JPH09328078A - Steering gear for connected vehicle - Google Patents
Steering gear for connected vehicleInfo
- Publication number
- JPH09328078A JPH09328078A JP14945796A JP14945796A JPH09328078A JP H09328078 A JPH09328078 A JP H09328078A JP 14945796 A JP14945796 A JP 14945796A JP 14945796 A JP14945796 A JP 14945796A JP H09328078 A JPH09328078 A JP H09328078A
- Authority
- JP
- Japan
- Prior art keywords
- trailer
- angle
- tractor
- steering
- rear wheel
- 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.)
- Granted
Links
Landscapes
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、連結車両の操舵装
置に関し、詳しくは、トレーラの後輪の操舵装置に関す
るものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering system for an articulated vehicle, and more particularly to a steering system for a rear wheel of a trailer.
【０００２】[0002]
【従来の技術】トラクタとトレーラとからなる連結車両
においては、旋回時でのトラクタとトレーラの内輪差が
大きいので、曲り角等を走行する場合、トラクタは大回
りしなければならず、連結車両特有の運転技術を要し、
運転上の煩わしさがあった。そこで、実開平２−１２５
４８３号公報に、トラクタとトレーラとの連結角に応じ
てトレーラの後輪を操舵して、旋回時のトラクタとトレ
ーラの内輪差を少なくする連結車両の操舵装置が提案さ
れている。2. Description of the Related Art In a connected vehicle consisting of a tractor and a trailer, the inner ring difference between the tractor and the trailer during turning is large. Therefore, the tractor must make a large turn when traveling at a turning angle and the like. Requires driving skills,
There was an annoyance in driving. Therefore, the actual Kaihei 2-125
Japanese Patent Laid-Open No. 483 proposes a steering device for a coupled vehicle that steers the rear wheels of the trailer in accordance with the coupling angle between the tractor and the trailer to reduce the difference between the inner wheels of the tractor and the trailer when turning.
【０００３】しかしながら、前述の操舵装置では、曲り
角を曲がるときにトレーラの後部が外方へ張り出すの
で、トレーラの側方に壁や隣接車両等の障害物が近接し
ていると、これにトレーラの後部が接触するという問題
点があった。そこで、実開平４−６７１８１号公報に、
トレーラの後輪を操舵しないノーマルモード、トレーラ
の後輪をトラクタの前輪の舵角に比例して操舵する前輪
舵角モード、トレーラの後輪を連結角に比例して操舵す
る連結角比例モード、トラクタの前端の走行軌跡をトレ
ーラの後端が追従する軌跡追従モードの各モードに応じ
て、トレーラの後輪を操舵する連結車両の操舵装置が提
案されている。また、実開平４−６７１８２号公報に、
トラクタの操舵角、車速、トラクタとトレーラとの連結
角及びトレーラの後輪の操舵角等からの信号に基づい
て、トレーラの後端がトラクタとトレーラとが連結され
る連結器の走行軌跡を追従するようにトレーラの後輪を
操舵する連結車両の操舵装置が提案されている。さら
に、実開平４−６７１８３号公報に、車速、ヨーレイト
センサ及び横加速度センサからの信号に基づいて、トラ
クタとトレーラの状態を検出し、トレーラの後端がトラ
クタの前端の走行軌跡を追従するようにトレーラの後輪
を操舵する連結車両の操舵装置が提案されている。However, in the above-described steering device, the rear part of the trailer projects outward when the vehicle makes a turn at a corner. Therefore, if an obstacle such as a wall or an adjoining vehicle is close to the side of the trailer, the trailer will approach the trailer. There was a problem that the rear part of the car touched. Therefore, in Japanese Utility Model Publication No. 4-67181,
Normal mode that does not steer the rear wheels of the trailer, front wheel steering angle mode that steers the rear wheels of the trailer in proportion to the steering angle of the front wheels of the tractor, connection angle proportional mode that steers the rear wheels of the trailer in proportion to the connection angle, There has been proposed a steering device for a connected vehicle that steers the rear wheels of a trailer according to each of a trajectory following mode in which the trailer trails the trailing trail of the tractor. Also, in Japanese Utility Model Publication No. 4-67182,
Based on signals from the steering angle of the tractor, vehicle speed, the connection angle between the tractor and the trailer, the steering angle of the rear wheels of the trailer, etc., the rear end of the trailer follows the running trajectory of the coupler in which the tractor and trailer are connected. As described above, there has been proposed a steering device for a connected vehicle that steers the rear wheels of a trailer. Furthermore, in Japanese Utility Model Laid-Open No. 4-67183, the states of the tractor and the trailer are detected based on the signals from the vehicle speed, the yaw rate sensor, and the lateral acceleration sensor, and the rear end of the trailer follows the traveling locus of the front end of the tractor. A steering device for a coupled vehicle that steers the rear wheels of a trailer has been proposed.
【０００４】これらの公報に記載された操舵装置では、
いずれも、トラクタの操舵角、車速、トラクタとトレー
ラとの連結角、トレーラの後輪の操舵角、ヨーレイトセ
ンサ及び横加速度センサ等からの信号に基づいて、トレ
ーラの後輪がトラクタの走行軌跡を追従する走行軌跡を
算出し、トレーラの後輪が算出された走行軌跡を追従す
るようにトレーラの後輪を常時操舵している。In the steering devices described in these publications,
In each case, the trailer rear wheel determines the tractor's running trajectory based on signals from the tractor steering angle, vehicle speed, tractor-trailer connection angle, trailer rear wheel steering angle, yaw rate sensor, lateral acceleration sensor, etc. The trailing trail is calculated, and the rear wheels of the trailer are constantly steered so that the trailer trailing wheels follow the calculated trail.
【０００５】[0005]
【発明が解決しようとする課題】ところが、前述の各公
報に記載された連結車両の操舵装置では、旋回時のトレ
ーラの後輪の走行軌跡を算出する際に、実際のトラクタ
の走行軌跡と算出された走行軌跡との間に大きな誤差が
生じるので、トラクタの走行軌跡を追従することが困難
であり、実用性に乏しいという問題点がある。また、実
開平４−６７１８３号公報に記載された連結車両の操舵
装置では、低速旋回時にヨーレイトセンサ及び横加速度
センサの検出誤差が大きく、実際のトラクタの走行軌跡
と算出された走行軌跡との間に大きな誤差を生じてしま
い、算出された走行軌跡は、トラクタの走行軌跡と大き
く異なる。However, in the steering system for the coupled vehicle described in each of the above-mentioned publications, when calculating the traveling locus of the rear wheels of the trailer during turning, the actual traveling locus of the tractor and the calculation are calculated. Since a large error occurs between the traveled trajectory and the traveled trajectory, it is difficult to follow the traveled trajectory of the tractor, and there is a problem that it is not practical. Further, in the steering system for a connected vehicle described in Japanese Utility Model Laid-Open No. 4-67183, the detection error of the yaw rate sensor and the lateral acceleration sensor is large during low-speed turning, and it is between the actual travel path of the tractor and the calculated travel path. Causes a large error, and the calculated traveling locus is significantly different from the traveling locus of the tractor.
【０００６】したがって、前述の操舵装置を使用した連
結車両では、曲り角を走行しているときに、トレーラの
後端部が外方へ張り出す現象や、旋回半径が大きくなる
等の現象が発生するおそれがあり、連結車両の運転を困
難にする問題点がある。Therefore, in a coupled vehicle using the above-described steering device, when the vehicle travels at a turning angle, the trailing end of the trailer projects outward or the turning radius increases. Therefore, there is a problem in that the connected vehicle may be difficult to drive.
