JP2014069672A - Vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To propose a vehicle which is capable of turning stably.SOLUTION: A vehicle includes: a lean device 50 which inclines a vehicle body 30 in right and left directions by driving a lean motor; and a gyroscope device 60 which rotates a gyroscope having a flywheel using a pitch shaft penetrating the vehicle horizontally in a lateral direction as a rotational axis, around a yaw shaft penetrating the vehicle vertically by using a gimbal motor to thereby generate gyroscopic moment in a direction around a roller shaft penetrating the vehicle horizontally in a front-rear direction. By driving the lean device 50 so that the vehicle body 30 is inclined to an inner side of the rotation at the time of turning, and by driving the gyroscope device 60 so that the gyroscopic moment is generated acting in a reverse direction to an overturning direction when the vehicle is at risk of overturning, the vehicle can turn more stably and be prevented from overturning.

Description

  The present invention relates to an automobile, and more particularly, to an automobile having at least three wheels including at least one steering wheel and capable of stopping independently.

  Conventionally, this type of automobile includes a rotor that is rotatably supported by a rotor shaft, an inner gimbal that supports the rotor shaft, and an outer gimbal that rotatably supports the inner gimbal around an axis perpendicular to the rotor shaft. A motorcycle comprising: a vehicle body attitude control means having a steering angle sensor that detects a steering direction of a steering wheel; a vehicle body inclination sensor that detects a vehicle body inclination amount; and an actuator that applies rotational torque to an outer gimbal shaft of an outer gimbal. Has been proposed (see, for example, Patent Document 1). In this motorcycle, rotational torque corresponding to the detection result of the vehicle body tilt sensor is applied to the outer gimbal shaft by the actuator, and the vehicle body is tilted by a predetermined amount by the gyro moment generated in the vehicle body posture control means, so that the vehicle body tilt direction is always changed. It matches the direction of the resultant force acting on the center of gravity of the vehicle body and maintains the balance between the moment based on the centrifugal force at that time, the moment based on gravity, and the gyro moment from the vehicle body posture control means, thereby accompanying the movement of the driver's weight. Without having to make a right or left turn.

  Also, vehicle behavior control including a gyro having a rotating body that is rotatably supported, a support shaft that rotatably supports the gyro about an axis orthogonal to the rotation axis of the rotating body, and a gimbal motor that rotates the gyro. An automobile equipped with the device has also been proposed (see, for example, Patent Document 2). In this automobile, the rotating body is rotated and supported by a pitch axis that penetrates the vehicle body in the left-right direction, and the rotating body is rotated in the direction opposite to the rotation direction of the wheel when the vehicle moves forward. By increasing the value, the gyro moment corresponding to the behavior of the vehicle is generated.

  Further, a vehicle including a mechanism for tilting the vehicle body in the left-right direction has been proposed (see, for example, Patent Document 3). In this vehicle, the force acting on the occupant and the vehicle body is directed downward in the direction perpendicular to the seat surface of the seat by controlling the inclination of the vehicle to an angle at which the centrifugal force and gravity due to the lateral acceleration generated outside the turn when turning. In this way, the passenger feels uncomfortable and the stability of the vehicle when turning is improved.

JP 2004-82903 A JP 2008-236958 A JP2011-178329A

  In recent years, from the viewpoint of energy saving, it has been desired to develop a small and light automobile with a narrow tread. In such an automobile, the ratio of the height of the center of gravity with respect to the tread is larger than that of a vehicle having a wide tread, and therefore, there is a high possibility that the vehicle will roll over to the outside during turning. Therefore, there is a demand for a structure that can turn stably in a small and light tread with a small tread.

  The main object of the automobile of the present invention is to propose an automobile that can turn stably.

  The automobile of the present invention has taken the following means in order to achieve the main object described above.

The automobile of the present invention
A vehicle having at least three wheels including at least one steered wheel and capable of stopping independently,
A center-of-gravity position changing device having a center-of-gravity position changing mechanism capable of changing the center-of-gravity position of the vehicle body in the left-right direction and a change driving means for changing the center-of-gravity position by the center-of-gravity position changing mechanism;
A moment output device capable of outputting a moment in a direction in which the vehicle body tilts in the left-right direction with respect to the vehicle body;
It is a summary to provide.

  In the automobile of the present invention, during turning, the center of gravity position of the vehicle body is changed to the inside of the turn by the center of gravity position changing device, and the moment output device in the direction of tilting the vehicle body to the inside of the turn is output stably. You can turn. That is, the center-of-gravity position changing device is not provided by changing the center-of-gravity position of the vehicle body to the inside of the turn by the center-of-gravity position changing device and moving the action line of the combined force of gravity and centrifugal force acting on the center of gravity to the inside of the turn. It is possible to turn more stably than a car, and further, by outputting a moment in a direction in which the vehicle body is tilted inward from the moment output device, it is possible to turn more stably. It is. Therefore, the automobile of the present invention can be turned more stably. In addition, in the automobile of the present invention, if the moment output device outputs a moment for tilting the vehicle body to the inside of the turn from the moment output device when the vehicle is about to roll over to the outside by the sudden handle, the vehicle can be prevented from turning over. it can. As described above, in the automobile of the present invention, it is possible to stably turn and suppress the rollover of the vehicle. Therefore, even if the tread has a narrow, light and small size, it can be turned stably without turning over. can do.

