Control device for articulated vehicle

A control device for a combination vehicle including a tractor including a steered wheel that is a wheel configured to change a direction of travel of the vehicle, and a trailer towed by the tractor, the control device comprising

• a control unit configured to, when a reverse operation of the combination vehicle is performed, assist a reverse operation of the trailer by causing a controlled variable to follow a target value of reverse control that is set through a specific operation by an operator, wherein
• the control unit is configured to execute a process of limiting the target value and a process of limiting a time rate of change in the target value from a viewpoint of achieving appropriate vehicle behavior,
• the target value is a target virtual steering angle that is a target value of a virtual steering angle of a virtual steered wheel of the trailer when the trailer is regarded as a single vehicle, and
• the control unit is configured to calculate a limit value for a time rate of change in the target virtual steering angle by substituting, into an equation of motion for a virtual steering angle velocity that is a time rate of change in the virtual steering angle, a value of a hitch angle velocity that is a time rate of change in a hitch angle that is an angle between a central axis extending in a longitudinal direction of the tractor and a central axis extending in a longitudinal direction of the trailer, and a value of a maximum steering angle velocity that is a time rate of change in a maximum steering angle that is a maximum value of a physically possible steering angle of the steered wheel.