DEVICE FOR DETECTING SWAY STATE OF COMBINED VEHICLES AND BEHAVIOR CONTROL DEVICE

摘要

Provided is a device for detecting the sway state or a behavior control device which uses the finding that the velocities of vibration in the yaw rate and the lateral acceleration or the vehicle body slip angular velocity are substantially equal when the sway state of a combined vehicles including a tractor and a trailer occurs and the velocities of vibration in the yaw rate and the lateral acceleration or the vehicle body slip angular velocity are substantially different when the sway state does not occur.  The device performs behavior control appropriately and as early as possible to determine if the sway state occurs or suppress the sway state while discriminating between the sway state of the trailer of the combined vehicles and the rolling of the vehicle body which is caused by disturbance of road surface or the like on the basis of the relation between the quantity of vibration state of the yaw rate of the tractor and the quantity of vibration state of the lateral acceleration of the tractor or the vehicle body slip angular velocity.