  Here, “an automobile having at least three wheels including at least one steering wheel and capable of stopping independently” excludes an automobile such as a motorcycle that cannot stably stand alone when stopped. Stops like a three-wheeled vehicle with one front wheel and two rear wheels, a three-wheeled vehicle with two front wheels and one rear wheel, a four-wheeled vehicle with two front wheels and two rear wheels, etc. It means a car that can stand on its own when traveling at low speeds or at low speeds. `` Center of gravity position changing device '' means a device that can change the center of gravity position of the vehicle body in the left-right direction by the center of gravity position changing mechanism by driving the change driving means. It does not include those in which the center of gravity position of the vehicle body is changed in the left-right direction by the center-of-gravity position changing mechanism.

  In such an automobile of the present invention, the moment output device includes a gyro having a flywheel and first rotation driving means for rotationally driving the flywheel, and a second axis orthogonal to the first axis on which the flywheel rotates. And a second rotation driving means for rotating the gyro. In this way, a gyro moment can be used as a moment that the vehicle body tilts in the left-right direction.

  In the automobile of the present invention having a gyro as the moment output device, the moment output device includes a clutch attached to the second shaft for connecting and releasing the connection between the gyro and the second rotation driving means. It can also be a device that has. In this way, it is possible to generate a necessary gyro moment or suppress an unnecessary gyro moment by connecting and releasing the connection between the gyro and the second rotation driving means by the clutch.

  In the automobile of the present invention having a gyro as a moment output device, the first axis is a pitch axis that penetrates the vehicle body horizontally in the left-right direction, and the second axis is a yaw axis that penetrates the vehicle body in the vertical direction. It can also be. In this way, the flywheel is arranged so as to rotate in the same direction or in the opposite direction to the wheels of the vehicle traveling straight, and the gyro is supported by the vertical axis. The symmetry of can be made high.

  In the automobile of the present invention having a gyro as a moment output device, the moment output device may be constituted by a single gyro. If it carries out like this, a moment output device can be made small and a mountability can be made favorable. In this case, the rotation driving means may be means for rotating the flywheel in the same direction as the rotation direction of the wheel when the vehicle moves forward. In this way, when turning left, the gyro moment that tilts the vehicle body inward of turning can be output by rotating the gyro clockwise (clockwise when the vehicle is viewed from above) by the second rotation driving means. Further, the rotation drive means may be means for rotating the flywheel in a direction opposite to the rotation direction of the wheel when the vehicle moves forward. In this way, when turning left, the gyro moment that tilts the vehicle body in the turning direction can be output by rotating the gyro counterclockwise (counterclockwise when the vehicle is viewed from above) by the second rotation driving means. .

  In the automobile of the present invention having a gyro as a moment output device, the moment output device may be composed of two gyros, a first gyro and a second gyro. In this way, the flywheels of the first gyroscope and the second gyroscope can be made smaller than those in which the moment output device is constituted by a single gyroscope. In this case, the rotation driving means may be means for rotating the flywheel of the first gyro and the flywheel of the second gyro in opposite directions. In this way, it is possible to cancel the gyro moment generated by tilting the vehicle body with the lean device.

  In the automobile of the present invention, the center-of-gravity position changing device may be a lean device having a lean mechanism that can tilt the vehicle body in the left-right direction as the center-of-gravity position changing mechanism.

It is the side view which looked at the three-wheeled motor vehicle 20 as one Example of this invention from the left side surface. It is the top view which looked at the three-wheeled motor vehicle 20 of an Example from upper direction. It is the front view which looked at the three-wheeled motor vehicle 20 of the Example from the front. FIG. 2 is a configuration diagram showing an outline of a configuration of a lean device 50. It is explanatory drawing which shows an example of the state of the lean apparatus 50 when the output shaft 55 of the lean motor 54 is driven. It is explanatory drawing which shows the mode of the inclination of the vehicle body in FIG. 2 is a configuration diagram showing an outline of a configuration of a gyro device 60. FIG. It is explanatory drawing explaining the rotation direction of the flywheel 61, the rotation direction of the gimbal support part 64, and the action direction of the gyro moment which generate | occur | produces. It is explanatory drawing explaining the rotation direction of the flywheel 61, the rotation direction of the gimbal support part 64, and the action direction of the gyro moment which generate | occur | produces. It is explanatory drawing explaining the rotation direction of the flywheel 61, a turning direction, and the action direction of the gyro moment which generate | occur | produces. It is explanatory drawing explaining the rotation direction of the flywheel 61, a turning direction, and the action direction of the gyro moment which generate | occur | produces. It is explanatory drawing explaining the rotation direction of the flywheel 61, the inclination direction of a vehicle body, and the action direction of the gyro moment which generate | occur | produces. It is explanatory drawing explaining the rotation direction of the flywheel 61, the inclination direction of a vehicle body, and the action direction of the gyro moment which generate | occur | produces. It is a block diagram which shows an example of the input / output relationship of the control apparatus 80 as a functional block. It is explanatory drawing which shows a mode when the action line of the synthetic force of gravity Fg and centrifugal force Fc is made to become the center of a tread. It is a block diagram which shows an example of a structure of the three-wheeled motor vehicle 120 of a modification. It is a block diagram which shows an example of a structure of the four-wheeled motor vehicle 220 of a modification. It is a block diagram which shows an example of a structure of the three-wheeled motor vehicle 320 of a modification. It is a block diagram which shows an example of a structure of the three-wheeled motor vehicle 420 of a modification.

