WO2014087962A1

WO2014087962A1 - Two-wheeled passenger vehicle

Info

Publication number: WO2014087962A1
Application number: PCT/JP2013/082332
Authority: WO
Inventors: 須田　義大; 雅彦安藝; 遊喜平山; ラタナチョートイングカナンタヴァリー
Original assignee: 国立大学法人東京大学
Priority date: 2012-12-04
Filing date: 2013-12-02
Publication date: 2014-06-12
Also published as: JP6161023B2; JP2014108747A

Abstract

The purpose is to provide a new type of two-wheeled passenger vehicle with increased degrees of design freedom compared with a conventional parallel two-wheeled personal mobility vehicle. The two-wheeled passenger vehicle is provided with: a vehicle body frame; a first wheel including a first axis; a second wheel including a second axis; a first wheel drive means; a second wheel drive means; a posture detection means that detects the posture of a vehicle body; and a posture stabilizing means that stabilizes the posture of the vehicle body. The first axis and the second axis are staggered axes spaced apart from each other in a front-rear direction and extending in a left-right direction. The first wheel and the second wheel are displaced in the front-rear direction and spaced apart in the left-right direction so as to couple pitching motion and rolling motion of the vehicle body. The posture stabilizing means includes at least one of a pitching motion stabilizing means and a rolling motion stabilizing means.

Description

Passenger motorcycle

The present invention relates to a riding two-wheeled vehicle, and more particularly to a riding two-wheeled vehicle having wheels on non-coaxial axes.

In recent years, attempts have been made to construct mobile spaces such as streets, sidewalks, and facilities in living environments that are friendly to both people and the environment. So-called personal mobility vehicles (PMVs) ) Is growing.

A typical example of a single-person personal mobility vehicle is a motorcycle. There are two types of motorcycles. The first type is a two-wheeled motorcycle in which wheels are arranged in tandem in the front-rear direction (traveling direction), and ordinary bicycles and motorcycles are known. The second type is a parallel two-wheeled vehicle in which wheels are arranged in parallel in the left-right direction. Standing-type and sitting-type parallel two-wheeled vehicles that apply the principle of an inverted pendulum have begun to be introduced into the market. A stabilization control method using the principle of an inverted pendulum is disclosed in, for example, Patent Document 1 and Patent Document 2. The standing type parallel two-wheeled vehicle is described in Patent Documents 3 to 6, for example. Patent Document 7 describes, for example, a sitting-type parallel motorcycle.

The first type is an unstable structure in the roll direction, and in a normal bicycle or motorcycle, the body is stabilized by steering the front wheels, shifting the weight of a person, traveling at high speed, or the like. The second type is an unstable structure in the pitch direction. In a normal parallel two-wheeled vehicle, “pitch motion (degree of freedom 1) stabilization + speed control” is performed, and the motor is driven by the vehicle. It played two kinds of roles: stabilization. That is, the conventional parallel two-wheel personal mobility vehicle requires a stabilization method specialized in the pitch direction, and the degree of freedom in design is limited.

JP-A 63-305082 JP 2004-345030 A Special table 2003-502002 Special table 2004-510737 JP2006-1385 JP2008-56037 JP2011-42200A

An object of the present invention is to provide a new type of passenger motorcycle that has a greater degree of design freedom than a conventional parallel two-wheel personal mobility vehicle.
More specific objects of the present invention will become clear from the description of the present specification and the drawings.

