Motion stabilizer for tractor

摘要

A pendular motion determination unit (100) of a motion stabilizer (SA) for a tractor (TR) includes a parameter computation unit (120) configured to compute a determination parameter PA indicative of a quantity of change in an actual yaw rate Y, a threshold value setting unit (140) configured to compute a threshold value PAth for the determination parameter PA, and a determination unit (150) configured to determine that a pendular motion caused by swaying motion of a trailer (TL) is imparted, if the determination parameter PA is greater than the threshold value PAth. At least one of PAth and PA is changed based upon a correlation of a value related to a lateral acceleration based yaw rate Yg with a value related to the standard yaw rate Ys and a correlation of a value related to the actual yaw rate Y with a value related to the standard yaw rate Ys.