JP2016137802A - Connection angle acquisition device of combination vehicle and operation support system of combination vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a connection angle acquisition device of combination vehicles capable of acquiring a connection angle without needing special hardware separately in order to acquiring the connection angle of combination vehicles composed of a tractor and a trailer with a relatively simple and inexpensive configuration.SOLUTION: The connection angle acquisition device of combination vehicles composed of a traction vehicle and a towed vehicle connected rotatably around a connection shaft extending almost perpendicularly to the traction vehicle acquires a connection angle θ being a rotation angle around the connection shaft of the towed vehicle with respect to the traction vehicle by a mathematical expression A derived on the basis of a geometrical model. In addition, the operation support system of the combination vehicles presents information based on the acquired connection angle θ to a driver so as to support the driving of the combination vehicles.SELECTED DRAWING: Figure 4

Description

  The present invention provides a technique for acquiring (detecting) a connection angle of a connected vehicle such as a tractor (tow vehicle) and a trailer (towed vehicle) to be pulled by the tractor, and further using the acquired (detected) connection angle to connect. The present invention relates to a technology that supports driving of a vehicle.

  Conventionally, there is a connected vehicle in which a tractor (towing vehicle) with power is connected to a trailer (towed vehicle) so as to be rotatable around a substantially vertical pivot (note that the connection is configured to be detachable). Many).

  By the way, because it is desired to improve transportation efficiency due to lack of drivers, etc., instead of trucks etc. in which a power source such as an engine and a loaded part of a transported item (luggage) are integrated, The use of a connected vehicle in which a tractor (towed vehicle) provided and a trailer (towed vehicle) for loading an object to be transported are detachably connected is expected.

  In other words, in a situation where there is a shortage of drivers, the driver pulls a trailer loaded with objects to a certain destination on a specific tractor, and then disconnects the trailer from the tractor. It is envisaged that the form of transportation such as connecting another trailer (towed vehicle) loaded with the next object to be transported to the tractor and transporting the object to be transported to another place will be expanded.

  However, on the other hand, a connected vehicle with a trailer connected to a tractor is difficult to drive, and the driver is required to have experience and skill (especially the reverse is more difficult for a driver who has little experience). Since it takes time to cultivate, even if the transportation form changes, it is still difficult to solve the shortage of skilled drivers.

For this reason, a system that supports driving of a connected vehicle has also been proposed.
For example, Patent Document 1 describes a system that supports driving of a connected vehicle by displaying an expected movement trajectory of a trailer.

Specifically, the connected vehicle driving support system of Patent Document 1 installs a camera on the trailer side of a connected vehicle including a tractor and a trailer, and the camera captures the back of the trailer. The driving support system converts each photographed image into a bird's eye view image by projecting each photographed image on bird's eye view coordinates parallel to the road surface, while deriving the optical flow of a moving image composed of a plurality of photographed images on the bird's eye view coordinates. Then, the connection angle between the tractor and the trailer is estimated from the optical flow and the movement information of the tractor, and the trailer movement predicted locus is derived from the connection angle and the movement information of the tractor. And it is comprised so that the image which superimposed this movement prediction locus | trajectory on the bird's-eye view image may be output to a display apparatus.
JP 2009-60499 A Japanese Utility Model Publication No. 2002-145133 Japanese Patent Laid-Open No. 11-160063 Japanese Patent Application Laid-Open No. 08-332973

  Further, in Patent Document 2, as a trailer connection angle detection device that detects a connection angle between a tractor and a trailer connected by a rotary connection unit, an angle in a direction in which an object to be detected installed on the tractor side is present is described. In this example, a connection angle is detected by detecting with a scanning radar installed on the side.

  In Patent Document 3, one end of a wire member is fixed to a coupler base mounted on a tractor, and the other end of the wire member is supported on the trailer side so as to be movable back and forth in the longitudinal direction. The wire member is placed along the wire guide member formed on the wire, and the other end side of the wire member is moved forward and backward in the longitudinal direction in accordance with the change in the connection angle between the trailer and the tractor. Is detected by the stroke sensor as an amount corresponding to the connection angle of the trailer and the tractor around the king pin as it is, and the structure of the connected vehicle is simple and the connection angle between the tractor and the trailer can be accurately measured with simple processing. A connection angle measuring device is described.

  Further, in Patent Document 4, in a semi-trailer that is pulled in a state in which a trailer front center king pin is locked to the tractor side coupler and the trailer front part is supported by the coupler, the king pin is centered on the trailer side. A magnetic scale having an arc of radius R is embedded and installed, a magnetic sensor facing the magnetic scale with a predetermined gap is attached to the side surface of the coupler on the tractor side, and the change direction of the trailer coupling angle is determined from the output signal of the magnetic sensor. A semi-trailer connection angle detection device is described in which the amount of change is obtained by calculation.

  However, since the thing of patent document 1 requires the comparatively expensive camera for acquiring an image, and acquires the expected movement locus | trajectory of a trailer by complicated image processing, it is high-speed in an arithmetic processing system. In addition, a large amount of memory is required for storing a large amount of image information and the like while requiring a high calculation speed, so that the configuration is complicated and sophisticated, and it is difficult to reduce the cost.

  In addition, in Patent Document 2, an expensive scan radar is required, and it is predicted that the reflector needs frequent maintenance to accurately reflect the laser light of the scan radar for a long period of time. Ordinary articulated vehicles that are used in such a way as to receive dust and dust are not suitable in terms of cost and maintenance.

  Moreover, the thing of patent document 3 requires a special structure and sensors separately for the detection of a connection angle, such as a special wire structure and a stroke sensor which expands and contracts according to the change of a connection angle. There is a fact that costs increase.

  Further, Patent Document 4 also has a situation in which the cost increases because a magnetic sensor, a magnetic scale, and the like are separately required for detecting the connection angle.

  The present invention has been made in view of such a situation, and requires a special hardware for acquiring (detecting) a connection angle of a connected vehicle including a tractor and a trailer with a relatively simple and low-cost configuration. An object of the present invention is to provide a connection angle acquisition device for a connected vehicle that can acquire (detect) the connection angle without any problem. It is another object of the present invention to provide a driving support system using the connection angle acquisition device for a connected vehicle.

δ：実操舵角（実舵角）
Ｌ１：トラクタの車軸間距離
Ｌ２：連結点からトレーラの後輪軸までの距離
Ｌｈ：カプラオフセット（連結点からトラクタの後輪軸までの距離）
Ｖ１：トラクタの後輪の車輪速（トラクタの旋回中心に関する後輪軸の旋回速度）
Ｖ２：トレーラの後輪の車輪速（トレーラの旋回中心に関する後輪軸の旋回速度）
により取得することを特徴とする。 For this reason, the connection angle acquisition device for a connection vehicle according to the present invention is:
A connection angle acquisition device for a connected vehicle comprising a tow vehicle and a towed vehicle connected rotatably around a connecting shaft extending in a substantially vertical direction with respect to the tow vehicle,
The connection angle θ, which is the rotation angle around the connection axis of the towed vehicle relative to the towed vehicle,

δ: Actual steering angle (actual steering angle)
L1: Distance between tractor axles L2: Distance from coupling point to trailer rear axle Lh: Coupler offset (distance from coupling point to rear axle of tractor)
V1: Wheel speed of the rear wheel of the tractor (turning speed of the rear wheel shaft with respect to the turning center of the tractor)
V2: Wheel speed of the rear wheel of the trailer (the turning speed of the rear wheel shaft with respect to the turning center of the trailer)
It is characterized by acquiring by.

  In addition, the connected vehicle driving support system according to the present invention supports the driving of the connected vehicle by presenting the driver with information based on the connected angle acquired by the above-described connected vehicle connection angle acquiring apparatus according to the present invention. It is characterized by that.

  In the driving support system for a connected vehicle according to the present invention, in the reverse driving of the connected vehicle, when the actual steering angle δ does not change even if the connecting vehicle is moved backward as it is, the fact is notified to the driver. be able to.

  According to the present invention, special hardware is required for acquiring (detecting) a connection angle of a connected vehicle including a tractor (towed vehicle) and a trailer (towed vehicle) with a relatively simple and low-cost configuration. Therefore, it is possible to provide a connection angle acquisition device for a connected vehicle that can acquire (detect) the connection angle. In addition, it is possible to provide a driving support system using the connection angle acquisition device of the connection vehicle.

It is a side view which shows an example of the connection vehicle (tractor and trailer) to which the connection angle detection apparatus of the connection vehicle which concerns on one embodiment of this invention is applied. It is a top view which shows an example of the connection vehicle (tractor and trailer) to which the connection angle detection apparatus of the connection vehicle which concerns on embodiment same as the above is applied. (A) is a top view explaining the driving | operation operation | movement which gives the trigger of the turning at the reverse drive of a connection vehicle, (B) is about the drive operation in the case of keeping the connection angle of a connection vehicle constant at the reverse drive of a connection vehicle. It is a top view explaining, (C) is a top view explaining driving | operation operation which returns a steering wheel (steering) to a straight-ahead state in the reverse drive of a connection vehicle. It is explanatory drawing for detecting (acquiring) connection angle (theta) based on a geometric model in the connection angle detection apparatus of the connection vehicle which concerns on embodiment same as the above. (A) is a perspective view which shows one structural example of the driving assistance system of the connection vehicle which concerns on this Embodiment, (B) is a figure which shows the geometric model at the time of the low speed turn in the reverse driving | running | working of a connection vehicle. (A) is an example of a monitor display of the driving support system for a connected vehicle according to the embodiment described above, and is an example of a display useful for assisting a driving operation that gives an opportunity to turn in the backward driving of the connected vehicle. Is an example of the monitor display of the connected vehicle driving support system, and is an example of a display useful for assisting the driving operation when the connecting angle of the connected vehicle is kept constant during the backward driving of the connected vehicle. It is an example of a monitor display of a driving support system of a vehicle, and is an example of a display useful for supporting a driving operation for returning a steering wheel (steering) to a straight traveling state in backward driving of a connected vehicle.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments according to the present invention will be described with reference to the accompanying drawings. The present invention is not limited to the embodiments described below.

An embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in FIGS. 1 and 2, a connected vehicle 10 according to an embodiment of the present invention includes a tractor (tow vehicle) 1 and a trailer (towed vehicle) 2, and the tractor (tow vehicle) 1 and the trailer. The (towed vehicle) 2 is configured to be connected by a coupler 3 so as to be rotatable around a connecting shaft extending in a substantially vertical direction. The coupler 3 can be configured so that the tractor (towed vehicle) 1 and the trailer (towed vehicle) 2 can be separated.

  The trailer (towed vehicle) 2 is connected to a tractor (towed vehicle) 1 so as to be rotatable about a connecting shaft extending in a substantially vertical direction, and the trailer (towed vehicle) 2 is connected to the tractor (towed vehicle) 1. The rotation angle around the shaft is referred to as a connection angle.

Here, the driving operation at the time of turning of the connected vehicle 10 that is considered difficult to drive (such as entering a garage) will be described.
(1) When the connected vehicle 10 is moved backward in a certain target direction, such as when entering the garage in the reverse direction, first, the trailer 2 is turned (rotated) so that the rear end side of the trailer 2 faces the target direction. ) Therefore, as shown in FIG. 3 (A), in order to give the trailer 2 an opportunity to turn (rotate) the tractor 1, the handle is cut in the direction opposite to the target direction.

  (2) Next, when the rotation (retracting direction) of the trailer 2 can be oriented, as shown in FIG. 3 (B), the steering wheel operating amount (steering angle) of the tractor 1 is kept constant and the coupling angle θ is maintained. The connected vehicle 10 is moved backward while maintaining the above constant.

  (3) Then, as shown in FIG. 3C, when the trailer 2 side coincides with the target direction (for example, when it becomes parallel to the garage frame, etc.), the steering wheel is returned to the straight position until it reaches the fixed position. Retreat.

  Therefore, if the connection angle θ can be detected, the driver can be provided with information on the predicted traveling direction of the trailer 2 and the driving can be supported.

  However, as described above, in the past, the connection angle θ could not be detected without separately attaching expensive hardware in order to detect the connection angle θ. However, by using the hardware (sensors) already mounted for other purposes, it has been conceived that the connection angle θ can be obtained (detected) with a simple and low-cost configuration.

That is, the connection angle acquisition (detection) device according to the present embodiment is configured to acquire (detect) the connection angle θ as follows.
As known information, the distance L1 between the axles of the tractor 1 (the distance between the steering wheel shaft and the rear wheel shaft), the distance L2 between the connection point (connection shaft) of the trailer 2 and the rear wheel shaft, and the connection point of the tractor 1 Using the distance Lh between the (connecting shaft) and the rear wheel shaft, the connecting angle θ is calculated by calculation based on a geometric model as shown in FIG. The connection angle θ is a rotation angle around a connection point (vertical connection shaft) by a coupler 3 between a tractor (towed vehicle) 1 and a trailer (towed vehicle) 2 (or a tractor (towed vehicle on a plan view). ) The angle at which the longitudinal central axis of 1 intersects the longitudinal central axis of the trailer (towed vehicle) 2).

In the connection angle detection device according to the present embodiment, the actual steering angle δ of the front wheel (steering wheel) of the tractor 1 is based on the actual steering angle (actual steering angle) acquired by the steering angle sensor of the steering. get. Specifically, the actual steering angle δ can be acquired, for example, by multiplying the steering angle acquired by the steering angle sensor of the steering by the gear ratio of the steering gear box.
The rudder angle sensor is a sensor that is already mounted on the connected vehicle 10 for other purposes (DSC (dynamic stability control) or the like).

In the present embodiment, the wheel speed V1 of the rear wheel of the tractor 1 is acquired by the wheel speed sensor, and the wheel speed V2 of the rear wheel of the trailer 2 is acquired by the wheel speed sensor. For example, it can be obtained by considering the tire diameter in the rotational speed. When there is a speed difference between the left and right wheels, the average value of the left and right wheels can be used as a representative value.
The wheel speed sensor for the rear wheel of the tractor 1 and the wheel speed sensor for the rear wheel of the trailer 2 are already installed for other purposes (DSC (Dynamic Stability Control), anti-lock brake system, etc.). It is a sensor.

In FIG.
θ: Connection angle (obtained by calculation)
δ: Actual steering angle (actual steering angle) (obtained based on the steering angle sensor output)
L1: Distance between tractor axles (wheelbase) (known value) (input or stored in computer)
L2: Distance from connecting point to trailer rear axle (known value) (input or stored in computer)
Lh: Coupler offset (distance from connecting point to rear wheel shaft of tractor) (known value) (input or stored in computer)
V1: Wheel speed of the rear wheel of the tractor (revolving speed of the rear wheel axis with respect to the turning center of the tractor) (obtained based on the output of the wheel speed sensor)
V2: Wheel speed of the rear wheel of the trailer (the turning speed of the rear wheel shaft with respect to the turning center of the trailer) (obtained based on the output of the wheel speed sensor)
Vc: Connection point speed (obtained by calculation)
R1: Distance from connecting point to tractor turning center (obtained by calculation)
R2: Distance from connecting point to trailer turning center (obtained by calculation)
R3: The shortest distance from the vehicle center line X of the tractor (the center line in the width direction of the rear wheel shaft) to the tractor turning center (obtained by calculation)
R4: The shortest distance from the vehicle center line Y of the trailer (the center line in the width direction of the rear wheel shaft) to the trailer turning center (obtained by calculation)
α: Angle (intersection angle) between the vehicle center line X of the tractor and the line connecting the connecting point and the tractor turning center (obtained by calculation)
It is defined as

…（数式Ａ）
これにより、連結角θを演算により取得（検出）することができる。 According to the geometric model of FIG.
From the relationship of Vc / V1 = R1 / R3, V2 / Vc = R4 / R2,
V2 / V1 = R4 / R2 / R1 / R3 (Formula 1)