The personal mobility vehicle according to the present invention is:
Body frame,
A first wheel with a first axis;
A second wheel with a second axis;
Driving means for the first wheel;
Driving means for the second wheel;
Attitude detection means for detecting the attitude of the vehicle body;
Posture stabilization means for stabilizing the posture of the vehicle body;
With
The first shaft and the second shaft are staggered shafts that are separated in the front-rear direction and extend in the left-right direction, and the first wheel and the second wheel are shifted in the front-rear direction and spaced apart in the left-right direction. , Combining the pitch movement and roll movement of the car body,
The posture stabilization means includes at least one of pitch motion stabilization means and roll motion stabilization means.
This is a passenger motorcycle.
In a two-wheeled vehicle equipped with staggered axes, that is, wheels on non-identical axes, the roll motion and the pitch motion are coupled, so that the posture of the vehicle body can be stabilized by controlling either one or both.
By adopting the posture stabilization means for the two degrees of freedom, the control by the driver and the control by the machine can be appropriately assigned roles.
Further, unlike a conventional parallel two-wheeled vehicle having wheels on the same axis, a parallel two-wheeled vehicle having wheels on non-identical axes has a feature that it first hits with one wheel when stepping over a step.

In one aspect, the posture stabilization means stabilizes the posture of the vehicle body based on the detection result of the posture detection means.
In one aspect, the posture detection means is composed of a gyro sensor, an acceleration sensor, or a combination thereof.
In one aspect, the posture stabilization unit is a control unit configured by a computer (including an input unit, a calculation unit, a storage unit, an output unit, and the like), and is predetermined using detection data of the input posture detection unit. The calculation is executed by this program, the calculation data is output, and drive control of the drive means (motor) is performed.
In one aspect, the posture stabilization means includes pitch motion stabilization means based on inverted pendulum control.

In one aspect, the posture stabilization means includes a movable weight movable in the left-right direction, and roll motion stabilization means by moving the movable weight.
The roll direction can be actively stabilized by moving the weight to the left and right of the vehicle.
In one aspect, the calculation is executed by a predetermined program using the detection data from the posture detection means, the calculation data is output, and the position control of the movable weight in the left-right direction is performed by the movement means.

In one aspect, the posture stabilization means includes roll motion stabilization means using steering means.
As the steering means, an automatic steering means based on the detection result of the posture detection means and a manual steering means manually operated by the driver can be adopted.

In one aspect, the posture stabilization means includes the first wheel and the second wheel made of wide and thick tires so that the ground contact surfaces of the first wheel and the second wheel and the road surface are flat. It is by doing.
When the tire is thickened, both the roll direction and the pitch direction are passively stabilized. More specifically, for example, a restoring moment of deformation of the tire acts at the time of rolling contributes to stabilization.

In one aspect, the skew control means for moving the vehicle body straight is included.
A vehicle having wheels on non-coaxial axes has a characteristic of naturally skewing or turning when traveling. Specifically, in the first wheel having the left and right first axes and the second wheel having the second axis, the second axis is located on the front side and the second axis is located on the rear side. There is a tendency to skew toward the wheels.
By providing the skew regulation means, it is possible to regulate the skew of the vehicle body and go straight.
In one aspect, the skew regulation means includes controlling driving torque of the first wheel and the second wheel.
In one aspect, the skew regulation means includes means for detecting a lateral variation of the vehicle body, and sets the drive torque of the first wheel and the second wheel with a lateral variation amount = 0 as a target value. Control.
In one aspect, the skew regulation means includes a steering means.
As the steering means, an automatic steering means based on the detection result of the lateral direction variation detection means and a manual steering means manually operated by the driver can be adopted.

When two wheels are arranged in parallel and the rotation structure of each wheel is shifted back and forth, the degree of freedom in the roll direction and the pitch direction of the vehicle is coupled. Therefore, it becomes possible to take a stabilization measure for two degrees of freedom, and the degree of freedom of design increases.
By using two degrees of freedom and combining the stabilization by the driver and the stabilization by the automatic control system, it is possible to construct a two-wheeled vehicle having unprecedented characteristics.

