JP2956012B1 - Self-driving articulated vehicle - Google Patents

Abstract

Abstract: [PROBLEMS] To connect a semitrailer 16 behind an AGV11,
Automatic traveling type connected vehicle 10 traveling along traveling route line 20
In, the automatic traveling control when the vehicle travels backward on the straight line portion of the traveling route line 20 is established. SOLUTION: F: King pin 17 from AGV11 at reverse.
Direction of the thrust acting on the semi-trailer 16 via δ:
The angle of the AGV left / right center line 22 with respect to the traveling route line 20 toward the rear of the traveling route line 20. α: AGV left and right center line 22
Angle of F with respect to the AGV left / right center line 22 toward the rear of the vehicle. γ: travel route line toward the rear of travel route line 20
Angle of the semi-trailer left-right centerline 23 relative to 20. θ: = α
+ Δ-γ. x: the amount of deviation of the center 24 of the left and right wheels in the left and right direction with respect to the traveling route line 20 In each of these symbols, the left side with respect to the reference side line is positive. The steering angle of the rear wheel 13 is controlled so that θ has the same sign as x. The control principle becomes simple.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling type connected vehicle including an automatic traveling vehicle that automatically travels along a predetermined traveling route line, and more particularly, to an automatic traveling vehicle and connected to the vehicle via a connecting pin. The present invention relates to an automatic traveling type connected vehicle including a semi-trailer.

[0002]

2. Description of the Related Art It has already been performed that a semi-trailer is connected to an autonomous vehicle via a connecting pin, and the autonomous vehicle automatically travels along a traveling route line while towing the semitrailer. It is.

[0003]

When the self-propelled vehicle is connected to the semi-trailer via the connecting pin, traveling control during forward traveling is established, but traveling control during reverse traveling is not yet established.

[0004] It is an object of the present invention to establish an automatic traveling control in a case where the vehicle travels backward along a traveling route straight line in an automatic traveling type connected vehicle including an automatic traveling vehicle and a semi-trailer connected thereto via a connecting pin. That is.

[0005]

According to the self-propelled connecting vehicle (10) of the present invention, the self-propelled vehicle (11) is connected to the connecting pin (17).
A semi-trailer (16) is connected to the rear side via.
Each symbol is defined as follows (in the definition below,
The left and right sides of each line
They are defined as a first side and a second side, respectively. ), F: Direction of propulsion from the self-driving vehicle (11) to the semi-trailer (16) at the connecting pin (17) during reverse travel. δ: The angle of the left-right center line (22) of the automatic traveling vehicle with respect to the traveling route straight line (20) toward the rear. However, the running route straight (2
0) is positive on the first side . α: The angle of F with respect to the left-right center line (22) of the self-driving vehicle toward the rear. However, with respect to the autonomous vehicle left and right center line (22)
The first side is positive. γ: Angle of the semi-trailer left / right center line (23) with respect to the traveling route straight line (20) toward the rear. However, the running route straight line
The first side is positive for (20). θ: = α + δ−γ. x: bias amount of the left <br/> right lateral wheel center (24) of the semi-trailer (16) with respect to the travel route line (20). However, the first side with respect to the traveling route straight line (20) is positive. At the time of reverse travel, the rear wheels (13) of the self-propelled vehicle (11) are steered such that the rear wheels (13) can be freely steered and θ has the same sign as x.

In the self-driving vehicle (11), the rear wheel (13) is located at the same position as the connecting pin (17) in the front-rear direction, and the front wheel (12)
When the vehicle is traveling straight and the rear wheel (13) is steered,
The direction of F corresponds to the direction of the rear wheel (13). The automatic traveling vehicle (11) usually has two front wheels (12) and two rear wheels (13), but also includes a three-wheel type with one wheel as one wheel.

For clarity and clarity of the description, the first side and the second side correspond to the left and right sides of the self-propelled articulated vehicle (10). In addition, the self-propelled connecting vehicle
The left and right sides of (10) are the left and right sides toward the front of the self-propelled articulated vehicle (10). When x is positive, the trailing end of the semitrailer (16) is located on the left side of the traveling route straight line (20). Therefore, by making θ positive, the self-driving vehicle (11) pushes the front end of the semi-trailer (16) to the left with respect to the rear end, and the rear end of the semi-trailer (16) turns right with respect to the front end. Then approach the running route straight line (20). The same applies when x is negative. Thus, θ
With the simple control principle of making the sign of x coincide with the sign of x, it is possible to make the self-propelled articulated vehicle (10) move backward along the traveling route straight line (20).

According to the self-propelled articulated vehicle (10) of the present invention, when x is substantially zero, the rear wheels (13) of the self-propelled vehicle (11) are moved so that θ has the same sign as γ. Steer.

[0009] The fact that x is almost 0 means that the semi-trailer (16)
In this state, the center of the left and right wheels (24) is on the straight line (20) of the traveling route. When γ is positive in this state, the rear end of the semi-trailer (16) faces diagonally left to the front end.
Therefore, by making the sign of θ positive like the sign of γ, the self-driving vehicle (11) pushes the front end of the semi-trailer (16) to the left with respect to the rear end, and the semi-trailer (16)
Try to be in the direction along the running route straight line (20). The same applies when γ is negative.

According to the self-propelled articulated vehicle (10) of the present invention, when the absolute value of θ is the same as the sign of x and γ, x
And γ are set to values larger than when one of them is almost zero.

When both x and γ are positive, the rear end of the semi-trailer (16) is located to the left of the straight line (20) and the semi-trailer (16) The rear end of the is facing diagonally left backward with respect to the front end. If the semi-trailer (16) is propelled backward in this posture, the semi-trailer (16) is further away from the straight line (20) of the traveling route, so that θ is increased to avoid this. The same applies when x and γ are both negative. On the other hand, one of x and γ is substantially 0 when the right and left wheel center (24) in the left and right direction of the semitrailer (16) is on the straight line (20) of the traveling route or the semitrailer left and right center line.
(23) is parallel to the running route straight line (20), and the semi-trailer (16) is sufficiently close to the running route straight line (20). Therefore, θ has the same sign as x or γ, but its absolute value is smaller than when both x and γ are positive.

According to the automatic traveling type connected vehicle (10) of the present invention, when both x and γ are 0, the absolute value of θ is set to 0.

The case where both x and γ are 0 means that the left and right wheel centers (24) of the self-driving vehicle (11) and the semi-trailer (1)
6) Semi-trailer left and right center lines (23) are both straight
In this case, θ is set to 0, and the attitudes of the automatic traveling vehicle (11) and the semi-trailer (16) are maintained as they are.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an autonomously connected vehicle 10
The definition of each symbol in reverse is shown. AGV (Auto
The organic guided vehicle 11 has a front wheel 12 and a rear wheel 13 on the left and right. The front wheel 12 and the rear wheel 13 are both steerable, and at the time of forward movement, the front wheel 12 is used as a steered wheel, and the rear wheel 13 is fixed straight ahead.
The front wheels 12 are fixed straight ahead, and the rear wheels 13 are steered wheels. The self-propelled articulated vehicle 10 may be a two-wheel drive in which only one of the front wheels 12 and the rear wheels 13 is a drive wheel, or may be an all-wheel drive in which both are drive wheels. The all-wheel drive includes not only four-wheel drive but also three-wheel drive when the AGV 11 is of a three-wheel type. That is, the drive type may be anything from one-wheel drive to all-wheel drive. The semi-trailer 16 is rotatably supported and connected to the rear of the AGV 11 around the king pin 17 via a coupler at the front, and has wheels 18 on the left and right at the rear. The king pin 17 exists on the AGV left-right center line 22 and on the semi-trailer left-right center line 23.
In the self-propelled articulated vehicle 10, the king pin 17 is located on a straight line passing through the center point of the left and right rear wheels 13 for convenience of explanation of the operation. The king pin 17 is located at a position different from the rear wheel 13 in the front-rear direction of the AGV 11, usually at the rear side. In such a case, the conversion method to the state of FIG. 1 will be described later with reference to FIG. A magnet is continuously buried in the traveling route line 20, and the AGV 11 detects a lateral deviation with respect to the traveling route line 20 from a magnetic field caused by the magnet during traveling, and performs steering in a direction to eliminate the deviation. Thus, automatic forward traveling along the traveling route line 20 is realized. In FIG. 1, the traveling route line 20 is a straight line. The later-described reverse control is performed on such a straight traveling route line 20. The left and right wheel center 24 is a left and right wheel axis 25 and a semitrailer left and right center line as a straight line connecting the centers of the left and right wheels 18.
Intersection with 23.

The definition of each symbol in FIG. 1 is as follows.
Note that the upper, lower, left, and right sides of FIG.
Left, right, front and back. F: Direction of propulsion force acting on the semi-trailer 16 from the AGV 11 via the king pin 17 when the automatic traveling type connected vehicle 10 moves backward. Δ: Angle of the AGV left and right center line 22 with respect to the traveling route line 20 toward the rear of the traveling route line 20. . The left side of the traveling route line 20 is defined as positive. α: The angle of F with respect to the AGV left / right center line 22 toward the rear of the AGV left / right center line 22. The left side of the AGV left / right center line 22 is defined as positive. α corresponds to the steering angle of the rear wheel 13. γ: The angle of the semi-trailer left / right center line 23 with respect to the traveling route line 20 toward the rear of the traveling route line 20. Travel route line
The left side of 20 is positive. θ: = α + δ−γ x: The amount of deviation of the left and right wheel center 24 from the traveling route line 20 in the left and right direction. The left side of the traveling route line 20 is defined as positive. L: Distance between the kingpin 17 on the left and right center line 23 of the semi-trailer and the center 24 of the left and right wheels

