Movement stabilizing apparatus for combination vehicle

Abstract

A movement stabilizing control ECUincludes a differential unit, a cycle calculation unit, a time constant/gain setting portion, a first-order lag processing unit, a pendulum movement detection unit, a control amount calculation portionand a control amount output unit. The time constant/gain setting portionsets a time constant τ and a gain K used at the time of subjecting a yaw acceleration ω' which is a time-differential value of a yaw rate ω to the first-order lag processing at the first-order lag processing unit, with reference to a function or data of a look-up table, for example, depending on the cycle or the frequency of the yaw acceleration ω′ due to the pendulum movement. The control amount calculation portionmultiplies the amplitude of a yaw acceleration ω′ outputted from the first-order lag processing unitby a predetermined constant to calculate a yaw control amount with a phase in opposite to that of the yaw acceleration ω′ and outputs the yaw control amount to the control amount output unit