To provide a controller for a combination vehicle, capable of further appropriately estimating the length of a trailer.SOLUTION: A combination vehicle includes a tractor with a steering wheel and a trailer towed by a tractor. A controller for the combination vehicle includes an estimation section 42C. The estimation section 42C estimates a length of the trailer on the basis of a numerical expression including a virtual steering angle speed in a parameter. The numerical expression is obtained by solving a coalition equation of an equation of motion of a hitch angle speed which is a time change rate of a hitch angle β and an equation of motion of a virtual steering angle speed which is a time change rate of a virtual steering angle α2 of the trailer, for determining the length of the trailer.SELECTED DRAWING: Figure 5

    【課題】トレーラの長さを、より適切に推定することができる連結車両の制御装置を提供する。【解決手段】連結車両は、操舵輪を有するトラクタと、トラクタによって牽引されるトレーラとを有する。連結車両の制御装置は、推定部42Cを有する。推定部42Cは、ヒッチ角βの時間変化率であるヒッチ角速度の運動方程式と、トレーラの仮想操舵角α2の時間変化率である仮想操舵角速度の運動方程式との連立方程式を、トレーラの長さについて解くことにより得られる数式であって、パラメータに仮想操舵角速度を含む数式に基づき、トレーラの長さを推定する。【選択図】図5


    Access

    Download


    Export, share and cite



    Title :

    CONTROLLER FOR COMBINATION VEHICLE


    Additional title:

    連結車両の制御装置


    Contributors:

    Publication date :

    2023-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    CONTROLLER FOR COMBINATION VEHICLE

    NITTA NOBUHIRO / TOKORO HIROTAKA | European Patent Office | 2023

    Free access


    VEHICLE CONTROL USING NEURAL NETWORK CONTROLLER IN COMBINATION WITH MODEL-BASED CONTROLLER

    SUPLIN VLADIMIR / SUISSA AVSHALOM | European Patent Office | 2022

    Free access

    Vehicle control using neural network controller in combination with model-based controller

    SUPLIN VLADIMIR / SUISSA AVSHALOM | European Patent Office | 2023

    Free access

    DYNAMICALLY TUNABLE COMBINATION REACTIVE-PROACTIVE CONTROLLER

    GRAVES WILLIAM / GIOVANARDI MARCO / JIANG YU | European Patent Office | 2025

    Free access