JP2003344226A - Device, method and program for outputting locus, and recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide information as to the propriety of turning for a combination vehicle including a tractor having a steering wheel, and a following vehicle having a steering wheel and towed by the tractor. <P>SOLUTION: This locus output device is provided with a tractor steering pattern storage means 4 for storing a change pattern of a steering quantity of the tractor, a following vehicle steering pattern storage means 6 for storing a change pattern of a steering quantity of the following vehicle, a locus acquiring means 18 for obtaining a locus of the combination vehicle when the combination vehicle travels while the steering wheels of the tractor and the following vehicle are steered in response to the change patterns stored in the tractor steering pattern storage means 4 and the following vehicle steering pattern storage means 6, and an output means 20 for outputting the locus. The locus of the combination vehicle is thereby acquired and output when an imaginary combination vehicle including the following vehicle having the steering wheel travels within a virtual area while the steering wheels of the tractor and the following vehicle are steered respectively at prescribed steering level of change patterns. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides information on the propriety of turning when a connected vehicle including a towing vehicle having steered wheels and a follower vehicle having steered wheels towed by the tow vehicle travels. And a trajectory output method, a trajectory output program, and a storage medium.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Unexamined Patent Application Publication No. 11-212
As disclosed in Japanese Laid-Open Patent Publication No. 626, on a computer, a travel locus when a semi-trailer without steered wheels is towed by a tractor under predetermined conditions is acquired by a clothoid curve or the like and displayed on a display or the like. A trajectory output device is known.

[0003]

In recent years, a long trailing vehicle having one or more steered wheels is towed by a towing vehicle such as a tractor in order to transport a long object, and further, a steered wheel is provided. The number of cases where a towing vehicle pulls multiple following vehicles is increasing. The traveling path when a connected vehicle including a follower vehicle with steered wheels makes a turn and is complicated not only by the steering of the towing vehicle but also by the steering of the follower vehicle. Will be essential. However, with the trajectory output device as described above, it is difficult to examine whether or not the following vehicle having steered wheels can turn.

The present invention has been made in view of the above problems, and is information on whether or not a connected vehicle including a towing vehicle having steered wheels and a follower vehicle having the steered wheels towed by the towing vehicle can turn. It is an object of the present invention to provide a trajectory output device that enables the provision of

[0005]

A locus output device according to the present invention is a virtual connected vehicle including a towing vehicle having steered wheels and a follower vehicle having the steered wheels and being pulled by the tow vehicle in a virtual region. A trajectory output device that acquires a trajectory when the vehicle is traveling and outputs the trajectory to an output device. The steering wheel of the towing vehicle and the steering wheel of the following vehicle during traveling are the variation patterns of the steering amount determined for each. The traction vehicle steering pattern storage means stores a change pattern of the steering amount for steering the steered wheels of the traction vehicle, and the traction vehicle steering pattern storage means stores the steering amount of the traction vehicle. A towing vehicle steering pattern input means for inputting a change pattern, a follower vehicle steering pattern storage means for storing a change pattern of a steering amount for steering the steered wheels of a follower vehicle, and a follower vehicle steering for the follower vehicle steering pattern storage means. Change in quantity The following vehicle steering pattern input means for inputting a pattern and the steered wheels of the towing vehicle are steered according to the change pattern of the steering amount stored in the towing vehicle steering pattern storage means, and the steered wheels of the following vehicle are stored as the following vehicle steering pattern. A trajectory acquisition means for acquiring the trajectory of the connected vehicle when the combined vehicle is traveling by being steered according to the change pattern of the steering amount stored in the means; and an output means for outputting the trajectory to an output device. Is characterized by.

A trajectory output method according to the present invention is a trajectory when a virtual connected vehicle including a towing vehicle having steered wheels and a following vehicle towed by the towing vehicle having steered wheels is run in a virtual region. Is a trajectory output method for acquiring and outputting to the output device, the steering wheel of the towing vehicle and the steering wheel of the following vehicle during traveling are:
A steering vehicle steering pattern input step for inputting a steering amount change pattern for steering the steered wheels of the towing vehicle, and a following vehicle Of the following vehicle steering pattern input step for inputting the change pattern of the steering amount to steer the steering wheel of the vehicle, the steered wheel of the towing vehicle is steered according to the change pattern of the steering amount of the towing vehicle, and the steered wheel of the following vehicle follows. A trajectory acquisition step of acquiring a trajectory of the connected vehicle when the connected vehicle is driven by being steered according to a change pattern of a steering amount of the vehicle, and a trajectory output step of causing the output device to output the trajectory. And

The trajectory output program according to the present invention is a trajectory when a virtual connected vehicle including a towing vehicle having steered wheels and a follower vehicle having the steered wheels and being driven by the towing vehicle is run in a virtual region. Is obtained and output to the output device, the steered wheels of the towing vehicle and the steered wheels of the following vehicle are steered according to the change pattern of the steering amount set for each during traveling. The steering wheel steering pattern input step of inputting a change pattern of the steering amount to steer the steered wheels of the towing vehicle and the change pattern of the steering amount to steer the steered wheels of the following vehicle are input to the computer. The step of inputting the following vehicle steering pattern, the steered wheels of the towing vehicle are steered according to the change pattern of the steering amount of the towing vehicle, and the steered wheels of the following vehicle are steered according to the change pattern of the steering amount of the following vehicle, and are connected. car There wherein the executing a track acquiring step of acquiring the trajectory of the articulated vehicle when traveling, the locus output step of outputting to an output device locus, the.

According to the trajectory output device, the trajectory output method, and the trajectory output program of the present invention, the virtual connected vehicle including the follower vehicle having the steered wheels and the steered wheels of the towing vehicle and the follower vehicle are predetermined in the virtual region. The trajectories of the connected vehicles as they are steered and traveled according to the change pattern of the steering amount are acquired and output.
This allows the user or the like to input conditions corresponding to an actual connected vehicle including a follower vehicle having steered wheels,
It is possible to acquire the trajectory when the actual connected vehicle travels, and it is possible to suitably determine whether or not the connected vehicle can turn.

In the trajectory output device, the following vehicle steering pattern correction request input means for inputting a correction request for the change pattern of the steering amount of the following vehicle and the correction request for the change pattern of the steering amount of the following vehicle. Preferably, the following vehicle steering pattern correction means for correcting the change pattern of the steering amount stored in the following vehicle steering pattern storage means.

In the trajectory output method, the following vehicle steering pattern modification request input step for inputting a modification request for the variation pattern of the steering amount of the following vehicle and the modification request for the variation pattern of the steering amount of the following vehicle. Preferably, the following vehicle steering pattern correction step of correcting the change pattern of the steering amount of the following vehicle.

Here, in the above trajectory output program, a following vehicle steering pattern correction request input step for inputting a correction request for the change pattern of the steering amount of the following vehicle,
It is preferable that the computer perform a following vehicle steering pattern correction step of correcting the variation pattern of the steering amount of the following vehicle in response to a correction request for the variation pattern of the steering amount of the following vehicle.