【０００７】よって、本発明の目的は、曲がり角を走行
するときのトレーラの後端部の外方への張り出しを防止
し、かつ、確実に旋回半径を小さくできる連結車両の操
舵装置を提供することにある。Therefore, an object of the present invention is to provide a steering system for a connected vehicle which can prevent the trailing end of the trailer from projecting outward when traveling at a corner and can surely reduce the turning radius. It is in.
【０００８】[0008]
【課題を解決するための手段】請求項１の発明は、トラ
クタに連結されているトレーラの後輪を操舵する連結車
両の操舵装置において、トラクタとトレーラとの連結角
を検出する連結角検出手段と、連結角検出手段により検
出される連結角が所定角度以上になると、トラクタの走
行距離の計測を開始する走行距離計測手段と、走行距離
計測手段により計測される走行距離が所定距離に達した
ときに、トレーラの後輪を、トラクタの前輪の操舵方向
と逆方向に、現在の連結角に比例した角度で操舵する制
御手段とを備えた構成である。According to a first aspect of the present invention, there is provided a steering device for a connected vehicle for steering the rear wheels of a trailer connected to a tractor, wherein the connecting angle detecting means detects a connecting angle between the tractor and the trailer. When the connection angle detected by the connection angle detection means becomes equal to or greater than a predetermined angle, the travel distance measuring means for starting the measurement of the travel distance of the tractor and the travel distance measured by the travel distance measuring means reach the predetermined distance. At this time, a control means for steering the rear wheels of the trailer in a direction opposite to the steering direction of the front wheels of the tractor at an angle proportional to the current connection angle is provided.
【０００９】請求項２の発明は、請求項１記載の連結車
両の操舵装置において、所定角度が、連結車両が曲り角
を走行するときのトラクタとトレーラとの連結角である
構成である。According to a second aspect of the present invention, in the steering system for a coupled vehicle according to the first aspect, the predetermined angle is a coupling angle between the tractor and the trailer when the coupled vehicle travels at a turning angle.
【００１０】請求項３の発明は、請求項１または２記載
の連結車両の操舵装置において、所定距離が、トラクタ
の後車軸からトレーラの後車軸までの距離と略同じ距離
である構成である。According to a third aspect of the present invention, in the steering system for a combined vehicle according to the first or second aspect, the predetermined distance is substantially the same as the distance from the rear axle of the tractor to the rear axle of the trailer.
【００１１】請求項４の発明は、請求項１，２または３
記載の連結車両の操舵装置において、トレーラの後輪が
操舵されるときのトレーラの後輪舵角が、現在の連結角
と略同角度である構成である。[0011] The invention of claim 4 is the invention of claim 1, 2, or 3.
In the steering apparatus for a connected vehicle described above, the rear wheel steering angle of the trailer when the rear wheels of the trailer are steered is substantially the same as the current connection angle.
【００１２】[0012]
【実施例】以下、本発明の一実施例を図面を参照して説
明する。図１にセミトレーラ式の連結車両の概略構成図
を示す。同図において、符号１はトラクタを、符号２は
トレーラをそれぞれ示す。トラクタ１とトレーラ２と
は、トレーラ２の連結ピン４をトラクタ１の第５輪式連
結器３に係合させることで互いに連結されている。第５
輪式連結器３には、トラクタ１とトレーラ２との連結角
θｃを検出する連結角検出手段としての連結角センサ３
ａが設けられている。連結角θｃは、トラクタ１の中心
線１ａとトレーラ２の中心線２ａとがなす角度である。An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a schematic configuration diagram of a semi-trailer type coupled vehicle. In the figure, reference numeral 1 indicates a tractor, and reference numeral 2 indicates a trailer. The tractor 1 and the trailer 2 are connected to each other by engaging the connecting pin 4 of the trailer 2 with the fifth wheel type coupler 3 of the tractor 1. Fifth
The wheel type coupler 3 has a connection angle sensor 3 as a connection angle detection unit that detects a connection angle θc between the tractor 1 and the trailer 2.
a is provided. The connection angle θc is an angle formed by the center line 1a of the tractor 1 and the center line 2a of the trailer 2.
【００１３】トラクタ１に搭載されているトランスミッ
ション５には、トラクタ１が後退するときにオンする後
退検出スイッチ６と、後述するコントローラ２０からの
指令に基づいてトラクタ１の走行距離の計測を開始する
走行距離計測手段としての走行距離センサ７とがそれぞ
れ設けられている。走行距離センサ７は、このセンサ７
が計測した走行距離Ｈの信号を後述のコントローラ２０
に出力する。The transmission 5 mounted on the tractor 1 starts to measure the traveling distance of the tractor 1 based on a reverse detection switch 6 which is turned on when the tractor 1 moves backward, and a command from a controller 20 described later. A travel distance sensor 7 as a travel distance measuring means is provided. The mileage sensor 7 is the sensor 7
The signal of the traveling distance H measured by the controller 20
Output to
【００１４】トラクタ１の運転席の近傍には、トレーラ
２の後輪１１を操舵する連結車両の後述の操舵装置１２
のオン／オフを選択する後輪操舵スイッチ８が配設され
ている。なお、図中、符号９，１０は、それぞれトラク
タ１の前輪及び後輪を示している。In the vicinity of the driver's seat of the tractor 1, a steering device 12 for steering the rear wheels 11 of the trailer 2, which will be described later, of the connected vehicle.
A rear wheel steering switch 8 for selecting ON / OFF of is provided. In the figure, reference numerals 9 and 10 respectively indicate the front and rear wheels of the tractor 1.
【００１５】トレーラ２の後輪１１には、この後輪１１
をトレーラ２の中心線２ａに対して後輪舵角θｒとなる
ように操舵する操舵装置１２が接続されている。操舵装
置１２は、後輪１１のナックルアーム１３にロッド１４
を介して連結しているアクチュエータ１５と、このアク
チュエータ１５に圧油を供給する油圧ポンプ１６と、油
圧ポンプ１６からの圧油の方向を切り換え、アクチュエ
ータ１５を作動させる操舵モータ１７とから主に構成さ
れている。操舵モータ１７には、後輪１１の舵角を検出
する後輪舵角センサ１８が設けられている。図中、符号
Ｌは、トラクタ１とトレーラ２が直進状態、すなわち、
連結角θｃが０°であるときのトラクタ１の後輪１０ａ
の車軸からトレーラ２の後輪１１の車軸までのトレーラ
軸間距離を示す。The rear wheel 11 of the trailer 2 includes the rear wheel 11
A steering device 12 is connected to steer the vehicle to a rear wheel steering angle θr with respect to the center line 2a of the trailer 2. The steering device 12 includes a knuckle arm 13 of the rear wheel 11 and a rod 14
Mainly composed of an actuator 15 connected via a hydraulic pump 16, a hydraulic pump 16 that supplies pressurized oil to the actuator 15, and a steering motor 17 that operates the actuator 15 by switching the direction of the pressurized oil from the hydraulic pump 16. Has been done. The steering motor 17 is provided with a rear wheel steering angle sensor 18 that detects the steering angle of the rear wheels 11. In the figure, reference symbol L indicates that the tractor 1 and the trailer 2 are in a straight traveling state,
Rear wheel 10a of the tractor 1 when the connection angle θc is 0 °
Shows the distance between the trailer axles from the axle of the trailer to the axle of the rear wheel 11 of the trailer 2.
【００１６】図１，２に示すように、前述の連結角セン
サ３ａ、後退検出スイッチ６、走行距離センサ７、後輪
操舵スイッチ８、油圧ポンプ１６、操舵モータ１７及び
後輪舵角センサ１８は、操舵装置１２の動作を制御する
制御手段としてのコントローラ２０にそれぞれ接続され
ている。コントローラ２０は、連結角センサ３ａ、後退
検出スイッチ６、走行距離センサ７及び後輪操舵スイッ
チ８からそれぞれ入力される情報に基づいて、油圧ポン
プ１６及び操舵モータ１７に対して作動信号をそれぞれ
出力して、トレーラ２の後輪１１を操舵する。As shown in FIGS. 1 and 2, the connection angle sensor 3a, the reverse detection switch 6, the traveling distance sensor 7, the rear wheel steering switch 8, the hydraulic pump 16, the steering motor 17, and the rear wheel steering angle sensor 18 are provided. , And a controller 20 as a control means for controlling the operation of the steering device 12, respectively. The controller 20 outputs operation signals to the hydraulic pump 16 and the steering motor 17, respectively, based on the information input from the connection angle sensor 3a, the reverse detection switch 6, the travel distance sensor 7, and the rear wheel steering switch 8, respectively. Then, the rear wheels 11 of the trailer 2 are steered.
【００１７】以下、図３に示すフローチャート及び図４
に示すトラクタ１とトレーラ２の曲がり角の走行時の概
略動作図を参照して、コントローラ２０によるトレーラ
２の後輪操舵制御について詳細に説明する。なお、トラ
クタ１とトレーラ２の左右旋回の動作は互いに反対の動
作であるので、本実施例では、右旋回の場合について説
明し、左旋回の動作の説明は省略する。The flowchart shown in FIG. 3 and FIG.
The rear wheel steering control of the trailer 2 by the controller 20 will be described in detail with reference to the schematic operation diagram of the tractor 1 and the trailer 2 when traveling at a turning angle shown in FIG. Since the left and right turning operations of the tractor 1 and the trailer 2 are opposite to each other, in the present embodiment, the case of turning right will be described and the operation of turning left will be omitted.
【００１８】まず、ステップａ１において、後退検出ス
イッチ６からの信号がコントローラ２０に入力された
後、ステップａ２へ進む。ステップａ２では、コントロ
ーラ２０が後退検出スイッチ６からの信号により後退検
出スイッチ６がオンしているかどうかを判別する。すな
わち、トラクタ１とトレーラ２が前進状態であるかを検
出する。後退検出スイッチ６がオフであればステップａ
３へ、後退検出スイッチ６がオンであればステップｂ１
へそれぞれ進む。First, in step a1, after the signal from the backward movement detection switch 6 is input to the controller 20, the process proceeds to step a2. At step a2, the controller 20 determines from the signal from the reverse detection switch 6 whether the reverse detection switch 6 is turned on. That is, it is detected whether the tractor 1 and the trailer 2 are in the forward drive state. If the reverse detection switch 6 is off, step a
3, if the reverse detection switch 6 is turned on, step b1
Go to each.
【００１９】ステップａ３において、後輪操舵スイッチ
８からの信号がコントローラ２０に入力された後、ステ
ップａ４へ進む。ステップａ４では、コントローラ２０
が後輪操舵スイッチ８からの信号により後輪操舵スイッ
チ８がオンしているかどうかを判別する。すなわち、ト
レーラ２の後輪操舵を行うか、あるいは行わないかを検
出する。これは、運転者による後輪操舵スイッチ８の操
作によって決定され、運転者が、トレーラ２の後輪操舵
を必要とする場合に後輪操舵スイッチ８をオンする。後
輪操舵スイッチ８がオンであればステップａ５へ、後輪
操舵スイッチ８がオフであればステップｂ１へそれぞれ
進む。In step a3, the signal from the rear wheel steering switch 8 is input to the controller 20, and then the process proceeds to step a4. At step a4, the controller 20
Determines whether or not the rear wheel steering switch 8 is turned on by a signal from the rear wheel steering switch 8. That is, it is detected whether the rear wheels of the trailer 2 are steered or not. This is determined by the operation of the rear wheel steering switch 8 by the driver, and turns on the rear wheel steering switch 8 when the driver needs the rear wheel steering of the trailer 2. If the rear wheel steering switch 8 is on, the process proceeds to step a5, and if the rear wheel steering switch 8 is off, the process proceeds to step b1.
【００２０】ステップａ５において、連結角センサ３ａ
により検出される連結角θｃの信号がコントローラ２０
に入力された後、ステップａ６へ進む。ステップａ６で
は、コントローラ２０が連結角θｃの絶対値と所定角度
Ａとの大小を比較する。In step a5, the connection angle sensor 3a
The signal of the connection angle θc detected by the controller 20
Is input to step a6. At step a6, the controller 20 compares the absolute value of the connection angle θc with the predetermined angle A.
【００２１】ここで、所定角度Ａについて説明する。所
定角度Ａは、トラクタ１とトレーラ２とが曲り角を走行
するときのトラクタ１とトレーラ２とが成す連結角の角
度であり、トラクタ１とトレーラ２が曲り角を曲がろう
としていることを検出するためのものである。すなわ
ち、トラクタ１とトレーラ２が曲り角を曲がる場合に
は、連結角θｃは必ず所定角度Ａ以上になるので、連結
角θｃが所定角度以上となったことを検出することによ
り、トラクタ１とトレーラ２が曲り角を曲がることを検
出することができる。したがって、このステップａ６に
おいて、連結角θｃの絶対値が所定角度Ａ以上となった
場合、すなわち、トラクタ１とトレーラ２が曲り角を曲
がり始めた場合にはステップａ６へ進み、連結角θｃの
絶対値が所定角度Ａ未満である場合にはステップａ５へ
戻る。ステップａ６において、連結角θｃの絶対値が所
定角度Ａ以上となったトラクタ１とトレーラ２の状態を
図４中、符号Ｔ１で示す。Here, the predetermined angle A will be described. The predetermined angle A is an angle of a connection angle formed by the tractor 1 and the trailer 2 when the tractor 1 and the trailer 2 travel at a turning angle, and detects that the tractor 1 and the trailer 2 are about to turn the turning angle. It is for. That is, when the tractor 1 and the trailer 2 make a turning angle, the connecting angle θc always becomes equal to or larger than the predetermined angle A. Therefore, by detecting that the connecting angle θc becomes the predetermined angle or more, the tractor 1 and the trailer 2 are detected. It is possible to detect that the vehicle turns a corner. Therefore, in step a6, when the absolute value of the connecting angle θc becomes equal to or larger than the predetermined angle A, that is, when the tractor 1 and the trailer 2 start to turn the turning angle, the process proceeds to step a6 and the absolute value of the connecting angle θc. Is less than the predetermined angle A, the process returns to step a5. A state of the tractor 1 and the trailer 2 in which the absolute value of the connection angle θc becomes equal to or larger than the predetermined angle A in step a6 is shown by a symbol T1 in FIG.
【００２２】ステップａ７では、油圧ポンプ１６を作動
して、トレーラ２の後輪１１の操舵を行うための油圧を
発生させる。この後、ステップａ８へ進み、このステッ
プａ８では、コントローラ２０が、トラクタ１とトレー
ラ２が曲り角を曲がり始めたことを確認すると、走行距
離センサ７に走行距離計測開始の信号を出力する。この
信号によって、走行距離センサ７がトラクタ１の走行距
離の計測を開始する。この後、ステップａ９へ進む。At step a7, the hydraulic pump 16 is operated to generate hydraulic pressure for steering the rear wheels 11 of the trailer 2. After that, the process proceeds to step a8. At step a8, when the controller 20 confirms that the tractor 1 and the trailer 2 have begun to make a turn, the mileage sensor 7 outputs a signal to start the mileage measurement. With this signal, the traveling distance sensor 7 starts measuring the traveling distance of the tractor 1. After this, the process proceeds to step a9.
【００２３】ステップａ９において、走行距離センサ７
により計測される走行距離Ｈの信号がコントローラ２０
に入力された後、ステップａ１０へ進み、ステップａ１
０では、コントローラ２０が走行距離Ｈとトレーラ軸間
距離Ｌとが等しくなったかどうかを比較する。走行距離
Ｈとトレーラ軸間距離Ｌとが等しくなった場合、すなわ
ち、トラクタ１がトレーラ軸間距離Ｌに相当する距離を
走行した場合にステップａ１１へ進み、走行距離Ｈとト
レーラ軸間距離Ｌとが等しくない場合にはステップａ９
へ戻る。ステップａ１１では、再度、連結角センサ３ａ
により検出される連結角θｃの信号をコントローラ２０
に入力して、ステップａ１２へ進む。At step a9, the traveling distance sensor 7
The signal of the traveling distance H measured by the controller 20
Is input to step a10, and then step a1
At 0, the controller 20 compares whether the traveling distance H becomes equal to the trailer axis distance L. When the traveling distance H becomes equal to the trailer axis distance L, that is, when the tractor 1 travels a distance corresponding to the trailer axis distance L, the routine proceeds to step a11, where the traveling distance H and the trailer axis distance L are If the two are not equal, step a9
Return to. In step a11, the connection angle sensor 3a is again used.
The signal of the connection angle θc detected by
Input to step a12.
【００２４】ステップａ１２では、次式により算出され
る後輪舵角θｒに基づいて、操舵装置１２を作動し、ト
レーラ２の後輪１１を操舵し、ステップａ１３へ進む。 θｒ＝Ｋ・Ｈ×θｃ ここで、トレーラ２の後輪１１の後輪舵角θｒについて
説明する。後輪舵角θｒは、連結角θｃに比例した角度
であり、その係数はトレーラ後輪操舵係数Ｋと走行距離
Ｈとの積により設定されている。係数Ｋ・Ｈと走行距離
Ｈとの関係を示す特性線図を図５に示す。同図におい
て、係数Ｋ・Ｈの特性線Ｇは、曲り角を曲がり始めたと
きからトレーラ軸間距離Ｌに相当する距離を走行した
後、１．０となり、曲り角を曲がり終えたときに０とな
る。実質的には、トレーラ軸間距離Ｌに相当する距離を
走行したときから後輪舵角θｒが連結角θｃと略等しく
なるようにトレーラ２の後輪１１が操舵される。In step a12, the steering device 12 is operated to steer the rear wheels 11 of the trailer 2 based on the rear wheel steering angle θr calculated by the following equation, and the process proceeds to step a13. θr = K · H × θc Here, the rear wheel steering angle θr of the rear wheels 11 of the trailer 2 will be described. The rear wheel steering angle θr is an angle proportional to the connection angle θc, and its coefficient is set by the product of the trailer rear wheel steering coefficient K and the traveling distance H. FIG. 5 shows a characteristic diagram showing the relationship between the coefficient K · H and the traveling distance H. In the same figure, the characteristic line G of the coefficient K · H becomes 1.0 after traveling a distance corresponding to the trailer axis distance L from the time when the bending angle starts to be bent, and becomes 0 when the bending angle is completely ended. . Substantially, the rear wheels 11 of the trailer 2 are steered so that the rear wheel steering angle θr becomes substantially equal to the connecting angle θc after traveling a distance corresponding to the trailer axis distance L.
【００２５】ステップａ１２における操舵装置１２の動
作について詳述すると、コントローラ２０からの信号に
よって、操舵モータ１７は、所定方向に回転して、油圧
ポンプ１６からの圧油の方向を切り換えるとともに、ア
クチュエータ１５を作動する。アクチュエータ１５は、
ロッド１４を車両前方に向かって引張り、後輪１１をト
レーラ２に対して左向きに操舵する。この場合、トレー
ラ２の後輪１１は、旋回半径を小さくするためにトラク
タ１の前輪９に対して逆向きに操舵される。ステップａ
１０からステップａ１２までの動作を示すトラクタ１と
トレーラ２の状態を図４中、符号Ｔ２で示す。The operation of the steering device 12 in step a12 will be described in detail. The signal from the controller 20 causes the steering motor 17 to rotate in a predetermined direction to switch the direction of pressure oil from the hydraulic pump 16 and the actuator 15 as well. To operate. The actuator 15 is
The rod 14 is pulled toward the front of the vehicle, and the rear wheel 11 is steered leftward with respect to the trailer 2. In this case, the rear wheels 11 of the trailer 2 are steered in the opposite direction to the front wheels 9 of the tractor 1 in order to reduce the turning radius. Step a
The state of the tractor 1 and the trailer 2 showing the operation from 10 to step a12 is shown by the symbol T2 in FIG.
【００２６】ステップａ１３では、後輪舵角センサ１８
により後輪舵角θｒを検出し、この後輪舵角θｒが連結
角θｃと等しくなったかどうかを比較する。後輪舵角θ
ｒが連結角θｃと等しくなった場合には、ステップａ１
４へ進み、後輪舵角θｒが連結角θｃと等しくならない
場合には、ステップａ１２へ戻り、フィードバック制御
を行う。At step a13, the rear wheel steering angle sensor 18
Thus, the rear wheel steering angle θr is detected, and it is compared whether or not the rear wheel steering angle θr becomes equal to the connecting angle θc. Rear wheel steering angle θ
When r becomes equal to the connection angle θc, step a1
4, the rear wheel steering angle θr is not equal to the connecting angle θc, the process returns to step a12 to perform feedback control.
【００２７】ステップａ１４では、連結角θｃが０°と
なったかどうかを検出する、すなわち、トラクタ１とト
レーラ２とが曲り角を曲がり終えて直進状態に戻ったか
を検出する。連結角θｃが０°となれば、ステップａ１
５へ進み、連結角θｃが０°でなければ、ステップａ１
１へ戻る。ステップａ１４において、トラクタ１とトレ
ーラ２とが曲り角を曲がり終えて直進状態に戻った状態
を図４中、符号Ｔ３で示す。At step a14, it is detected whether or not the connecting angle θc becomes 0 °, that is, it is detected whether the tractor 1 and the trailer 2 have finished the bending angle and have returned to the straight traveling state. If the connection angle θc becomes 0 °, step a1
5, and if the connecting angle θc is not 0 °, step a1
Return to 1. A state in which the tractor 1 and the trailer 2 have finished turning at a turning angle and have returned to the straight traveling state at step a14 is shown by a symbol T3 in FIG.
【００２８】ステップａ１５では、油圧ポンプ１６を停
止して、トレーラ２の後輪１１の操舵のための油圧発生
を中断する。これで、一連のトレーラ２の後輪操舵制御
が終了し、リターンへ進む。At step a15, the hydraulic pump 16 is stopped to interrupt the generation of hydraulic pressure for steering the rear wheels 11 of the trailer 2. This completes the rear wheel steering control of the trailer 2 and proceeds to the return.
【００２９】一方、ステップｂ１では、油圧ポンプ１６
を作動して、トレーラ２の後輪１１の操舵を行うための
油圧を発生させる。この後、ステップｂ２へ進み、この
ステップｂ２では、操舵装置１２を作動して、後輪舵角
θｒが０°となるようにトレーラ２の後輪１１を操舵
し、ステップｂ３へ進む。これは、後退する場合や後輪
操舵を行わない場合には、トレーラ２の後輪１１を通常
の状態に固定するためである。On the other hand, in step b1, the hydraulic pump 16
To generate hydraulic pressure for steering the rear wheels 11 of the trailer 2. After that, the routine proceeds to step b2, at which the steering device 12 is operated to steer the rear wheels 11 of the trailer 2 so that the rear wheel steering angle θr becomes 0 °, and the routine proceeds to step b3. This is because the rear wheels 11 of the trailer 2 are fixed in a normal state when the vehicle is moving backward or when the rear wheel steering is not performed.
【００３０】ステップｂ３では、連結角θｒが０°とな
ったかどうかを検出して、トレーラ２の後輪１１が通常
の直進状態であるかを確認する。連結角θｒが０°であ
れば、ステップａ１５へ進み、連結角θｒが０°でなけ
れば、ステップｂ２へ戻り、フィードバック制御を行
う。At step b3, it is detected whether or not the connecting angle θr becomes 0 °, and it is confirmed whether the rear wheel 11 of the trailer 2 is in a normal straight traveling state. If the connection angle θr is 0 °, the process proceeds to step a15. If the connection angle θr is not 0 °, the process returns to step b2 to perform feedback control.
【００３１】以上説明したように、本実施例では、連結
角θｃと走行距離Ｈのみに基づいてトレーラ２の後輪操
舵を行っているので、トレーラの後輪の走行軌跡を算出
する必要がない。よって、トレーラの後輪が安定した走
行を行い、走行軌跡が安定する。また、トレーラの後輪
操舵をトラクタがトレーラ軸間距離Ｌに相当する距離だ
け走行した後に行うので、トレーラの後端部が外方へ張
り出す現象や、旋回半径が大きくなる等の現象が防止さ
れる。したがって、曲がり角を走行するときに、トレー
ラ２の側方に壁や隣接車両等の障害物が近接していて
も、トレーラ２の後部の張り出しや旋回半径が大きくな
ることが抑制されるので、これらに対するトレーラ２の
後部の接触を防止することができる。As described above, in the present embodiment, the rear wheels of the trailer 2 are steered based only on the connecting angle θc and the traveling distance H, so that it is not necessary to calculate the traveling locus of the rear wheels of the trailer. . Therefore, the rear wheels of the trailer travel stably and the travel locus is stable. Further, since the rear wheels of the trailer are steered after the tractor has traveled a distance corresponding to the distance L between the trailer axes, it is possible to prevent a phenomenon in which the rear end portion of the trailer projects outward and a phenomenon in which the turning radius becomes large. To be done. Therefore, when traveling on a corner, even if an obstacle such as a wall or an adjacent vehicle is close to the side of the trailer 2, it is possible to prevent the rear portion of the trailer 2 from overhanging and the turning radius from increasing. It is possible to prevent the rear portion of the trailer 2 from coming into contact with.
【００３２】前述の実施例では、走行距離センサ７によ
ってトラクタ１の走行距離の計測を行っていたが、トラ
クタ１の走行距離を計測するオドメータからの走行距離
の信号をコントローラ２０に入力し、コントローラ２０
内で、オドメータからの走行距離の信号に基づいて、ト
ラクタ１とトレーラ２が曲り角を曲がり始めたときから
のトラクタ１の走行距離の計測を行っても良い。また、
トレーラ２の後輪操舵を、トラクタ１とトレーラ２が曲
り角を曲がり始めたときからトレーラ軸間距離Ｌに相当
する距離を走行した後、開始したが、トレーラ軸間距離
Ｌでなくトレーラ２の連結ピン４から後輪１１の車軸ま
での距離としても、前述の実施例と略同様の効果を得る
ことができる。さらに、トレーラの後輪が操舵されると
きのトレーラの後輪舵角を、θｒ＝Ｋ・Ｈ×θｃの式に
基づいて、実質的に、トレーラの後輪舵角を行うときの
連結角θｃと略等しくなるように設定していたが、必要
に応じてトレーラ後輪操舵係数Ｋを変化しても良い。In the above-described embodiment, the traveling distance of the tractor 1 is measured by the traveling distance sensor 7. However, a signal of the traveling distance from the odometer for measuring the traveling distance of the tractor 1 is input to the controller 20 to control the controller. 20
It is also possible to measure the traveling distance of the tractor 1 from the time when the tractor 1 and the trailer 2 start to turn at a corner based on the traveling distance signal from the odometer. Also,
Steering of the rear wheels of the trailer 2 was started after traveling a distance corresponding to the trailer axis distance L from the time when the tractor 1 and the trailer 2 started to turn at a turning angle, but the trailer axis 2 was not connected but the trailer axis was connected. Even if the distance from the pin 4 to the axle of the rear wheel 11 is substantially the same as that of the above-described embodiment. Further, the rear-wheel steering angle of the trailer when the rear wheels are steered is substantially determined based on the equation of θr = K · H × θc, and the connecting angle θc when the rear-wheel steering angle of the trailer is substantially changed. However, the trailer rear wheel steering coefficient K may be changed as necessary.
【００３３】[0033]
【発明の効果】以上説明したように、請求項１の発明に
よれば、トレーラの後輪を、連結角が所定角度以上にな
ってから所定距離を走行した後、トラクタの前輪の操舵
方向と逆方向に現在の連結角に比例した角度で操舵する
ので、トレーラの後輪操舵が開始されてからは、トレー
ラの後輪がトラクタの走行軌跡を追従する。したがっ
て、トレーラの後端部が外方へ張り出す現象や、旋回半
径が大きくなる等の現象が防止されて、曲がり角を走行
するときに、トレーラの側方に壁や隣接車両等の障害物
が近接していても、トレーラの後部の張り出しや旋回半
径が大きくなることが抑制され、これらに対するトレー
ラの後部の接触を防止することができるとともに、小回
り性を向上することができる。また、連結角と走行距離
に基づいて、トレーラの後輪舵角を決定し、トレーラの
後輪操舵を行っているので、トレーラの後輪の走行軌跡
を算出する必要がなく、トレーラの後輪は安定した走行
軌跡を描く。よって、連結車両の運転が容易になる。As described above, according to the first aspect of the present invention, after the trailer rear wheels have traveled a predetermined distance after the connection angle has become a predetermined angle or more, the steering wheels of the front wheels of the tractor are changed. Since steering is performed in the opposite direction at an angle proportional to the current connection angle, after the rear wheel steering of the trailer is started, the rear wheels of the trailer follow the traveling trajectory of the tractor. Therefore, the trailing end of the trailer is prevented from protruding outward and the turning radius is increased.When traveling around a corner, obstacles such as a wall or an adjacent vehicle are placed on the side of the trailer. Even if they are close to each other, the rear portion of the trailer is prevented from overhanging and the turning radius is prevented from increasing, and it is possible to prevent the rear portion of the trailer from coming into contact with these and to improve the turning performance. In addition, the rear wheel steering angle of the trailer is determined based on the connection angle and the traveling distance, and the rear wheel steering of the trailer is performed, so it is not necessary to calculate the trail of the rear wheels of the trailer. Draws a stable running trajectory. Therefore, driving of the connected vehicle is facilitated.
