JPH0456580U - - Google Patents

Info

Publication number
JPH0456580U
JPH0456580U JP9974190U JP9974190U JPH0456580U JP H0456580 U JPH0456580 U JP H0456580U JP 9974190 U JP9974190 U JP 9974190U JP 9974190 U JP9974190 U JP 9974190U JP H0456580 U JPH0456580 U JP H0456580U
Authority
JP
Japan
Prior art keywords
steering angle
trailer
detection means
detecting
wheels
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.)
Granted
Application number
JP9974190U
Other languages
Japanese (ja)
Other versions
JP2515731Y2 (en
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP1990099741U priority Critical patent/JP2515731Y2/en
Priority to US07/764,304 priority patent/US5289892A/en
Priority to EP91116330A priority patent/EP0484668B1/en
Priority to DE69105460T priority patent/DE69105460T2/en
Publication of JPH0456580U publication Critical patent/JPH0456580U/ja
Priority to US08/073,500 priority patent/US5329451A/en
Application granted granted Critical
Publication of JP2515731Y2 publication Critical patent/JP2515731Y2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Description

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本考案の一実施例を示す全体構成図、
第２図は制御ブロツク図、第３図は制御フローチ
ヤート図、第４図は単位距離を説明する図面、第
５図は計算の態様を説明する図面である。 Ｔ……トラクタ、Ｒ……トレーラ、３……前輪
舵角センサ、５……後輪油圧シリンダ、７……後
輪舵角センサ、１０……連結角センサ、１２……
トレーラ輪油圧シリンダ、１６……トレーラ輪舵
角センサ、２０……コントローラ。 FIG. 1 is an overall configuration diagram showing an embodiment of the present invention;
FIG. 2 is a control block diagram, FIG. 3 is a control flowchart, FIG. 4 is a diagram explaining unit distance, and FIG. 5 is a diagram explaining a mode of calculation. T... Tractor, R... Trailer, 3... Front wheel steering angle sensor, 5... Rear wheel hydraulic cylinder, 7... Rear wheel steering angle sensor, 10... Connection angle sensor, 12...
Trailer wheel hydraulic cylinder, 16... Trailer wheel steering angle sensor, 20... Controller.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 前輪の舵角を検出する前輪舵角検出手段、連結
角を検出する連結角検出手段、後輪の舵角を検出
する後輪舵角検出手段、トレーラ輪の舵角を検出
するトレーラ輪舵角検出手段、後輪を操舵するア
クチユエータ及びトレーラ輪を操舵するアクチユ
エータを備え、前記各検出手段からの信号に基づ
きトラクタ前端の任意の地点での進行方向を演算
し記憶すると共に、連結点及びトレーラ後端が前
記任意の地点に到達したときに該連結点及びトレ
ーラ後端の進行方向が前記の記憶された進行方向
と一致するように前記各アクチユエータに出力信
号を出力する制御手段とを設けたことを特徴とす
るステアブルトレーラ。 Front wheel steering angle detection means for detecting the steering angle of the front wheels, coupling angle detection means for detecting the coupling angle, rear wheel steering angle detection means for detecting the steering angle of the rear wheels, and trailer wheel steering angle for detecting the steering angle of the trailer wheels. It is equipped with a detection means, an actuator that steers the rear wheels, and an actuator that steers the trailer wheels, and calculates and stores the traveling direction at any point on the front end of the tractor based on the signals from each of the detection means, and also calculates and stores the traveling direction at any point on the front end of the tractor, and control means for outputting an output signal to each of the actuators so that the traveling direction of the connecting point and the rear end of the trailer coincides with the stored traveling direction when the end reaches the arbitrary point. A steerable trailer featuring:
JP1990099741U 1990-09-26 1990-09-26 Steerable trailer Expired - Lifetime JP2515731Y2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP1990099741U JP2515731Y2 (en) 1990-09-26 1990-09-26 Steerable trailer
US07/764,304 US5289892A (en) 1990-09-26 1991-09-24 Steerable trailer and steering apparatus of combination vehicle
EP91116330A EP0484668B1 (en) 1990-09-26 1991-09-25 Steerable trailer and steering apparatus of combination vehicle
DE69105460T DE69105460T2 (en) 1990-09-26 1991-09-25 Trailer with steerable wheels and steering device for a tractor-trailer combination.
US08/073,500 US5329451A (en) 1990-09-26 1993-06-09 Steerable trailer and steering apparatus of combination vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1990099741U JP2515731Y2 (en) 1990-09-26 1990-09-26 Steerable trailer

Publications (2)

Publication Number Publication Date
JPH0456580U true JPH0456580U (en) 1992-05-14
JP2515731Y2 JP2515731Y2 (en) 1996-10-30

Family

ID=31841874

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1990099741U Expired - Lifetime JP2515731Y2 (en) 1990-09-26 1990-09-26 Steerable trailer

Country Status (1)

Country Link
JP (1) JP2515731Y2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018514431A (en) * 2015-03-04 2018-06-07 鄭州机械研究所有限公司 Automobile, one-wheel / two-wheel trackless train and corresponding tracking steering control method
JP2019513625A (en) * 2016-04-12 2019-05-30 サウスウエスト ジャオトン ユニバーシティーSouthwest Jiaotong University Steering control apparatus for trackless train and control method therefor
WO2020095788A1 (en) * 2018-11-07 2020-05-14 日立オートモティブシステムズ株式会社 Steering control device, steering control method and steering control system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56163968A (en) * 1980-05-19 1981-12-16 Hino Motors Ltd Automatic followup steering device for trailer
JPS61148763U (en) * 1985-03-08 1986-09-13

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56163968A (en) * 1980-05-19 1981-12-16 Hino Motors Ltd Automatic followup steering device for trailer
JPS61148763U (en) * 1985-03-08 1986-09-13

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018514431A (en) * 2015-03-04 2018-06-07 鄭州机械研究所有限公司 Automobile, one-wheel / two-wheel trackless train and corresponding tracking steering control method
JP2019513625A (en) * 2016-04-12 2019-05-30 サウスウエスト ジャオトン ユニバーシティーSouthwest Jiaotong University Steering control apparatus for trackless train and control method therefor
WO2020095788A1 (en) * 2018-11-07 2020-05-14 日立オートモティブシステムズ株式会社 Steering control device, steering control method and steering control system
JPWO2020095788A1 (en) * 2018-11-07 2021-09-30 日立Astemo株式会社 Steering control device, steering control method, and steering control system

Also Published As

Publication number Publication date
JP2515731Y2 (en) 1996-10-30

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