R4 / R2 = cos (π / 4 + θ−α) (Formula 2)

Also,
R3 = L1 / tan δ
R1 = (Lh ² + R3 ² ) ^1/2 = (Lh ² + (L1 / tan δ) ² ) ^1/2
R1 / R3 = ((Lh · tan δ) ² + L1 ² ) ^1/2 / L1 (Formula 3)

α = tan ⁻¹ (L1 / (Lh · tan δ)) (Formula 4)

Here, by substituting Equation 2, Equation 3, and Equation 4 into Equation 1,
cos (π / 4 + θ−α) = V 2 / V 1 · L 1 / ((Lh · tan δ) ² + L 1 ² ) ^1/2

θ = cos ⁻¹ (V2 / V1 · L1 / ((Lh · tan δ) ² + L1 ² ) ^1/2 −π / 4 + α
^{= Cos -1 (V2 / V1 ·} L1 / ((Lh · tanδ) 2 + L1 2) 1/2 -π / 4 +
tan ⁻¹ (L1 / (Lh · tan δ))
It becomes.
That is,

... (Formula A)
Thereby, the connection angle θ can be obtained (detected) by calculation.

  As described above, according to the connection angle acquisition (detection) device according to the present embodiment, the sensors already mounted on the vehicle are utilized, and the calculation based on the above-described geometric model enables simple and low cost. The connection angle θ between the tractor 1 and the trailer 2 of the connected vehicle 10 can be acquired (detected).

  In addition, according to the connection angle acquisition (detection) device for a connected vehicle according to the present embodiment, even when trailers 2 having different lengths (L2) are connected, it is simply necessary to change the value of L2. The connection angle θ between the tractor 1 and the trailer 2 of the connected vehicle 10 can be acquired (detected).

  And if the connection angle (theta) of the tractor 1 and the trailer 2 of the connection vehicle 10 can be acquired, the driving | running | working at the time of garage in the reverse of the connection vehicle 10 considered that driving | operation can be supported can be supported.

  For example, as shown in FIG. 5B, the traveling direction when the trailer 2 moves backward can be calculated (predicted) from the connection angle θ between the tractor 1 and the trailer 2 of the connected vehicle 10 and the actual steering angle δ. By displaying this on a monitor or the like in the driver's cab, the driver can predict the amount of steering operation and the direction of rotation with respect to the direction in which the trailer 2 wants to go, so that the connected vehicle 10 moves backward. It can contribute to driving support.

  As a more specific connected vehicle driving support system, as shown in FIG. 5A, a back camera for photographing the rear side of the trailer 2 is mounted, and a monitor and a speaker are mounted on the driver's seat. be able to. The outputs of the various sensors and the image information of the back camera described above are sent to an ECU (electronic control unit) and used for arithmetic processing and driving support. In addition, information from the ECU is sent to the monitor and speaker so that visual and audible guidance can be presented to the driver.

The ECU calculates (predicts) the traveling direction (see FIG. 5B) when the trailer 2 moves backward from the connection angle θ between the tractor 1 and the trailer 2 of the connected vehicle 10 and the actual steering angle δ. Then, the prediction result is displayed on the monitor so as to be superimposed on the video of the back camera (see FIG. 6A).
As a result, the driver can perform the reverse operation with reference to the display of the traveling direction of the trailer 2 when the trailer 2 is superimposed superimposed on the image of the back camera, which contributes to realizing smooth and safe support for the reverse operation. it can.

  Specifically, as described with reference to FIG. 3A, when the connected vehicle 10 is moved backward in a certain target direction, first, the trailer 2 is set so that the rear end side of the trailer 2 faces the target direction. In this case, in order to give the trailer 2 an opportunity for rotation, it is necessary to turn the handle in the direction opposite to the target direction. Refer to the display as shown in (Refer to the display of the direction of travel when the trailer 2 is retracted superimposed on the image of the back camera), and to what extent should the handle be turned to trigger the rotation of the trailer 2? Therefore, the connected vehicle driving support system according to the present embodiment can realize useful support during the backward driving of the connected vehicle 10.

