MOVEMENT STABILIZING APPARATUS FOR COMBINATION VEHICLE
First Claim
1. A movement stabilizing apparatus for a combination vehicle which comprises a tractor and a trailer coupled to the tractor via a hitch so as to be swingable laterally, comprising:
- a yaw rate sensor which detects a yaw rate of the tractor;
a differential unit which performs temporal differentiation on the detected yaw rate to calculate a yaw acceleration;
a cycle calculation unit which calculates a cycle or a frequency of the yaw acceleration at a time where the yaw acceleration changes to a negative or a positive value;
a first-order lag processing unit which performs first-order lag processing on the yaw acceleration based on the calculated cycle or the frequency;
a pendulum movement detection unit which detects a pendulum movement of the trailer based on the yaw acceleration or a cycle or a frequency of an output of the first-order lag processing unit and an amplitude of the yaw acceleration; and
a control amount output unit which outputs a control amount based on the output of the first-order lag processing unit and an output of the pendulum movement detection unit, whereinthe control amount is outputted to a deceleration control device or a yaw movement control device of the tractor to stabilize a traveling of the combination vehicle.
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Accused Products
Abstract
A movement stabilizing control ECU 25 includes a differential unit 25a, a cycle calculation unit 25b, a time constant/gain setting portion 25c, a first-order lag processing unit 25d, a pendulum movement detection unit 25e, a control amount calculation portion 25f and a control amount output unit 25g. The time constant/gain setting portion 25c sets a time constant τ and a gain K used at the time of subjecting a yaw acceleration ω′ which is a time-differential value of a yaw rate ω to the first-order lag processing at the first-order lag processing unit 25d, with reference to a function or data of a look-up table, for example, depending on the cycle or the frequency of the yaw acceleration ω′ due to the pendulum movement. The control amount calculation portion 25f multiplies the amplitude of a yaw acceleration ωd′ outputted from the first-order lag processing unit 25d by a predetermined constant to calculate a yaw control amount with a phase in opposite to that of the yaw acceleration ωd′ and outputs the yaw control amount to the control amount output unit 25g.
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Citations
3 Claims
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1. A movement stabilizing apparatus for a combination vehicle which comprises a tractor and a trailer coupled to the tractor via a hitch so as to be swingable laterally, comprising:
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a yaw rate sensor which detects a yaw rate of the tractor; a differential unit which performs temporal differentiation on the detected yaw rate to calculate a yaw acceleration; a cycle calculation unit which calculates a cycle or a frequency of the yaw acceleration at a time where the yaw acceleration changes to a negative or a positive value; a first-order lag processing unit which performs first-order lag processing on the yaw acceleration based on the calculated cycle or the frequency; a pendulum movement detection unit which detects a pendulum movement of the trailer based on the yaw acceleration or a cycle or a frequency of an output of the first-order lag processing unit and an amplitude of the yaw acceleration; and a control amount output unit which outputs a control amount based on the output of the first-order lag processing unit and an output of the pendulum movement detection unit, wherein the control amount is outputted to a deceleration control device or a yaw movement control device of the tractor to stabilize a traveling of the combination vehicle. - View Dependent Claims (2, 3)
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Specification