FIG. 2 is an explanatory diagram for obtaining δ in FIG. The front magnetic sensor row 34 and the rear magnetic sensor row 35
The AGV 11 extends linearly in the left-right direction at two places separated on the left-right center line 22. Magnetic sensors are arranged at equal intervals in the front magnetic sensor row 34 and the rear magnetic sensor row 35, and each magnetic sensor detects a magnetic flux from a magnet on the traveling route line 20 and Can be detected on the left side, on the right side, or almost right above. In each of the front magnetic sensor row 34 and the rear magnetic sensor row 35, by detecting which magnetic sensor is almost directly above the traveling route line 20, the magnetic sensor located immediately above the traveling route line 20, that is, the traveling route line Distances d1 and d2 from 20 to the left and right centers of each of the front magnetic sensor rows 34 and the rear magnetic sensor rows 35 can be detected. AGV
Assuming that the distance between the front magnetic sensor row 34 and the rear magnetic sensor row 35 on the left and right center line 22 is w and the shift to the left with respect to the traveling route line 20 is positive, tan δ = (d2−d1) / w
And δ can be obtained.

Α can be detected from the steering angle of the rear wheel 13. γ
Detects the relative rotation angle β between the AGV left / right center line 22 and the semitrailer left / right center line 23 at the kingpin 17 (the left side is positive with respect to the semitrailer left / right center line 23), and γ =
It can be obtained from δ-β. x is the lateral deviation d of the king pin 17 with respect to the traveling route line 20 in the AGV 11.
3 (positive on the left side with respect to the traveling route line 20), and can be obtained from x = d3 + L · sin γ.
As for d3, for example, as shown in FIG. 2, the rear magnetic sensor row 35 is arranged so that the center thereof is located at the position of the king pin 17, and is derived from d3 = d2 × cos δ.

FIG. 3 shows the control amount of θ with respect to x and γ. That is, in the reverse drive control of the automatic traveling type connected vehicle 10, x and γ are detected, and for the detected x and γ, the control amount of θ corresponding to them is obtained from the table of FIG. The steering angle of the rear wheel 13 is changed such that θ is satisfied. θ is, when x <0, γ <0, = approximately 0, and>
Each large negative value of the absolute value for 0 is small negative values of absolute value, and 0 is. When x = 0, γ
For <0, = substantially 0, and> 0, a negative value having a small absolute value, 0, and a positive value having a small absolute value, respectively.
In the case of x> 0, γ <0, = approximately 0, and> 0, 0, a small positive value, and a large positive value, respectively.

In this way, when the automatic traveling type connected vehicle 10 moves backward along the straight portion of the traveling route line 20, x is substantially zero.
Otherwise, the steering angle of the rear wheels 13 is controlled such that θ has the same sign as x. That is, when x is positive, it means that the rear end of the semitrailer 16 is on the left side with respect to the traveling route line 20. By making θ positive, the semitrailer 16 moves the front end to the rear end by F. The vehicle is relatively moved leftward, and the rear end of the semi-trailer 16 approaches the traveling route line 20 from the left side. When x> 0 and γ> 0, semi-trailer
That is, the rear end of the semi-trailer 16 is on the left side with respect to the traveling route line 20 and the rear end of the semi-trailer 16 is diagonally leftward with respect to the front end. Is continued, the distance from the traveling route line 20 is further increased, so that the absolute value of θ is increased, and the rear end of the semi-trailer 16 is promptly directed toward the traveling route line 20 with respect to the front end. To x> 0
In the case of gamma = nearly 0, but the rear end of the semitrailer 16 is on the left side with respect to the traveling route line 20, it means that the semitrailer lateral centerline 23 is parallel to the traveling route line 20, The semi-trailer 16 preferably controls the steering angle of the rear wheels 13 so as to reduce the absolute value of θ, since it is preferable that the semi-trailer 16 approach the right traveling route line 20 while maintaining the same direction. If x> 0 and γ <0, the semitrailer 16
The rear end of the semi-trailer 16 is on the left side with respect to the traveling route line 20, but the rear end of the semi-trailer 16 is diagonally rightward with respect to the front end. Greatly exceeds the travel route line 20,
Set θ to 0. The same is true for x <0.

