| 摘要 |
PROBLEM TO BE SOLVED: To provide a trailer wheelbase detection device and a vehicle control device provided in a tractor and capable of calculating a wheelbase of a trailer towed by the tractor.SOLUTION: A vehicle control device 10 includes: a camera 11 for detecting an image of a tire Tr of a trailer T2; a coupling angle sensor 12 for detecting a coupling angle &thetas;of the trailer T2; and a vehicle control ECU 13 for storing a length La of a first straight line L1 connecting the camera 11 and a coupler Co and calculating a first angle &thetas;1 between the first straight line L1 and a second straight line L2 connecting the tire Tr and the camera 11 from the side position of the tire Tr on the image. The vehicle control ECU 13 calculates a second angle &thetas;2 between the first straight line L1 and a third straight line L3 connecting the coupler Co and the tire Tr from the coupling angle &thetas;, and also detects a wheelbase WB of the trailer T2 on the basis of the length La of the first straight line L1, the first angle &thetas;1 and the second angle &thetas;2. |
