PROVIDING METHOD FOR TRAILER CONNECTING CONDITION TO BE USED IN VEHICLE COMBINATION, OPERATION STABILITY REINFORCING METHOD FOR MULTIUNIT COMMERCIAL VEHICLE, JACKKNIFING PREVENTION CONTROLLING METHOD FOR COMBINATION VEHICLE

摘要

PROBLEM TO BE SOLVED: To reduce generation of jackknifing, lateral swing out, spinning out and the like by computing each parameter, each condition estimation quantity, each reference model from each signal measured in a tractor and feeding a hitch angle and hitch angle rate to a controller together with each signal. ;SOLUTION: On the basis of an appropriate reference model of a vehicle combination, stable torque for a tractor unit is computed, and this computing is operated at an actual time by means of an on-vehicle computer, and information is collected only from the tractor unit. For example, on the basis of information about a pneumatic pressure of a brake cylinder, a pressure difference in respective rear axle air bags, a steering angle, a yawing rate, lateral acceleration, and wheel speed (in a tractor) and the appropriate model, a hitch angle and its derived function are evaluated. By means of one side braking of rear axles of the tractor, a stabilizing action works for behavior in the hitch point also in the towed unit.;COPYRIGHT: (C)1998,JPO