JPH11240462A - Trailer control - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To enable a steering which is not much different from a normal one both in forward and backward turning when traveling with a trailer connected to a self-propelled vehicle. SOLUTION: A spring device 13 with a built-in damper constantly resiliently urges a connecting portion between a vehicle 2 and a trailer 1 in a direction in which a connecting angle becomes 0 degree with respect to a swing in a horizontal direction.
When the turning motion of the tractor vehicle 2 is detected, the actuator 5 controls the turning angles of the trailer wheels 4L and 4R so as to match the trajectory of the turning motion of the tractor vehicle. As a result, the vehicle can be easily steered without requiring advanced skill steering for instability of the connection angle at the time of reverse turning, and it is possible to prevent the trailer from being caught by the inner wheel difference at the time of forward turning. In addition, since the trailer wheels are steered without increasing the connection angle, small turning performance can be ensured, and there is no need to increase the distance between the tractor vehicle and the trailer. it can.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trailer control device connected to a rear portion of a self-propelled vehicle and towed.

[0002]

2. Description of the Related Art In general, when a hitch is provided at a rear portion of a self-propelled vehicle for general use such as a van or a pickup truck, a camping cabin, a motorboat carrier, or the like is connected as a trailer and towed. However, when towing such a trailer, it is known that driving in reverse is particularly difficult.

[0003] When the connected vehicle moves backward, the tractor vehicle pushes the pivot point of the hitch, which is in front of the trailer wheel. Therefore, when the vehicle is steered as usual, the trailer wheel becomes a resistance. This may cause a so-called jackknife phenomenon in which the vehicle and the trailer bend in a V-shape around the hitch, and if this occurs, the vehicle will not be able to reverse.

[0004]

Therefore, in order to reverse in a state where the trailer is connected, irregular steering different from usual is forced, and not only does the driver feel discomfort, but also
There is a problem that it takes a high degree of skill to make a trailer follow a desired trajectory.

[0005] In addition, even when the vehicle is moving forward, there is a problem that the connection angle generates an inner wheel difference and the trailer gets into the inside of the trajectory of the tractor vehicle, causing a entanglement, making it difficult to drive at the time of turning.

Further, in order to make a large connection angle to secure a small turning property, in the conventional traction structure, a large space is provided between the tractor vehicle and the trailer, so that the external appearance is not improved. It was difficult to improve.

[0007]

Means for Solving the Problems To solve such a problem, when traveling with a trailer connected to a self-propelled vehicle, the steering which is not much different from the normal one in both forward and backward turning can be achieved as desired. SUMMARY OF THE INVENTION In order to provide an improved trailer maneuvering device capable of following a trajectory, the present invention provides a method for maneuvering a trailer connected to the rear of a self-propelled vehicle and towed. A vehicle turning detecting means for detecting turning motion of the vehicle; a trailer wheel turning means for turning left and right trailer wheels of the trailer; and a connecting angle of 0 in the turning motion of the vehicle. Turning control means for controlling the trailer wheels at a predetermined turning angle so as to match the trajectory of the trailer wheels in degrees; The connecting angle was assumed to have a resiliently urging coupling means for urging in a direction to 0 ° while permitting changes in the angle.

[0008] By doing so, the trailer wheels are controlled at a predetermined turning angle so that the trailer travels on a trajectory having a connection angle of 0 degree in the turning motion of the vehicle serving as a tractor. Can perform aggressive turning movements in accordance with the turning movement of the vehicle, and the force that bends the front and rear center axes of the vehicle and trailer does not act on the pivot point of the hitch. This allows the trailer to follow a smooth trajectory, gives the same feeling as a long vehicle, and does not cause any discomfort in the behavior of the vehicle and the trailer when turning. At this time, the connection angle is urged by the resiliently urged connecting means so that the connection angle is set to 0 degree, so that the connection angle can be maintained at 0 degree even when the running of the trailer is disturbed by disturbance. Further, by providing a stopper that regulates the upper limit of the change in the connection angle, contact between the vehicle and the trailer can be avoided.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to specific examples shown in the accompanying drawings.