In addition, the ECU notifies the driver by auditory information such as sound when the steering angle δ does not change the connecting angle θ even if the ECU is moved backward as it is. At this time, for example, the driver can achieve movement in the target direction by keeping the connection angle θ constant from the display of the traveling direction when the trailer 2 moves backward as predicted by the ECU and the image of the back camera. If it is determined, the connected vehicle can be moved backward in the target direction by maintaining the steering angle δ of the steering wheel so that the sound (that is, the connecting angle θ) is maintained (FIG. 6B). reference).
With such voice notification (voice guidance: presentation of sound information), the connected vehicle driving support system according to the present embodiment can contribute to the realization of smooth and safe backward driving support.

  Furthermore, as shown in FIG. 6 (C), the driver can drive backward with reference to the display of the traveling direction when the trailer 2 is moved backward, superimposed on the image of the back camera. Since it is possible to know the timing at which the vehicle can be parked in parallel with the vehicle, the steering wheel is returned to the straight traveling state at that timing, and the vehicle is linearly retracted to the fixed position so that the vehicle can be parked at a predetermined position. The connected vehicle driving support system according to the present invention can contribute to realizing smooth and safe reverse driving support.

  As described above, according to the connected vehicle driving support system according to the present embodiment, the back camera image and the display of the traveling direction when the trailer 2 moves backward are superimposed and displayed on the monitor, and the backward driving is performed. Since useful information was presented to the driver, it was possible to contribute to the realization of smooth and safe backward driving support.

  As described above, according to the present embodiment, special hardware is required for acquiring (detecting) the connection angle of the connected vehicle including the tractor and the trailer with a relatively simple and low-cost configuration. It is possible to provide a connection angle acquisition (detection) device for a connected vehicle that can acquire (detect) the connection angle without any problem. In addition, it is possible to provide a driving support system using the connection angle acquisition (detection) device of the connected vehicle.

  By the way, in each said embodiment, a connection vehicle is not limited to a semi-trailer, but a full trailer (a tractor having a towing function and a mounting function is connected to tow a trailer having only a mounting function without a towing function. It can also be applied to a simple connected vehicle).

  Further, in the case where the rear wheel shafts of the trailer 2 are two shafts arranged in the front-rear direction (FIGS. 3 and 5A), the average value of the rear wheel front and rear two shafts in the geometric model of FIG. By using it as a value, it can be processed (handled) in the same manner as described above.

  Each embodiment described above is only an example for explaining the present invention, and various modifications can be made without departing from the gist of the present invention.

1 Tractor (towing vehicle)
2 Trailer (towed vehicle)
3 Linker 10 Linked vehicle (semi-trailer)

Claims (3)

A connection angle acquisition device for a connected vehicle comprising a tow vehicle and a towed vehicle connected rotatably around a connecting shaft extending in a substantially vertical direction with respect to the tow vehicle,
The connection angle θ, which is the rotation angle around the connection axis of the towed vehicle relative to the towed vehicle,

δ: Actual steering angle (actual steering angle)
L1: Distance between tractor axles L2: Distance from coupling point to trailer rear axle Lh: Coupler offset (distance from coupling point to rear axle of tractor)
V1: Wheel speed of the rear wheel of the tractor (turning speed of the rear wheel shaft with respect to the turning center of the tractor)
V2: Wheel speed of the rear wheel of the trailer (the turning speed of the rear wheel shaft with respect to the turning center of the trailer)

A connection angle acquisition device for a connected vehicle, characterized in that it is acquired by   A driving support system for a connected vehicle, which presents information based on the connecting angle acquired by the connecting angle acquisition device for a connected vehicle according to claim 1 to the driver to support driving of the connected vehicle. 3. The connected vehicle driving support system according to claim 2, wherein, in the reverse operation of the connected vehicle, when the actual steering angle δ does not change even if the connected vehicle is moved backward as it is, the driver is notified to that effect. .

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