[0020] When the x = nearly 0, it means that the left and right directions right and left wheel center 24 is located on the travel route line 20, theta is set to a small value of the absolute value and the sign of theta is γ
Γ is set to 0 while x does not largely fluctuate. In x is approximately 0, and when γ is almost zero, it means that the semi-trailer 16 is superimposed the semitrailer lateral centerline 23 to the travel route line 20, so as to maintain its status, theta is 0 It is said.

FIG. 4 is an explanatory diagram for calculating α when the kingpin 17 is displaced from the rear wheel 31 in the front-back direction of the AGV 11. Further, when annotated, it is limited to the time when the front wheel 12 is fixed straight ahead. When the front wheels 12 are also steered, the front wheels 12
The intersection point between the right-angle azimuth of the right direction and the right-angle azimuth of the rear wheel 13 is set to o 'again, and a drawing equivalent to FIG. 4 is made to obtain α. AG
The V11 is normally equipped with two front wheels and two rear wheels, for a total of four wheels, but FIG. 4 shows a two-wheel model with one front wheel and one rear wheel for convenience of explanation. When the front wheel and the rear wheel are arranged symmetrically, they can be replaced with the front wheel 30 and the rear wheel 31, and the situation at the time of reversing can be explained. The definition of each symbol is as follows. o: the turning center of the AGV 11 during backward movement R: the distance from o to the center of the front wheel 30 α ': the steering angle of the rear wheel 31 during backward movement of the AGV 11 a: the front wheel 30 and the rear wheel 31 on the AGV left / right center line 22 B: Rear wheel 31 and kingpin on AGV left and right center line 22
Center distance with 17. The rear from the center of the rear wheel 31 is made positive.

FIG. 5 shows a relational expression between the respective symbols in FIG.
You. Let the center point of the front wheel 30 and o and the center point of the rear wheel 31 be vertices
Equation (1) holds for a triangle. Equation (1)From
Equation (2) is derived. On the other hand, equation (3) holds. (3)
Equation (4) is derived from the equation. Equations (2) and (4)
Equation (5) is derived. Thus, α is obtained from α ′
be able to.

[Brief description of the drawings]

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a diagram showing definitions of respective symbols when a self-propelled articulated vehicle moves backward.

FIG. 2 is an explanatory diagram for obtaining δ in FIG. 1;

FIG. 3 is a diagram showing a control amount of θ with respect to x and γ.

FIG. 4 is an explanatory diagram for calculating α when the kingpin is displaced from the rear wheel in the front-rear direction of the AGV.

5 is a diagram showing a relational expression between symbols in FIG. 4;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Automatic traveling type connection vehicle (automatic traveling type connection vehicle) 11 AGV (automatic traveling vehicle) 12 Front wheel 13 Rear wheel 16 Semi-trailer 17 Kingpin (connection pin) 20 Travel route line (travel route straight line) 22 AGV left and right center line (automatic traveling) Left / right center line of the vehicle) 23 Left / right center line of the semi-trailer

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G05D 1/02 B62D 6/00

Claims (4)

(57) [Claims] An autonomous vehicle (10) in which an autonomous vehicle (11) is connected to a semi-trailer (16) on the rear side via a connecting pin (17), wherein each symbol is as follows. Defined (Note that in the definition below,
The left and right sides of each line
They are defined as a first side and a second side, respectively. ), F: Direction of propulsion from the self-driving vehicle (11) to the semi-trailer (16) at the connecting pin (17) during reverse travel. δ: The angle of the left-right center line (22) of the automatic traveling vehicle with respect to the traveling route straight line (20) toward the rear. However, the running route straight (2
0) is positive on the first side . α: The angle of F with respect to the left-right center line (22) of the self-driving vehicle toward the rear. However, with respect to the autonomous vehicle left and right center line (22)
The first side is positive. γ: Angle of the semi-trailer left / right center line (23) with respect to the traveling route straight line (20) toward the rear. However, the running route straight line
The first side is positive for (20). θ: = α + δ−γ. x: bias amount of the left <br/> right lateral wheel center (24) of the semi-trailer (16) with respect to the travel route line (20). However, the first side with respect to the traveling route straight line (20) is positive. When the vehicle is traveling in reverse, the rear wheels (13) are steerable, and the rear wheels (13) of the automatic traveling vehicle (11) are steered so that θ has the same sign as x. Connected vehicle. 2. The system according to claim 1, wherein when x is substantially zero, the rear wheel (13) of the self-driving vehicle (11) is steered so that θ has the same sign as γ. Self-driving connected vehicle. 3. The absolute value of θ is set to a larger value when x and γ have the same sign than when x and γ are almost zero. The self-propelled articulated vehicle as described. 4. The automatic traveling type connected vehicle according to claim 1, wherein when both x and γ are 0, the absolute value of θ is set to 0.