According to these, when the user inputs a correction request for the change pattern of the steering amount of the following vehicle in accordance with the output result of the locus, the change pattern of the steering amount to be steered is corrected, and the corrected follow amount is corrected. The trajectory of the connected vehicle based on the change pattern of the steering amount of the vehicle is recalculated and output. As a result, it is possible to easily confirm the change in the trajectory of the connected vehicle, particularly the change of the following vehicle when the change pattern of the steering amount of the following vehicle is changed, and it is necessary to keep the trajectory of the connected vehicle within the desired road area. The optimum steering condition of the following vehicle can be easily acquired.

Further, in the above trajectory output device, the change pattern of the steering amount of the following vehicle is a time change pattern of the steering angle of the steered wheels of the following vehicle, and the following vehicle steering pattern correction means responds to the correction request. It is preferable to correct the time change pattern so that a plurality of sections in which the steering angle changes linearly with time are combined.

In the trajectory output device, the change pattern of the steering amount of the following vehicle is a change pattern of the steering angle of the steered wheels of the following vehicle with respect to the travel distance, and the following vehicle steering pattern correction means responds to the correction request. Then, the change pattern may be corrected so that a plurality of sections in which the steering angle linearly changes according to the traveling distance are combined.

In the above trajectory output method, the change pattern of the steering amount of the follower vehicle is a time change pattern of the steering angle of the steered wheels of the follower vehicle, and the follower vehicle steering pattern correction step responds to the correction request. It is preferable to correct the time change pattern so that a plurality of sections in which the steering angle changes linearly with time are combined.

In the above trajectory output method, the change pattern of the steering amount of the following vehicle is a change pattern of the steering angle of the steered wheels of the following vehicle with respect to the traveling distance, and the following vehicle steering pattern correction step responds to the correction request. Then, the change pattern may be corrected so that a plurality of sections in which the steering angle linearly changes according to the traveling distance are combined.

In the trajectory output program,
The change pattern of the steering amount of the following vehicle is a time change pattern of the steering angle of the steered wheels of the following vehicle, and the following vehicle steering pattern correction step changes the steering angle linearly with time in response to a correction request. It is preferable to correct the time change pattern so that a plurality of sections are combined.

In the above trajectory output program,
The change pattern of the steering amount of the following vehicle is a change pattern of the steering angle of the steered wheels of the following vehicle with respect to the traveling distance, and the following vehicle steering pattern correction step is such that the steering angle changes linearly according to the traveling distance according to the correction request. The change pattern may be modified so as to combine a plurality of sections that change.

According to these, the trajectory of the connected vehicle when the follower vehicle is steered in a change pattern in which a plurality of sections in which the steering angle of the follower vehicle is changed linearly with respect to time or traveling distance is combined is acquired. When changing the rudder angle of the following vehicle in an actual connected vehicle, the rudder angle is often changed as a time or distance line segment. According to the above configuration, data suitable for determining the steering method of the actual steering angle of the following vehicle can be obtained as compared with the case where the steering angle is changed so as to have a complicated function with respect to time and distance. .

In the above trajectory output device, the towing vehicle steering pattern correction request input means for inputting a correction request for the steering wheel change pattern of the towing vehicle and the towing in response to the correction request for the towing vehicle steering pattern change pattern. It is preferable to include a towing vehicle steering pattern correction unit that corrects the change pattern of the steering amount stored in the vehicle steering pattern storage unit.

In the above trajectory output method, the towing vehicle steering pattern correction request input step for inputting a correction request for the steering wheel change pattern of the towing vehicle and the towing in response to the correction request for the towing vehicle steering pattern change pattern. It is preferable to include a towing vehicle steering pattern correction step of correcting a change pattern of the steering amount of the vehicle.

In the above trajectory output program,
A towing vehicle steering pattern correction request input step for inputting a correction request for the change pattern of the steering amount of the towing vehicle, and a towing for correcting the change pattern of the steering amount of the towing vehicle according to the correction request for the changing pattern of the steering amount of the towing vehicle. It is preferable that the computer performs the vehicle steering pattern correction step.

According to these, when the user inputs a correction request for the change pattern of the steering amount of the towing vehicle in accordance with the output result of the locus, the change pattern of the steering amount stored in the towing vehicle steering pattern storage means is obtained. The trajectory of the connected vehicle is recalculated and output based on the modified change pattern of the steering amount of the towing vehicle. As a result, it is possible to easily confirm the change of the trajectory of the connected vehicle, particularly, the trajectory of the tow vehicle when the change pattern of the steering amount of the tow vehicle is changed, and it is necessary to keep the trajectory of the connected vehicle within the desired road area. The optimum steering conditions for the towing vehicle can be easily obtained.

Further, in the above trajectory output device, the following vehicle steering pattern input means generates a temporary change pattern of the steering amount of the following vehicle necessary for causing the following vehicle to travel following the towing vehicle to generate the following vehicle. It is preferable to include a reference following vehicle steering pattern generation means for inputting to the steering pattern storage means.

Further, in the above trajectory output method, in the following vehicle steering pattern input step, a temporary change pattern of the steering amount of the following vehicle required for causing the following vehicle to follow the towing vehicle is generated to generate the following vehicle. It is preferable to include a reference follower vehicle steering pattern generation step that is a change pattern of the steering amount for steering.

In the trajectory output program,
In the step of inputting the following vehicle steering pattern, a temporary change pattern of the steering amount of the following vehicle required for the following vehicle to travel following the towing vehicle is generated and used as the change pattern of the steering amount for steering the following vehicle. It is preferable to include a reference following vehicle steering pattern generation step.

A follower vehicle having steered wheels may not easily turn unless a change pattern of the steering amount is given depending on the vehicle type and the like. In such a case, in order to acquire the trajectory of the connected vehicle, it is necessary to provide at least the following vehicle with a change pattern of the steering amount that allows the vehicle to follow the towing vehicle. However, according to the above configuration, since the change pattern of the steering amount of the following vehicle necessary for causing the following vehicle to follow the towing vehicle is acquired, the user or the like does not need to input the change pattern of the steering amount of the following vehicle. Also, it is possible to acquire and input the temporary turning trajectory of the connected vehicle in which the following vehicle travels following the towing vehicle. This saves the user the trouble of inputting the change pattern of the steering amount of the following vehicle according to the change pattern of the steering amount of the towing vehicle. Further, if the user or the like corrects the change pattern of the steering amount of the following vehicle obtained in this way based on the acquired trajectory of the connected vehicle, the steering amount of the following vehicle for traveling along the desired trajectory can be obtained. Change pattern is easily obtained.

Further, in the above trajectory output device, it is preferable that the trajectory acquisition means acquires the trajectory based on the equation of motion considering the cornering force.

In the above trajectory output method, it is preferable that the trajectory acquisition step acquires the trajectory based on a motion equation in which the cornering force is taken into consideration.

In the above trajectory output program,
The trajectory acquisition method preferably acquires the trajectory based on a motion equation that considers the cornering force.

As a result, a trajectory in which the influence of the weight of the towing vehicle or the following vehicle is taken into consideration can be obtained, so that the accuracy of the trajectory is improved. In particular, it is suitable when the following vehicle or the like carries a heavy load.

