Movement stabilizing apparatus for combination vehicle
View Patent ↗A movement stabilizing control ECU 25 includes a differential unit 25 a , a cycle calculation unit 25 b , a time constant/gain setting portion 25 c , a first-order lag processing unit 25 d , a pendulum movement detection unit 25 e , a control amount calculation portion 25 f and a control amount output unit 25 g . The time constant/gain setting portion 25 c sets a time constant τ and a gain K used at the time of subjecting a yaw acceleration ω′ which is a time-differential value of a yaw rate ω to the first-order lag processing at the first-order lag processing unit 25 d , with reference to a function or data of a look-up table, for example, depending on the cycle or the frequency of the yaw acceleration ω′ due to the pendulum movement. The control amount calculation portion 25 f multiplies the amplitude of a yaw acceleration ω d ′ outputted from the first-order lag processing unit 25 d by a predetermined constant to calculate a yaw control amount with a phase in opposite to that of the yaw acceleration ω d ′ and outputs the yaw control amount to the control amount output unit 25 g.
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.
2. The movement stabilizing apparatus according to claim 1 , further comprising:
a time constant setting unit which sets a phase of the output of the first-order lag processing unit so as to advance the phase of the yaw rate, based on an output of the cycle calculation unit.
3. The movement stabilizing apparatus according to claim 2 , wherein
a time constant and a gain which are used at a time of performing the first-order lag processing are determined based on a cycle or a period which is determined based on the pendulum movement of the trailer, and
the time constant and the gain increase as a length of the cycle which is determined based on the pendulum movement of the trailer increases.