FIG. 1 shows an embodiment of a trailer control device to which the present invention is applied. As is well known, the trailer 1 is connected to a hitch 3 fixed to a rear portion of a vehicle 2 as a self-propelled tractor. Each of the left and right wheels 4L, 4R of the trailer 1 has a respective wheel 4L, 4R.
An electric or hydraulic linear drive actuator 5 and a turning device 6 driven by the actuator 5 are connected as a trailer wheel turning means for turning R. Further, the trailer 1 is provided with an electronic control unit 7 for giving a control signal to the actuator 5 as a turning control means.

The tractor vehicle 2 may be an unspecified general automobile, but is provided with a steering angle sensor 8 for detecting a steering angle of a steering and a shift sensor 9 for detecting a shift position. And the steering angle θs can be given to the electronic control unit 7. From these signals, it is possible to detect the forward / backward and turning state of the vehicle.

The wheels 4L and 4R of the trailer 1 can be converted from the operation amount of the actuator 5 described above.
Is also input to the electronic control unit 7 in the same manner. The power supply to the control unit 7 may be performed from a battery mounted on the tractor vehicle 2,
Another battery may be mounted on the trailer 1, and the operation may be performed thereafter.

FIG. 2 is a plan view showing the trailer 1 and the neutral position resilient biasing means to which the present invention is applied. As shown in FIG. 2, a fixed connection bar 1 forming a part of the trailer 1 is mounted on a pair of left and right frames 2 a provided at a rear portion of the vehicle 2.
a is bolted through, for example, U-shaped brackets respectively provided on the left and right sides. A vehicle-side lateral bar 11 extending in parallel with the fixed connection bar 1a is fixedly mounted via a bracket. A hitch 3 is provided at the center of the vehicle-side lateral bar 11, and the hitch 3 The movable frame 1b of the trailer 1 is connected.

A hitch 3 is provided at an intermediate portion of the movable frame 1b.
As shown in the figure, a trailer side bar 12 parallel to the vehicle side bar 11 is fixedly mounted at a connection angle of 0 degree. A pair of left and right spring devices 13 with built-in dampers are provided between the two horizontal bars 11 and 12 as a neutral position resilient urging means, and their axes are aligned with the axes of the vehicle 2 and the trailer 1 at a connection angle of 0 degree (center line in the front-rear direction). Are arranged so as to connect the left and right ends of the two horizontal bars 11 and 12 respectively.

In the connection structure of the spring device 13 with a built-in damper to each of the horizontal bars 11 and 12, the spring device 13 is clevis-coupled so as to be rotatable in a direction allowing the lateral swing of the trailer 1 with respect to the vehicle 2. In addition, in the connection structure to the vehicle-side lateral bar 11, the end of the vehicle-side lateral bar 11 in the axial direction is so set that there is no problem even if the trailer 1 moves up and down relative to the vehicle 2. A pivot portion 11a is formed at the center portion, and the pivot portion 11a is rotatably connected also around the axis of the pivot portion 11a. In addition, as shown in FIG. 3, the hitch 3 and the two pivots 11 a are arranged coaxially with each other, whereby vertical movement of the trailer 1 with respect to the vehicle 2 is allowed.

An example of the structure of the spring device 13 with a built-in damper will be described below with reference to FIG. In the one shown in FIG. 4, the cylinder 1 connected to the vehicle 2 side
3a and a rod 13b integrated with the cylinder 13a to reciprocate in the axial direction and connected to the trailer 1 side.
And a compression coil spring 13c coaxially interposed between the cylinder 13a and the rod 13b. Further, oil is sealed in the cylinder 13a, so that the present device also functions as a damper, and the rod protruding / retracting end face of the cylinder 13a is provided on the connecting side of the rod 13b in order to regulate a compression stroke. An elastic stopper 13d which can be abutted is attached.

As described above, the connecting portion between the vehicle 2 and the trailer 1 is provided with the damper built-in spring device 13 that resiliently urges the connecting angle to 0 degree with respect to the swing in the left-right direction. Since the resilient urging force of the compression-side spring device 13 with built-in damper can increase as the connection angle increases, the connection angle can always be modified to be kept at 0 degree. In addition, by pre-loading the compression coil spring 13c with a certain initial load force, a force for setting the connection angle to 0 degree can be suitably exerted.