It is a conceptual diagram of the parallel two-wheeled vehicle which concerns on this embodiment. It is a conceptual diagram of the parallel two-wheeled vehicle which concerns on this embodiment. It is a conceptual diagram which shows the attitude | position stabilization control of the parallel two-wheeled vehicle which concerns on this embodiment. It is a conceptual diagram which shows the attitude | position stabilization control of the parallel two-wheeled vehicle which concerns on this embodiment. It is a conceptual diagram which shows the attitude | position stabilization control of the parallel two-wheeled vehicle which concerns on this embodiment. It is a conceptual diagram which shows the attitude | position stabilization control of the parallel two-wheeled vehicle which concerns on this embodiment. It is a conceptual diagram which shows the conversion between parallel two-wheel mode and column two-wheel mode. It is a conceptual diagram which shows the conversion between parallel two-wheel mode and column two-wheel mode. It is a conceptual diagram which shows the conversion between parallel two-wheel mode and column two-wheel mode. It is a disassembled perspective view of the parallel motorcycle used in experiment. The vehicle used for the experiment is shown. The parallel motorcycle mode to the parallel motorcycle mode were defined as five wheel arrangements, and the vehicle was designed so that experiments could be performed with each wheel arrangement fixed. It is a running locus of the subject experiment, and is a running locus in state 1, state 2, state 3, and state 4 in order from the top. It is a control diagram of posture stabilization based on the pitch direction. It is a control diagram of posture stabilization and skew control based on the pitch direction. It is a control diagram of posture stabilization based on the roll direction. It is a conceptual diagram of the conventional parallel two-wheeled vehicle.

When the present inventors have arranged the two wheels in parallel and the arrangement structure is such that the axis of each wheel is shifted back and forth, the roll motion in the parallel motorcycle and the pitch motion in the parallel motorcycle seem to be coupled. By focusing on driving while exercising, we propose a new type of personal mobility vehicle.

1 and 2 are conceptual diagrams of a passenger motorcycle according to the present invention. Left and right first wheels 2 and second wheels 3 are rotatably attached to a body frame 1 of the riding motorcycle. The first wheel 2 is supported on the first shaft 4 and is rotationally driven by a first motor (not shown). The second wheel 3 is supported by the second shaft 5 and is rotationally driven by a second motor (not shown). A battery (not shown) that supplies power to the first motor and the second motor is mounted on the vehicle body. The motor functions as a drive motor for driving the riding motorcycle and a control motor for controlling posture stabilization of the riding motorcycle. That is, vehicle running and posture stabilization are executed by the control torque of the motors attached to the

wheels

2 and 3. In a preferred embodiment, the first motor and the second motor are composed of separate motors. However, the rotational force output from the common motor is transmitted to the first shaft by the first transmission mechanism, and the second transmission mechanism is used by the second transmission mechanism. It may be transmitted to two axes.

The first shaft 4 and the second shaft 5 are staggered shafts that are spaced apart in the front-rear direction (traveling direction) and extend in parallel in the left-right direction. The first wheel 2 and the second wheel 3 are shifted in the front-rear direction. In addition, they are spaced in the left-right direction and arranged in parallel.

The vehicle body frame 1 includes a base 10 having a rectangular shape in plan view, and includes a T-shaped handle 6 that stands upright from the base. The upper surface of the base 10 is a driver's footrest. The steering wheel may be linked to the first wheel 2 and the second wheel 3 so that one or both of the first wheel 2 and the second wheel 3 can be steered. The handle is not necessarily an essential component and may not have a handle. It will be appreciated by those skilled in the art that various aspects of the frame configuration can be designed.

By arranging the two wheels in parallel and shifting the axis of each wheel back and forth, the riding motorcycle moves as if the roll motion and the pitch motion in the parallel motorcycle are coupled. While driving. The conventional parallel motorcycle controls the pitch motion (degree of freedom = 1) by the vehicle + human, and performs “stabilization of the pitch motion + speed control” by the vehicle + human control (see FIG. 14). T In a two-wheeled vehicle with different axes, the pitch motion and roll motion (two degrees of freedom) are controlled by the vehicle and the human, and the vehicle and the human can share the role of stabilization control. For example, a control method (FIG. 3) in which a human performs roll control and a machine performs pitch control, or a control method (FIG. 4) in which a machine performs roll control and a human performs pitch control is conceivable. Moreover, you may control both a pitch freedom degree and a roll freedom degree by the vehicle side. These are summarized in Table 1.

