JP7187840B2 - 牽引支援装置 - Google Patents
牽引支援装置 Download PDFInfo
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- JP7187840B2 JP7187840B2 JP2018125310A JP2018125310A JP7187840B2 JP 7187840 B2 JP7187840 B2 JP 7187840B2 JP 2018125310 A JP2018125310 A JP 2018125310A JP 2018125310 A JP2018125310 A JP 2018125310A JP 7187840 B2 JP7187840 B2 JP 7187840B2
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Classifications
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- 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
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- 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
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/28—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/22—Articulation angle, e.g. between tractor and trailer
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
なお、所定距離離れた位置とは、後退走行時の被牽引車両12の旋回が十分に可能な距離だけ、目標領域78から離れた位置である。続いて、牽引支援システム100は、所定速度(例えば、5km/h)以下での後退走行指示を表示装置26や音声出力装置28を介して運転者に対して実行する(S110)。
Claims (6)
- 牽引車両と被牽引車両との連結角度を取得する取得部と、
前記牽引車両と前記被牽引車両のうち少なくとも前記被牽引車両を移動可能な目標領域を設定する設定部と、
前記牽引車両が前記連結角度を変化させながら後退走行する場合の、前記牽引車両と前記被牽引車両とを旋回可能に連結する牽引装置の位置と、前記連結角度の変化と、前記被牽引車両のホイールベースの長さと、に基づき前記被牽引車両の移動進路の遷移を取得する進路取得部と、
前記目標領域の位置と、遷移する前記移動進路とを比較し、遷移する前記移動進路が、前記目標領域に前記被牽引車両を移動させ得る移動進路になったときに、当該移動進路を推奨移動進路とすることを決定する比較部と、
前記推奨移動進路が決定された場合に、前記牽引車両と前記被牽引車両とが後退走行しても前記連結角度が変化しない前記連結角度である維持連結角度を実現する前記牽引車両の第一の舵角を出力する出力部と、
を備える、牽引支援装置。 - 前記出力部は、前記牽引車両の後退走行の開始から、前記被牽引車両を前記目標領域が存在する方向に傾けるように前記連結角度を変化させるための前記牽引車両の舵角を出力し、前記連結角度の変化に基づく前記被牽引車両の前記移動進路が前記推奨移動進路になった場合に、前記第一の舵角を出力する、請求項1に記載の牽引支援装置。
- さらに、前記牽引車両の舵角を仮想的に変化させた場合の前記目標領域に対する前記牽引車両および前記被牽引車両の相対位置の変化と、前記目標領域の奥行き方向と平行な方向に対する前記牽引車両の前後方向の偏向角度および前記被牽引車両の前後方向の偏向角度の変化と、をシミュレーションするシミュレーション部を備え、
前記出力部は、前記被牽引車両が前記第一の舵角での走行で前記目標領域に移動した後に、さらに前記牽引車両が前記目標領域に移動するように後退走行させる場合に、前記シミュレーションの結果を参照して前記目標領域に対する前記被牽引車両の前記偏向角度の増加を抑制しつつ前記連結角度を変化させて前記被牽引車両の前記偏向角度に前記牽引車両の前記偏向角度を近づけて前記被牽引車両と前記牽引車両とが直列状態になるようにする前記牽引車両の第二の舵角を出力する、請求項1または請求項2に記載の牽引支援装置。 - 前記出力部は、前記第二の舵角で前記牽引車両を後退走行させた結果、前記被牽引車両の前記偏向角度に前記牽引車両の前記偏向角度が最接近した状態または一致した状態で、前記維持連結角度を実現するための前記牽引車両の第三の舵角を出力する、請求項3に記載の牽引支援装置。
- 前記出力部が出力する舵角に基づき、前記牽引車両の自動走行を実行する自動走行制御部を備える、請求項1から請求項4のいずれか1項に記載の牽引支援装置。
- 前記出力部が出力する舵角に基づき、前記牽引車両を手動運転で後退走行させるための誘導走行指示を実行する誘導走行指示部を備える、請求項1から請求項4のいずれか1項に記載の牽引支援装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018125310A JP7187840B2 (ja) | 2018-06-29 | 2018-06-29 | 牽引支援装置 |
US16/454,554 US20200001922A1 (en) | 2018-06-29 | 2019-06-27 | Tow support device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018125310A JP7187840B2 (ja) | 2018-06-29 | 2018-06-29 | 牽引支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020001631A JP2020001631A (ja) | 2020-01-09 |
JP7187840B2 true JP7187840B2 (ja) | 2022-12-13 |
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ID=69007885
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Application Number | Title | Priority Date | Filing Date |
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JP2018125310A Active JP7187840B2 (ja) | 2018-06-29 | 2018-06-29 | 牽引支援装置 |
Country Status (2)
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US (1) | US20200001922A1 (ja) |
JP (1) | JP7187840B2 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018222442A1 (de) * | 2018-12-20 | 2020-06-25 | Audi Ag | Verfahren zur Steuerung eines Steer-by-Wire-Lenksystems in einem Kraftfahrzeug und Steer-by-Wire-Lenksystem |
JP2021111852A (ja) | 2020-01-08 | 2021-08-02 | 株式会社リコー | 情報処理装置、情報処理システム、情報処理方法及びプログラム |
US11654965B2 (en) | 2020-06-24 | 2023-05-23 | Robert Bosch Gmbh | Method and system for steering control during reverse vehicle operation for maneuvering of a trailer |
JP7151925B1 (ja) | 2022-04-28 | 2022-10-12 | 株式会社椿本チエイン | 無人搬送車の制御方法、制御装置、及びコンピュータプログラム |
JP2023170854A (ja) * | 2022-05-20 | 2023-12-01 | 株式会社ジェイテクト | 連結車両の制御装置、連結車両の制御方法、および連結車両の制御プログラム |
CN114771655B (zh) * | 2022-06-01 | 2024-04-26 | 北京京深深向科技有限公司 | 自动驾驶中的半挂汽车列车转向方法、装置和电子设备 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003034261A (ja) | 2001-07-24 | 2003-02-04 | Tokyu Car Corp | 連結車両の後退制御装置及びその後退制御方法 |
US20060103511A1 (en) | 2004-11-12 | 2006-05-18 | Lee Yong H | Vehicle-trailer backing up system using active front steer |
US20150134183A1 (en) | 2011-04-19 | 2015-05-14 | Ford Global Technologies, Llc | Intuitive driver interface for trailer backup assist |
JP2016193703A (ja) | 2015-04-02 | 2016-11-17 | 日野自動車株式会社 | 連結車両の後退運転支援装置 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0195981A (ja) * | 1987-10-09 | 1989-04-14 | Iseki & Co Ltd | トレラーの操縦装置 |
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- 2018-06-29 JP JP2018125310A patent/JP7187840B2/ja active Active
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- 2019-06-27 US US16/454,554 patent/US20200001922A1/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003034261A (ja) | 2001-07-24 | 2003-02-04 | Tokyu Car Corp | 連結車両の後退制御装置及びその後退制御方法 |
US20060103511A1 (en) | 2004-11-12 | 2006-05-18 | Lee Yong H | Vehicle-trailer backing up system using active front steer |
US20150134183A1 (en) | 2011-04-19 | 2015-05-14 | Ford Global Technologies, Llc | Intuitive driver interface for trailer backup assist |
JP2016193703A (ja) | 2015-04-02 | 2016-11-17 | 日野自動車株式会社 | 連結車両の後退運転支援装置 |
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US20200001922A1 (en) | 2020-01-02 |
JP2020001631A (ja) | 2020-01-09 |
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