  Next, the form for implementing this invention is demonstrated using an Example.

  FIG. 1 is a side view of a three-wheeled vehicle 20 as an embodiment of the present invention as viewed from the left side, FIG. 2 is a top view of the three-wheeled vehicle 20 of the embodiment as viewed from above, and FIG. It is the front view which looked at the three-wheeled motor vehicle 20 from the front. In FIG. 2, the vehicle roof portion is shown for ease of explanation.

  As shown in the figure, the three-wheeled vehicle 20 of the embodiment is a one-seater three-wheeled vehicle having a front wheel 22 that is one steering wheel and two rear wheels 24L and 24R in which drive motors 26L and 26R are incorporated. A vehicle body 30 that has a driver's seat 32 and is supported by the front wheels 22 and the rear wheels 24L and 24R, a steering device 40 that steers the front wheels 22 based on the operation of the handle 42 by the driver, A lean device 50 that is attached between the main body 30 and the rear wheels 24L, 24R and lifts one of the rear wheels 24L, 24R and pushes the other down to tilt the vehicle body 30 in the left-right direction, and below the driver seat 32. A gyro device 60 that is arranged and used for vehicle attitude control, and supplies power to the motors 26L and 26R, the lean device 50, and the gyro device 60, for example, Richiu Includes a battery 70 configured as ion secondary battery, and a control unit 80 or to the drive control of the motor 26L, 26R drive control or lean device 50 and a gyro device 60 based on the operation of the driver, the.

  As shown in the configuration diagram of FIG. 4, the lean device 50 is disposed inside the rear wheels 24L, 24R and supports the motors 26L, 26R, and the upper ends of the vertical link units 51L, 51R. The horizontal link units 51U and 51D that are rotatably connected to the lower end and the support portion 36 that supports the vehicle body 30 are fixedly attached to the lower end of the vehicle body 30, and are also rotatably connected to the central portions of the horizontal link units 51U and 51D. A central vertical member 52, and a lean motor 54, which is disposed on the support 36 and connected to the rotor, is attached to the center of the upper horizontal link unit 51U so as not to rotate. As the lean motor 54, for example, a stepping motor can be used. In the lean device 50, when the lean motor 54 is driven so that the output shaft 55 rotates clockwise in FIG. 4, the upper horizontal link unit 51U rotates with the rotation of the output shaft 55, and the rotation of the horizontal link unit 51U. Accordingly, the lower horizontal link unit 51D also rotates. As shown in FIG. 5, the rotation of the lateral link units 51U and 51D raises the right rear wheel 24R and pushes down the left rear wheel 24L. Therefore, the vehicle body is tilted to the right as shown in FIG. Similarly, the vehicle body can be tilted leftward by driving the lean motor 54 so that the output shaft 55 rotates counterclockwise in FIG. At this time, the inclination angle of the vehicle body can be adjusted to correspond to the rotation angle of the rotor by the lean motor 54, and the vehicle body is held at the desired inclination angle by holding the rotor at the desired rotation angle. can do.

  As shown in the block diagram of FIG. 7, the gyro device 60 is formed in an annular shape with a conductive metal material and basically rotates with a pitch axis passing through the vehicle horizontally in the left-right direction as a rotation axis. And a gyro 63 that includes a stator case 62 that functions as a case for housing the flywheel 61 and has a three-phase coil (not shown) for rotationally driving the flywheel 61 inside, and rotation of the flywheel 61. A gimbal support portion 64 that is attached to the stator case 62 and supports the gyro 63 with a vertical axis (yaw axis that passes through the vehicle in the vertical direction) perpendicular to the axis (pitch axis), and a gimbal motor 65 that rotationally drives the gimbal support portion 64. And a clutch 66 for connecting and releasing the connection between the gimbal support portion 64 and the gimbal motor 65. . As described above, the flywheel 61 and the stator case 62 of the gyro 63 constitute a motor (for example, an induction motor) having the flywheel 61 as a rotor and the stator case 62 as a stator. The rotation of the flywheel 61 can be controlled by controlling the rotating magnetic field of the three-phase coil attached to the inside of the coil. In the embodiment, the flywheel 61 is arranged so as to rotate about the pitch axis as a rotation axis because high left-right symmetry can be obtained when the gyro device 60 is mounted on a vehicle. As the gimbal motor 65, for example, a stepping motor can be used.