[0032]

DETAILED DESCRIPTION OF THE INVENTION Referring to the accompanying drawings,
A preferred embodiment of the trajectory output device according to the present invention will be described in detail. In the description of the drawings, the same or corresponding elements will be denoted by the same reference symbols, without redundant description.

The trajectory output device 1 of the present embodiment includes a tractor (towing vehicle) having steered wheels and one or a plurality of following vehicles having steered wheels and being pulled by the towing vehicle in a virtual area on a computer. It is a trajectory output device that acquires the trajectory when the virtual connected vehicle including the vehicle travels and outputs it to a display device, etc., and these tractors and the following vehicles are steered based on the respective steering patterns that are determined when the vehicle travels. To be taken.

The trajectory output device 1 of this embodiment includes a tractor steering pattern input means 2 for inputting a change pattern of a tractor steering angle, and a tractor steering pattern storage means 4 for storing a change pattern of a tractor steering angle. And a follower vehicle steering pattern input means 10 for inputting a change pattern of the follower vehicle steering angle, a follower vehicle steering pattern storage means 6 for storing the change pattern of the follower vehicle steering angle, and a tractor steering pattern storage means. 4, the trajectory acquisition means 18 for acquiring the trajectory of the connected vehicle when the steering angles of the tractor and the follower vehicle are controlled according to the change pattern of 4 and the change pattern of the following vehicle steering pattern storage means 6, and the acquired trajectory are displayed. For correcting the change pattern of the steering angle of the following vehicle from the user or the like via the output means 20 for outputting to the etc. and the mouse or keyboard. Modification request and follow vehicle steering pattern correction information input means 13 for inputting, tracking wheel steering pattern correcting means for correcting the variation pattern of the steering angle of the follower wheel steering pattern storage unit 6 based on the modified request for the follow-up wheel 12
And a tractor steering pattern correction information input means 5 for inputting a correction request for correcting a change pattern of the steering angle of the tractor from a user or the like via a mouse, a keyboard or the like,
A tractor steering pattern correction unit 3 that corrects the change pattern of the steering angle of the tractor steering pattern storage unit 4 based on a correction request to the tractor, and a connection that inputs various data such as a connected vehicle including a tractor and a follower vehicle and running conditions. The vehicle data input means 14 and the travelable area setting means 30 for setting the travelable area are computer devices having the same functions.

The connected vehicle data input means 14 is for inputting specifications, connection conditions, running conditions, etc. regarding the tractor and the following vehicle via a keyboard, a mouse and the like. Here, regarding the tractor and the following vehicle, for example, the shape of the vehicle frame such as the overall length and width, the position of the connecting portion (king pin, etc.), the inter-axle distance, the position / number of steered wheels, the position of the non-steered wheels
The number of vehicles, the number of tires on each wheel axle, the position of the center of gravity, and vehicle conditions such as vehicle weight are input. Such information is stored in a storage area (not shown).

In the connected vehicle data input means 14, it is possible to set a tractor and a following vehicle, and to set a connected vehicle by arbitrarily connecting and disconnecting each set tractor and following vehicle. Has been In addition, it is possible to examine whether or not these vehicles can be connected to each other according to the specifications of each tractor and the following vehicle.

The tractor steering pattern input means 2 acquires a change pattern of the steering angle of the tractor from the user via a mouse, a keyboard or the like, and inputs this to the tractor steering pattern storage means 4. The steering angle is an acute angle formed between the steered wheels and the neutral position of the steered wheels.

Here, the change pattern of the steering angle of the tractor is acquired and input by the following two methods according to the instruction from the user. The first method is a method in which the user directly obtains the change pattern of the steering angle of the steered wheels in the calculation section from the start position to the goal position, and inputs it to the tractor steering pattern storage means 4. For example, a user obtains a data table that determines the steering angle with respect to the traveling time and the traveling distance from the user, and a function of the steering angle that is determined as a function of the traveling time and the traveling distance. It can be input to the storage means 4. According to this method, the steering angle at the start position and the steering angle at the goal position in the calculation section can be fixed to desired values.

In an actual vehicle, since the steering angle of the steered wheels of the tractor is often changed so as to linearly increase or decrease with time in each predetermined section, the tractor steering pattern input means 2 is used. Preferably, it is possible to input into the tractor steering pattern storage means 4 a change pattern of the steering angle such that the steering angle is represented by a combination of minute line segments according to the traveling time.

In the second method, the start position of the tractor including the attitude angle and the goal position of the tractor including the attitude angle are acquired from the user so that the steering angle of the steered wheels of the tractor changes at a constant speed. The locus when the vehicle is turned from the start position to the goal position is acquired based on the clothoid curve, and the change pattern of the steering angle corresponding to the clothoid curve is input to the tractor steering pattern storage means 4. For such calculation, for example, Japanese Patent Laid-Open No. 11-212
It is preferable to use the method described in Japanese Patent No. 626. According to this method, the change pattern of the steering angle of the tractor can be defined after grasping the rough traveling locus of the tractor, the start position, and the goal position.

The tractor steering pattern storage means 4 stores in the memory the change pattern of the steering angle of the steered wheels of the tractor during traveling obtained as described above. FIG. 2 shows a graph of an example of the stored change pattern (see tractor steering angle change pattern A in the figure).

Similar to the tractor steering pattern input means 2, the follower vehicle steering pattern input means 10 acquires the change pattern of the steering angle of the follower vehicle from the user via the mouse or keyboard, and the follower vehicle steering pattern storage means 6 is provided. Can be entered in.

Further, the following vehicle steering pattern input means 10
Is a reference tracking that automatically generates a change pattern of the steering angle of the following vehicle required for the following vehicle to travel following the tractor based on an instruction from the user and inputs it to the following vehicle steering pattern storage unit 6. The vehicle steering pattern generation means 8 is provided.

The change pattern of the rudder angle of the following vehicle serving as the reference is easily obtained by, for example, giving the rudder angle of the following vehicle in proportion to the angle formed by the tractor and the following vehicle. it can.

Now, the reason why such a steering angle change pattern is automatically generated will be described. A follow-up vehicle having steered wheels may be difficult to turn unless a change pattern of the steering amount is given depending on the vehicle type and the like. In such a case, in order to acquire the trajectory of the connected vehicle, it is necessary to provide at least the following vehicle with a change pattern of the steering amount that allows the vehicle to follow the towing vehicle.

Therefore, the reference follower vehicle steering pattern generation means 8 obtains the change pattern of the steering amount of the follower vehicle required for causing the follower vehicle to follow the towing vehicle.
Even if the user or the like does not input the change pattern of the steering amount of the following vehicle, it is possible to acquire and input the temporary turning trajectory of the interlocking vehicle in which the following vehicle travels following the towing vehicle. This saves the user the trouble of inputting the change pattern of the steering amount of the following vehicle according to the change pattern of the steering amount of the towing vehicle. Also, based on the acquired trajectory of the connected vehicle,
If the user or the like corrects the change pattern of the steering amount of the following vehicle thus obtained, the change pattern of the steering amount of the following vehicle for traveling on a desired locus can be easily obtained.

