JP7068233B2 - トレーラ - Google Patents
トレーラ Download PDFInfo
- Publication number
- JP7068233B2 JP7068233B2 JP2019113025A JP2019113025A JP7068233B2 JP 7068233 B2 JP7068233 B2 JP 7068233B2 JP 2019113025 A JP2019113025 A JP 2019113025A JP 2019113025 A JP2019113025 A JP 2019113025A JP 7068233 B2 JP7068233 B2 JP 7068233B2
- Authority
- JP
- Japan
- Prior art keywords
- trailer
- towing vehicle
- instruction
- control unit
- follow
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 claims description 34
- 238000000926 separation method Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 description 23
- 238000004891 communication Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/42—Adaptation of control equipment on vehicle for actuation from alternative parts of the vehicle or from alternative vehicles of the same vehicle train
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D59/00—Trailers with driven ground wheels or the like
- B62D59/04—Trailers with driven ground wheels or the like driven from propulsion unit on trailer
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/354—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K2001/001—Arrangement or mounting of electrical propulsion units one motor mounted on a propulsion axle for rotating right and left wheels of this axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
- B60K2001/0444—Arrangement on a trailer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/28—Trailers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/32—Auto pilot mode
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/14—Trucks; Load vehicles, Busses
- B60Y2200/147—Trailers, e.g. full trailers or caravans
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
機械的な連結なく牽引車に対する自動追従走行が可能な電動自走式のトレーラであって、
周囲状況を検知する検知手段と、
前記検知手段の検知結果に基づいて、駐車スペースを認識する認識手段と、
前記トレーラを前記駐車スペースへ移動させる移動制御手段と、
前記駐車スペースに移動する前記トレーラに前記牽引車を追従させる追従指示を、前記牽引車に送信する指示手段と、を備え、
前記指示手段は、
前記トレーラが前記駐車スペースに移動中に、前記牽引車と前記トレーラとの分離条件が成立した場合に、前記追従指示の送信を終了する、
ことを特徴とするトレーラが提供される。
<トレーラ及び牽引車の概要>
図1は本発明の一実施形態に係るトレーラ1及びその牽引車2のブロック図である。図中、Fr、Rr、L及びRは、トレーラ1及び牽引車2の前進走行時における前、後、左、右を示す。トレーラ1は、例えば、キャンピングトレーラであり、ソファー、ベッド、シャワー、トイレ、キッチンなどの生活空間(不図示)を備える一方、運転席或いは乗員による運転機構を備えない車両であり、走行中は無人である。本実施形態のトレーラ1は、前輪10f、後輪10rをそれぞれ二つ備えた四輪車であるが、三輪車であってもよい。
トレーラ1は、機械的な連結なく牽引車2に対する自動追従走行が可能である。例えば、トレーラ1の制御ユニット17は検知ユニット18の検知結果に基づいて、先導する牽引車2を識別し、牽引車2と一定の距離を維持しながら牽引車2に追従する。牽引車2の識別を容易にするため、牽引車2には識別マークが後部に設けられていてもよく、検知ユニット18は識別マークを撮影して認識するためのカメラを含んでいてもよい。また、制御ユニット17と制御ユニット25との車車間通信によって互いのID情報を照合し、牽引関係とすべき車両か否かを相互に認識してもよい。
本実施形態のトレーラ1は、牽引車2と機械的に連結されていないため、牽引車2とは別の駐車スペースに駐車可能である。これにより外出先での駐車場の選択肢が増えて牽引車2の乗員の駐車面での利便性を向上できる。図2~図9を参照してトレーラ1の自動駐車制御の例について説明する。図2~図9は自動駐車制御におけるトレーラ1や牽引車2の挙動を模式的に示した図である。図11はトレーラ1の制御ユニット17と牽引車2の制御ユニット25の処理例を示すフローチャートである。各図を適宜参照する。
第一実施形態では、トレーラ1の自動駐車の際、牽引車2をその運転者の運転操作によってトレーラ1に追従させるようにしたが、牽引車2の追従運転の全部又は一部を自動化してもよい。図14は牽引車2の制御ユニット25の処理例を示しており、図12のS201及びS202に代わる処理例を示している。本実施形態では、牽引車2の操舵を自動化し、前後進は牽引車2の運転者の運転操作による。しかし、前後進も自動化してもよい。
上記実施形態は以下のトレーラを少なくとも開示する。
機械的な連結なく牽引車(2)に対する自動追従走行が可能な電動自走式のトレーラ(1)であって、
周囲状況を検知する検知手段(18)と、
前記検知手段の検知結果に基づいて、駐車スペースを認識する認識手段(17,S12)と、
前記トレーラを前記駐車スペースへ移動させる移動制御手段(17,S16)と、
前記駐車スペースに移動する前記トレーラに前記牽引車を追従させる追従指示を、前記牽引車に送信する指示手段(17,S102)と、を備える。
この実施形態によれば、トレーラの自動駐車においても牽引状態を維持し、運転者が確認容易で、安全で利便性の高い駐車を可能とする技術を提供することができる。
前記追従指示(5)は、前記牽引車の運転者に対して前記牽引車の前後進操作を促す操作指示を含む。
この実施形態によれば、トレーラの自動駐車に牽引車を追従させる際に、運転者の運転操作を支援することができる。
