire Tr and parallel to the vehicle center line Ax2 of the trailer T2 is considered. In FIG. 4, the fourth straight line L4 corresponds to the straight line constituting the side surface of the trailer T2.

  Next, consider an intersection c5 between a perpendicular line drawn from the coupler Co and L4 with respect to the fourth straight line L4. This c5 corresponds to a point obtained by projecting the position of the coupler Co onto the fourth straight line L4. That is, c5 corresponds to the projection point described in the claims.

In this case, c5 can be expressed as coordinates (W / 2, θ5) in the polar coordinate system. That is, assuming that the tire Tr in a plan view is at a position W / 2 (a distance half the vehicle width W of the trailer T2) from the axle center Ac, c5 is an angle viewed from the coupler Co that is the origin of polar coordinates. It is a point that exists at a position W / 2 apart in the direction of θ5. θ5 may be obtained from the connecting angle theta _R by the following equation (10).

Thus, c5 coordinates (W / 2, θ5) since it is possible to obtain a fourth straight L4 [waypoints Skew expressed as can be expressed as L4 [c5, θ _R]. That, L4 passes through the point c5, a straight line extending at an inclination to form an angle of theta _R from the reference Ax1.

Next, the second straight line L2 can be expressed as L2 [c1, θ6]. That is, L2 is a straight line that passes through the point c1 and extends with an inclination that forms an angle θ6 from the reference Ax1. θ6 can be obtained from the following equation (11) using the first angle θ1 obtained by calculation and the known camera mounting angle θr.

  As described above, since the second straight line L2 and the fourth straight line L4 are obtained, the position coordinates of the tire Tr corresponding to the intersection of the second straight line L2 and the fourth straight line L4 can be obtained. Thereby, the vehicle control apparatus 10 can obtain | require the wheelbase WB which is a linear distance of tire Tr and c5 as a distance between two points based on the position of tire Tr, and the position of c5.

  The various calculations described above are not limited to the above formulas, and various well-known formulas can be employed to improve the accuracy of the calculation results.

DESCRIPTION OF SYMBOLS 10 ... Vehicle control apparatus (towed vehicle wheelbase detection apparatus) 11 ... Camera (image detection means) 12 ... Connection angle sensor (connection angle detection means) 13 ... Vehicle control ECU (storage means, calculation means) Ac ... Axle center Co ... Coupler (connecting part) Ax1 ... Vehicle center line of tractor Ax2 ... Vehicle center line of trailer c1 ... Camera position c5 ... Projection point of coupler f ... Concentration distance H ... Optical axis L1 ... First straight line L2 ... Second Straight line L3 ... third straight line L4 ... fourth straight line La ... first straight line length Lb ... third straight line length T1 ... tractor (towing vehicle) T2 ... trailer (towed vehicle) Tr ... tyre W: Vehicle width WB: Wheel base θ ₁ ... First angle θ ₂ ... Second angle θ ₃ ... Third angle θp ... Camera mounting angle (angle between L1 and H) θ _R ... Connection angle θr ... Camera mounting Angle (L1 and Ax Tire angle from the angle) θt ... optical axis

Claims (4)

A towed vehicle wheelbase detection device for detecting a wheelbase of a towed vehicle towed by a towed vehicle via a connecting portion,
An image detecting means attached to the tow vehicle for detecting an image of a tire of the towed vehicle;
Storage means for storing a length of a first straight line connecting the image detection means and the connecting portion;
A connection angle detecting means for detecting a connection angle of the towed vehicle with respect to the towed vehicle;
Calculation means for calculating a first angle formed by the second straight line connecting the tire and the image detection means and the first straight line based on a lateral position on the image of the tire detected by the image detection means. When,
With
The calculating means calculates a second angle formed by the first straight line and the third straight line connecting the connecting portion and the tire based on the connecting angle detected by the connecting angle detecting means;
A towed vehicle wheelbase detection device that detects a wheelbase of the towed vehicle based on the length of the first straight line, the first angle, and the second angle. The storage means stores a vehicle width of the towed vehicle,
The computing means computes the length of the third straight line based on the length of the first straight line, the first angle, and the second angle,
The towed vehicle wheelbase detection device according to claim 1, wherein a wheelbase of the towed vehicle is detected based on a length of the third straight line and a vehicle width of the towed vehicle. A towed vehicle wheelbase detection device for detecting a wheelbase of a towed vehicle towed by a towed vehicle via a connecting portion,
An image detecting means attached to the tow vehicle for detecting an image of a tire of the towed vehicle;
Storage means for storing a length of a first straight line connecting the image detection means and the connecting portion and a vehicle width of the towed vehicle;
A connection angle detecting means for detecting a connection angle of the towed vehicle with respect to the towed vehicle;
Calculation means for calculating a first angle formed by the second straight line connecting the tire and the image detection means and the first straight line based on a lateral position on the image of the tire detected by the image detection means. When,
With
The calculation means calculates the position of the projection point of the connecting portion with respect to a fourth straight line passing through the tire and parallel to the vehicle center line of the towed vehicle based on the connecting angle and the vehicle width of the towed vehicle. While calculating
By calculating the position of the tire corresponding to the intersection of the fourth straight line and the second straight line based on the connection angle, the position of the projection point of the connection part, and the first angle, the tire A towed vehicle wheelbase detection device that detects a wheelbase of the towed vehicle that is a linear distance between the projection point and the projection point. A vehicle control device comprising the towed vehicle wheelbase detection device according to any one of claims 1 to 3 and performing vehicle control of the towed vehicle,
A vehicle control device that performs vehicle control of the towed vehicle based on a wheelbase of the towed vehicle detected by the towed vehicle wheelbase detection device.

Images