The follower vehicle steering pattern storage means 6 stores the change pattern of the steering angle of the steered wheels of the follower vehicle in the memory obtained as described above.

Under the above conditions, the locus acquisition means 18 acquires the running locus of the connected vehicle including the tractor and the following vehicle in a predetermined section when the tractor is driven at a predetermined speed for a predetermined time.

A method of acquiring such a locus will be described below.

First, the first trajectory calculation method will be described. Here, as an example, a connected vehicle 50 such as a pole trailer shown in FIG. 3 is assumed. That is, the connected vehicle 50 includes a tractor 70, a first following vehicle (following vehicle) 71, and a second following vehicle (following vehicle) 72, and the connecting portion 80 of the tractor 70 and the connecting portion 81 of the first following vehicle 71. Are joint-connected, and the connecting portion 82 of the first follower vehicle 71 and the connecting portion 83 of the second follower vehicle 72 are jointly connected.
Further, the second follower vehicle 72 has a drawbar 85 that extends forward of the vehicle body and is expandable and contractible, and a tip end portion 86 of the drawbar 85 is jointly connected to a connecting portion 87 of the tractor 70. In addition, in order to avoid becoming complicated on the drawing,
Each connection is drawn away from each other.

The tractor 70 has steered wheels 91f and 91r before and after the center of gravity 60, the first follower vehicle 71 has steered wheels 93f and 93r before and after the center of gravity 61, and the second follower vehicle 72 has the center of gravity 62. Front and rear steering wheels 95f and 95r are provided.

Here, the subscripts n = 1, 2, 3 are vehicle numbers, and the tractor 70, the first follower vehicle 71, and the second follower vehicle 7 are arranged in this order.
Corresponds to 2.

Further, the XY coordinate plane is set, and ψ _n is the posture angle of the vehicle n (the angle between the X coordinate and the axis of the vehicle), F _xij ,
F _yij is the force in the X and Y directions in which the respective vehicles i and j exert on each other, F _nf is the cornering force applied to the front wheels of the vehicle n, F _nr is the cornering force applied to the rear wheels of the vehicle n, β _n is the slip angle of the vehicle n (the angle between the traveling direction and the axis of the vehicle), δ _nf is the steering angle of the front steered wheels of the vehicle n (the angle from the neutral position of the steered wheels), and δ _nr is the vehicle n.
The steering angle of the rear steering wheel, β _nf is the steering wheel slip angle of the front steering wheel of vehicle n, β _nr is the steering wheel slip angle of the rear steering wheel of vehicle n, and θ ₁₂ is the axis of tractor 70. First follower vehicle 71
Angle, the angle between the angle, the theta ₁₃ of the tractor 70 axis and the axis of the second follower wheel 72 with the axis of the shaft and a second follow-up wheel 72 of the theta ₂₃ second follower wheel 72 with the shaft, L _nf is the distance from the center of gravity of the vehicle n to the front steered wheels, L _nr is the distance from the center of gravity of the vehicle n to the rear steered wheels, L _1b is the distance from the center of gravity 60 of the tractor 70 to the connecting portion 80, and L _1d is The distance from the center of gravity 60 of the tractor 70 to the connecting portion 87, L _2a, is the center of gravity 6 of the first follower vehicle 71.
1 to the connecting portion 81, L _2b is the distance from the center of gravity 61 of the first follower vehicle 71 to the connecting portion 82, L _3a is the distance from the center of gravity 62 of the second follower vehicle 72 to the connecting portion 83, and L _3c is The distance is from the center of gravity 62 of the second follower vehicle 72 to the connecting portion 86 of the drawbar.

Here, the cornering force will be described with reference to FIG. For example, if the vehicle is undergoing lateral or yawing movements, the tire may have a slip angle β
_1f is generated and a cornering force F _1f is generated in a direction perpendicular to the tire traveling direction. Assuming that the slip angle β _1f is small, the cornering force F _nf applied to the front steered wheel of the vehicle n and the cornering force F _{nr applied} to the steered wheel of the rear side of the vehicle n are expressed by the formula (1) and It can be expressed by equation (2). Where K _nuf and K _nur are
The cornering power per tire of the front steered wheels of the vehicle n and the cornering power per tire of the rear steered wheels of the vehicle n are respectively n _nf and n _nr , where n _nf and n _nr are the number of tires of the front wheels of the vehicle n and the rear The number of tires on the side wheels.

[0055]

[Equation 1]

Returning to FIG. 3, the tractor 70 travels at a constant low speed V ₁ , and the first follower vehicle 71 and the second follower vehicle 72 are moved.
Is towed by the tractor 70 and travels. Furthermore, there is no traction force between vehicles or rolling resistance of tires,
It is assumed that there is no rolling of the car body.

Then, the balance of the forces acting on the respective vehicles,
That is, the tractor 70 considering the forces F _x and F _y from the other connected vehicles and the cornering forces F _nf and F _nr .
Based on the equations of motion of the first follower vehicle 71 and the second follower vehicle 72 in the X direction, the Y direction, and the rotation, and the equation of the constraint condition at each connecting point of the vehicle, the equations (3) to (12) are shown. Thus, for each vehicle, an equation for the first-order time derivative of the vehicle slip angle β and an equation for the second-order time derivative of the vehicle attitude angle ψ are obtained. Here, m _n is the weight of the vehicle n, V _n is the speed of the vehicle n,
I _n is the moment of inertia of the vehicle n, and r _n is the first-order time derivative of ψ _n .

[0058]

[Equation 2]

Then, by solving such an equation with the Runge-Kutta method, which is a numerical approximation method for the initial value problem of the differential equation, etc.
Then, the time changes of β and β are obtained, and the speed, angle, and position of each vehicle at each time are obtained.

This equation is an example, and for example, the equations of the loci of four or more connected vehicles and the equations for other connection forms can be easily obtained based on the same idea. Further, the calculation can be performed regardless of how many steering wheels are included in one vehicle.

In this method, since the equation of motion considering the cornering force is solved for each vehicle, a highly accurate trajectory considering the influence of the own weight of each vehicle and the weight of the load can be obtained.

As a second locus calculation method, as shown in FIG. 5, the speed at the steered wheels 91r, 91f, etc. and the connecting points 81, 83, 86, etc. is calculated as the absolute coordinate X-axis speed without considering the external force. There is a so-called pure geometric method in which the equation of motion is obtained by substituting each of the above equations with each other and further converting each into an equation including the attitude angle ψ of each vehicle. Here, as an example, a connected vehicle such as a pole trailer including a first tractor 70, a first following vehicle 71, and a second following vehicle 72, which is almost the same as that used in the first trajectory calculation method, is assumed. To do. Further, the speed of the steered wheels 91f is V _1f , the speed of the steered wheels 91r is V _1r ,
The speed of the steered wheels 93r is V _2r , the speed of the steered wheels 95r is V _3r , the speed of the connecting point 81 is V _2a1b , the speed of the connecting point 83 is V _3a2b , the speed of the connecting point 86 is V _3c1d , and the speed of the center of gravity 60 is V ₀₁ , the velocity of the center of gravity 61 is V ₀₂ , the velocity of the center of gravity 62 is V ₀₃ ,
The angle between the speed direction of the connecting point 81 and the axis of the first following vehicle 71 is ξ ₁₂ , the angle between the speed V _3a2b of the connecting point 83 and the axis of the second following vehicle 72 is ξ ₂₃ , and the connecting point 86 is If the angle formed by the velocity V _3c1d and the axis of the second follower vehicle 72 is ξ ₁₃ , equations (13) to (20) can be obtained as equations of motion. However, it is assumed that V = V ₀₁ cos δ ₁ . These equations are obtained assuming that the first follower vehicle 71 does not have the steered wheels, and are for a typical pole trailer.

