| 摘要 |
PURPOSE: To provide the tractive vehicle capable of automatically and steadily controlling the direction of a vehicle to be towed when going backwards. CONSTITUTION: A tractor 1 consists of a self-travelling tractor 1, connection arm 3 which connects a vehicle 2 to be towed by the tractor 1 and it, actuator 8 provided between the arm 3 and the tractor 1, backward controller for the actuator 8, the 1st angle sensor 6 which detects the angle between the tractor 1 and the arm 3, and the 2nd angle sensor 7 which detects the angle between the arm 3 and the vehicle 2. When the vehicles go backwards, the backward controller which is operated according to the angle signals from the 1st and the 2nd angle sensors 6 and 7, the steering control amount and the radius of turn at the time of going backwards controls the actuator 3. |