【００３４】請求項２の発明によれば、トラクタの走行
距離の計測を開始するためのトラクタとトレーラとの連
結角が、連結車両が曲り角を走行するときのトラクタと
トレーラとの連結角であるので、曲がり角を曲がるとき
のみ、トレーラの後輪操舵が行われる。よって、運転者
は、特別な操作をすることなく、トラクタとトレーラを
運転することができる。According to the second aspect of the present invention, the connection angle between the tractor and the trailer for starting the measurement of the traveling distance of the tractor is the connection angle between the tractor and the trailer when the connected vehicle travels at the turning angle. Therefore, the rear wheel steering of the trailer is performed only when the vehicle turns a corner. Therefore, the driver can drive the tractor and the trailer without performing a special operation.
【００３５】請求項３の発明によれば、トラクタとトレ
ーラとの連結角が所定角度以上になってからトレーラの
後輪の操舵を開始するまでの所定距離が、トラクタの後
車軸からトレーラの後車軸までの距離と略同じ距離であ
るので、トレーラを効率良く小回りすることができる。According to the third aspect of the present invention, the predetermined distance from when the connecting angle between the tractor and the trailer becomes a predetermined angle or more until the steering of the rear wheels of the trailer is started from the rear axle of the tractor to the rear of the trailer. Since the distance is approximately the same as the distance to the axle, the trailer can be efficiently turned around a small distance.
【００３６】請求項４の発明によれば、トレーラの後輪
が操舵されるときのトレーラの後輪舵角が、現在の連結
角と略同角度であるので、トレーラを効率良く小回りす
ることができる。According to the fourth aspect of the present invention, since the rear wheel steering angle of the trailer when the rear wheels are steered is substantially the same as the current connection angle, the trailer can be efficiently turned in a small circle. it can.
【図１】本発明の一実施例を示す連結車両の概略構成図
である。FIG. 1 is a schematic configuration diagram of a connected vehicle showing an embodiment of the present invention.
【図２】制御手段の入出力を示すブロック図である。FIG. 2 is a block diagram showing input / output of a control unit.
【図３】トレーラの後輪操舵の制御フローチャート図で
ある。FIG. 3 is a control flowchart of the rear wheel steering of the trailer.
【図４】トラクタとトレーラが曲がり角を走行するとき
の概略動作図である。FIG. 4 is a schematic operation diagram when the tractor and the trailer travel at a corner.
【図５】係数Ｋ・Ｈと走行距離Ｈとの関係を示す特性線
図である。FIG. 5 is a characteristic diagram showing a relationship between a coefficient K · H and a traveling distance H.
１ トラクタ ２ トレーラ ３ａ 連結角センサ ６ 後退検出スイッチ ７ 走行距離センサ ８ 後輪操舵スイッチ ９ トラクタの前輪 １０ トラクタの後輪 １１ トレーラの後輪 １２ 操舵装置 １６ 油圧ポンプ １７ 操舵モータ １８ 後輪舵角センサ ２０ コントローラ θｃ 連結角 θｒ 後輪舵角 Ａ 所定角度 Ｌ トレーラ軸間距離 Ｋ トレーラ後輪操舵係数 Ｈ 走行距離 1 tractor 2 trailer 3a connection angle sensor 6 reverse detection switch 7 mileage sensor 8 rear wheel steering switch 9 front wheel of tractor 10 rear wheel of tractor 11 rear wheel of trailer 12 steering device 16 hydraulic pump 17 steering motor 18 rear wheel steering angle sensor 20 Controller θc Connection angle θr Rear wheel steering angle A Predetermined angle L Trailer axis distance K Trailer rear wheel steering coefficient H Travel distance
Claims (4)
を操舵する連結車両の操舵装置において、 上記トラクタと上記トレーラとの連結角を検出する連結
角検出手段と、 上記連結角検出手段により検出される連結角が所定角度
以上になると、上記トラクタの走行距離の計測を開始す
る走行距離計測手段と、 上記走行距離計測手段により計測される走行距離が所定
距離に達したときに、上記トレーラの後輪を、上記トラ
クタの前輪の操舵方向と逆方向に、現在の上記連結角に
比例した角度で操舵する制御手段と、 を備えたことを特徴とする連結車両の操舵装置。1. A steering system for a connected vehicle for steering a rear wheel of a trailer connected to a tractor, comprising: a connection angle detecting means for detecting a connection angle between the tractor and the trailer; and a connection angle detecting means for detecting the connection angle. When the connection angle is equal to or greater than a predetermined angle, the travel distance measuring means for starting the measurement of the travel distance of the tractor, and the travel distance of the trailer when the travel distance measured by the travel distance measuring means reaches a predetermined distance. A steering device for a coupled vehicle, comprising: a control unit that steers the rear wheels in a direction opposite to the steering direction of the front wheels of the tractor at an angle proportional to the current coupling angle.
走行するときの上記トラクタと上記トレーラとの連結角
であることを特徴とする請求項１記載の連結車両の操舵
装置。2. The steering system for a connected vehicle according to claim 1, wherein the predetermined angle is a connected angle between the tractor and the trailer when the connected vehicle travels at a turning angle.
ら上記トレーラの後車軸までの距離と略同じ距離である
ことを特徴とする請求項１または２記載の連結車両の操
舵装置。3. The steering system for a combined vehicle according to claim 1, wherein the predetermined distance is substantially the same as the distance from the rear axle of the tractor to the rear axle of the trailer.