[0063]

[Equation 3]

This equation of motion is also the same as above.
By using the Runge-Kutta method or the like to solve for each minute time step, the running locus of each vehicle can be acquired.

This formula is also an example. For example, the equations of the loci of four or more connected vehicles and the equations in the case of other connection forms can be easily obtained based on the same idea. Further, the calculation can be performed regardless of how many steering wheels are included in one vehicle.

In the above two equations of motion, the traveling locus of the connected vehicle can be obtained not only when the tractor is moved backward but also when the tractor is moved backward by making the speed direction negative.

The output means 20 outputs the acquired traveling locus to a display, a printer, an external storage device or the like.

The following vehicle steering pattern correction information input means (following vehicle steering pattern correction request input means) 13 allows a user to input a correction request for the change pattern of the steering angle of the following vehicle via a keyboard or mouse operation. is there. Also,
The tractor steering pattern correction information input means (tractor steering pattern correction request input means) 5 allows a user to input a correction request for a change pattern of the tractor steering angle via a keyboard or a mouse operation.

The follower vehicle steering pattern correction means 12 corrects the change pattern of the steered wheels of the follower vehicle stored in the follower vehicle steering pattern storage means 6 in response to the correction request. Also,
The tractor steering pattern correction means 3 corrects the change pattern of the steered wheels of the tractor stored in the tractor steering pattern storage means 4 in response to the correction request. Here, it is preferable that each of the corrections is made in accordance with the correction request so as to be a time change pattern in which a plurality of sections in which the steering angle linearly changes with time are combined.

In this way, the locus of the connected vehicle when the follower vehicle or the tractor is steered is obtained in a change pattern in which a plurality of sections in which the steering angles of the follower vehicle and the tractor are changed linearly with respect to time are combined. When changing the rudder angle of a follower vehicle or a tractor in an actual connected vehicle, the rudder angle is often changed as a line segment of time, so the rudder angle is changed so that it becomes a complicated function with respect to time. Compared with the case of storing like this, data suitable for determining the steering method of the actual steering angle of the following vehicle or tractor can be obtained. Also,
The follower vehicle steering pattern correction means 12 directly corrects the change pattern and, in response to a correction request, is automatically generated in the same manner as the reference follower vehicle steering pattern generation means 8 of the follower steering pattern input means 10. The change pattern may be modified based on the steering angle change pattern of the vehicle. Further, the tractor steering pattern correction means 3 directly corrects the change pattern, and in response to a correction request, similarly to the tractor steering pattern input means 2, generates a steering angle change pattern based on a clothoid curve or the like. The change pattern may be corrected based on this.

In this embodiment, the steering angle change pattern is the time change pattern of the steering angle. However, the present invention is not limited to this, and the change pattern of the steering angle with respect to the traveling distance may be used.

The drivable area setting means 30 sets the drivable area and the drivable area based on the input from the user, and outputs them to the output means 20 and outputs them to a display or the like.

Next, the operation of the trajectory output device 1 according to this embodiment will be described, and the trajectory output method according to this embodiment will also be described with reference to FIG.

First, in step 101, the user inputs specifications of a connected vehicle such as a tractor, connection conditions, and conditions such as a travelable area.

Next, in step 103, it is determined whether or not the change pattern of the steering angle of the tractor is directly input according to the input from the user, and when the change pattern of the steering angle of the tractor is directly input, In step 105, if the change pattern of the steering angle of the tractor is indirectly obtained from the start position and the goal position, the process proceeds to step 107.

In step 105, the steering angle change pattern is stored in the tractor steering pattern storage means 4 in accordance with the input from the user. For example, when the user inputs the steering angle at the start point and the steering angle at the goal point and also inputs the traveling distance, the tractor steering pattern input means 2 causes the tractor steering pattern input means 2 to calculate the traveling speed of the tractor based on the traveling speed. The time change pattern of the steering angle change of the tractor is calculated, and the time change pattern of the steering angle as shown in FIG. 2 is stored in the tractor steering pattern storage means 4. In this case, since the rudder angle of the tractor at the start position and the goal position is directly specified, the tractor rudder at the connection point of each locus is created when connecting multiple sections of such locus to create a complicated locus. The corner can be expressed continuously.

On the other hand, in step 107, a clothoid curve connecting the start point and the goal point is set according to the input from the user, and the change pattern of the steering angle of the tractor for the tractor to turn on the clothoid curve or the like. Is acquired and stored in the tractor steering pattern storage means 4. In this case, the steering angle of the tractor at the goal position does not necessarily match the steering angle of the tractor at the goal position of the trajectory of the vehicle to be acquired later, but the rough traveling trajectory of the tractor can be grasped in advance.

Next, in step 109, it is determined whether or not the change pattern of the steering angle of the following vehicle is directly input according to the input from the user, and the change pattern of the steering angle of the following vehicle is directly input. Goes to step 111, and goes to step 113 when the change pattern of the steering angle of the following vehicle is automatically generated without being input.

In step 111, the steering angle change pattern of the following vehicle is directly input. Here, as in step 105, the time change of the rudder angle change pattern can be input as a data table or the like, and the rudder angle change pattern of the following vehicle is linked by a link mechanism or the like that uses the angle formed by the tractor. It is also possible to input a mathematical expression or the like that simulates the steering operation.

On the other hand, in step 113, a steering angle change pattern of the following vehicle that follows the tractor and travels is automatically generated and set to be input to the following vehicle steering pattern storage means. In addition, for example, when the change pattern of the steering angle of the following vehicle is given in proportion to the angle formed by the tractor and the following vehicle, the steering angle is sequentially input during the calculation of the locus.

Next, at step 115, the loci of a predetermined section of the connected vehicle when the steering angles of the tractor and the following vehicle are steered under the above conditions are acquired.

Next, in step 117, the locus of the acquired section is overlapped with the travelable area and output.

Then, in step 119, if the trajectory of the following vehicle needs to be corrected by the user's instruction, the process proceeds to step 121. In step 121,
According to an instruction from the user, the steering angle change pattern of the following vehicle in the following vehicle steering pattern storage means 6 is corrected. Then, returning to step 115, a trajectory according to the corrected steering angle change pattern is calculated and output in step 117.

On the other hand, if it is determined in step 119 that the trajectory of the following vehicle does not need to be recorrected by the user's instruction, the process proceeds to step 123.

In step 123, it is judged whether or not there is a request from the user to correct or re-input the change pattern of the steering angle of the tractor, and if there is a request to re-input the change pattern of the steering angle of the tractor. Returning to step 103, a series of processing is performed. If there is a request to correct the change pattern of the steering angle of the tractor, the process proceeds to step 124. If there is no request for correction or re-input of the steering angle of the tractor, the process proceeds to step 125.

