| 摘要 |
PROBLEM TO BE SOLVED: To allow large reference value to a bend angle by determining the reference value as a function of the speed value indicating the speed of a tractor and/or on the basis of whether or not stabilizing engagement with the tractor is made. SOLUTION: In the case of the value of a bend angle being larger than the reference value, instability exists in a coupled vehicle. To eliminate this instability, that is, to reduce a bend angle, a semitrailer is operated to brake, and the bend of the coupling vehicle is straightened. To detect whether stabilizing engagement with a tractor is made, the value AijSZM, mot and/or Ret is supplied to a second determining means 205 from a processing means 206. This supply enables the second determining means 205 to specify what type of stabilizing engagement is made and what degree of strength the stabilizing engagement is made to.
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