Next, the operation of the electronic control unit 7 for operating the connected vehicle according to the present invention will be described with reference to the flowchart of FIG. In the first step ST1, the signal of the steering angle θs is read and confirmed, and in the second step ST2
Then, the signal of the wheel turning angle θt of the trailer 1 is read and confirmed, and in the third step ST3, modeling of the circular motion of the connected vehicle is confirmed. As this modeling, a wheel turning angle of the trailer 1 for setting the connection angle θj to 0 degree with respect to the front wheel turning angle determined from the steering angle θs of the tractor vehicle 2 is set in advance.

In the next fourth step ST4, a target turning angle θo as a target value of the turning angle is estimated based on the modeling, and in a fifth step ST5, the actuator 5 is driven and controlled to model the trailer wheels 4L and 4R. Then, the process proceeds to a sixth step ST6. The sixth
In step ST6, it is determined whether or not the trailer wheel turning angle θt has reached the target turning angle θo. If they do not match, the process returns to the first step ST1 and repeats the steps from the first step ST1 to the fifth step ST5. If they match, the control cycle ends.

In this manner, the steering of the trailer wheels 4L and 4R is controlled, and the trailer 1 is caused to travel in accordance with the trajectory of the tractor vehicle 2 while keeping the connection angle at 0 degree as described above. Can be. Although the above control flow does not show the confirmation of the traveling state, for example, forward / reverse may be determined by the shift position SP signal, or the presence or absence of traveling may be determined by the vehicle speed signal.

Since the connection angle is 0 degrees, this is the same as when a long vehicle is driven, and there is no special feeling of strangeness in the steering feeling. Further, according to the present invention, since the trailer wheels 4L and 4R corresponding to the rear wheels are steered so as to follow the trajectory of the tractor vehicle, the circumference of the same radius R when turning as shown in FIG. It is possible to run on the upper part, there is no difference in the inner race when a connection angle occurs at the time of forward turning, and the forward turning can be easily performed without paying excessive attention to the winding by the trailer 1 Can be.

This is the same not only at the time of forward traveling but also at the time of reverse traveling. Since the vehicle can turn while keeping the coupling angle at 0 degree as much as possible, a so-called jackknife phenomenon does not occur, and the reverse traveling in the conventional coupled vehicle is performed. Since the vehicle can be steered with the skill required to perform reverse turning on a long vehicle without requiring advanced skilled steering at the time of turning, the reverse turning on the coupled vehicle can be performed extremely easily.

In addition, since a small turning property can be secured without generating a large connection angle between the tractor vehicle 2 and the trailer 1 during turning, it is possible to avoid interference between the two body end faces when bending. Since it is not necessary to secure the space, the distance between both body end faces can be reduced as much as possible, and a sense of unity in appearance can be obtained.

The structure of the neutral position resilient urging means according to the present invention is not limited to the above-described one, and various forms using a spring or the like are possible. Is shown below with reference to FIG. FIG. 7
In the following description, the same parts as those in the above embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

7, a swing link 14a is provided at the front end of the trailer 1 and away from the trailer axis. One end of the swing link 14a is connected to a free end of a tilt link 14b connected to a fixed connection bar 1a connected to the rear of the vehicle 2, and the other end of the swing link 14b is connected to a movable frame of the trailer 1. 1b
A front end of a rod 14c, which is provided at an intermediate portion of the rod 14c so as to be able to reciprocate in the trailer axis direction, is connected to a damper 15 coupled to the movable frame 1b.

As shown in FIG. 8, the rod 14c is provided through an elastic stopper 17 attached to the intermediate cross bar 16 of the movable frame 1b, and is opposed to the elastic stopper 17 so as to sandwich the elastic stopper 17. A pair of compression coil springs 18 are provided so as to be resiliently held at a predetermined position (neutral position). The rod 14
In a portion corresponding to each compression coil spring 18 of c, a collar member 19 for restricting the displacement of the rod 14c by alternately abutting against the elastic stopper 17 when each compression coil spring 18 is alternately compressed and deformed. Is provided.