In step 124, the steering angle change pattern of the tractor in the tractor steering pattern storage means 4 is corrected according to the instruction from the user. And step 115
Returning to step 1, the trajectory according to the corrected steering angle change pattern is calculated and output in step 117.

At step 125, it is judged whether or not there is a request from the user for acquisition of a further trajectory section following the acquired trajectory section, and if the next trajectory section is to be acquired, the routine proceeds to step 127, where each vehicle The goal position is replaced with the start position, the process is returned to step 103, and a series of processes is performed to acquire a further trajectory. On the other hand, if there is a request not to acquire a trajectory, the process ends.

Here, the trajectory output device 1 according to the present embodiment.
An example of studying the turning of an articulated vehicle by using is shown.

Here, as shown in FIG. 7, a tractor 170 that can steer only the front wheels, a tireless long object 171 as the first follower vehicle, and a follower vehicle 172 that can steer only the rear wheels as the second follower vehicle. An initial position 121 composed of
Assume an articulated vehicle 130 at Here, tractor 1
70 and the long object 171 is a connecting portion 1 rotatable about a vertical axis
The long object 171 and the follower vehicle 172 are connected via a connecting portion 176 rotatable about a vertical axis. In addition, the road shape 1
Set to 50.

Then, in step 101, after setting the road shape 150 and the initial position 121, step 10
5, a rudder angle change pattern such as the tractor rudder angle pattern A of FIG. 2 is set, and further, in step 113, a rudder angle change pattern of the following vehicle 172 that follows the tractor 170 is automatically generated. , A locus 120 as shown in FIG. 7 is obtained. At this time, the follower vehicle 172 is steered based on the automatically generated non-linear follower vehicle steering angle change pattern B of FIG. Further, the connecting portion 176 is in a fixed state. As is clear from FIG. 7, when the goal point 122 is reached, the long object 17
1 is an unsuitable turning condition because it contacts the boundary of the road shape 150.

Next, in step 121, when the user corrects the change pattern of the steering angle of the following vehicle 172 to the following vehicle steering angle change pattern C (see FIG. 8) as a line segment, the locus 124 as shown in FIG. Is obtained. Here, the connecting portion 176 is rotatable. In this case, when the goal point 125 is reached, the long object 171 and the follower vehicle 172 make the road shape 1
It can be seen that the turning condition is more unfavorable by contacting the boundary of 50.

Further, when the user corrects the change pattern of the steering angle of the following vehicle 172 to the following vehicle steering angle change pattern D (see FIG. 8) as a combination of line segments in step 121, the locus as shown in FIG. 126 is obtained. In this case, when the goal point 127 is reached, the tractor 170, the long object 171, and the following vehicle 172 do not come into contact with the boundary of the road shape 150, and it is understood that the turning condition is suitable.

In this way, the user or the like inputs the conditions corresponding to the actual connected vehicle including the follower vehicle having the steered wheels to the track output device 1, so that the track when the actual connected vehicle travels can be obtained. It can be acquired on the trajectory output device 1, and it is possible to suitably determine whether or not the connected vehicle can turn.

Further, when the user inputs a correction request for the change pattern of the steering amount of the following vehicle 172 according to the output result of the locus, the change pattern of the steering amount stored in the following vehicle steering pattern storage means 6 is corrected. The combined vehicle 130 based on the corrected and modified steering amount change pattern of the following vehicle 172.
Is recalculated and output. As a result, the following vehicle 1
When the change pattern of the steering amount of 72 is changed, the change in the trajectory of the connected vehicle, particularly, the follower vehicles 171, 172 can be easily confirmed, and it is necessary for keeping the trajectory of the connected vehicle 130 within the desired road area. The optimum steering condition of the following vehicle can be easily acquired.

If the steering angle change pattern is modified to be a combination of line segments instead of a non-linear change pattern,
It is suitable for determining the steering method of the steering angle of the actual following vehicle.
It should be noted that the change pattern D of the steering angle of the follower vehicle 172 is further divided within this section to form a change pattern of a combination of line segments as shown by a dotted line 200, or further, a dotted line 201.
As shown by, it is possible to change the steering angle discontinuously and input a condition for steering operation at the time of stop. Further, by combining a large number of such linear sections, a nonlinear steering angle change pattern may be simulated by a combination of line segments.

Finally, a trajectory output program according to the embodiment of the present invention and a computer-readable recording medium (hereinafter, simply referred to as a recording medium) recording the trajectory output program will be described.

Here, the recording medium causes a reading device provided in a hardware resource of a computer to cause a change state of energy such as magnetism, light, and electricity according to the description content of a program, The description content of the program can be transmitted to the reading device in the form of the corresponding signal. As such a recording medium,
For example, a magnetic disk, an optical disk, a CD-ROM, a memory built in a computer, or the like is applicable.

FIG. 11 is a block diagram of a recording medium according to the embodiment of the present invention. The recording medium 210 includes a program area 200a for recording a program, as shown in FIG. A locus output program 202 is recorded in the program area 200a.

The locus output program 202 is a program for executing the above locus output processing, and includes a main module 202a for supervising the processing and a tractor steering pattern input module for inputting a change pattern of the steering angle of the tractor. 202c, a follower vehicle steering pattern input module 202d for inputting a change pattern of the steered angle of the follower vehicle, and a tractor and a follower vehicle according to the change pattern of the steered angle of the tractor and the follower vehicle, respectively. A trajectory acquisition module 202e that acquires a trajectory of the connected vehicle when the steering angle is controlled, an output module 202j that outputs the acquired trajectory to a display or the like, and a user or the like of the following vehicle via a mouse or a keyboard. Follower vehicle steering pattern to input a correction request to correct the steering angle change pattern And the positive information input module 202f,
A follower vehicle steering pattern correction module 202g that corrects the change pattern of the steered angle of the follower vehicle based on the correction request to the follower vehicle, and a user or the like for correcting the change pattern of the steered angle of the tractor via a mouse, a keyboard, or the like. A tractor steering pattern correction information input module 202h for inputting a correction request, a tractor steering pattern correction module 202i for correcting a change pattern of a steering angle of a tractor based on a correction request for a tractor, a connected vehicle including a tractor and a following vehicle, and traveling. Connected vehicle data input module 202b for inputting various data such as conditions, and drivable area setting module 202k for setting drivable area
And are configured.

Further, the following vehicle steering pattern input module 202d automatically generates the change pattern of the steering angle of the following vehicle required for the following vehicle to travel following the tractor based on the instruction from the user. A reference following vehicle steering pattern generation module 212 for inputting is provided. here,
Tractor steering pattern input module 202c, following vehicle steering pattern input module 202d, trajectory acquisition module 202e, output module 202j, following vehicle steering pattern correction information input module 202f, following vehicle steering pattern correction module 202g, tractor steering pattern correction information input module 202h , A tractor steering pattern correction module 202i, a connected vehicle data input module 202b, a travelable area setting module 202k,
The function realized by operating each of the reference follower vehicle steering pattern generation modules 212 is the tractor steering pattern input means 2, the follower vehicle steering pattern input means 10, the trajectory acquisition means 18, and the output means 20 of the trajectory output device 1. , The following vehicle steering pattern correction information input means 13,
Functions of the following vehicle steering pattern correction means 12, the tractor steering pattern correction information input means 5, the tractor steering pattern correction means 3, the connected vehicle data input means 14, the drivable area setting means 30, and the reference following vehicle steering pattern generation means 8. Is the same as.

