| 摘要 |
PURPOSE:To improve the control stability of a combination vehicle consisting of a tractor and a trailer and appropriately steer wheels by fundamentally steering the wheels of trailer so as to conform the direction of the trailer to the direction of the speed vector of the tractor. CONSTITUTION:On the joint point (hitch point) H at which a tractor on the right side in the figure and a trailer on the left side are combined together, the direction of speed vector of the tractor is indicated by an angle betah formed with the speed vector and the center line of the tractor. The angle betah is expressed following a prescribed formula based on a front wheel steering angle delta1 of the tractor, a wheel steering angle delta5 of the trailer, and a relative yaw angle psi between the tractor and the trailer. The wheel steering angle delta5 of the trailer is controlled so as to conform the angle betah to the relative yaw angle psi. Namely when both the angle betah and the relative yaw angle psi have the sign in the anticlockwise direction, if the angle betah is smaller than the relative yaw angle psi for example, the steering angle delta5 is let increase in the anticlockwise direction. |
