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Behavior control device for a combination vehicle

  • US 9,043,105 B2
  • Filed: 02/02/2009
  • Issued: 05/26/2015
  • Est. Priority Date: 02/02/2009
  • Status: Expired due to Fees
First Claim
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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:

  • 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.

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