Articulated vehicle control device, articulated vehicle control method, and non-transitory computer-readable medium

A control method for an articulated vehicle in which a tractor and a trailer are linked, wherein:

• the trailer is equipped with an operating unit that is mechanically linked to a steered wheel, and an actuator that steers the steered wheel;
• the control method for an articulated vehicle includes executing acquisition processing, and executing steering control processing;
• the acquisition processing is processing of acquiring vehicle speed and an angle detection value;
• the angle detection value is a detection value of a value of an angle variable related to steering of the articulated vehicle, and is detected by a sensor;
• the steering control processing is processing of operating the actuator based on the angle detection value as an input variable, and also includes vehicle speed dependent processing;
• and
• the vehicle speed dependent processing is processing of reducing responsivity of a manipulated variable of the actuator with respect to change in the angle detection value in a case in which the vehicle speed is low as compared to a case in which the vehicle speed is high.

A non-transitory computer-readable medium storing a control program for an articulated vehicle in which a tractor and a trailer are linked, wherein:

• the trailer is equipped with an operating unit that is mechanically linked to a steered wheel, and an actuator that steers the steered wheel;
• the control program for the articulated vehicle includes a command for causing a computer to execute acquisition processing and steering control processing;
• the acquisition processing is processing of acquiring vehicle speed and an angle detection value;
• the angle detection value is a detection value of a value of an angle variable related to steering of the articulated vehicle, and is detected by a sensor;
• the steering control processing is processing of operating the actuator based on the angle detection value as an input variable, and also includes vehicle speed dependent processing;
• and
• the vehicle speed dependent processing is processing of reducing responsivity of a manipulated variable of the actuator with respect to change in the angle detection value in a case in which the vehicle speed is low as compared to a case in which the vehicle speed is high.