  In the gyro device 60, when the gimbal motor 65 is rotationally driven to rotate the gyro 63 around the yaw axis, a gyro moment having a magnitude corresponding to the rotational angular velocity is generated around the roll axis that penetrates the vehicle horizontally in the front-rear direction. The direction of action of the gyro moment is that the gimbal support 64 is moved in the same direction as the steering wheel operation when the vehicle is turned right when the flywheel 61 is rotating in the same direction as the rotational direction of the wheel when the vehicle is moving forward. When the flywheel 61 is rotated by rotating it, the vehicle body is inclined to the left. This relationship is shown in FIG. On the contrary, when the flywheel 61 is rotating in the same direction as the rotation direction of the wheel when the vehicle is moving forward, the gimbal support 64 is rotated in the same direction as the steering wheel operation when the vehicle is turned to the left. When the wheel 61 is rotated, the direction of action of the gyro moment is the direction in which the vehicle body is tilted to the right. That is, when the flywheel 61 is rotating in the same direction as the rotation direction of the wheel when the vehicle is moving forward, the gimbal support 64 is rotated in the same direction as the turning direction (for example, the right turning direction). When the flywheel 61 is rotated, a gyro moment in a direction in which the vehicle body is tilted to the opposite side to the turning direction (left side opposite to the right turning direction) is generated. Also, the direction of action of the gyro moment is the same direction as the handle operation when the vehicle is turned to the right when the flywheel 61 is rotating in the direction opposite to the rotation direction of the wheel when the vehicle is moving forward. When the flywheel 61 is rotated by rotating 64, the vehicle body is inclined to the right. This relationship is shown in FIG. On the contrary, when the flywheel 61 is rotating in the direction opposite to the rotation direction of the wheel when the vehicle is moving forward, the gimbal support portion 64 is rotated in the same direction as the handle operation when the vehicle is turned to the left. When the wheel 61 is rotated, the direction of action of the gyro moment is the direction in which the vehicle body is tilted to the left. That is, when the flywheel 61 rotates in the direction opposite to the direction of rotation of the wheel when the vehicle is moving forward, the gimbal support 64 is rotated in the same direction as the turning direction (for example, the rightward turning direction). When the flywheel 61 is rotated in this manner, a gyro moment is generated in a direction in which the vehicle body is inclined to the same side as the turning direction (the same right side as the right turning direction). Therefore, even if the flywheel 61 is rotated in any rotation direction, by controlling the rotation direction of the gimbal support portion 64, it is possible to generate a gyro moment in a direction in which the vehicle body is inclined to either the left or right side.

  In addition, when the gimbal support portion 64 and the gimbal motor 65 are connected by the clutch 66, the gyro device 60 does not drive the gimbal motor 65, and the flywheel 61 rotates when the vehicle turns by the driver's handle operation. Since the rotation axis (pitch axis) rotates, a gyro moment is generated. The direction of action of the gyro moment generated by the turning of the vehicle is such that when the flywheel 61 is rotating in the same direction as the rotation direction of the wheel when the vehicle is moving forward, the handle 42 is operated to the right to turn the vehicle clockwise. When turned, the vehicle body is inclined to the left. This relationship is shown in FIG. Conversely, when the flywheel 61 is rotating in the same direction as the rotational direction of the wheel when the vehicle is moving forward and the handle 42 is operated to the left and the vehicle turns left, the direction of action of the gyro moment is: The vehicle body is tilted to the right. Further, the direction of action of the gyro moment is that when the flywheel 61 is rotated in the direction opposite to the direction of rotation of the wheel when the vehicle is moving forward, the handle 42 is operated to the right and the vehicle turns right. The vehicle body is tilted to the right. This relationship is shown in FIG. Conversely, when the flywheel 61 is rotating in the direction opposite to the rotation direction of the wheel when the vehicle is moving forward and the handle 42 is operated to the left and the vehicle turns left, the direction of action of the gyro moment is: The vehicle body is inclined to the left. Accordingly, since centrifugal force acts during turning, it is preferable to generate a gyro moment that tilts the vehicle body in the turning direction. Therefore, the flywheel 61 is rotated in a direction opposite to the rotation direction of the wheel when the vehicle is moving forward. It is preferable to do so. Even if the flywheel 61 is rotated in the direction opposite to the rotation direction of the wheel when the vehicle is moving forward, the flywheel 61 is rotated by rotating the gimbal support portion 64 by the gimbal motor 65 as described above. By doing so, a gyro moment can be generated, so that a desired gyro moment can be generated by controlling the gimbal motor 65.

  Further, when the gimbal support portion 64 and the gimbal motor 65 are connected by the clutch 66, the gyro device 60 rotates the flywheel 61 when the vehicle body is tilted by the lean device 50 without driving the gimbal motor 65. Since the shaft (pitch axis) rotates, a gyro moment is generated. The direction of action of the gyro moment at this time is such that if the vehicle body is tilted to the left while the flywheel 61 is rotating in the same direction as the rotational direction of the wheel when the vehicle is moving forward, the vehicle rotates counterclockwise around the yaw axis. It will be the direction to turn. This relationship is shown in FIG. Conversely, if the vehicle body is tilted to the right side when the flywheel 61 is rotating in the same direction as the rotational direction of the wheel when the vehicle is moving forward, the direction of action of the gyro moment is It becomes the direction to turn. Also, the direction of action of the gyro moment is such that if the vehicle body is tilted to the left when the flywheel 61 is rotating in the direction opposite to the rotation direction of the wheel when the vehicle is moving forward, the vehicle rotates clockwise around the yaw axis. It will be the direction to turn. This relationship is shown in FIG. Conversely, if the vehicle body is tilted to the right while the flywheel 61 is rotating in a direction opposite to the rotational direction of the wheel when the vehicle is moving forward, the direction of action of the gyro moment is that the vehicle rotates counterclockwise around the yaw axis. It will be the direction to turn. As will be described later, in the three-wheeled vehicle 20 of the embodiment, in order to turn stably, the vehicle body tilts to the left when turning left, and the vehicle body leans to the right when turning right. Therefore, the direction of action of the gyro moment generated by tilting the vehicle body is a direction that promotes turning when the flywheel 61 rotates in the same direction as the rotational direction of the wheel when the vehicle is moving forward, and conversely When the flywheel 61 rotates in the direction opposite to the rotation direction of the wheel when the vehicle is moving forward, the turning is suppressed.

