JPH10157652A - Maneuvering device for trailer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a trailer and a tractor to display substantially integral turning behavior by arranging a driving means in a wheel of the trailer and arranging a turning locus controlling means for giving a turning locus complying with a steering angle of a steering wheel when a vehicle towing the trailer is moved backward. SOLUTION: When varied kinds of signals from a tractor vehicle 2 are inputted to an electronic control unit 7, a retraction time of the tractor vehicle 2 is detected from a shift position signal SP and a brake fluid pressure signal BRK, and on the basis of a vehicle speed signal V or a throttle opening signal γth, rotational speeds of left and right wheels 4L, 4R are decided. In addition, a rotational speed deference between the left and right wheels 4L, 4R for follow-up to a locus to be found is computed, and motors 5L, 5R for the left and right wheels 4L, 4R are controlled so that one wheel in a trailer 1 generates that difference. In this way, desirable locus can be followed with usual maneuvering even when a trailer is connected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trailer control device connected to a rear portion of a self-propelled vehicle and towed.

[0002]

When a hitch is provided at the rear of a vehicle to be used for a general purpose such as a van or a pickup truck, and a camping cabin, a motorboat carrier, or the like is towed as a trailer, the operation at the time of retreat is performed. Is known to be particularly difficult. In other words, at the time of retreat, the vehicle as the tractor will push the pivot point of the hitch that is in front of the trailer wheel, so if the vehicle is steered as usual, the trailer wheel will resist and the vehicle and the trailer will This causes a so-called jackknife phenomenon in which the bent portion is bent in a V-shape around the hitch, and the vehicle is in a state where it cannot be retracted. That is, in order to retreat in a state where the trailer is connected, irregular steering different from normal is forced, and a high degree of skill is required to cause the trailer to follow a desired trajectory.

[0003] The present invention has been devised to solve such problems of the prior art, and its main objects are as follows.
It is an object of the present invention to provide an improved trailer control device that can follow a desired trajectory by a steering that is not so different from a normal one in a state where a trailer is connected to a general vehicle.

[0004]

In order to achieve the above object, according to the present invention, a drive means is provided on a wheel of a trailer, and a drive means is provided in accordance with a steering angle of a steered wheel when the vehicle pulling the trailer retreats. A turning trajectory control means for giving the turning trajectory to the trailer is provided. Also, in order to simplify the structure, for example, a driving means such as an electric motor is separately provided on the left and right wheels of the trailer, and the driving force of the left and right wheels of the trailer is individually controlled based on the vehicle speed and the steering angle of the towing vehicle. Controls the trailer trajectory.

As a result, the trailer generates an aggressive reverse driving force, so that the force for bending the longitudinal axis of the vehicle and the longitudinal axis of the trailer does not act on the pivot point of the hitch, and the trailer does not actively move. Since the turning motion is performed, it is possible to cause the trailer to follow a trajectory as desired by retreating by normal steering.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The structure of the present invention will be described below in detail with reference to the embodiments shown in the accompanying drawings.

FIG. 1 shows an embodiment of a trailer constructed according to the present invention. As is known, the trailer 1 is connected to a hitch 3 fixed to a rear portion of a vehicle 2 as a tractor. Motors 5L and 5R for driving the wheels 4L and 4R are provided on the left and right wheels 4L and 4R of the trailer 1, respectively.
The drive torques of the L.5R are individually controlled by providing control signals from the electronic control unit 7 to the individually provided drive current control circuits 6L and 6R.

Although the tractor vehicle 2 is a general vehicle which is not specified, the electronic control unit 7 sends a vehicle speed signal V, a steering angle signal θS, a throttle opening signal θth, a brake fluid pressure signal BRK, a shift position signal SP, and the like to the electronic control unit 7. Can be given. Also, the control unit 7
The power supply to the motors 5L and 5R may be performed from a battery mounted on the vehicle 2 as in the related art, or a separate battery may be mounted on the trailer 1 and then performed.

When various signals from the tractor vehicle 2 are input to the electronic control unit 7, the electronic control unit 7 detects the backward movement of the tractor vehicle 2 from the shift position signal SP and the brake fluid pressure signal BRK, and outputs the electric motor 5L.・ 5R
Start control. At this time, the left and right wheels 4 of the trailer 1 are determined based on the vehicle speed signal V or the throttle opening signal θth.
Determine the rotation speed of L · 4R. Further, based on the steering angle θS of the tractor vehicle 2, the rotational speed difference between the left and right wheels 4L and 4R of the trailer 1 for following the trajectory to be calculated is calculated, and one of the wheels of the trailer 1 generates this difference. Then, the motors 5L and 5R of the left and right wheels 4L and 4R are controlled.

Further, even when the vehicle is moving forward, by controlling the driving force of the two wheels 4L and 4R of the trailer 1 individually, the inner wheel difference can be reduced in accordance with the turning trajectory of the tractor vehicle 2 or the lane change can be achieved. Stability is improved, auxiliary driving force is generated in accordance with the accelerator opening degree θth to improve acceleration at the time of starting, and trailer wheels 4L and 4R according to a brake fluid pressure signal BRK of the tractor vehicle 2. Electric motor 5L
-Stability at the time of stoppage can be secured by electromagnetically braking the 5R.

FIG. 2 shows a second embodiment of the present invention. In this embodiment, a steering device 9 driven by an electric or hydraulic linear drive actuator 8 is provided on the axle of the trailer 1, and a drive device 10 using a motor or a hydraulic motor and a known differential device 11 are provided. Provided. In this case, for example, the steering technology of a four-wheel steering vehicle is applied, and the trailer 1 is adjusted according to the steering angle of the tractor vehicle 2.
The rudder angle may be controlled. The control at the time of starting acceleration or braking may be performed in the same manner as in the first embodiment.

[0012]

As described above, according to the present invention, not only the jack knife phenomenon can be prevented by driving the trailer wheels, but also the turning behavior in which the trailer and the tractor are substantially integrated. Can be controlled. Therefore, even when the vehicle is moving backward, the maneuverability similar to that when the vehicle is moving forward can be obtained, and a great effect can be obtained in resolving the difficulty of the backward driving. In addition, by driving the wheels of the trailer, an assisting effect of starting acceleration can be obtained, and by controlling the trail of the trailer, it is possible to reduce the inner wheel difference at the time of turning and to improve the stability at the time of changing lanes. Therefore, it is effective in reducing a sense of discomfort when the trailer is towed.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment of the present invention.

FIG. 2 is a schematic configuration diagram showing a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Trailer 2 Vehicle 3 Hitch 4L / 4R Wheel 5L / 5R Motor 6L / 6R Drive current control circuit 7 Electronic control unit 8 Linear drive actuator 9 Steering device 10 Drive device 11 Differential device

Claims (2)

[Claims] 1. A steering device for a trailer which is connected to and pulled by a rear part of a self-propelled vehicle, wherein a driving means is provided on wheels of the trailer, and the driving device is provided in accordance with a steering angle of a steered wheel of the vehicle when the vehicle retreats. A trailer control device for providing a turning trail to the trailer. 2. The driving device according to claim 1, wherein driving means are individually provided for left and right wheels of the trailer, and the driving force of the left and right wheels is individually controlled based on a vehicle speed and a steering angle of the vehicle. A trailer control as described.