The parallel two-wheeled vehicle type PMV having wheels on non-coaxial axes according to the present embodiment can stabilize the vehicle only by the conventional wheel torque control of the inverted pendulum vehicle. The vehicle body frame includes posture detection means for detecting the posture of the vehicle body, and posture stabilization means for stabilizing the posture of the vehicle body based on the detection result of the posture detection means. It will be understood by those skilled in the art that the posture detection means can be composed of a gyro sensor, an acceleration sensor, or a combination thereof. For example, the gyro sensor functions as a forward / backward tilt detection sensor by detecting the tilt of the base. You may detect a horizontal tilt with a gyro sensor. The posture stabilization means is a control means or controller composed of a computer (including an input unit, a calculation unit, a storage unit, an output unit, etc.).

Each motor is provided with a vehicle speed detection sensor including an encoder that detects the rotational speed of each of the left and right wheels. The position where the vehicle speed detection sensor is provided is not limited to the motor. In one preferred embodiment, the motor is an in-wheel motor. The rotation information (rotation speed, acceleration) of the left and right wheels obtained by the vehicle speed detection sensor is transmitted to the controller.

The controller performs a stabilization control by outputting a control torque from the motor based on information from the front / rear inclination detection sensor and information from the vehicle speed detection sensor. The rotational speeds of the left and right wheels are acquired by the vehicle speed detection sensor and sent to the controller. The controller drives the left wheel based on information (vehicle body angle and angular velocity) from the vehicle speed detection sensor and the gyro sensor (front / rear tilt detection sensor). Stabilization control is performed by outputting control torque from the motor and the right wheel drive motor.

The current position of the vehicle and the posture angle of the vehicle (and their speed components) are detected, and the left and right wheel torques are controlled by the controller with feedback on the difference from the target value. The controller (stabilization control means) calculates and calculates the driving torque necessary to stabilize the vehicle so that it does not fall in the front-rear direction. Then, a control signal corresponding to the calculated drive torque is output to the left and right wheel drive units, and the respective electric motors are rotationally driven. A stabilization control method using the principle of an inverted pendulum (inverted by feeding back an angle, an angular velocity, a position, and a velocity) is known, and is described in

Patent Documents

1 and 2, for example. Further, it is possible to perform the inverted pendulum control by adopting the control method of the parallel two-wheel personal mobility vehicle which has already been realized. For the stabilization control of the pitch motion, any method used for the control of the parallel two-wheeled vehicle can be employed.

As stabilization control of roll motion,
(A) Passive stabilization: Passive stabilization in the roll and pitch directions by increasing the thickness of the tire.
(B) Active stabilization: Stabilize the roll direction by moving the weight to the left and right of the vehicle.
Can be considered.

FIG. 5A shows a riding two-wheeled vehicle having a wide first wheel 2 ′ and a second wheel 3 ′. FIG. 5B shows a narrow first wheel 2 and a second wheel 3. A equipped motorcycle is shown. When the tire is thickened, the roll direction and the pitch direction are stabilized passively.

In FIG. 6, a movable weight W is provided that is positioned below the base 10 and is movable in the left-right direction. By moving the movable weight W, the roll motion is stabilized. The movable weight W is supported by a slide mechanism such as a linear guide, and is moved in the left-right direction by driving means such as a ball screw mechanism. Alternatively, the movable weight may be supported by a link mechanism so as to be movable in the left-right direction. The calculation is executed by a predetermined program using the detection data (for example, the gyro sensor detects the tilt of the base 10 in the horizontal direction) by the attitude detection means, the calculation data is output, and the right and left of the movable weight W is detected by the movement means. Control the position of the direction. The movable weight W only needs to have a predetermined weight, and a battery may be used as the movable weight.

As a vehicle turning system, those skilled in the art know a system that uses the difference between the rotations of the left and right wheels, a system that uses the steering angle of the wheels, and a system that uses a camber. It is understood by the contractor. Also, this time, the knowledge that the turning radius is generated when the PMV wheels are arranged on non-same axes, it is possible to actively use the turning performance for curve driving to one side. .