前記追従指示(5)は、前記牽引車の運転者に対して前記牽引車の操舵を促す操作指示を含む。
この実施形態によれば、トレーラの自動駐車に牽引車を追従させる際に、運転者の運転操作を支援することができる。
前記追従指示は、前記牽引車に対して前記牽引車の自動操舵を指示する制御指示を含む。
この実施形態によれば、トレーラの自動駐車に牽引車を追従させる際に、運転者の操舵操作を不要とし、トレーラの監視を行い易くすることができる。
前記指示手段は、
前記トレーラが前記駐車スペースに移動中に、前記牽引車と前記トレーラとの分離条件が成立した場合に、前記追従指示の送信を終了する(S107-S109)。
この実施形態によれば、自動駐車中のトレーラと牽引車との牽引関係の維持が困難となった場合に、牽引関係を解除してトレーラの自動駐車を継続できる。
前記移動制御手段は、
前記トレーラを前記駐車スペースへ移動した後、前記牽引車から位置調整指示を受信した場合、該位置調整指示に対応して前記トレーラの駐車位置を調整する(S105,S106)。
この実施形態によれば、トレーラの自動駐車完了位置にずれがある場合に、その位置調整を容易化することができる。
Claims (5)
- 機械的な連結なく牽引車に対する自動追従走行が可能な電動自走式のトレーラであって、
周囲状況を検知する検知手段と、
前記検知手段の検知結果に基づいて、駐車スペースを認識する認識手段と、
前記トレーラを前記駐車スペースへ移動させる移動制御手段と、
前記駐車スペースに移動する前記トレーラに前記牽引車を追従させる追従指示を、前記牽引車に送信する指示手段と、を備え、
前記指示手段は、
前記トレーラが前記駐車スペースに移動中に、前記牽引車と前記トレーラとの分離条件が成立した場合に、前記追従指示の送信を終了する、
ことを特徴とするトレーラ。 - 機械的な連結なく牽引車に対する自動追従走行が可能な電動自走式のトレーラであって、
周囲状況を検知する検知手段と、
前記検知手段の検知結果に基づいて、駐車スペースを認識する認識手段と、
前記トレーラを前記駐車スペースへ移動させる移動制御手段と、
前記駐車スペースに移動する前記トレーラに前記牽引車を追従させる追従指示を、前記牽引車に送信する指示手段と、を備え、
前記移動制御手段は、
前記トレーラを前記駐車スペースへ移動した後、前記牽引車から位置調整指示を受信した場合、該位置調整指示に対応して前記トレーラの駐車位置を調整する、
ことを特徴とするトレーラ。 - 請求項1又は2に記載のトレーラであって、
前記追従指示は、前記牽引車の運転者に対して前記牽引車の前後進操作を促す操作指示を含む、
ことを特徴とするトレーラ。 - 請求項1又は2に記載のトレーラであって、
前記追従指示は、前記牽引車の運転者に対して前記牽引車の操舵を促す操作指示を含む、
ことを特徴とするトレーラ。 - 請求項1又は2に記載のトレーラであって、
前記追従指示は、前記牽引車に対して前記牽引車の自動操舵を指示する制御指示を含む、
ことを特徴とするトレーラ。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019113025A JP7068233B2 (ja) | 2019-06-18 | 2019-06-18 | トレーラ |
US16/901,048 US20200398823A1 (en) | 2019-06-18 | 2020-06-15 | Trailer |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019113025A JP7068233B2 (ja) | 2019-06-18 | 2019-06-18 | トレーラ |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2020203620A JP2020203620A (ja) | 2020-12-24 |
JP2020203620A5 JP2020203620A5 (ja) | 2021-05-20 |
JP7068233B2 true JP7068233B2 (ja) | 2022-05-16 |
Family
ID=73836803
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019113025A Active JP7068233B2 (ja) | 2019-06-18 | 2019-06-18 | トレーラ |
Country Status (2)
Country | Link |
---|---|
US (1) | US20200398823A1 (ja) |
JP (1) | JP7068233B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11598881B2 (en) * | 2020-09-01 | 2023-03-07 | Google Llc | GNSS signal modeling |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11945502B2 (en) * | 2021-05-26 | 2024-04-02 | Ford Global Technologies, Llc | Systems and methods for providing steering assistance when parking during electrified vehicle towing events |
US11760355B2 (en) * | 2021-06-14 | 2023-09-19 | Ford Global Technologies, Llc | Assistance by towed vehicle |
US11597383B1 (en) | 2021-11-04 | 2023-03-07 | STEER-Tech, LLC | Methods and systems for parking a vehicle |
US11938929B2 (en) * | 2021-12-15 | 2024-03-26 | Ford Global Technologies, Llc | Obstacle avoidance for vehicle with trailer |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000311299A (ja) | 1999-04-28 | 2000-11-07 | Honda Motor Co Ltd | 自動追従走行システムの隊列形成方法 |
JP2000311300A (ja) | 1999-04-28 | 2000-11-07 | Honda Motor Co Ltd | 自動追従走行システムの遠隔操縦装置 |
WO2019105665A1 (en) | 2017-11-28 | 2019-06-06 | Jaguar Land Rover Limited | Parking assist method and apparatus |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2639942C (en) * | 2008-08-20 | 2015-06-23 | Autonomous Solutions, Inc. | Follower vehicle control system and method for forward and reverse convoy movement |
US9896130B2 (en) * | 2015-09-11 | 2018-02-20 | Ford Global Technologies, Llc | Guidance system for a vehicle reversing a trailer along an intended backing path |
US10068485B2 (en) * | 2016-08-15 | 2018-09-04 | Ford Global Technologies, Llc | Platooning autonomous vehicle navigation sensory exchange |
KR102463740B1 (ko) * | 2016-12-09 | 2022-11-07 | 현대자동차주식회사 | 자율주차보조장치 및 그의 주차 지원 방법 |
GB2568880A (en) * | 2017-11-28 | 2019-06-05 | Jaguar Land Rover Ltd | Parking assist method and apparatus |
US11298993B2 (en) * | 2019-06-14 | 2022-04-12 | GM Global Technology Operations LLC | Detection of trailer detachment from a vehicle |
-
2019
- 2019-06-18 JP JP2019113025A patent/JP7068233B2/ja active Active
-
2020
- 2020-06-15 US US16/901,048 patent/US20200398823A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000311299A (ja) | 1999-04-28 | 2000-11-07 | Honda Motor Co Ltd | 自動追従走行システムの隊列形成方法 |
JP2000311300A (ja) | 1999-04-28 | 2000-11-07 | Honda Motor Co Ltd | 自動追従走行システムの遠隔操縦装置 |
WO2019105665A1 (en) | 2017-11-28 | 2019-06-06 | Jaguar Land Rover Limited | Parking assist method and apparatus |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11598881B2 (en) * | 2020-09-01 | 2023-03-07 | Google Llc | GNSS signal modeling |
Also Published As
Publication number | Publication date |
---|---|
JP2020203620A (ja) | 2020-12-24 |
US20200398823A1 (en) | 2020-12-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7068233B2 (ja) | トレーラ | |
US10449955B2 (en) | Automatic parking system and automatic parking method | |
US11543816B2 (en) | Signaling information on a detected parking space to the operator of a remote control for a parking assistance system which can be controlled by remote control for automatically parking a motor vehicle | |
US9846430B2 (en) | Vehicle control system | |
US9283960B1 (en) | Control of a vehicle to automatically exit a parking space | |
US6564123B2 (en) | Process and device for moving a motor vehicle into a target position | |
JP6536852B2 (ja) | 車両制御装置及び車両制御方法 | |
JP2018077565A (ja) | 車両制御装置 | |
CN109421800B (zh) | 转向辅助装置 | |
US11273822B2 (en) | Parking assist apparatus | |
EP3343437A2 (en) | Automatic parking system and automatic parking method | |
CN112440981A (zh) | 执行自动代客泊车的方法 | |
JP7018048B2 (ja) | 駐車支援システム | |
US11801828B2 (en) | Parking assistance device, parking assistance method, and computer program product | |
US20180061241A1 (en) | Parking exit assist device | |
JP6990687B2 (ja) | 駐車支援システム | |
CN112124096B (zh) | 驻车辅助*** | |
US20190161086A1 (en) | Method and mechanism for assisted performance of a reverse-turning maneuver of a vehicle | |
JP2020203620A5 (ja) | ||
WO2020230301A1 (ja) | 車両の走行制御方法及び走行制御装置 | |
JP7042774B2 (ja) | トレーラ | |
JP2021146835A (ja) | 車両制御装置 | |
JP2021094939A (ja) | 駐車支援システム | |
US20190389262A1 (en) | System and method for positioning a vehicle with reduced variation | |
JP6960979B2 (ja) | 駐車支援システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20210103 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210125 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210329 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210409 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220207 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220404 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220415 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220428 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7068233 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |