Vehicle control device and characteristic estimation method
An object of the present invention is to estimate a center-of-gravity position and inertia moment of a trailer and supply the center-of-gravity position and inertia moment for control of an articulated vehicle so as to enable further stabilization of a posture of the articulated vehicle during traveling. A vehicle control device of the present invention is a vehicle control device mounted on a tractor which pulls a trailer, and is provided with: a steering angle control unit that controls a steering angle of wheels of the tractor independently of steering by a driver; and a trailer characteristic estimation unit that estimates a characteristic of the trailer based on a behavior of the tractor during wheel steering by the steering angle control unit.
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.
2. The vehicle control device according to claim 1 , further configured to estimate the characteristic of the trailer from a behavior of the trailer during a turning motion.
3. The vehicle control device according to claim 1 , further configured to estimate the characteristic of the trailer from a behavior of the trailer during a lateral motion.
4. The vehicle control device according to claim 1 , wherein the lateral acceleration generated when the wheels of the tractor are steered by vehicle control device is 0.2 m/s 2 or less.
5. The vehicle control device according to claim 1 , wherein the wheels whose steering angle is controlled by the vehicle control device are rear wheels.
6. The vehicle control device according to claim 1 , further configured to perform steering independent of the steering by the driver during substantially straight traveling.
7. The vehicle control device according to claim 1 , further configured to control a drive system or a power steering motor of the tractor,
wherein the vehicle control device controls the drive system or the power steering motor based on the characteristic estimated by the vehicle control device.
8. A characteristic estimation method for estimating a characteristic of a trailer pulled by a tractor, the characteristic estimation method comprising:
a steering angle control step of controlling, 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;
a yaw detection step of detecting 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
a characteristic estimation step of estimating a characteristic of the trailer based on (i) a behavior of the tractor during wheel steering in the steering angle control step (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.
9. The characteristic estimation method according to claim 8 , wherein in the characteristic estimation step, the characteristic of the trailer is estimated from a behavior of the trailer during a turning motion.
10. The characteristic estimation method according to claim 8 , wherein in the characteristic estimation step, the characteristic of the trailer is estimated from a behavior of the trailer during a lateral motion.
11. The characteristic estimation method according to claim 8 , wherein in the steering angle control step, the lateral acceleration generated during the wheel steering of the tractor is 0.2 m/s 2 or less.
12. The characteristic estimation method according to claim 8 , wherein the wheels whose steering angle is controlled in the steering angle control step are rear wheels.
13. The characteristic estimation method according to claim 8 , wherein the steering angle control step is performed during substantially straight traveling.