Work vehicle that can cope with undulating ground

摘要

PURPOSE: To cope with the rough ground by forming force signals indicating the forces applied to propulsion units from a vehicle body, processing the force signals, and forming support signals indicating the support parameters to be determined. CONSTITUTION: A vehicle is provided with force sensors for forming force signals indicating the forces applied to individual propulsion units from a vehicle body 2. The force signals from the force sensors are received and processed, and support signals indicating individual ground parameters of the propulsion units are formed by a support signal forming means 158. The parameters indicate at least part of the support forces constituted of the total resultant forces applied to the support ground by the propulsion units.