In the illustrated embodiment, the vehicle body frame includes a footrest base for standing riding, but the vehicle body frame may include a saddle for sitting. Further, the vehicle body frame may be provided with a pedal for sitting and running with a leg. In the case where the vehicle includes a pedal, the driving means for the first wheel and the second wheel may be configured from a mechanical element that transmits the rotation of the pedal to the rotation of the wheel. That is, the wheels are driven mechanically in response to the rotation of the pedal. You may assist the rotational force by a pedal with rotation of a motor. In this case, the motor that rotates the wheels functions as a control motor for vehicle stabilization control. Moreover, you may assist the rotational force by a pedal by rotation of a motor.

In one aspect, the position of the first wheel with the first shaft and the second wheel with the second shaft relative to the vehicle body frame is variable (FIGS. 8A to 8C). The first wheel with the first shaft and the second wheel with the second shaft can adopt a parallel two-wheel mode. The first wheel provided with the first shaft and the second wheel provided with the second shaft may adopt a tandem motorcycle mode. In one aspect, the tandem motorcycle mode is a bicycle mode (with a pedal). The tandem motorcycle mode may be a motorbike mode. A two-wheeled vehicle that can be converted into two modes, ie, a two-wheeled vehicle mode and a parallel two-wheeled vehicle mode, can be used depending on the situation. The timing for switching the driving mode is set when the vehicle is stopped in one aspect, but the driving mode may be switched during driving. As a switching means during traveling, an actuator such as a motor is arranged on a rotating portion of a link that connects the frame and the wheel, and a driver inputs an operation switch to activate the actuator to change a traveling mode. Can be considered.

The staggered axis vehicle according to the present embodiment can be positioned as a mode in a conversion process between two modes of a parallel two-wheeled vehicle mode and a parallel two-wheeled vehicle mode, and has the characteristics of both the two-wheeled vehicle mode and the parallel two-wheeled vehicle mode. This is a mode in which the wheel is arranged. The PMV wheel layout is considered to be suitable for a parallel two-wheel travel mode for low speed / short distance movement, and for a medium speed / medium distance movement, a bicycle type travel mode is suitable. Considering that two mode conversions of the bicycle mode and the parallel motorcycle mode are performed during traveling, a mode in which wheels are arranged on non-identical axes having characteristics of both the bicycle mode and the parallel motorcycle mode is generated. By shifting the axle arrangement of the parallel two-wheeled vehicle forward and backward, and stabilizing this region, it is possible to seamlessly convert between the parallel two-wheel mode at low speed and the bicycle type mode at medium speed. When converting the parallel motorcycle mode and the bicycle mode during traveling, it is possible to realize PMV with mode conversion during traveling by adjusting the control gain of the left and right wheels and adding a control system that goes straight. In addition, when the cross-axis parallel two-wheeled vehicle is regarded as a general wheel arrangement of the two-wheeled vehicle, as a special case, the parallel motorcycle: the front and rear axes coincide, the tandem motorcycle mode: the shaft does not coincide, and the tread (range) It can also be positioned as zero.

[Vehicle motion evaluation experiment]
PMV vehicle motion with non-coaxial wheels has not been studied. Therefore, vehicle motion evaluation was performed by vehicle experiments. The vehicle used in the experiment is shown in FIG. The vehicle body frame 1 of the experimental vehicle includes a base 10 having a square shape in plan view, and a first wheel module and a second wheel module are detachably attached to the lower side of the base 10. The mounting positions of the first wheel module and the second wheel module are variable in the horizontal direction and the vertical direction of the base 10. The first wheel module includes a first wheel 2, a first shaft 4, and a first motor 7, and is attached to the lower surface of the base 10 via a mounting plate. The second wheel module includes a second wheel 3, a second shaft 5, and a second motor 8, and is attached to the lower surface of the base 10 via an attachment plate. The rotations of the

motors

7 and 8 are transmitted to the

wheels

2 and 3 through a gear mechanism, respectively. The

motors

7 and 8 are operated by power supply from a battery (not shown). A gyro sensor 9 is mounted on the central portion of the upper surface of the base 10. The gyro sensor 9, the first motor 7, and the first motor 8 are electrically connected to a controller (not shown). In the experiment, for convenience, a battery and a personal computer (controller) for PMV control were provided on the subject side.

The parallel motorcycle mode to the parallel motorcycle mode were defined as five wheel arrangements, and the vehicle was designed so that experiments could be performed with each wheel arrangement fixed. PMV attitude control is only pitch control by wheel rotation. Control is performed by PD control, and the pitch angle and pitch angular velocity signals of the vehicle body are fed back. The five modes shown in FIG. 9 are realized by changing the wheel arrangement. State 1 is a parallel motorcycle mode, and state 5 is a tandem motorcycle mode. States 2 to 4 correspond to wheel arrangements in which the parallel motorcycle mode is gradually approached to the tandem motorcycle mode. In these states 2 to 4, the right wheel in the vehicle traveling direction is shifted backward, and the left wheel is shifted forward. State 3 is the wheel arrangement corresponding to the middle between the parallel motorcycle mode and the parallel motorcycle mode. Since the purpose is to investigate the behavior of the vehicle due to the change in the wheel arrangement, the vehicle only travels straight, and the experimental vehicle does not have a steering function. In order to verify the vehicle running characteristics in each state, the same control gain was used in all states. In the driving experiment, 4 subjects with different physiques (3 men and 1 woman) were allowed to run at a constant speed (2 km / h) in each of the wheel arrangements of states 1 to 4, and the driving at that time The trajectory was recorded. After having practiced the same course 4 times (2 round trips) before the actual performance of the experiment, I had the actual run 6 times (3 round trips).

FIG. 10 shows the running trajectory of the subject experiment. It is a travel locus in state 1, state 2, state 3, and state 4 in order from the top. The experimental vehicle does not have a steering mechanism, and is a result of the vehicle turning only by the vehicle running characteristics by changing the wheel arrangement. It was confirmed by subject experiments that turning radii occur when the PMV wheels are placed on non-coaxial axes.

[simulation]
Considering a two-wheeled vehicle that can be converted between the two modes of bicycle mode and parallel motorcycle mode and can be used properly according to the situation, the parallel motorcycle mode can be stabilized by conventional pitch control, and the bicycle mode is a conventional front wheel by human beings. It can be stabilized by steering. It is also possible to stop the conversion in all states during mode conversion and run in that state. In the mode conversion, for example, the following two patterns can be considered.
(A) Continuous conversion from the parallel motorcycle mode state to a certain state is made, and the conversion is temporarily stopped and the rider is notified that the control method is changed. Hereinafter, this state is referred to as state 4. Then, from state 4 to the bicycle mode state, the vehicle is stabilized by manipulating the front wheels.
(B) All are performed automatically. That is, the state 1 to the state 4 are only the pitch control on the vehicle side, and the state 4 to the state 5 are stabilized by the vehicle side pitch control and automatic steering.

FIG. 11 is a control diagram for posture stabilization based on the pitch direction, and a simulation was performed based on this control. Input: torque of left and right wheels, output: pitch angle, pitch rate, speed, target value: pitch angle, pitch rate 0 rad / s, speed 3 km / h. The following could be confirmed. In the state 1-4, the PMV can be stabilized only by the conventional attitude stabilization control method for the parallel motorcycle, that is, the pitch control by the wheel torque. However, as the bicycle mode is approached, the minimum gain for stabilizing PMV increases. In the state 1 in the parallel motorcycle mode state, there is no variation in the Y direction, but in the state 2-4, the wheel axis is shifted, so that when the PMV is advanced, a variation in the Y direction occurs (proceeds diagonally). The variation in the Y direction that occurs in state 2-4 is reduced by increasing the control gain. In state 2-4, since the pitch and the roll are coupled, a change in the roll angle is seen together with a change in the pitch angle of the PMV.

