JP7827542B2 - 連結車両の制御装置、連結車両の制御方法、および連結車両の制御プログラム - Google Patents

連結車両の制御装置、連結車両の制御方法、および連結車両の制御プログラム

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Publication number
JP7827542B2
JP7827542B2 JP2022084039A JP2022084039A JP7827542B2 JP 7827542 B2 JP7827542 B2 JP 7827542B2 JP 2022084039 A JP2022084039 A JP 2022084039A JP 2022084039 A JP2022084039 A JP 2022084039A JP 7827542 B2 JP7827542 B2 JP 7827542B2
Authority
JP
Japan
Prior art keywords
steering angle
target
angle
control device
trailer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2022084039A
Other languages
English (en)
Japanese (ja)
Other versions
JP2023172329A (ja
JP2023172329A5 (https=
Inventor
裕高 所
宣広 新田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
J Quad Dynamics Inc
Original Assignee
J Quad Dynamics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by J Quad Dynamics Inc filed Critical J Quad Dynamics Inc
Priority to JP2022084039A priority Critical patent/JP7827542B2/ja
Priority to PCT/JP2023/018563 priority patent/WO2023228854A1/ja
Priority to CN202380040513.2A priority patent/CN119233924A/zh
Priority to EP23811727.9A priority patent/EP4530160A4/en
Priority to US18/865,445 priority patent/US20250313264A1/en
Publication of JP2023172329A publication Critical patent/JP2023172329A/ja
Publication of JP2023172329A5 publication Critical patent/JP2023172329A5/ja
Application granted granted Critical
Publication of JP7827542B2 publication Critical patent/JP7827542B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/245—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating push back or parking of trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
    • G06T19/006—Mixed reality

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Computer Hardware Design (AREA)
  • Computer Graphics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
JP2022084039A 2022-05-23 2022-05-23 連結車両の制御装置、連結車両の制御方法、および連結車両の制御プログラム Active JP7827542B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2022084039A JP7827542B2 (ja) 2022-05-23 2022-05-23 連結車両の制御装置、連結車両の制御方法、および連結車両の制御プログラム
PCT/JP2023/018563 WO2023228854A1 (ja) 2022-05-23 2023-05-18 連結車両の制御装置、連結車両の制御方法、および連結車両の制御プログラム
CN202380040513.2A CN119233924A (zh) 2022-05-23 2023-05-18 连结车辆的控制装置、连结车辆的控制方法以及连结车辆的控制程序
EP23811727.9A EP4530160A4 (en) 2022-05-23 2023-05-18 COUPLED VEHICLE CONTROL DEVICE, COUPLED VEHICLE CONTROL METHOD, AND COUPLED VEHICLE CONTROL PROGRAM
US18/865,445 US20250313264A1 (en) 2022-05-23 2023-05-18 Control device for combination vehicle, control method for combination vehicle, and control program for combination vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2022084039A JP7827542B2 (ja) 2022-05-23 2022-05-23 連結車両の制御装置、連結車両の制御方法、および連結車両の制御プログラム

Publications (3)

Publication Number Publication Date
JP2023172329A JP2023172329A (ja) 2023-12-06
JP2023172329A5 JP2023172329A5 (https=) 2025-04-08
JP7827542B2 true JP7827542B2 (ja) 2026-03-10

Family

ID=88919246

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022084039A Active JP7827542B2 (ja) 2022-05-23 2022-05-23 連結車両の制御装置、連結車両の制御方法、および連結車両の制御プログラム

Country Status (5)

Country Link
US (1) US20250313264A1 (https=)
EP (1) EP4530160A4 (https=)
JP (1) JP7827542B2 (https=)
CN (1) CN119233924A (https=)
WO (1) WO2023228854A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20250115295A1 (en) * 2023-10-06 2025-04-10 Panasonic Automotive Systems Company Of America, Division Of Panasonic Corporation Of North America Method of correctly predicting trailer trajectory while reversing
US20260021766A1 (en) * 2024-07-17 2026-01-22 Stoneridge Electronics Ab Camera monitor system trailer backup trajectory overlay with vehicle speed-based correction
JP2026054071A (ja) * 2024-09-13 2026-03-26 株式会社ジェイテクト 連結車両の制御装置、連結車両の制御方法、および連結車両の制御プログラム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009060499A (ja) 2007-09-03 2009-03-19 Sanyo Electric Co Ltd 運転支援システム及び連結車両
US10112646B2 (en) 2016-05-05 2018-10-30 Ford Global Technologies, Llc Turn recovery human machine interface for trailer backup assist
JP2021111814A (ja) 2020-01-06 2021-08-02 フォルシアクラリオン・エレクトロニクス株式会社 牽引支援装置
US20210284240A1 (en) 2020-03-10 2021-09-16 GM Global Technology Operations LLC Method and apparatus for an automated trailer backup system in a motor vehicle

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9506774B2 (en) * 2011-04-19 2016-11-29 Ford Global Technologies, Llc Method of inputting a path for a vehicle and trailer
CN106915304A (zh) * 2017-02-27 2017-07-04 北京新能源汽车股份有限公司 一种车辆的控制方法、控制装置、车辆控制系统及汽车
WO2021127693A1 (en) * 2019-12-16 2021-06-24 Magna Electronics Inc. Vehicular trailering guidance system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009060499A (ja) 2007-09-03 2009-03-19 Sanyo Electric Co Ltd 運転支援システム及び連結車両
US10112646B2 (en) 2016-05-05 2018-10-30 Ford Global Technologies, Llc Turn recovery human machine interface for trailer backup assist
JP2021111814A (ja) 2020-01-06 2021-08-02 フォルシアクラリオン・エレクトロニクス株式会社 牽引支援装置
US20210284240A1 (en) 2020-03-10 2021-09-16 GM Global Technology Operations LLC Method and apparatus for an automated trailer backup system in a motor vehicle

Also Published As

Publication number Publication date
EP4530160A4 (en) 2025-08-27
CN119233924A (zh) 2024-12-31
JP2023172329A (ja) 2023-12-06
EP4530160A1 (en) 2025-04-02
WO2023228854A1 (ja) 2023-11-30
US20250313264A1 (en) 2025-10-09

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