Motion stabilizer for combined vehicle

1. A motion stabilizer for a combined vehicle including a tractor and a trailer connected to the tractor, the motion stabilizer comprising:

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;

a braking control unit configured to exercise a braking control upon detection of the pendular motion; and

an engine torque control unit configured to exercise an engine torque control for regulating an engine torque produced by an engine, which engine torque control includes placing a limitation on the engine torque upon detection of the pendular motion,

wherein a start of the engine torque control unit relaxing the limitation on the engine torque is timed to occur prior to a start of the braking control unit bringing the braking control to an end.

2. The motion stabilizer according to claim 1 , wherein the engine torque control unit is configured to relax the limitation on the engine torque based upon at least one of a vehicle speed of the tractor and a value related to a yaw rate of the tractor.

3. A motion stabilizer for a combined vehicle including a tractor and a trailer connected to the tractor, the motion stabilizer comprising:

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;

a braking control unit configured to exercise a braking control upon detection of the pendular motion; and

an engine torque control unit configured to exercise an engine torque control for regulating an engine torque produced by an engine, which engine torque control includes placing a limitation on the engine torque upon detection of the pendular motion,

wherein a start of the engine torque control unit relaxing the limitation on the engine torque is timed to occur prior to a start of the braking control unit bringing the braking control to an end, and

the engine torque control unit is configured to relax the limitation on the engine torque based upon at least one of a vehicle speed of the tractor and a value related to a yaw rate of the tractor, and the engine torque control unit includes:

a yaw rate based permissible torque computation unit configured to compute a yaw rate based permissible torque that is increased if the value related to the yaw rate of the tractor is smaller than a first predetermined yaw rate; and

a vehicle speed based permissible torque computation unit configured to compute a vehicle speed based permissible torque that is increased if the vehicle speed of the tractor is smaller than a first predetermined vehicle speed,

wherein the engine torque control unit is configured to select, as an engine torque permissible limit, a greater one of the yaw rate based permissible torque and the vehicle speed based permissible torque, and to permit the engine torque to be produced within the engine torque permissible limit.

4. The motion stabilizer according to claim 3 , wherein the yaw rate based permissible torque computation unit is configured to set the yaw rate based permissible torque at a predetermined maximum value if the value related to the yaw rate is smaller than a second predetermined yaw rate which is smaller than the first predetermined yaw rate, and to compute the yaw rate based permissible torque such that the yaw rate based permissible torque decreases with increase in the value related to the yaw rate, if the value related to the yaw rate is in a range of values smaller than the first predetermined yaw rate and not smaller than the second predetermined yaw rate.

5. The motion stabilizer according to claim 4 , wherein the vehicle speed based permissible torque computation unit is configured to set the vehicle speed based permissible torque at a predetermined maximum value if the vehicle speed is smaller than a second predetermined vehicle speed which is smaller than the first predetermined vehicle speed, and to compute the vehicle speed based permissible torque such that the vehicle speed based permissible torque decreases with increase in the vehicle speed if the vehicle speed is in a range of values smaller than the first predetermined vehicle speed and not smaller than the second predetermined vehicle speed.

6. The motion stabilizer according to claim 3 , wherein the vehicle speed based permissible torque computation unit is configured to set the vehicle speed based permissible torque at a predetermined maximum value if the vehicle speed is smaller than a second predetermined vehicle speed which is smaller than the first predetermined vehicle speed, and to compute the vehicle speed based permissible torque such that the vehicle speed based permissible torque decreases with increase in the vehicle speed if the vehicle speed is in a range of values smaller than the first predetermined vehicle speed and not smaller than the second predetermined vehicle speed.

7. The motion stabilizer according to claim 3 , wherein the braking control unit is configured to decrease a hydraulic pressure for braking with a gradient on which a ceiling is imposed, from the start of the braking control unit ending the braking control up to a time when the braking control pressure becomes zero, and

wherein the engine torque control unit is configured to select a smaller one of a driver demand torque determined by a driver's operation on an accelerator and the engine torque permissible limit, to determine a target engine torque by imposing a ceiling on a gradient of increase in a value of the selected smaller one, and to regulate the engine torque based upon the target engine torque, such that the target engine torque reaches the driver demand torque before the time when the braking control pressure becomes zero.