Patent ID: 9158739
Filing Date: 2015-10-13
Classification: B60T,G06F

Abstract:
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 from a yaw rate sensor; a steering angle acquisition unit configured to acquire a steering angle of the tractor from a steering angle sensor; a vehicle speed acquisition unit configured to acquire a vehicle speed of the tractor from a speed sensor; 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: 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, wherein the evaluation value computation unit includes: