Control device for combination vehicle, control method for combination vehicle, and control program for combination vehicle

A control method for a combination vehicle including a tractor and a trailer that is towed by the tractor, the control method comprising performing a hitch angle variable acquisition process, a steered angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process, wherein:

• the hitch angle variable acquisition process is a process of acquiring a value of a hitch angle variable;
• the hitch angle variable is a variable indicating a hitch angle that is an angle between a front-rear direction of the tractor and a front-rear direction of the trailer;
• the steered angle variable acquisition process is a process of acquiring a value of a steered angle variable;
• the steered angle variable is a variable indicating a steered angle of the tractor;
• the virtual steering angle variable calculation process is a process of calculating a value of a virtual steering angle variable using the value of the hitch angle variable and the value of the steered angle variable as inputs;
• the virtual steering angle variable is a variable indicating a direction of travel at a connection point between the tractor and the trailer;
• the target virtual steering angle variable acquisition process is a process of acquiring a value of a target virtual steering angle variable;
• the target virtual steering angle variable is a variable indicating a target value of the virtual steering angle variable;
• the feedback process includes a manipulated variable calculation process, a target steered angle variable calculation process, and a manipulation process;
• the manipulated variable calculation process is a process of calculating a manipulated variable for feedback control using the value of the virtual steering angle variable and the value of the target virtual steering angle variable as inputs;
• the target steered angle variable calculation process is a process of converting the manipulated variable to a value of a target steered angle variable according to the value of the hitch angle variable and the value of the steered angle variable;
• the target steered angle variable is a variable indicating a target value of the steered angle;
• and
• the manipulation process is a process of manipulating the steered angle according to the value of the target steered angle variable.

A control program for a combination vehicle including a tractor and a trailer that is towed by the tractor, the control program being configured to cause a computer to perform a hitch angle variable acquisition process, a steered angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process, wherein:

• the hitch angle variable acquisition process is a process of acquiring a value of a hitch angle variable;
• the hitch angle variable is a variable indicating a hitch angle that is an angle between a front-rear direction of the tractor and a front-rear direction of the trailer;
• the steered angle variable acquisition process is a process of acquiring a value of a steered angle variable;
• the steered angle variable is a variable indicating a steered angle of the tractor;
• the virtual steering angle variable calculation process is a process of calculating a value of a virtual steering angle variable using the value of the hitch angle variable and the value of the steered angle variable as inputs;
• the virtual steering angle variable is a variable indicating a direction of travel at a connection point between the tractor and the trailer;
• the target virtual steering angle variable acquisition process is a process of acquiring a value of a target virtual steering angle variable;
• the target virtual steering angle variable is a variable indicating a target value of the virtual steering angle variable;
• the feedback process includes a manipulated variable calculation process, a target steered angle variable calculation process, and a manipulation process;
• the manipulated variable calculation process is a process of calculating a manipulated variable for feedback control using the value of the virtual steering angle variable and the value of the target virtual steering angle variable as inputs;
• the target steered angle variable calculation process is a process of converting the manipulated variable to a value of a target steered angle variable according to the value of the hitch angle variable and the value of the steered angle variable;
• the target steered angle variable is a variable indicating a target value of the steered angle;
• and
• the manipulation process is a process of manipulating the steered angle according to the value of the target steered angle variable.