| CPC B60W 30/18009 (2013.01) [B60W 2420/403 (2013.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2520/22 (2013.01); B60W 2520/28 (2013.01); B60W 2520/30 (2013.01)] | 9 Claims |
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1. A towing vehicle control device, comprising:
a memory; and
at least one processor coupled to the memory, the processor being configured to:
compute a target vehicle body speed and a target curvature of a towing vehicle from a target vehicle body speed and a target curvature of a towed vehicle, the towed vehicle configured to travel together with the towing vehicle in a state in which the towed vehicle is coupled to the towing vehicle, which is provided with motive power, via a connection part comprising a universal coupling,
compute a target articulation angle, which is a target value of an articulation angle, the articulation angle being an angle formed between a travel direction of the towing vehicle and a travel direction of the towed vehicle, based on the target curvature of the towed vehicle,
detect a wheel speed of each wheel of the towing vehicle and detect the articulation angle,
generate a control signal for the motive power of the towing vehicle based on the target vehicle body speed of the towing vehicle, the target curvature of the towing vehicle, and the target articulation angle, the control signal including information regarding a required speed of each wheel of the towing vehicle and information regarding a required torque of each wheel of the towing vehicle, computed based on a result of feedback control to eliminate deviation between the detected wheel speed and a target wheel speed of the towing vehicle computed from the target vehicle body speed of the towing vehicle and the target curvature of the towing vehicle, and a result of feedback control to eliminate deviation between the detected articulation angle and the target articulation angle, and
control the motive power of the towing vehicle in accordance with the control signal.
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