Title:
CONTROL DEVICE OF COMBINATION VEHICLE
Document Type and Number:
WIPO Patent Application WO/2023/157631
Kind Code:
A1
Abstract:
A combination vehicle (10) according to the present invention includes a tractor (11) that has steering wheels (11F) and a trailer (12) that is towed by the tractor (11). A control device (42) of the combination vehicle (10) has an estimating unit (42C). The estimating unit (42C) estimates the length of the trailer (12) on the basis of a mathematical expression obtained by solving, with respect to the length of the trailer (12), a simultaneous equation of an equation of motion of hitch angular velocity (β(·)) that is a time rate of change of hitch angle (β) and an equation of motion of virtual steering angular velocity (α2(·)) that is a time rate of change of virtual steering angle (α2) of the trailer, which is a mathematical expression including virtual steering angular velocity (α2(·)) as a parameter.
Inventors:
NITTA NOBUHIRO (JP)
TOKORO HIROTAKA (JP)
TOKORO HIROTAKA (JP)
Application Number:
PCT/JP2023/003004
Publication Date:
August 24, 2023
Filing Date:
January 31, 2023
Export Citation:
Assignee:
JTEKT CORP (JP)
J QUAD DYNAMICS INC (JP)
J QUAD DYNAMICS INC (JP)
International Classes:
B62D13/06
Foreign References:
| US20190322317A1 | 2019-10-24 | |||
| US20160362135A1 | 2016-12-15 | |||
| JP2018176788A | 2018-11-15 |
Attorney, Agent or Firm:
ONDA Makoto et al. (JP)
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