US 12,291,263 B2
Vehicle control device and characteristic estimation method
Shinji Seto, Tokyo (JP); Junya Takahashi, Tokyo (JP); Tomoaki Fujibayashi, Hitachinaka (JP); and Hiroshi Nakano, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 17/056,141
Filed by Hitachi Automotive Systems, Ltd., Hitachinaka (JP)
PCT Filed Feb. 21, 2019, PCT No. PCT/JP2019/006462
§ 371(c)(1), (2) Date Nov. 17, 2020,
PCT Pub. No. WO2020/003597, PCT Pub. Date Jan. 2, 2020.
Claims priority of application No. 2018-120416 (JP), filed on Jun. 26, 2018.
Prior Publication US 2021/0214004 A1, Jul. 15, 2021
Int. Cl. B62D 13/00 (2006.01); B62D 5/04 (2006.01); G01M 17/06 (2006.01)
CPC B62D 13/005 (2013.01) [B62D 5/046 (2013.01); G01M 17/06 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A vehicle control device mounted on a tractor which pulls a trailer, the vehicle control device configured to:
control, based on a steering angle command, a steering angle of wheels of the tractor independently of steering by a driver, to control a lateral acceleration sensed by the driver based on the steering angle of the wheels of the tractor;
detect a yaw rate gain or a yaw rate phase due to a time delay from an amplitude of a yaw rate or a lateral acceleration oscillation of the tractor with respect to the steering angle; and
estimate a characteristic of the trailer based on ii) a behavior of the tractor during wheel steering by the vehicle control device (ii) each behavior on a side of the tractor when the wheels are steered at different frequencies and (iii) the yaw rate gain or the yaw rate phase,
wherein the characteristic of the trailer includes at least one of a center of gravity, a moment of inertia, or a mass, and
wherein the steering angle command includes a sine wave such that the steering angle of the wheels is controlled in a shape of the sine wave.