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.
Motion stabilizer for tractor
2015-10-13
Patent
Electronic Resource
English
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