FIG. 12 shows a computer (for example, a computer built in the trajectory output device 1 in FIG. 1) 310 for executing the trajectory output program recorded in the recording medium 210.
It is a system configuration diagram of S. The computer 310S is
CPU 3 for controlling execution of the trajectory output program 202
17, a reading device 319 capable of reading the trajectory output program 202 recorded on the recording medium 210, a memory 318, and a display unit 312 including a display and the like,
An input unit 311 including a numeric keypad, a mouse, etc., a printer 313 for printing out loci etc. on paper etc., and an external storage device 315 such as an FDD for outputting locus data etc. to the outside are provided. Here, the recording medium 210 is the reading device 3
When inserted in the recording medium 210, the information recorded in the recording medium 210 becomes accessible from the reading device 319, and
The trajectory output program 202 recorded in the program area 200a of the recording medium 210 shown in FIG.
It becomes executable by 0S.

As the reading device 319, a flexible disk drive device, a CD-ROM drive device, a magnetic tape drive device, or the like is used corresponding to the recording medium 210.

The present invention is not limited to the above embodiment, and various modifications can be made.

Further, in the above-mentioned embodiment, the traveling loci formed by the objects attached to the vehicle and the luggage are not acquired.
In the connected vehicle data input means 14, the tractor 170
It is also possible to set the shape of a rearview mirror, a crane, and the like as the outer shape of the vehicle, etc., and acquire the traveling locus including the portion of the tractor or the like that protrudes from the vehicle frame. As a result, the possibility of turning can be examined in consideration of the locus of the rearview mirror and the like.

In the above embodiment, the two-dimensional locus projected on the road surface is acquired, but a three-dimensional locus or the like may be acquired.

Further, in the above-mentioned embodiment, the combination vehicle of the three-car train is used, but it may be four or more cars, two cars or one car, and may include a follower car having no steering wheel. Good.

Further, in the above-mentioned embodiment, although only one formation of connected vehicles is handled, it is also easy to handle a plurality of connected vehicles. Therefore, for example, a trajectory when the connected vehicles pass each other is considered. You can

Further, various data relating to the vehicle can be set. For example, in the case where the vehicle is equipped with a lift axle in which the axle can be raised / lowered according to the loaded weight and the grounding / non-grounding of the wheels can be selected. Can be calculated by changing the inter-axis distance and the like according to the contact / non-contact.

[0109]

As described above, according to the present invention, the connected vehicle including the follower vehicle having the steered wheels in the virtual region, the steered wheels of the towing vehicle and the follower vehicle having a predetermined steering amount change pattern. Virtual trajectories of the connected vehicles as they are steered and travel are acquired and output. Accordingly, the user or the like can acquire the trajectory when the actual connected vehicle travels by inputting the conditions corresponding to the actual connected vehicle including the follower vehicle having the steered wheels, and whether or not the connected vehicle can turn. The judgment etc. can be suitably performed.

[Brief description of drawings]

FIG. 1 is a block diagram of a trajectory output device according to the present embodiment.

FIG. 2 is a diagram showing a change pattern of a steering angle stored in a tractor steering pattern storage means and a following vehicle steering pattern storage means.

FIG. 3 is a diagram illustrating a method of acquiring a trajectory of a connected vehicle by a first method.

FIG. 4 is a diagram illustrating a cornering force.

FIG. 5 is a diagram illustrating a method of acquiring a trajectory of a connected vehicle by a second method.

FIG. 6 is a diagram showing a flow of the trajectory output device according to the present embodiment.

FIG. 7 is a first diagram showing a trajectory output from the trajectory output device.

FIG. 8 is a diagram showing a modified steering angle change pattern stored in a following vehicle steering pattern storage means.

FIG. 9 is a second diagram showing a trajectory output from the trajectory output device.

FIG. 10 is a third diagram showing a trajectory output from the trajectory output device.

FIG. 11 is a diagram showing a trajectory output program according to the present embodiment.

FIG. 12 is a diagram showing a computer according to the present embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Locus output device, 2 ... Tractor steering pattern input means (traction vehicle steering pattern input means), 3 ... Tractor steering pattern correction means, 4 ... Tractor steering pattern storage means (traction vehicle steering pattern storage means), 5 ... Tractor steering Pattern correction information input means (tractor steering pattern correction request input means), 6 ... Follower vehicle steering pattern storage means, 8 ...
Reference follower vehicle steering pattern generation means, 10 ... Follower vehicle steering pattern input means, 12 ... Follower vehicle steering pattern correction means,
13 ... Follower vehicle steering pattern correction information input means (following vehicle steering pattern correction request input means), 18 ... Trajectory acquisition means,
20 ... Output means.

Claims (22)

[Claims] 1. A locus when a virtual connected vehicle including a towing vehicle having steered wheels and a follower vehicle having the steered wheels and being towed by the towing vehicle is run in a virtual region, and is output to an output device. A trajectory output device for outputting, wherein the steered wheels of the towing vehicle and the steered wheels of the follower vehicle are steered in accordance with a change pattern of a steering amount defined for each of them during the traveling. And a towing vehicle steering pattern storing means for storing a variation pattern of the steering amount for steering the steered wheels of the towing vehicle, and a towing unit for inputting the variation pattern of the steering amount of the towing vehicle to the towing vehicle steering pattern storage means. A vehicle steering pattern input means, a following vehicle steering pattern storage means for storing a change pattern of a steering amount for steering the steered wheels of the following vehicle, and a following vehicle steering pattern storage means for changing the steering amount of the following vehicle. A follower wheel steering pattern input means for inputting the pattern, steered wheels of the towing vehicle is steered in accordance with the steering amount of change patterns stored in the towing vehicle steering pattern storage means,
Trajectory acquisition means for steering the steered wheels of the following vehicle in accordance with the change pattern of the steering amount stored in the following vehicle steering pattern storage means, and obtaining a trajectory of the connected vehicle when the connected vehicle travels; An output unit that outputs the trajectory to the output device, and a trajectory output device. 2. A follower vehicle steering pattern correction request input means for inputting a correction request for a change pattern of the steering amount of the follower vehicle, and the follower vehicle steering pattern in response to the correction request for the change pattern of the steering amount of the follower vehicle. The trajectory output device according to claim 1, further comprising: a follower vehicle steering pattern correction unit that corrects a change pattern of the steering amount stored in the storage unit. 3. The change pattern of the steering amount of the following vehicle is:
It is a time change pattern of the steering angle of the steered wheels of the follower vehicle, wherein the follower vehicle steering pattern correction means combines a plurality of sections in which the steered angle linearly changes with time in response to the correction request. The trajectory output device according to claim 1 or 2, wherein the time change pattern is corrected according to the above. 4. The change pattern of the steering amount of the following vehicle is:
It is a change pattern of the steering angle of the steered wheels of the follower vehicle with respect to the travel distance, and the follower vehicle steering pattern correction means has a plurality of sections in which the steered angle linearly changes according to the travel distance in response to the correction request. The trajectory output device according to claim 1 or 2, wherein the change pattern is modified as a combination. 5. A towing vehicle steering pattern correction request input means for inputting a correction request for a variation pattern of the steering amount of the towing vehicle, and the towing vehicle steering pattern according to the correction request for the variation pattern of the steering amount of the towing vehicle. The trajectory output device according to any one of claims 1 to 4, further comprising: a towing vehicle steering pattern correction unit that corrects a change pattern of the steering amount stored in the storage unit. 6. The follower vehicle steering pattern input means generates a temporary change pattern of the steering amount of the follower vehicle required for causing the follower vehicle to travel following the towing vehicle and generates the follower vehicle steering pattern. The reference following vehicle steering pattern generation means for inputting to the storage means is provided.
The trajectory output device according to any one of 5 to 5. 7. The trajectory output device according to claim 1, wherein the trajectory acquisition unit acquires the trajectory based on a motion equation in which a cornering force is taken into consideration. 8. A locus when a virtual connected vehicle including a towing vehicle having steered wheels and a follower vehicle having the steered wheels and towed by the towed vehicle is traveled in a virtual region and is output to an output device. A trajectory output method for outputting, wherein the steered wheels of the towing vehicle and the steered wheels of the following vehicle are steered in accordance with a change pattern of a steering amount defined for each of them during the traveling. A towing vehicle steering pattern input step for inputting a change pattern of a steering amount for steering the steered wheels of the towing vehicle; and a following vehicle steering pattern for inputting a change pattern of a steering amount for steering the steered wheels of the following vehicle. An input step, the steered wheels of the towing vehicle are steered according to a change pattern of the steering amount of the towing vehicle, and the steered wheels of the following vehicle are steered according to the change pattern of the steering amount of the following vehicle, Connected vehicle A trajectory acquisition method, comprising: a trajectory acquisition step of acquiring a trajectory of the connected vehicle when traveling, and a trajectory output step of causing the output device to output the trajectory. 9. A follow-up vehicle steering pattern correction request input step for inputting a correction request for the change pattern of the steering amount of the follow-up vehicle, and steering of the follow-up vehicle in response to the correction request for the change pattern of the steering amount of the follow-up vehicle. 9. The trajectory output method according to claim 8, further comprising a following vehicle steering pattern correction step of correcting a change pattern of the quantity. 10. The change pattern of the steering amount of the following vehicle is a time change pattern of the steering angle of the steered wheels of the following vehicle, and the following vehicle steering pattern correction step responds to the correction request by the steering wheel. The trajectory output method according to claim 8 or 9, wherein the time change pattern is modified so that a plurality of sections in which an angle changes linearly with time are combined. 11. The change pattern of the steering amount of the follower vehicle is a change pattern of the steering angle of the steered wheels of the follower vehicle with respect to the traveling distance, and the follower vehicle steering pattern correction step is performed in response to the correction request. 10. The trajectory output method according to claim 8, wherein the change pattern is corrected so that a plurality of sections in which the steering angle linearly changes according to a travel distance are combined. 12. A towing vehicle steering pattern correction request input step for inputting a correction request for a variation pattern of the steering amount of the towing vehicle, and steering of the towing vehicle in response to the correction request for a variation pattern of the steering amount of the towing vehicle. The trajectory output method according to any one of claims 8 to 11, further comprising: a towing vehicle steering pattern correction step of correcting a variation pattern of the amount. 13. In the following vehicle steering pattern input step, a temporary change pattern of the steering amount of the following vehicle required to drive the following vehicle to follow the towing vehicle is generated to steer the following vehicle. The trajectory output method according to any one of claims 8 to 12, comprising a reference follower vehicle steering pattern generation step that is a change pattern of a steering amount to be performed. 14. The trajectory output method according to claim 8, wherein the trajectory acquisition step acquires the trajectory based on a motion equation in which a cornering force is taken into consideration. 15. A locus when a virtual connected vehicle including a towing vehicle having steered wheels and a follower vehicle having the steered wheels and towed by the towing vehicle is traveled in a virtual region and is output to an output device. A trajectory output program to be output, wherein the steered wheels of the towing vehicle and the steered wheels of the following vehicle are each steered in accordance with a change pattern of a steering amount defined for each of the traveling wheels. A steering vehicle steering pattern input step of inputting to the computer a change pattern of a steering amount for steering the steered wheels of the towing vehicle, and a follow-up inputting a change pattern of the steering amount for steering the steered wheels of the following vehicle. A vehicle steering pattern input step, the steered wheels of the towing vehicle are steered according to a change pattern of the steering amount of the towing vehicle, and the steered wheels of the follower vehicle according to the change pattern of the steering amount of the follower vehicle. A trajectory acquisition step of acquiring a trajectory of the connected vehicle when the connected vehicle travels by being steered, and a trajectory output step of causing the output device to output the trajectory, program. 16. A follow-up vehicle steering pattern correction request input step for inputting a correction request for a change pattern of the steering amount of the follow-up vehicle, and steering of the follow-up vehicle according to the correction request for the change pattern of the steering amount of the follow-up vehicle. 16. The trajectory output program according to claim 15, further comprising: a following vehicle steering pattern correction step of correcting a change pattern of the quantity, the step of: 17. The change pattern of the steering amount of the following vehicle is a time change pattern of the steering angle of the steered wheels of the following vehicle, and the following vehicle steering pattern correction step responds to the correction request by the steering wheel. The trajectory output program according to claim 15 or 16, wherein the time change pattern is modified so that a plurality of sections in which an angle changes linearly with time are combined. 18. The change pattern of the steering amount of the follower vehicle is a change pattern of the steering angle of the steered wheels of the follower vehicle with respect to the travel distance, and the follower vehicle steering pattern correction step is performed in response to the correction request. The trajectory output program according to claim 15 or 16, wherein the change pattern is corrected so that a plurality of sections in which the steering angle linearly changes according to a travel distance are combined. 19. A towing vehicle steering pattern correction request input step for inputting a correction request for a change pattern of the steering amount of the towing vehicle, and steering of the towing vehicle in response to the correction request for the changing pattern of the steering amount of the towing vehicle. The trajectory output program according to any one of claims 15 to 18, further comprising: a towing vehicle steering pattern correction step of correcting a variation pattern of the amount. 20. In the following vehicle steering pattern input step, a temporary change pattern of the steering amount of the following vehicle required to drive the following vehicle to follow the towing vehicle is generated to steer the following vehicle. 20. The trajectory output program according to claim 15, further comprising a reference follower vehicle steering pattern generation step that is a change pattern of a steering amount to be performed. 21. The trajectory output program according to claim 15, wherein the trajectory acquisition step acquires the trajectory based on a motion equation in which a cornering force is taken into consideration. 22. A recording medium on which the locus output program according to claim 15 is recorded.