  Although not shown, the control device 80 is configured as a microcomputer centered on a CPU. In addition to the CPU, the control device 80 includes a ROM for storing processing programs, a RAM for temporarily storing data, an input / output port, and the like. FIG. 14 shows an example of an input / output relationship of the control device 80 as a functional block. An input port (not shown) of the control device 80 includes a shift position from the shift position sensor 81, an accelerator position from the accelerator position sensor 82, a brake position from the brake position sensor 83, a vehicle speed V from the vehicle speed sensor 84, a rear wheel 24L, The wheel speeds from the wheel speed sensors 85L and 85R attached to 24R, the steering angle θS from the steering angle sensor 86 attached to the steering device 40 and detecting the steering angle θS of the handle 42, the rotors of the motors 26L and 26R, The rotational position from rotational position detection sensors 87L and 87R for detecting the position, the total vehicle weight M from the total vehicle weight sensor 88 for detecting the total vehicle weight M, the gradient from the gradient sensor 89 for detecting the road surface gradient, and the lean device 50 To detect a lean angle θL as an inclination angle of the vehicle body 30 by The lean angle θL from the angle sensor 90, the gimbal angle θG from the gimbal angle sensor 91 that detects the rotation angle θG from the reference position of the gimbal support 64, and the rotation speed sensor 92 that detects the rotation speed NW of the flywheel 61. The rotational speed NW of the flywheel 61, the roll angle θR from the roll angle sensor 93 that detects the tilt angle (roll angle) of the vehicle body 30 in the left-right direction are input. On the other hand, from an output port (not shown) of the control device 80, a drive signal to the motors 26L and 26R, a drive signal to the steering device 40, a drive signal to the lean motor 54, a drive signal to the gyro 63, and a gimbal motor 65 are supplied. A drive signal, a drive signal to the clutch 66, and the like are output. The main control of the control device 80 includes travel control for driving and controlling the motors 26L and 26R based on the shift position, accelerator position, and brake position, steering control for controlling the toe angle of the front wheels 22 based on the steering angle, Lean control for controlling leaning of the vehicle body by the lean device 50 based on the steering angle, vehicle speed, etc., and gyro control for controlling the gyro moment generated by the gyro device 60 based on the steering angle, vehicle speed, the rotational speed of the flywheel 61, etc. and so on. The “travel control unit”, “steering control unit”, “lean control unit”, and “gyro control unit” shown in the control device 80 of FIG. 14 show the above-described control as functional blocks. .

  Next, the operation of the three-wheeled vehicle 20 of the embodiment thus configured, particularly the operation of the lean device 50 and the operation of the gyro device 60 will be described. The three-wheeled vehicle 20 of the embodiment travels with the motors 26L and 26R being driven and controlled by traveling control, and the toe angle with respect to the operating angle (steering angle) of the handle 42 is controlled by steering control and turns in the operating direction of the handle 42. . Since well-known control is used for traveling control and steering control, further detailed description is omitted.

In lean control, the lean motor 54 is driven and controlled so that the line of action of the combined force of gravity Fg acting on the center of gravity and centrifugal force Fc is at the center of the tread (the distance between the centers of the left and right wheels 24L, 24R). It can be. By controlling in this way, the vehicle can be stably turned without giving lateral acceleration to the occupant, and the vehicle can be prevented from rolling over to the outside of the turn. FIG. 15 shows a state where the line of action of the combined force of gravity Fg and centrifugal force Fc is set to the center of the tread. Considering a simple method, lean control assumes that the center of gravity does not change in the left-right direction of the vehicle depending on the occupant or the load of the vehicle. The angle θL is obtained, and the lean motor 54 is driven and controlled so that the lean of the lean device 50 becomes the obtained lean angle θL. Here, the gravity Fg can be obtained as the total vehicle weight M from the total vehicle weight sensor 88. The centrifugal force Fc is calculated from the turning radius r during turning calculated from the steering angle θS from the steering angle sensor 86, the wheel speeds from the wheel speed sensors 85L and 85R, and the vehicle speed from the rotation radius and the vehicle speed sensor 84. Fc = Mrω ² can be calculated from the angular velocity ω and the vehicle total weight M from the vehicle total weight sensor 88. The lean control may be calculated using the position of the center of gravity without using a simple method. In this case, the center-of-gravity position G depends on the weight of the vehicle itself, the center-of-gravity position of the vehicle itself, the weight of the passenger or luggage (hereinafter referred to as “occupant etc.”) obtained by measurement, and the center-of-gravity position of the passenger. Can be calculated. For example, as a simple method, the position of the center of gravity of an occupant or the like is determined in advance by experiment or the like, and the weight of the occupant or the like is calculated by subtracting the weight of the vehicle itself from the total vehicle weight M detected by the vehicle total weight sensor 88. The calculated weight of the occupant and the like can be calculated using the determined center of gravity position of the occupant and the like, the weight of the vehicle itself, and the center of gravity position of the vehicle itself. More detailed methods include detecting the occupant's seating position, sitting height, weight, etc. to determine the occupant's weight and center of gravity, and detecting the loading position, dimensions, weight, etc. of each baggage, And the center of gravity position can be calculated from the weight and center of gravity of the occupant, the weight and center of gravity of each load, and the weight and center of gravity of the vehicle itself.