As a method of driving the vehicle in state 1 to state 4 straight,
(A) Adjusting the motor control gain so that the vehicle can run straight,
(B) Introducing a steering mechanism that allows the driver to control the steering wheel so that the vehicle is straight.
Can be considered. In this case, the measurement items are lateral displacement, pitch angle, roll angle, and steer angle.

FIG. 12 is a control diagram for posture stabilization and skew control based on the pitch direction, and a simulation was performed based on this control. Input: torque of left and right wheels, output: pitch angle, pitch rate, speed, lateral displacement, target value: pitch angle, pitch rate 0 rad / s, speed 3 km / h, lateral displacement 0 m. It was confirmed that the turning characteristics of the vehicle in the state 2-4 can be eliminated by controlling the driving torque of the left and right wheels.

As a control method for stabilizing the vehicle in the state 4 to the state 5, a steering mechanism similar to that of a bicycle may be inserted to steer the front wheels. FIG. 13 is a control diagram for posture stabilization based on the roll direction, and a simulation was performed based on this control. Input: steering angular velocity, output: roll angle, roll rate, speed, target value: roll angle, roll rate 0 rad / s, speed 3 km / h. It was confirmed that the vehicle in the state 5 and the state 4 in the bicycle mode can be stabilized by steering the front wheels.

PMV in the mode conversion state can be stabilized by appropriately combining the pitch control based on wheel torque, which is a conventional attitude stabilization control method for parallel motorcycles, and front wheel steering, which is the conventional attitude stabilization control method for bicycles. It is believed that there is.

In the parallel motorcycle type PMV having wheels on non-same axes in this mode conversion state, the axle arrangement of the parallel two-wheeled vehicle is shifted forward and backward, or the bicycle axle arrangement is shifted left and right respectively. The vehicle has a combined motion of roll motion and pitch motion. A vehicle in which roll motion and pitch motion are coupled can be stabilized by only roll control or pitch control. When the rider performs only pitch control or roll control only, the drive shaft and the shaft that needs to be stabilized can be separated. In conventional parallel motorcycles, the motor was given two types of roles: driving and stabilization, but this proposed mode separated the roles of driving by PMV motors with non-coaxial wheels and stabilization by lidar. Control is also possible.

Claims

Body frame,
A first wheel with a first axis;
A second wheel with a second axis;
Driving means for the first wheel;
Driving means for the second wheel;
Attitude detection means for detecting the attitude of the vehicle body;
Posture stabilization means for stabilizing the posture of the vehicle body;
With
The first shaft and the second shaft are staggered shafts that are separated in the front-rear direction and extend in the left-right direction, and the first wheel and the second wheel are shifted in the front-rear direction and spaced apart in the left-right direction. , Combining the pitch movement and roll movement of the car body,
The posture stabilization means includes at least one of pitch motion stabilization means and roll motion stabilization means.
Passenger motorcycle.
The riding motorcycle according to claim 1, wherein the posture stabilizing means stabilizes the posture of the vehicle body based on a detection result of the posture detecting means.
The riding motorcycle according to claim 2, wherein the posture stabilizing means includes pitch motion stabilizing means based on an inverted pendulum control.
The posture stabilization means includes
A movable weight movable in the left-right direction;
The riding two-wheeled vehicle according to claim 2, further comprising a roll motion stabilizing means by moving the movable weight.
The riding motorcycle according to any one of claims 1 to 4, wherein the posture stabilization means includes roll motion stabilization means using steering means.
The posture stabilizing means is configured by forming the first wheel and the second wheel from wide thick tires so that the ground contact surfaces of the first wheel and the second wheel and the road surface are flat. The riding motorcycle according to any one of claims 1 to 5.
The riding two-wheeled vehicle according to any one of claims 1 to 6, further comprising a skew regulation means for causing the vehicle body to travel straight.
The riding two-wheeled vehicle according to claim 7, wherein the skew regulation means includes controlling a driving torque of the first wheel and the second wheel.
The riding motorcycle according to claim 7, wherein the skew regulation unit includes a steering unit.