記トレーラの後輪舵角が、現在の上記連結角と略同角度
であることを特徴とする請求項１，２または３記載の連
結車両の操舵装置。4. The rear wheel steering angle of the trailer when the rear wheels of the trailer are steered, is substantially the same as the current connection angle, and the rear wheel steering angle of the trailer is substantially the same. Steering device for connected vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8149457A JP2985774B2 (en) | 1996-06-11 | 1996-06-11 | Steering device for articulated vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8149457A JP2985774B2 (en) | 1996-06-11 | 1996-06-11 | Steering device for articulated vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09328078A true JPH09328078A (en) | 1997-12-22 |
| JP2985774B2 JP2985774B2 (en) | 1999-12-06 |
Family
ID=15475545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8149457A Expired - Fee Related JP2985774B2 (en) | 1996-06-11 | 1996-06-11 | Steering device for articulated vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2985774B2 (en) |
Cited By (40)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001301636A (en) * | 2000-04-19 | 2001-10-31 | Toyo Noki Kk | Wheel steering device for towed work machine |
| WO2013110195A1 (en) * | 2012-01-25 | 2013-08-01 | Prairie Machine & Parts Mfg. (1978) Ltd. | Hitch system for steering vehicle for train |
| US9248858B2 (en) | 2011-04-19 | 2016-02-02 | Ford Global Technologies | Trailer backup assist system |
| US9290203B2 (en) | 2011-04-19 | 2016-03-22 | Ford Global Technologies, Llc | Trailer length estimation in hitch angle applications |
| US9290202B2 (en) | 2011-04-19 | 2016-03-22 | Ford Global Technologies, Llc | System and method of calibrating a trailer backup assist system |
| US9315212B1 (en) | 2014-10-13 | 2016-04-19 | Ford Global Technologies, Llc | Trailer sensor module and associated method of wireless trailer identification and motion estimation |
| US9335163B2 (en) | 2011-04-19 | 2016-05-10 | Ford Global Technologies, Llc | Trailer length estimation in hitch angle applications |
| US9340228B2 (en) | 2014-10-13 | 2016-05-17 | Ford Global Technologies, Llc | Trailer motion and parameter estimation system |
| US9434414B2 (en) | 2011-04-19 | 2016-09-06 | Ford Global Technologies, Llc | System and method for determining a hitch angle offset |
| US9513103B2 (en) | 2011-04-19 | 2016-12-06 | Ford Global Technologies, Llc | Hitch angle sensor assembly |
| US9517668B2 (en) | 2014-07-28 | 2016-12-13 | Ford Global Technologies, Llc | Hitch angle warning system and method |
| US9522699B2 (en) | 2015-02-05 | 2016-12-20 | Ford Global Technologies, Llc | Trailer backup assist system with adaptive steering angle limits |
| US9533683B2 (en) | 2014-12-05 | 2017-01-03 | Ford Global Technologies, Llc | Sensor failure mitigation system and mode management |
| US9566911B2 (en) | 2007-03-21 | 2017-02-14 | Ford Global Technologies, Llc | Vehicle trailer angle detection system and method |
| US9607242B2 (en) | 2015-01-16 | 2017-03-28 | Ford Global Technologies, Llc | Target monitoring system with lens cleaning device |
| US9610975B1 (en) | 2015-12-17 | 2017-04-04 | Ford Global Technologies, Llc | Hitch angle detection for trailer backup assist system |
| US9616923B2 (en) | 2015-03-03 | 2017-04-11 | Ford Global Technologies, Llc | Topographical integration for trailer backup assist system |
| US9683848B2 (en) | 2011-04-19 | 2017-06-20 | Ford Global Technologies, Llc | System for determining hitch angle |
| US9798953B2 (en) | 2015-12-17 | 2017-10-24 | Ford Global Technologies, Llc | Template matching solution for locating trailer hitch point |
| US9796228B2 (en) | 2015-12-17 | 2017-10-24 | Ford Global Technologies, Llc | Hitch angle detection for trailer backup assist system |
| US9804022B2 (en) | 2015-03-24 | 2017-10-31 | Ford Global Technologies, Llc | System and method for hitch angle detection |
| US9827818B2 (en) | 2015-12-17 | 2017-11-28 | Ford Global Technologies, Llc | Multi-stage solution for trailer hitch angle initialization |
| US9836060B2 (en) | 2015-10-28 | 2017-12-05 | Ford Global Technologies, Llc | Trailer backup assist system with target management |
| JP2017218079A (en) * | 2016-06-09 | 2017-12-14 | アイシン精機株式会社 | Steering control device |
| US9934572B2 (en) | 2015-12-17 | 2018-04-03 | Ford Global Technologies, Llc | Drawbar scan solution for locating trailer hitch point |
| US9937953B2 (en) | 2011-04-19 | 2018-04-10 | Ford Global Technologies, Llc | Trailer backup offset determination |
| US9963004B2 (en) | 2014-07-28 | 2018-05-08 | Ford Global Technologies, Llc | Trailer sway warning system and method |
| US10005492B2 (en) | 2016-02-18 | 2018-06-26 | Ford Global Technologies, Llc | Trailer length and hitch angle bias estimation |
| US10011228B2 (en) | 2015-12-17 | 2018-07-03 | Ford Global Technologies, Llc | Hitch angle detection for trailer backup assist system using multiple imaging devices |
| US10017115B2 (en) | 2015-11-11 | 2018-07-10 | Ford Global Technologies, Llc | Trailer monitoring system and method |
| US10046800B2 (en) | 2016-08-10 | 2018-08-14 | Ford Global Technologies, Llc | Trailer wheel targetless trailer angle detection |
| US10106193B2 (en) | 2016-07-01 | 2018-10-23 | Ford Global Technologies, Llc | Enhanced yaw rate trailer angle detection initialization |
| US10155478B2 (en) | 2015-12-17 | 2018-12-18 | Ford Global Technologies, Llc | Centerline method for trailer hitch angle detection |
| US10222804B2 (en) | 2016-10-21 | 2019-03-05 | Ford Global Technologies, Llc | Inertial reference for TBA speed limiting |
| US10384607B2 (en) | 2015-10-19 | 2019-08-20 | Ford Global Technologies, Llc | Trailer backup assist system with hitch angle offset estimation |
| US10611407B2 (en) | 2015-10-19 | 2020-04-07 | Ford Global Technologies, Llc | Speed control for motor vehicles |
| US10710585B2 (en) | 2017-09-01 | 2020-07-14 | Ford Global Technologies, Llc | Trailer backup assist system with predictive hitch angle functionality |
| US10829046B2 (en) | 2019-03-06 | 2020-11-10 | Ford Global Technologies, Llc | Trailer angle detection using end-to-end learning |
| CN112977610A (en) * | 2019-12-16 | 2021-06-18 | 现代自动车株式会社 | Rear wheel steering control method and system for cargo trailer |
| US11077795B2 (en) | 2018-11-26 | 2021-08-03 | Ford Global Technologies, Llc | Trailer angle detection using end-to-end learning |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201513552D0 (en) * | 2015-07-31 | 2015-09-16 | Agco Int Gmbh | Steering system for a wheeled agricultural material applicator machine |
-
1996
- 1996-06-11 JP JP8149457A patent/JP2985774B2/en not_active Expired - Fee Related
Cited By (49)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001301636A (en) * | 2000-04-19 | 2001-10-31 | Toyo Noki Kk | Wheel steering device for towed work machine |
| US9971943B2 (en) | 2007-03-21 | 2018-05-15 | Ford Global Technologies, Llc | Vehicle trailer angle detection system and method |
| US9566911B2 (en) | 2007-03-21 | 2017-02-14 | Ford Global Technologies, Llc | Vehicle trailer angle detection system and method |
| US9335163B2 (en) | 2011-04-19 | 2016-05-10 | Ford Global Technologies, Llc | Trailer length estimation in hitch angle applications |
| US9937953B2 (en) | 2011-04-19 | 2018-04-10 | Ford Global Technologies, Llc | Trailer backup offset determination |
| US9290203B2 (en) | 2011-04-19 | 2016-03-22 | Ford Global Technologies, Llc | Trailer length estimation in hitch angle applications |
| US9290202B2 (en) | 2011-04-19 | 2016-03-22 | Ford Global Technologies, Llc | System and method of calibrating a trailer backup assist system |
| US11267508B2 (en) | 2011-04-19 | 2022-03-08 | Ford Global Technologies, Llc | Trailer backup offset determination |
| US9683848B2 (en) | 2011-04-19 | 2017-06-20 | Ford Global Technologies, Llc | System for determining hitch angle |
