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Title:
DEVICE AND METHOD FOR OPTIMAL LANE KEEPING ASSISTANCE, ARTICULATED VEHICLE, COMPUTER PROGRAM, AND COMPUTER READABLE MEDIUM STORING COMPUTER PROGRAM
Document Type and Number:
WIPO Patent Application WO/2021/029041
Kind Code:
A1
Abstract:
An optimal lane keeping assistance device of an articulated vehicle (100), in which a tractor (200) and a trailer (300) are connected via a fifth wheel coupling (400), includes a first sensor (520,540) which detects a tractor state variable, a second sensor (560) which detects a fifth wheel coupling (400) state variable, and an electric control unit (500) incorporating a microcomputer. The electric control unit (500) calculates a control variable (Uc) according to a target lateral displacement value (Yd), an output signal of the first sensor (520, 540), and an output signal of the second sensor (560), taking into account a feedback gain of an optimal control rule, to calculate a target steering angle (δf) of the tractor (200) according to the calculated control variable (Uc) and the output signal of the first sensor (520,540), and to assist steering of the tractor (200) based on the calculated target steering angle (δf).

Inventors:
YAMAZAKI HIROO (JP)
Application Number:
PCT/JP2019/031958
Publication Date:
February 18, 2021
Filing Date:
August 14, 2019
Export Citation:
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Assignee:
VOLVO TRUCK CORP (SE)
YAMAZAKI HIROO (JP)
International Classes:
B62D12/02; B62D6/00; B62D115/00
Domestic Patent References:
WO2013187825A12013-12-19
Foreign References:
EP2426034A22012-03-07
JP2016155491A2016-09-01
US5579228A1996-11-26
JP2011068248A2011-04-07
Other References:
HIROI, KAZUO, 27 July 2005 (2005-07-27), JAPAN INDUSTRIAL PUBLISHING CO.,LTD, pages 28 - 31, Retrieved from the Internet [retrieved on 20190917]
Attorney, Agent or Firm:
OGAWA, Moriaki et al. (JP)
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