  As lean control, not only the lean motor 54 is driven and controlled so that the line of action of the combined force of gravity Fg and centrifugal force Fc acting on the center of gravity is in the center of the tread, but also gravity Fg and centrifugal force acting on the center of gravity. The lean motor 54 may be driven and controlled so that the line of action of the combined force with the force Fc falls within the tread range. In this case, although a lateral acceleration is given to the occupant, the vehicle can be turned stably, and the vehicle can be prevented from rolling over to the outside of the turn.

  As the gyro control, for example, when it is determined that there is a possibility that the vehicle rolls over due to turning or the like, the rollover that drives and controls the gimbal motor 65 and the clutch 66 of the gyro device 60 so that the gyro moment acts on the inside of the turn. The suppression control can be executed. As the rollover suppression control, when it is determined that the vehicle may roll over due to turning or the like, when the flywheel 61 rotates in the same direction as the rotation direction of the wheel when the vehicle is moving forward, The gimbal motor 65 can be driven and controlled so that the gimbal support 64 rotates rapidly in the same direction as the turning in the direction in which the roll rolls over. For example, when it is determined that there is a possibility that the vehicle rolls over to the right, the gimbal motor 65 is driven and controlled so that the gimbal support portion 64 quickly rotates in the same direction as the right turn. As described above, the flywheel 61 is rotated by rotating the gimbal support 64 in the same direction as the turning direction when the flywheel 61 is rotating in the same direction as the rotation direction of the wheel when the vehicle is moving forward. When it is rotated, a gyro moment is generated in a direction in which the vehicle body is tilted in the direction opposite to the direction of the turn. Therefore, the flywheel 61 is quickly rotated in the same direction as the turn in the direction in which the vehicle rolls over. By rapidly rotating, a gyro moment in the direction opposite to the direction in which the vehicle rolls over can be generated, and the rollover of the vehicle can be suppressed. When it is determined that the vehicle may roll over due to turning or the like, the vehicle rolls over when the flywheel 61 rotates in the direction opposite to the rotation direction of the wheel when the vehicle is moving forward. The gimbal motor 65 can be driven and controlled so that the gimbal support portion 64 rotates quickly in the direction opposite to the turning of the direction. For example, when it is determined that there is a possibility that the vehicle rolls over to the right, the gimbal motor 65 is driven and controlled so that the gimbal support portion 64 quickly rotates in the direction opposite to the right turn. As described above, the flywheel 61 is rotated by rotating the gimbal support 64 in the same direction as the turning direction when the flywheel 61 is rotating in the direction opposite to the rotation direction of the wheel when the vehicle is moving forward. When the vehicle is rotated, a gyro moment is generated in the direction in which the vehicle body is tilted on the same side as the direction of the turn. Therefore, the gimbal support 64 is quickly rotated in the direction opposite to the turn in the direction in which the vehicle rolls over. A gyro moment in the direction opposite to the direction in which the vehicle rolls over can be generated, and the vehicle roll over can be suppressed.

  In the rollover suppression control, for example, whether the vehicle may roll over due to turning or the like is determined, for example, the line of action of the combined force of gravity Fg acting on the center of gravity and centrifugal force Fc is outside a predetermined range including the tread range. As a moment in the direction in which the moment acting on the wheel outside the turn tilts the vehicle body outside the turn. The determination can be made based on whether or not the threshold is equal to or greater than a predetermined threshold. In any of these determinations, from the mechanical point of view, if no other force is applied, the vehicle will eventually roll over.

  Since the rollover suppression control is executed when the vehicle may roll over, the gyro device 60 can be used for other purposes when the vehicle is not likely to roll over. For example, when the vehicle body is tilted by the lean device 50, the lean assist control for assisting the vehicle body tilt can be executed by generating a gyro moment in the direction of tilting the vehicle body. This lean assist control is a direction in which the vehicle body is inclined if the flywheel 61 rotates in the same direction as the rotational direction of the wheel when the vehicle is moving forward at the drive timing of the lean motor 54 of the lean device 50. If the gimbal motor 65 is driven and controlled so that the gimbal support portion 64 rotates in the direction opposite to the turning of the vehicle, and the flywheel 61 rotates in the direction opposite to the rotation direction of the wheel when the vehicle is moving forward The gimbal motor 65 can be driven and controlled so that the gimbal support portion 64 rotates in the same direction as the turning in the direction in which the vehicle body is inclined. Since the gyro moment increases as the rotational speed of the flywheel 61 increases and the rotational angular velocity of the gimbal support 64 increases, the magnitude of the gyro moment applied at the timing of tilting the vehicle body is based on the rotational speed of the flywheel 61. What is necessary is just to drive-control the gimbal motor 65 by calculating | requiring the rotational angular velocity of the gimbal support part 64. FIG. By executing such lean assist control as gyro control, the vehicle body can be quickly tilted inward of the turn. Further, since the lean assist control assists the leaning of the vehicle body by driving the lean motor 54 of the lean device 50, the lean motor 54 having a small output torque can be used by executing the lean assist control. At the same time, the lean motor 54 can be made small.

  As the gyro control, a handle corresponding control is executed in which the gimbal motor 65 and the clutch 66 of the gyro device 60 are driven and controlled so that a gyro moment in a direction of inclining the vehicle body acts inside the turn according to the steering angle θS and the vehicle speed V. It may be a thing. As the steering wheel corresponding control, the larger the steering angle θS, the larger the time change rate of the steering angle θS (the rotational angular velocity of the steering angle), and the higher the vehicle speed V, the greater the gyro moment, and the vehicle body is tilted inside the turn. This can be done by controlling the driving of the gimbal motor 65 so that a gyro moment in the direction is generated. This is based on the fact that the centrifugal force increases as the steering angle θS increases, the time change rate of the steering angle θS (rotational angular velocity of the steering angle) increases, and the vehicle speed V increases. Such a steering control makes it possible for the vehicle to turn more stably.

  According to the three-wheeled vehicle 20 of the embodiment described above, the lean device 50 that tilts the vehicle body 30 in the left-right direction by driving the lean motor 54, the gyro device 60 having the flywheel 61, and the gyro device 60 having the gimbal motor 65. , The vehicle can turn more stably, and the vehicle can be prevented from overturning. Accordingly, even a small and light tread with a small tread can stably turn without overturning.

  According to the three-wheeled vehicle 20 of the embodiment, by arranging the flywheel 61 so as to rotate about the pitch axis as a rotation axis, high left-right symmetry can be obtained when the gyro device 60 is mounted on a vehicle.

  According to the three-wheeled vehicle 20 of the embodiment, as the lean control, the lean motor 54 is driven and controlled so that the action line of the combined force of the gravity Fg acting on the center of gravity and the centrifugal force Fc is in the center of the tread. The lean motor 54 can be driven and controlled so that the line of action of the combined force of the gravity Fg acting on the center of gravity and the centrifugal force Fc falls within the tread range. The rollover of the vehicle to the outside of the turn can be suppressed.

  Further, according to the three-wheeled vehicle 20 of the embodiment, as the gyro control, when it is determined that the vehicle may roll over due to turning or the like, the gimbal motor 65 is driven and controlled so that the gyro moment acts on the inside of the turning. By executing the rollover suppression control, the rollover of the vehicle can be suppressed. Further, when the gimbal motor 65 is not driven by such rollover suppression control, the lean assist that drives and controls the gimbal motor 65 so as to generate a gyro moment in the direction of tilting the vehicle body when the lean device 50 tilts the vehicle body. By executing the control, the vehicle body can be tilted more quickly inside the turn, and the lean motor 54 of the lean device 50 can be made smaller.

  Furthermore, according to the three-wheeled vehicle 20 of the embodiment, as the gyro control, the larger the steering angle θS, the larger the time change rate of the steering angle θS (rotational angular velocity of the steering angle), the larger the vehicle speed V, the larger the gyro moment. Thus, the steering can be performed more stably by executing the handle corresponding control for driving and controlling the gimbal motor 65 so that the gyro moment in the direction of tilting the vehicle body is generated inside the turning.

  In the three-wheeled vehicle 20 of the embodiment, the flywheel 61 is arranged so as to rotate about the pitch axis that penetrates the vehicle body horizontally in the left-right direction, but the yaw axis (axis that penetrates the vehicle body in the vertical direction) is the rotation axis. It is good also as what arrange | positions the flywheel 61 so that it may rotate. In this case, in order to generate a gyro moment in the roll direction by driving by the gimbal motor, it is preferable to arrange the gimbal support portion so as to be a pitch axis.

  In the three-wheeled vehicle 20 of the embodiment, the gyro device 60 having one gyro 63 having one flywheel 61 and one gimbal motor 65 is mounted. However, two gyros composed of two flywheels and A gyro device having two gimbal motors corresponding to the gyro may be mounted. In this case, the two flywheels may be arranged so that the rotation axis becomes the pitch axis, or may be arranged so that the rotation axis becomes the yaw axis. FIG. 16 shows an example of the configuration of a modified three-wheeled vehicle 120 in which two flywheels are arranged so that the rotation axis is the pitch axis. As shown in the figure, the modified three-wheeled vehicle 120 includes a gyro device in which two flywheels 161 </ b> A and 161 </ b> B are arranged below the driver's seat 32 so that the rotation axis is the pitch axis. As described above, when a gyro device having two flywheels 161A and 161B is mounted, it is preferable that the rotation directions of the two flywheels 161A and 161B are opposite to each other. For example, when two flywheels 161A and 161B are arranged so that the rotation axis is the pitch axis as in the modified three-wheeled vehicle 120, one flywheel rotates in the direction of rotation of the vehicle when the vehicle moves forward. The other flywheel is rotated in the direction opposite to the rotation direction of the wheel when the vehicle moves forward. As described above, when the vehicle body is tilted by the lean device 50, the rotation axis (pitch axis) of the flywheel rotates due to the tilt, so that a gyro moment in the direction around the yaw axis is generated. The gyro moment generated in the direction around the yaw axis can be canceled by rotating to the right. Thereby, it is possible to cancel the gyro moment that promotes or suppresses the turning with respect to the turning, and it is possible to suppress the tendency of oversteer and the tendency of understeer due to the action of the gyro moment. Note that the gyro device is not limited to one having one flywheel or two flywheels, and may have three or more flywheels.

  In the embodiment, the embodiment of the present invention has been described by using a three-wheeled vehicle 20 including one front wheel 22 as a steering wheel and two rear wheels 24L and 24R as drive wheels. As shown in an example four-wheeled vehicle 220, two front wheels 222L and 222R as steering wheels and two rear wheels 24L and 24R as drive wheels may be provided. In this case, a lean device 250 similar to the lean device 50 attached to the rear wheels 24L and 24R is also attached to the front wheels 222L and 222R, and the lean of the vehicle body by the lean device 250 is synchronized with the lean of the vehicle body by the lean device 50. Should be done. The automobile is not limited to a three-wheel or four-wheel, and may be an automobile of five or more Olympics.

  In the three-wheeled vehicle 20 of the embodiment, when the vehicle body is tilted by a mechanism (lean mechanism) including the vertical link units 51L and 51R, the horizontal link units 51U and 51D, and the central vertical member 52, the wheels 22, 24L and 24R are also tilted. However, as shown in the three-wheeled vehicle 320 of the modified example of FIG. 18, the wheels 22, 24L, 24R may be a mechanism in which only the vehicle body 330 is tilted without tilting.

  In the three-wheeled vehicle 20 of the embodiment, the vehicle body is inclined by the lean device 50. However, since the center of gravity is only required to be changed in the left-right direction, the vehicle body 430 is provided as shown in the three-wheeled vehicle 420 of the modified example of FIG. A slide device 450 that slides in the left-right direction may be provided.

  The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. In the embodiment, the mechanism composed of the vertical link units 51L and 51R, the horizontal link units 51U and 51D, and the central vertical member 52 corresponds to the “center of gravity position changing mechanism”, and the lean motor 54 corresponds to “the changing drive means”. The lean device 50 corresponds to a “center of gravity position changing device”, and the gyro device 60 corresponds to a “moment output device”.

  The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problem is the same as that of the embodiment described in the column of means for solving the problem. Therefore, the elements of the invention described in the column of means for solving the problems are not limited. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problems. It is only a specific example.

  As mentioned above, although the form for implementing this invention was demonstrated using the Example, this invention is not limited at all to such an Example, In the range which does not deviate from the summary of this invention, it is with various forms. Of course, it can be implemented.

  The present invention can be used in the automobile manufacturing industry.

  20, 120, 320, 420 Three-wheeled vehicle, 22, 222L, 222R Front wheel, 24L, 24R Rear wheel, 26L, 26R Motor, 30, 330, 430 Car body, 32 Driver's seat, 36 Support, 40 Steering device, 42 Handle , 50, 250 lean device, 51L, 51R vertical link unit, 51U, 51D horizontal link unit, 52 central vertical member, 54 lean motor, 55 output shaft, 60 gyro device, 61, 161A, 161B flywheel, 62 stator case, 63 Gyro, 64 Gimbal support, 65 Gimbal motor, 66 Clutch, 70 Battery, 80 Control device, 81 Shift position sensor, 82 Accel position sensor, 83 Brake position sensor, 84 Vehicle speed sensor, 85L, 85R Wheel speed sensor Sensor, 86 steering angle sensor, 87L, 87R rotational position detection sensor, 88 vehicle gross weight sensor, 89 gradient sensor, 90 lean angle sensor, 91 gimbal angle sensor, 92 flywheel rotational speed sensor, 93 roll angle sensor, 220 4 wheels Automobile, 450 slide device.

Claims (10)

A vehicle having at least three wheels including at least one steered wheel and capable of stopping independently,
A center-of-gravity position changing device having a center-of-gravity position changing mechanism capable of changing the center-of-gravity position of the vehicle body in the left-right direction and a change driving means for changing the center-of-gravity position by the center-of-gravity position changing mechanism;
A moment output device capable of outputting a moment in a direction in which the vehicle body tilts in the left-right direction with respect to the vehicle body;
Automobile equipped with. The automobile according to claim 1,
The moment output device includes a gyro having a flywheel and first rotation driving means for rotating the flywheel, and a second axis orthogonal to the first axis on which the flywheel rotates. Two rotation driving means,
Automobile. The automobile according to claim 2,
The moment output device is a device having a clutch attached to the second shaft for connecting and releasing the connection between the gyro and the second rotation driving means.
Automobile. The automobile according to claim 2 or 3,
The first axis is a pitch axis that penetrates the vehicle body horizontally in the left-right direction;
The second axis is a yaw axis that penetrates the vehicle body in the vertical direction.
Automobile. The automobile according to any one of claims 2 to 4,
The moment output device is constituted by a single gyro.
Automobile. The automobile according to claim 5,
The rotational drive means is means for rotating the flywheel in the same direction as the rotational direction of the wheel when the vehicle moves forward.
Automobile. The automobile according to claim 5,
The rotational drive means is means for rotating the flywheel in a direction opposite to the rotational direction of the wheel when the vehicle moves forward.
Automobile. The automobile according to any one of claims 2 to 4,
The moment output device is composed of two gyros, a first gyro and a second gyro.
Automobile. The automobile according to claim 8,
The rotation driving means is means for rotating the flywheel of the first gyro and the flywheel of the second gyro in opposite directions.
Automobile. The automobile according to any one of claims 1 to 9,
The center-of-gravity position changing device is a lean device having a lean mechanism that can tilt the vehicle body in the left-right direction as the center-of-gravity position changing mechanism.
Automobile.

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