| US11760414B2 (en) | 2011-04-19 | 2023-09-19 | Ford Global Technologies, Llp | Trailer backup offset determination |
| US9434414B2 (en) | 2011-04-19 | 2016-09-06 | Ford Global Technologies, Llc | System and method for determining a hitch angle offset |
| US9513103B2 (en) | 2011-04-19 | 2016-12-06 | Ford Global Technologies, Llc | Hitch angle sensor assembly |
| US10471989B2 (en) | 2011-04-19 | 2019-11-12 | Ford Global Technologies, Llc | Trailer backup offset determination |
| US9248858B2 (en) | 2011-04-19 | 2016-02-02 | Ford Global Technologies | Trailer backup assist system |
| US8955865B2 (en) | 2012-01-25 | 2015-02-17 | Prairie Machine & Parts Mfg. (1978) Ltd. | Hitch system for steering vehicle for train |
| WO2013110195A1 (en) * | 2012-01-25 | 2013-08-01 | Prairie Machine & Parts Mfg. (1978) Ltd. | Hitch system for steering vehicle for train |
| US9037322B2 (en) | 2012-01-25 | 2015-05-19 | Prairie Machine & Parts Mfg. (1978) Ltd. | Steering system and method for train vehicle |
| US9517668B2 (en) | 2014-07-28 | 2016-12-13 | Ford Global Technologies, Llc | Hitch angle warning system and method |
| US9963004B2 (en) | 2014-07-28 | 2018-05-08 | Ford Global Technologies, Llc | Trailer sway warning system and method |
| US9315212B1 (en) | 2014-10-13 | 2016-04-19 | Ford Global Technologies, Llc | Trailer sensor module and associated method of wireless trailer identification and motion estimation |
| US9340228B2 (en) | 2014-10-13 | 2016-05-17 | Ford Global Technologies, Llc | Trailer motion and parameter estimation system |
| US9533683B2 (en) | 2014-12-05 | 2017-01-03 | Ford Global Technologies, Llc | Sensor failure mitigation system and mode management |
| US9607242B2 (en) | 2015-01-16 | 2017-03-28 | Ford Global Technologies, Llc | Target monitoring system with lens cleaning device |
| US9522699B2 (en) | 2015-02-05 | 2016-12-20 | Ford Global Technologies, Llc | Trailer backup assist system with adaptive steering angle limits |
| US9616923B2 (en) | 2015-03-03 | 2017-04-11 | Ford Global Technologies, Llc | Topographical integration for trailer backup assist system |
| US9804022B2 (en) | 2015-03-24 | 2017-10-31 | Ford Global Technologies, Llc | System and method for hitch angle detection |
| US11440585B2 (en) | 2015-10-19 | 2022-09-13 | Ford Global Technologies, Llc | Speed control for motor vehicles |
| US10611407B2 (en) | 2015-10-19 | 2020-04-07 | Ford Global Technologies, Llc | Speed control for motor vehicles |
| US10384607B2 (en) | 2015-10-19 | 2019-08-20 | Ford Global Technologies, Llc | Trailer backup assist system with hitch angle offset estimation |
| US9836060B2 (en) | 2015-10-28 | 2017-12-05 | Ford Global Technologies, Llc | Trailer backup assist system with target management |
| US10496101B2 (en) | 2015-10-28 | 2019-12-03 | Ford Global Technologies, Llc | Trailer backup assist system with multi-purpose camera in a side mirror assembly of a vehicle |
| US10017115B2 (en) | 2015-11-11 | 2018-07-10 | Ford Global Technologies, Llc | Trailer monitoring system and method |
| US9796228B2 (en) | 2015-12-17 | 2017-10-24 | Ford Global Technologies, Llc | Hitch angle detection for trailer backup assist system |
| US10011228B2 (en) | 2015-12-17 | 2018-07-03 | Ford Global Technologies, Llc | Hitch angle detection for trailer backup assist system using multiple imaging devices |
| US9610975B1 (en) | 2015-12-17 | 2017-04-04 | Ford Global Technologies, Llc | Hitch angle detection for trailer backup assist system |
| US10155478B2 (en) | 2015-12-17 | 2018-12-18 | Ford Global Technologies, Llc | Centerline method for trailer hitch angle detection |
| US9798953B2 (en) | 2015-12-17 | 2017-10-24 | Ford Global Technologies, Llc | Template matching solution for locating trailer hitch point |
| US9934572B2 (en) | 2015-12-17 | 2018-04-03 | Ford Global Technologies, Llc | Drawbar scan solution for locating trailer hitch point |
| US9827818B2 (en) | 2015-12-17 | 2017-11-28 | Ford Global Technologies, Llc | Multi-stage solution for trailer hitch angle initialization |
| US10005492B2 (en) | 2016-02-18 | 2018-06-26 | Ford Global Technologies, Llc | Trailer length and hitch angle bias estimation |
| JP2017218079A (en) * | 2016-06-09 | 2017-12-14 | アイシン精機株式会社 | Steering control device |
| US10106193B2 (en) | 2016-07-01 | 2018-10-23 | Ford Global Technologies, Llc | Enhanced yaw rate trailer angle detection initialization |
| US10807639B2 (en) | 2016-08-10 | 2020-10-20 | Ford Global Technologies, Llc | Trailer wheel targetless trailer angle detection |
| US10046800B2 (en) | 2016-08-10 | 2018-08-14 | Ford Global Technologies, Llc | Trailer wheel targetless trailer angle detection |
| US10222804B2 (en) | 2016-10-21 | 2019-03-05 | Ford Global Technologies, Llc | Inertial reference for TBA speed limiting |
| US10710585B2 (en) | 2017-09-01 | 2020-07-14 | Ford Global Technologies, Llc | Trailer backup assist system with predictive hitch angle functionality |
| US11077795B2 (en) | 2018-11-26 | 2021-08-03 | Ford Global Technologies, Llc | Trailer angle detection using end-to-end learning |
| US10829046B2 (en) | 2019-03-06 | 2020-11-10 | Ford Global Technologies, Llc | Trailer angle detection using end-to-end learning |
| CN112977610A (en) * | 2019-12-16 | 2021-06-18 | 现代自动车株式会社 | Rear wheel steering control method and system for cargo trailer |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2985774B2 (en) | 1999-12-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2985774B2 (en) | Steering device for articulated vehicles | |
| US7487020B2 (en) | Driving assist apparatus and method for vehicle | |
| US7154385B2 (en) | Vehicle-trailer backing up system using active front steer | |
| US8489283B2 (en) | Parallel parking assistant system and method thereof | |
| US8056667B2 (en) | Autonomous parking strategy based on available parking space | |
| JPH11124051A (en) | Steering device for trailer | |
| JPH1178936A (en) | Automatic steering device for vehicle | |
| JP3466549B2 (en) | Parallel parking assist device | |
| JPH10287260A (en) | Automatic steering device for vehicle | |
| JPH09156526A (en) | Steering control device for vehicle | |
| US6186259B1 (en) | Automatic steering device for vehicles | |
| WO2022270322A1 (en) | Backward movement control device for articulated vehicle, computer-readable medium storing backward movement control program for articulated vehicle, and backward movement control method for articulated vehicle | |
| JP5855555B2 (en) | Parking assistance device | |
| US6564131B2 (en) | Four-wheel steering algorithm with functional and diagnostic states and modes | |
| JP2893972B2 (en) | Garage control system for four-wheel steering vehicles | |
| JP3828655B2 (en) | Automatic vehicle steering system | |
| JP4754088B2 (en) | Front and rear wheel steering car | |
| JP2004058829A (en) | Steering device of vehicle towing trailer | |
| JP4110937B2 (en) | Parking assistance device | |
| JP4608803B2 (en) | Parking method, parking assist device, visibility display device, and steering device | |
| CN117657117A (en) | Semi-trailer traction vehicle parking method and system | |
| JPH11240461A (en) | Steering system for trailer | |
| JP2956012B1 (en) | Self-driving articulated vehicle | |
| JP2000128006A (en) | Vehicle contact avoidance device | |
| JP2515731Y2 (en) | Steerable trailer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19990831 |
|
| S531 | Written request for registration of change of domicile |
Free format text: JAPANESE INTERMEDIATE CODE: R313531 |
|
| R371 | Transfer withdrawn |
Free format text: JAPANESE INTERMEDIATE CODE: R371 |
|
| S531 | Written request for registration of change of domicile |
Free format text: JAPANESE INTERMEDIATE CODE: R313531 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| LAPS | Cancellation because of no payment of annual fees |