Patent ID: 8180543
Filing Date: 2012-05-15
Classification: B60T

Abstract:
1. A movement stabilizing apparatus for a combination vehicle which comprises a tractor and a trailer coupled to the tractor via a hitch so as to be swingable laterally, comprising: a yaw rate sensor which detects a yaw rate of the tractor; a differential unit which performs temporal differentiation on the detected yaw rate to calculate a yaw acceleration; a cycle calculation unit which calculates a cycle or a frequency of the yaw acceleration at a time where the yaw acceleration changes to a negative or a positive value; a first-order lag processing unit which performs first-order lag processing on the yaw acceleration based on the calculated cycle or the frequency; a pendulum movement detection unit which detects a pendulum movement of the trailer based on the yaw acceleration or a cycle or a frequency of an output of the first-order lag processing unit and an amplitude of the yaw acceleration; and a control amount output unit which outputs a control amount based on the output of the first-order lag processing unit and an output of the pendulum movement detection unit, wherein the control amount is outputted to a deceleration control device or a yaw movement control device of the tractor to stabilize a traveling of the combination vehicle.