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MOTION STABILIZER FOR TRACTOR

  • US 20130261841A1
  • Filed: 03/27/2013
  • Published: 10/03/2013
  • Est. Priority Date: 03/30/2012
  • Status: Active Grant
First Claim
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1. A motion stabilizer for a tractor to which a trailer is connectable, the motion stabilizer comprising:

  • a yaw rate acquisition unit configured to acquire an actual yaw rate of the tractor;

    a steering angle acquisition unit configured to acquire a steering angle of the tractor;

    a vehicle speed acquisition unit configured to acquire a vehicle speed of the tractor;

    a standard yaw rate computation unit configured to compute a standard yaw rate from the steering angle and the vehicle speed; and

    a pendular motion determination unit configured to determine whether or not a pendular motion caused by a swaying motion of the trailer is imparted to the tractor, the pendular motion determination unit including;

    a parameter computation unit configured to compute a determination parameter indicative of a quantity of change in the actual yaw rate;

    a threshold value setting unit configured to compute a threshold value for the determination parameter;

    a determination unit configured to determine that the pendular motion caused by the swaying motion of the trailer is imparted, if the determination parameter is greater than the threshold value; and

    an evaluation value computation unit configured to compute a steering-back maneuver evaluation value indicative of a possibility of making periodical steering-back maneuvers, based upon at least one of a value related to the actual yaw rate and a value related to the standard yaw rate,wherein the pendular motion determination unit is configured to make a change to at least one of the threshold value and the determination parameter based upon the steering-back maneuver evaluation value.

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