Behavior control device for a combination vehicle
First Claim
1. A behavior control device of a combination vehicle including a tractor and a trailer pivotably connected with a coupling pin mounted on a rear part of the tractor and towed therewith, comprising:
- a braking-driving force control portion which controls a braking-driving force of the tractor or the trailer to reduce a difference between a yaw rate of the tractor and a yaw rate of the trailer; and
a judgment portion which judges whether or not a braking-driving force control of the tractor or the trailer by the braking-driving force control portion is necessary;
wherein the braking-driving force control portion executes the braking-driving force control when the judgment portion judges that a magnitude of the difference between the yaw rate of the tractor and the yaw rate of the trailer exceeds a predetermined control threshold value γ
_th, and wherein the judgment portion lowers the predetermined control threshold value γ
_th based on an increase in a magnitude of a deceleration of the vehicle so as to make it easier to apply the braking-driving force to correct the behavior of the tractor or the trailer at an earlier stage,wherein the predetermined control threshold value γ
_th is given with an initial value of the control threshold value γ
_o that is multiplied by a deceleration dependent gain α
g,wherein the deceleration dependence gain α
g decreases with an increase in the magnitude of deceleration.
2 Assignments
0 Petitions
Accused Products
Abstract
There is provided a behavior control device for the prevention of a jackknife phenomenon of a combination vehicle including a tractor and a trailer pivotably coupled with the tractor, taking into account that the relative pivoting action of the trailer and tractor varies according to the magnitudes of a vehicle speed or a deceleration. The inventive behavior control device comprises a braking-driving force control portion which controls a braking-driving force of the tractor or the trailer to reduce a difference between a yaw rate of the tractor and a yaw rate of the trailer and a judgment portion which judges whether or not a braking-driving force control of the tractor or the trailer by the braking-driving force control portion is necessary; wherein the judgment portion changes based on a vehicle speed or a deceleration of the vehicle the judgment of whether or not the braking-driving force control is necessary.
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Citations
7 Claims
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1. A behavior control device of a combination vehicle including a tractor and a trailer pivotably connected with a coupling pin mounted on a rear part of the tractor and towed therewith, comprising:
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a braking-driving force control portion which controls a braking-driving force of the tractor or the trailer to reduce a difference between a yaw rate of the tractor and a yaw rate of the trailer; and a judgment portion which judges whether or not a braking-driving force control of the tractor or the trailer by the braking-driving force control portion is necessary; wherein the braking-driving force control portion executes the braking-driving force control when the judgment portion judges that a magnitude of the difference between the yaw rate of the tractor and the yaw rate of the trailer exceeds a predetermined control threshold value γ
_th, and wherein the judgment portion lowers the predetermined control threshold value γ
_th based on an increase in a magnitude of a deceleration of the vehicle so as to make it easier to apply the braking-driving force to correct the behavior of the tractor or the trailer at an earlier stage,wherein the predetermined control threshold value γ
_th is given with an initial value of the control threshold value γ
_o that is multiplied by a deceleration dependent gain α
g,wherein the deceleration dependence gain α
g decreases with an increase in the magnitude of deceleration. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification