JP2990405B2 - Motorcycle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motorcycle capable of improving stability during low-speed running and reducing a rider's driving burden.

[0002]

2. Description of the Related Art Conventionally, a steering wheel of a motorcycle is operated only by a rider's intention, and there is no known steering wheel operated by an actuator to automatically correct wobble of a vehicle body.

[0003]

By the way, motorcycles generally have the property of becoming unstable during low-speed running.
Particularly at an extremely low speed of 2 to 4 km / h, the vehicle tends to fluctuate right and left, which hinders the beginner from learning the driving operation.

[0004] The present invention has been made in view of the above circumstances, and has as its object to enhance the stability of a motorcycle during low-speed running.

[0005]

In order to achieve the above object, a motorcycle according to the present invention comprises a vehicle speed detecting means for detecting a vehicle speed, a tilt angular speed detecting means for detecting a tilt angular speed of a vehicle body, and a tilt angle of the vehicle body. a tilt angle detection means for detecting, and an actuator for driving the steering means, the outer after starting running
If the body leans in a direction unintended by the rider due to the disturbance,
The steering means is automatically operated in the direction to restore the tilt,
In addition, the vehicle body tilt angular velocity is lost by the operation, and the vehicle body
When balanced, operate to maintain the body tilt angle at that time.
As deflecting means is retained, and an actuator control means for controlling the <br/> actuator based on an output of the vehicle speed detecting means, inclination angular velocity detection means and tilt angle detection means,
The load on the actuator is
Open the front fork so that it does not hinder operation.
Cut off power transmission to the actuator and actuate
While allowing power transmission from the motor to the front fork
And a directing clutch mechanism .

[0006]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 4 show an embodiment of the present invention. FIG. 1 is an overall configuration diagram of a motorcycle, FIG. 2 is a block diagram of a control system, FIG. 3 is a flowchart of a main routine, and FIG. 4 is a flowchart of a subroutine of step S4 in FIG.

As shown in FIG. 1, the motorcycle V includes a front fork 2 which is steerably supported at a front portion of a body frame 1. A front wheel Wf is pivotally supported at a lower end of the front fork 2. A steering handle 3 is provided at an upper end of the front fork 2. Swing-type power unit 4 pivotally supported at the rear of the body frame 1 so as to be able to swing up and down.
Supports an engine 5 as a driving source for traveling and a rear wheel Wr driven by the engine 5.

The front wheel Wf can be steered not only by the rider operating the steering wheel 3 but also by an actuator 6 composed of an electric motor connected to the front fork 2. At this time, the power transmission from the front fork 2 to the actuator 6 is cut off and the power transmission from the actuator 6 to the front fork 2 is allowed so that the load on the actuator 6 does not hinder the rider from operating the steering handle 3. A one-way clutch mechanism is interposed.

Referring to FIG. 2 together, it is apparent that
The motorcycle V is equipped with an electronic control unit U composed of a microcomputer, and controls the operation of the actuator 6 by performing arithmetic processing on signals from a vehicle speed sensor 7 and a tilt angular velocity sensor 8. The vehicle speed sensor 7 is provided in a power transmission system from the engine 5 to the rear wheel Wr, and detects a vehicle speed of the motorcycle V. The tilt angular velocity sensor 8 is constituted by a rate gyro, and detects a tilt angular velocity of the vehicle body in the left-right direction (that is, a bank angular velocity).

The electronic control unit U is provided with an A / D converter 9, an integrating circuit 10, and an actuator driving circuit 11. The A / D converter 9 is provided with an analog value of the vehicle speed detected by the vehicle speed sensor 7 and the inclination angular speed sensor 8
The analog value of the tilt angular velocity detected in is converted into a digital value. The running state signal S output by the A / D converter 9 according to the vehicle speed is such that S = 0 corresponds to a stopped state and S = 1 corresponds to a running state. A / D converter 9 outputs a vehicle body inclination angular velocity signal D according to the inclination angular velocity in a balanced state where the angular velocity is zero when D = 0 (a state where the inclination angle is constant), and D = R
Corresponds to a state where the right inclination angle is increasing, and D = L corresponds to a state where the left inclination angle is increasing.

An integrating circuit 10 outputs a vehicle body inclination angle signal K by integrating the vehicle body inclination angular speed signal D output from the A / D converter 9. The vehicle body inclination angle signal K is represented by K =
0 corresponds to an upright state (a state in which the bank angle is zero), K = R corresponds to a state inclined rightward, and K = L corresponds to a state inclined leftward. The actuator drive circuit 11 controls the actuator 6 based on the running state signal S output from the A / D converter 9, the vehicle body tilt angle signal D output from the A / D converter 9, and the vehicle body tilt angle signal K output from the integration circuit 10. A steering signal H to be operated is output, whereby the actuator 6 is operated to steer the steering wheel 3. As for the steering signal H, when H = 0, the steering wheel is held, when H = R, the steering wheel is turned right, and when H = L, the steering wheel is turned left.

Next, the operation of the embodiment of the present invention having the above-described configuration will be described with reference to the flowcharts of FIGS.

First, in the main routine of FIG. 3, in step S1, the traveling state signal S, the vehicle body tilt angular velocity signal D,
The vehicle body tilt angle signal K and the steering signal H are all initialized to “0”. When the motorcycle V starts running in step S2 and the running state signal S based on the output of the vehicle speed sensor 7 becomes "1", the process proceeds to step S3 where the vehicle body tilt angular speed signal D based on the output of the tilt angular speed sensor 8 is generated. It is determined whether it is "0". Immediately after the motorcycle V starts running, the inclination angular velocity is not detected, so that D = 0, so that the process proceeds to step S4 and the steering wheel 3 is held at the current position. Next, the process proceeds to step S10 to read the vehicle body inclination angle signal K.

Here, the subroutine of step S10 will be described with reference to FIG. First, at step S11, the traveling state signal S, the vehicle body inclination angle speed signal D and the vehicle body inclination angle signal K
Are initialized to "0", and when the traveling state signal S becomes "1" in step S12, it is determined in step S3 whether or not the vehicle body inclination angular velocity signal D is "R". If the body inclination angle signal D is "R" and the inclination angle speed to the right has been detected, the currently detected body inclination angle signal "R" is added to the previous value of the body inclination angle signal K in step S14. If the body inclination angle signal D is "L" and the inclination angle speed to the left has been detected, the vehicle inclination angle signal K is determined in step S15.
Of the vehicle body tilt angle signal “L” detected this time from the previous value of
Is subtracted from the current value of the vehicle body inclination angle signal K. That is, in steps S14 and S15, the vehicle body inclination angle signal K is calculated by integrating the vehicle body inclination angular velocity signal D.

In step S16, it is determined whether or not the vehicle body inclination angle signal K is "R". If K = R, it is determined in step S17 that the vehicle body is inclined rightward from the upright posture. In step S19, the vehicle body inclination angle signal K = R is output, and if K = L, it is determined in step S18 that the vehicle body is inclined leftward from the upright posture in step S19.
Outputs a vehicle inclination angle signal K = L.

Returning to the flowchart of FIG. 3, in the first loop after the motorcycle V has started traveling, the vehicle body inclination angle signal K read in step S10 is "0", so that K = 0 in step S5. , And returns to step S3 through step S6.

Step S3 is performed by some disturbance.
When the vehicle body tilts to the right, for example, the vehicle body inclination angular velocity signal D becomes "R" in step S7, and the steering signal H changes from "0" to "R" in the subsequent step S8. As a result, the actuator 6 is actuated to turn the steering handle 3 rightward, and a restoring force is generated that cancels out the rightward angular velocity. On the other hand, when the vehicle body leans to the left in step S3,
In step S7, the vehicle body inclination angular velocity signal D becomes "L", and in step S9, the steering signal H changes from "0" to "L". A restoring force that cancels the inclination angular velocity is generated.

When the motorcycle V tilts in a direction unintended by the rider due to disturbance, the steering handle 3 is automatically operated in a direction to restore the tilt. This allows
In particular, the stability of the motorcycle V when driving at low speeds is greatly improved, making it possible for even beginners with inexperienced driving skills to drive very easily, as well as stable on uneven or inclined road surfaces. It becomes possible to run.

In steps S8 and S9, the steering handle 3 is automatically operated in a direction for restoring the inclination of the motorcycle V. As a result, in step S3, the vehicle body inclination angular speed signal D becomes "0" and the vehicle body When the inclination angle becomes constant, the steering signal H becomes "0" in step S4, and the steering handle 3 is held at that position. That is, when the vehicle body tilt angular velocity is lost by operating the steering handle 3 with the actuator 6, and the vehicle body is balanced, the steering handle 3 is held so as to maintain the vehicle body tilt angle at that time. As a result, the motorcycle V continues turning while maintaining a constant vehicle body inclination angle. This turning state is determined in step S10.
As long as the vehicle body tilt angle signal K read at the time is "R" or "L" and the vehicle body is leaning, the operation is continued. In the meantime, the rider operates the steering handle 3 to get out of the turning state, and when K = 0 in step S5 and the vehicle body tilt angle disappears, the flow returns to step S3 again.

As described above, when the rider operates the steering wheel 3 with his / her own intention, the vehicle can travel straight and turn in the same manner as the ordinary motorcycle V. And
When the rider releases his / her hand from the steering handle 3, the motorcycle V stably continues running straight or turning while keeping the state at that time. Therefore, if the actuator 6 is operated wirelessly in place of the rider, the motorcycle V can run unmanned.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various design changes can be made.

For example, in the embodiment, an integration circuit 10 for integrating and calculating the vehicle body inclination angular velocity signal D is used as the inclination angle detecting means, but instead of this integration circuit 10, a vertical body for directly detecting the vehicle body inclination angle from the vertical direction is used. A gyro can be used.

[0024]

As described above, according to the present invention, the running control is performed by controlling the actuator on the basis of the vehicle speed, the inclination angle speed of the vehicle body, and the inclination angle of the vehicle body.
If the vehicle body is inclined against the rider's intention due to disturbance after the start, the inclination is automatically corrected to balance the vehicle body, and the vehicle body can be stabilized at the inclination angle at that time. This makes it possible to reduce the burden of the driving operation during unstable low-speed running. Also
Block power transmission from front fork to actuator
To the front fork from the actuator
Since it has a one-way clutch mechanism that allows power transmission,
Actuator's operation of steering means with actuator load
Can be prevented.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a motorcycle.

FIG. 2 is a block diagram of a control system.

FIG. 3 is a flowchart of a main routine.

FIG. 4 is a flowchart of a subroutine of step S4 in FIG. 3;

[Explanation of symbols]

Reference Signs List 3 Steering handle (steering means) 6 Actuator 7 Vehicle speed sensor (vehicle speed detecting means) 8 Tilt angular velocity sensor (tilting angular velocity detecting means) 10 Integration circuit (tilt angle detecting means) 11 Actuator driving circuit (actuator controlling means)

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Yasunori Konishi 1-13-1 Aoihigashi, Hamamatsu City, Shizuoka Prefecture Honda Motor Co., Ltd. Hamamatsu Factory (56) References 62-238184 (JP, A) JP-A-3-8985 (JP, U) JP-A-5-1516 (JP, Y2) (58) Fields investigated (Int. Cl. ⁶ , DB name) B62K 21 / 00,21 / 10 B62J 39/00

Claims (1)

(57) [Claims] A vehicle speed detecting means for detecting a vehicle speed, and a tilt angular velocity detecting means for detecting a tilt angular velocity of a vehicle body.
When a tilt angle detecting means for detecting a vehicle body inclination angle (10), an actuator (6) for driving the steering means (3), the vehicle body is not the intention of the rider due to a disturbance in the after starting running
When tilted in the direction of
(3) is automatically operated, and the operation causes the vehicle body to tilt.
When the vehicle speed balances when the bevel speed is lost,
Steering means (3) is maintained to maintain the vehicle body inclination angle
As the vehicle speed detecting means (7), before on the basis of the output of the inclination angular velocity detecting means (8) and the inclination angle detecting means (10)
Actuator control means for controlling the serial actuator (6) and (11), steering load by the rider of the actuator (6)
In order not to hinder the operation of the means (3),
Power transmission from fork (2) to actuator (6)
Shut off the actuator and (6)
One-way clutch mechanism that allows power transmission to the brake (2)
A motorcycle comprising: