The invention relates to a vehicle control apparatus, a control method, and a non-transitory computer-readable storage medium. This vehicle control device is applied to a connected vehicle in which a towed vehicle is connected to a towed vehicle, and is provided with: a braking/driving unit; a braking/driving force detection unit; a mass estimation unit that estimates the mass of the towed vehicle; an angle detection unit that detects a bending angle of a connection portion between the towing vehicle and the towed vehicle; a yaw moment estimation unit that estimates a yaw moment to the traction vehicle when the traction vehicle is braked, using a detection result obtained by the angle detection unit and an estimation result obtained by the mass estimation unit; a calculation unit that calculates a left-right difference in braking force of the traction vehicle so as to suppress the yaw moment estimated by the yaw moment estimation unit; and a control unit for controlling the left and right braking forces of the traction vehicle by using the detection result obtained by the braking/driving force detection unit on the basis of the calculation result of the calculation unit.

    本公开涉及车辆控制装置、控制方法及非暂时性计算机可读存储介质。该车辆控制装置应用于在牵引车辆连结有被牵引车辆的连结车辆,具备:制驱动部;制驱动力检测部;质量推定部,推定所述被牵引车辆的质量;角度检测部,检测所述牵引车辆与所述被牵引车辆的连结部的弯折角度;横摆力矩推定部,使用由所述角度检测部得到的检测结果和由所述质量推定部得到的推定结果来推定在所述牵引车辆制动时对所述牵引车辆的横摆力矩;计算部,以抑制由所述横摆力矩推定部推定出的横摆力矩的方式计算出所述牵引车辆的制动力的左右差;以及控制部,基于所述计算部的计算结果,使用由所述制驱动力检测部得到的检测结果来控制所述牵引车辆的左右制动力。


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    Titel :

    Vehicle control device, control method, and non-transitory computer-readable storage medium


    Weitere Titelangaben:

    车辆控制装置、控制方法及非暂时性计算机可读存储介质


    Beteiligte:
    OISHI KEIGO (Autor:in)

    Erscheinungsdatum :

    19.12.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF




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