To provide a traction vehicle control apparatus, a traction vehicle control method and a traction vehicle control program which can make a traction object vehicle travel in a proper locus.SOLUTION: A traction vehicle control apparatus comprises: a calculation device which calculates a target vehicle body speed VTx and a target curvature of a traction vehicle 100 from a target vehicle body speed Vtu and a target curvature κref of a traction object vehicle 200 that can travel together with the traction vehicle 100 in a state of being connected to the traction vehicle 100 having the motive power via a connection part 150 being a universal joint, and generates a control signal of the motive power of the traction vehicle 100 on the basis of a target bending angle φref being a target value of a bending angle being an angle formed by the travel direction of the traction vehicle 100 calculated on the basis of the target curvature κref of the traction object vehicle 200 and the travel direction of the traction object vehicle 200, the target vehicle body speed VTx of the traction vehicle 100 and the target curvature of the traction vehicle 100; and a drive control unit which controls the motive power of the traction vehicle 100 according to the control signal.SELECTED DRAWING: Figure 7

    【課題】被牽引車両を適切な軌跡で走行させることが可能な牽引車両制御装置、牽引車両制御方法、及び牽引車両制御プログラムを実現する。【解決手段】動力を備えた牽引車両100に自在接手である連結部150で連結された状態で牽引車両100と共に走行可能な被牽引車両200の目標車体速度Vtu及び目標曲率κrefから牽引車両100の目標車体速度VTx及び目標曲率を算出すると共に、被牽引車両200の目標曲率κrefに基づいて算出した牽引車両100の進行方向と被牽引車両200の進行方向とのなす角である折れ角の目標値である目標折れ角φrefと、牽引車両100の目標車体速度VTxと、牽引車両100の目標曲率と、に基づいて牽引車両100の動力の制御信号を生成する演算装置と、当該制御信号に従って牽引車両100の動力を制御する駆動制御部と、を含む。【選択図】図7


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    Title :

    TRACTION VEHICLE CONTROL APPARATUS, TRACTION VEHICLE CONTROL METHOD AND TRACTION VEHICLE CONTROL PROGRAM


    Additional title:

    牽引車両制御装置、牽引車両制御方法、及び牽引車両制御プログラム


    Contributors:

    Publication date :

    2024-01-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge



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