Motion stabilizer for tractor
First Claim
1. A motion stabilizer for a tractor to which a trailer is connectible, the motion stabilizer comprising:
- a yaw rate acquisition unit configured to acquire an actual yaw rate of the tractor;
a lateral acceleration acquisition unit configured to acquire a lateral acceleration 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 lateral acceleration based yaw rate computation unit configured to compute a lateral acceleration based yaw rate that is a yaw rate estimated based upon the lateral acceleration and the vehicle speed;
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; and
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,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 a correlation of a value related to the lateral acceleration based yaw rate with a value related to the standard yaw rate and a correlation of a value related to the actual yaw rate with a value related to the standard yaw rate.
3 Assignments
0 Petitions
Accused Products
Abstract
A pendular motion determination unit of a motion stabilizer for a tractor includes a parameter computation unit configured to compute a determination parameter PA indicative of a quantity of change in an actual yaw rate Y, a threshold value setting unit configured to compute a threshold value PAth for the determination parameter PA, and a determination unit configured to determine that a pendular motion caused by swaying motion of a trailer is imparted, if the determination parameter PA is greater than the threshold value PAth. At least one of PAth and PA is changed based upon a correlation of a value related to a lateral acceleration based yaw rate Yg with a value related to the standard yaw rate Ys and a correlation of a value related to the actual yaw rate Y with a value related to the standard yaw rate Ys.
14 Citations
7 Claims
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1. A motion stabilizer for a tractor to which a trailer is connectible, the motion stabilizer comprising:
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a yaw rate acquisition unit configured to acquire an actual yaw rate of the tractor; a lateral acceleration acquisition unit configured to acquire a lateral acceleration 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 lateral acceleration based yaw rate computation unit configured to compute a lateral acceleration based yaw rate that is a yaw rate estimated based upon the lateral acceleration and the vehicle speed; 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; and 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, 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 a correlation of a value related to the lateral acceleration based yaw rate with a value related to the standard yaw rate and a correlation of a value related to the actual yaw rate with a value related to the standard yaw rate. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification