MOTION STABILIZER FOR TRACTOR
First Claim
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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Accused Products
Abstract
In a pendular motion determination unit of a motion stabilizer for a tractor, a parameter computation unit computes a determination parameter PA indicative of a quantity of change in an actual yaw rate Y, a threshold value setting unit computes a threshold value PAth for the parameter PA, and a determination unit determines that a pendular motion caused by swaying motion of a trailer is imparted, if the parameter PA is greater than the threshold value PAth. Based upon at least one of a value related to the actual yaw rate Y and a value related to the standard yaw rate Ys, an evaluation value computation unit computes a steering-back maneuver evaluation value TS (indicative of a possibility of making periodical steering-back maneuvers), based upon which at least one of the threshold value PAth and the parameter PA is changed.
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Citations
5 Claims
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1. A motion stabilizer for a tractor to which a trailer is connectable, the motion stabilizer comprising:
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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. - View Dependent Claims (2, 3, 4, 5)
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Specification