US 12,103,616 B2
Steering control device, steering control method, and steering control system
Hiroshi Nakano, Hitachinaka (JP); Tomoaki Fujibayashi, Hitachinaka (JP); and Kazuya Takahashi, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 17/291,892
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Oct. 30, 2019, PCT No. PCT/JP2019/042552
§ 371(c)(1), (2) Date May 6, 2021,
PCT Pub. No. WO2020/095788, PCT Pub. Date May 14, 2020.
Claims priority of application No. 2018-209977 (JP), filed on Nov. 7, 2018.
Prior Publication US 2022/0001921 A1, Jan. 6, 2022
Int. Cl. B62D 6/00 (2006.01); B62D 13/00 (2006.01)
CPC B62D 6/003 (2013.01) [B62D 13/00 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A steering control device for controlling a vehicle towing a trailer, the steering control device that:
receives information on yaw motion of the trailer;
calculates target hitch force required to be generated at a hitch portion, by which the vehicle and the trailer are coupled, to generate a periodical yaw moment having a phase opposite to the yaw motion of the trailer based on the received information on the yaw motion of the trailer;
calculates a front-rear steering distribution ratio based on the calculated target hitch force;
calculates a first steering angle command for controlling a steering angle of front wheels of the vehicle and a second steering angle command for controlling a steering angle of rear wheels of the vehicle based on the calculated target hitch force and front-rear steering distribution ratio;
outputs the first steering angle command to a front wheel steering control unit for controlling the steering angle of the front wheels, and outputs the second steering angle command to a rear wheel steering control unit for controlling the steering angle of the rear wheels; and
adopts the front-rear steering distribution ratio that prioritizes the generation of the target hitch force over maintenance of a traveling direction of the vehicle when the target hitch force exceeds a threshold value, compared to when the target hitch force is equal to or less than the threshold value.