Also in this embodiment, the pivot 20 and the hitch 3 provided at the connecting portion of the fixed connection bar 1a with the swing link 14b are coaxially arranged as in the above-described embodiment. In cooperation with the clevis connection at the vehicle connection portion of the dynamic link 14b, the trailer 1 is allowed to swing left and right and up and down.

In the neutral position resilient urging means constructed as described above, when the vehicle turns to the left in the lower left direction in FIG. 7, the connecting portion of the oscillating link 14a with the tilting link 14b points to the arrow in the drawing. A, the connecting portion side of the swing link 14a with the rod 14c is displaced in the direction shown by the arrow B in the drawing, so that the rear side of the trailer 1 of the pair of compression coil springs 18 is compressed and deformed. The rod 14c is displaced. Then, the rod 14 is rotated so that the swing link 14a is rotated in the direction opposite to the arrows AB.
Since c is elastically urged, the connection angle between the vehicle 2 and the trailer 1 can be naturally returned to 0 degrees as described above. Then, the turning motion can be performed in a state where the connection angle is kept at 0 degree as much as possible, and the same effect as described above can be obtained. However, in the illustrated example, it is necessary to reduce the number of the rods 14c to one. And reduce the cost of parts.
Installation man-hours can be simplified.

[0029]

As described above, according to the present invention, since the turning is performed with the connecting angle between the tractor vehicle and the trailer as 0 ° as much as possible, a highly skilled steering for the instability of the connecting angle at the time of reverse turning is provided. The steering can be easily performed without the necessity, and it is possible to prevent the trailer from getting caught in the trailer due to a difference in the inner wheel during forward turning. In addition, since the trailer wheels are steered, it is possible to secure small turning without generating a large connection angle, and it is not necessary to make the distance between the tractor vehicle and the trailer large. Can give a sense of unity, resulting in a design advantage. Furthermore, by using the mechanical neutral position resilient urging means, the control can be achieved without performing complicated control, and the apparatus can be suitably reduced in cost.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory view of a trailer control device to which the present invention is applied.

FIG. 2 is a plan view showing a trailer and a neutral position resilient urging unit to which the present invention is applied.

FIG. 3 is an essential part arrow view taken along the line II-II in FIG. 2;

FIG. 4 is an enlarged view of a spring device with a built-in damper.

FIG. 5 is a control flow diagram based on the present invention.

FIG. 6 is a schematic explanatory view showing a state at the time of turning.

FIG. 7 is a main part enlarged plan view showing another embodiment of the neutral position resilient urging means.

FIG. 8 is an enlarged view of a main part of FIG. 7;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Trailer, 1a Fixed connection bar, 1b Movable frame 2 Vehicle, 2a Frame 3 Hitch 4L, 4R Wheel 5 Actuator 6 Steering device 7 Electronic control unit 8 Steering angle sensor 9 Shift sensor 11 Vehicle side bar, 11a Axis part 12 Trailer Side horizontal bar 13 Spring device with built-in damper, 13a cylinder,
13b Rod 13c Compression coil spring, 13d Elastic stopper 14a Swing link, 14b Tilting link, 14c rod 15 Damper 16 Intermediate crossbar 17 Elastic stopper 18 Compression coil spring 19 Color member 20 Pivot

Claims (2)

[Claims] 1. A steering device for a trailer which is connected to and pulled from a rear portion of a self-propelled vehicle, comprising: vehicle turning detecting means for detecting turning motion of the vehicle; and turning left and right trailer wheels of the trailer. Trailer wheel turning means for steering, and turning control for controlling the trailer wheel at a predetermined turning angle so as to match the trail of the trailer wheel which makes the connection angle 0 degree in the turning motion of the vehicle. Means, and a resilient biasing connection means provided between the vehicle and the trailer and allowing a change in the connection angle and biasing the connection angle to 0 degree. Trailer piloting device. 2. The trailer control device according to claim 1, wherein the resilient biasing connection means has a stopper for regulating an upper limit of a change in the connection angle.