| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To stabilize a trailer by reducing vibration by adding an asymmetric braking torque and a symmetric braking torque for braking the trailer, by detecting the vibration of the trailer. <P>SOLUTION: A trailer swinging intervention system includes the trailer 200 having a plurality of wheels 210A, 210B, 210C and 210D having respectively a brake, and a vehicle 100 for towing the trailer. The vehicle 100 includes a plurality of sensors constituted so as to detect an operation characteristic of the vehicle and a controller. This controller receives the operation characteristic detected from the sensors, fixes an error based on a difference between an expected yaw rate and a detected yaw rate, adds asymmetric braking force to one or a plurality of trailer wheels based on this difference, and adds symmetric braking force to the trailer wheels when an absolute value of the difference between the expected yaw rate and the detected yaw rate is reduced. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
