WO2022059116A1

WO2022059116A1 - Two-wheeled vehicle

Info

Publication number: WO2022059116A1
Application number: PCT/JP2020/035200
Authority: WO
Inventors: 哲也木村; 道治長谷川
Original assignee: ヤマハ発動機株式会社
Priority date: 2020-09-17
Filing date: 2020-09-17
Publication date: 2022-03-24
Also published as: WO2022059714A1; JP7366281B2; JPWO2022059714A1; DE112021004838T5

Abstract

An independent control device 40 of a two-wheeled vehicle 1 is configured so as to carry out non-traveling/low speed traveling combined control, which controls the two-wheeled vehicle 1 in an independent state while not running and in an independent state while running at low speed, by controlling a drive force and a steering force using a driving force-imparting device 31 and a steering force applying device 32 on the basis of information related to a lean angle detected by a detection device for lean angle related information 51, information related to a steering angle detected by a detection device for steering angle related information 52, and information related to a vehicle speed detected by a detection device for vehicle speed related information 53. During non-running/low speed running combined control, when a vehicle frame 4 tilts to the right direction of the vehicle or to the left direction of the vehicle with respect to the vertical direction of the vehicle, the independent control device 40 controls the driving force and steering force by changing the steering angle while turning a front wheel 2 around a front vehicle axis, so that the ground contact position of the front wheel 2 moves to the right direction of the vehicle or to the left direction of the vehicle and the vehicle frame 4 returns to an upright position.

Description

Motorcycle

The present invention relates to a two-wheeled vehicle having a self-sustaining control device.

Conventionally, there are two-wheeled vehicles having an independent control device that controls the vehicle body to be independent. For example, in Patent Document 1, when a two-wheeled vehicle is parked, the front-wheel drive torque is calculated by acquiring the vehicle body lean angle and the front-wheel steering angle, and the front-wheel drive torque is output to the front-wheel rotation motor driver to make the two-wheeled vehicle self-supporting. I'm letting you.

Further, Non-Patent Document 1 discloses the self-sustaining stability of a two-wheeled vehicle in motion assuming straight running. In Non-Patent Document 1, the autonomous stability of a two-wheeled vehicle is analyzed based on the equation of motion of back-and-forth motion and the equation of motion of lateral motion. The equation of motion for back-and-forth motion uses the vehicle weight and the moment of inertia of the wheels to calculate the vehicle acceleration from the driving force, braking force, and air resistance applied to the vehicle. The equation of motion of lateral motion calculates steering angular acceleration and lean angular acceleration using vehicle speed, vehicle and front and rear wheel weight, moment of inertia, center of gravity position, wheel base, casters, trail, crown radius, and pneumatic trail.

Further, Non-Patent Document 2 discloses the self-sustaining stability of a running motorcycle. Non-Patent Document 2 analyzes the self-sustaining stability of a two-wheeled vehicle when the vehicle speed and the turning radius are constant. In Non-Patent Document 2, the self-sustaining stability of a two-wheeled vehicle is analyzed based on the equation of motion in the lateral direction, the equation of motion in the yawing direction, and the equation of motion in the rolling direction. In these equations of motion, the steering wheel is controlled so as to reach the target roll angle based on the steering angle and the roll angle calculated from the vehicle speed. In addition, the driving force of the rear wheels is feedback-controlled so as to reach the target vehicle speed.

Chinese Patent Application Publication No. 107562067

Patent Document 1 makes a two-wheeled vehicle self-sustaining by controlling a front wheel rotary motor driver when the two-wheeled vehicle is parked, and makes the two-wheeled vehicle self-sustaining when the two-wheeled vehicle is traveling at a low speed. It's not a thing. Further,

Non-Patent Documents

1 and 2 analyze the self-sustaining stability of a running two-wheeled vehicle, and do not cover the self-sustaining stability when the two-wheeled vehicle is not running.

An object of the present invention is to provide a two-wheeled vehicle having a self-sustaining control device capable of performing control in which a non-driving state and a low-speed running state are fused.

The two-wheeled vehicle according to the embodiment of the present invention has the following configurations.
The two-wheeled vehicle can rotate around the vehicle body frame, one front wheel that can rotate around the steering axis with respect to the vehicle body frame and is rotatably supported around the front axle line, and can rotate around the rear axle line with respect to the vehicle body frame. A lean angle-related information detection device that detects information related to a lean angle, which is an inclination angle in the vehicle left-right direction with respect to the vehicle vertical direction of the vehicle body frame, and a steering axis around the front wheel. A steering angle-related information detection device that detects information related to the steering angle, which is the rotation angle of the vehicle, a vehicle speed-related information detection device that detects information related to the vehicle speed, which is the speed of the vehicle body frame in the vehicle front-rear direction, and the front wheel. And the driving force for rotating at least one of the rear wheels in the forward and reverse directions around at least one of the front axle line and the rear axle line is applied to the at least one of the front wheel and the rear wheel. The driving force applying device, the steering force applying device for applying the steering force for rotating the front wheel around the steering axis to the front wheels, the driving force of the driving force applying device, and the steering force of the steering force applying device. A two-wheeled vehicle including a self-sustaining control device for controlling the vehicle body frame to be self-supporting, wherein the self-supporting control device is related to the lean angle detected by the lean angle-related information detection device. The driving force and the steering are based on the information, the information related to the steering angle detected by the steering angle-related information detection device, and the information related to the vehicle speed detected by the vehicle speed-related information detection device. By controlling the force, it is configured to perform non-running low-speed running fusion control that controls a state in which the two-wheeled vehicle stands on its own without running and a state in which the two-wheeled vehicle runs on its own at a low speed. When the vehicle body frame is tilted to the right of the vehicle with respect to the vertical direction of the vehicle during fusion control, the front wheels are rotated around the front axle line while changing the steering angle, so that the ground contact position of the front wheels is to the right of the vehicle. When the driving force and the steering force are controlled so as to move in the direction and the vehicle body frame rises, and the vehicle body frame is tilted to the left of the vehicle with respect to the vehicle vertical direction during the non-traveling low-speed running fusion control. By rotating the front wheels around the front axle line while changing the steering angle, the driving force and the steering force are applied so that the ground contact position of the front wheels moves to the left of the vehicle and the vehicle body frame rises. Control.

The inventors of the present application have found that the yaw rate (centrifugal force) of a two-wheeled vehicle is proportional to the vehicle speed and the steering angle, assuming that the wheel speed (angular velocity of the front wheel or the rear wheel) of the two-wheeled vehicle is proportional to the speed of the vehicle body frame. Then, the inventors of the present application control the yaw rate (centrifugal force) by controlling the driving force and the steering force when the body frame of the two-wheeled vehicle is tilted to the right of the vehicle or to the left of the vehicle with respect to the vertical direction of the vehicle. It was found that the lean angle of the car body frame can be set to 0 by raising the car body frame. According to this configuration, the motorcycle self-sustaining control device controls the driving force and the steering force by using the information related to the vehicle speed, the lean angle, and the steering angle. That is, the self-sustaining control device provides driving force and steering when the vehicle body frame is tilted to the right of the vehicle or to the left of the vehicle with respect to the vertical direction of the vehicle (when the lean angle is not 0) during the non-running low-speed running fusion control. By controlling the force to change the vehicle speed and steering angle, the yaw rate (centrifugal force) proportional to the vehicle speed and steering angle is controlled. Then, the two-wheeled vehicle can raise the vehicle body frame by a controlled yaw rate (centrifugal force) to set the lean angle of the vehicle body frame to zero. This controls the independence of the two-wheeled vehicle in the non-running state in which the motorcycle is not running and in the low-speed running state in which the motorcycle is running at a low speed. As described above, the two-wheeled vehicle of the present invention can be controlled by a self-sustaining control device in which a non-running state and a low-speed running state are fused.

The two-wheeled vehicle according to the embodiment of the present invention may have the following configurations.
The self-sustaining control device controls the two-wheeled vehicle to change from a state of being self-sustaining while traveling at a low speed to a state of being self-sustaining without traveling by the non-traveling low-speed traveling fusion control, and the non-traveling low-speed traveling. The fusion control controls the two-wheeled vehicle so as to change from a state of being independent without traveling to a state of being independent while traveling at a low speed.

According to this configuration, the self-sustaining control device changes the two-wheeled vehicle from a state of being self-supporting while traveling at a low speed to a state of being self-sustaining without traveling, and a state of being self-sustaining while traveling at a low speed from a state of being self-sustaining without traveling. The two-wheeled vehicle can be controlled to change. As described above, the two-wheeled vehicle of the present invention can be controlled by a self-sustaining control device in which a non-running state and a low-speed running state are fused.

The two-wheeled vehicle according to the embodiment of the present invention may have the following configurations.
The self-sustaining control device stores in advance information related to the steering angle and information related to the steering angle vehicle speed associated with the information related to the vehicle speed, and in the non-traveling low-speed traveling fusion control, with the information related to the lean angle. , The driving force and the steering force are controlled based on the information related to the steering angle, the information related to the vehicle speed, and the information related to the steering angle vehicle speed.

According to this configuration, the self-sustaining control device uses information related to the vehicle speed, information related to the lean angle, information related to the steering angle, and information related to the steering angle vehicle speed to move the two-wheeled vehicle in the vehicle front-rear direction. It is possible to control the driving force and the steering force by superimposing the left-right movements of the two-wheeled vehicle and the vehicle. The steering angle vehicle speed-related information associated with the information related to the steering angle and the information related to the vehicle speed is, for example, a gain map optimized with information related to the steering angle and information related to the vehicle speed as variables. As described above, the two-wheeled vehicle of the present invention can be controlled by a self-sustaining control device in which a non-running state and a low-speed running state are more integrated.

The two-wheeled vehicle according to the embodiment of the present invention may have the following configurations.
The information related to the steering angle includes at least one of the steering angle of the front wheel, the steering angular velocity of the front wheel, and the steering angular acceleration of the front wheel, and the information related to the vehicle speed includes the vehicle speed of the two-wheeled vehicle and the vehicle body. Information related to the lean angle includes at least one of the acceleration in the front-rear direction of the frame, the rotational speed of the front wheels, the rotational acceleration of the front wheels, the rotational speed of the rear wheels, and the rotational acceleration of the rear wheels. It includes at least one of the lean angle of the vehicle body frame, the lean angular velocity of the vehicle body frame, and the lean angular acceleration of the vehicle body frame.

<Motorcycle>
In the present invention and the embodiment, the "motorcycle" is a vehicle having front wheels and rear wheels supported by a vehicle body frame, tilting to the right of the vehicle when turning right, and tilting to the left of the vehicle when turning left. be. Further, the "motorcycle" in the present invention and the embodiment includes a self-sustaining control device that controls the vehicle body to be self-supporting. The "motorcycle" in the present invention and the embodiment may or may not have a rider on board. The "motorcycle" in the present invention and the embodiment may or may not have a steering wheel that can be steered by the rider and a pedal that allows the rider to rotate the rear wheels.

<Non-running low-speed running fusion control>
In the present invention and the embodiment, with the self-sustaining control device "configured to perform non-running low-speed running fusion control for controlling a state in which the motorcycle is self-sustaining without traveling and a state in which the motorcycle is self-sustaining while traveling at a low speed". Is capable of controlling the two-wheeled vehicle to stand on its own without running by the non-running low-speed running fusion control, and controlling the two-wheeled vehicle to stand on its own while running at low speed by the non-running low-speed running fusion control. It means a possible self-sustaining control device. The self-sustaining control device can be changed from a state in which the two-wheeled vehicle is self-sustaining without traveling to a state in which the motorcycle is self-sustaining while traveling at a low speed by the non-traveling low-speed traveling fusion control. In addition, the self-sustaining control device can be changed from a state of being self-sustaining while traveling at a low speed to a state of being self-sustaining without traveling a two-wheeled vehicle by non-traveling low-speed traveling fusion control. However, it is not always the case that each time the non-running low-speed running fusion control is performed, the state becomes independent without running and the state of becoming independent while running at low speed. That is, when the non-traveling low-speed traveling fusion control is performed, the two-wheeled vehicle may be controlled to be in a state of being independent without traveling, and the two-wheeled vehicle may not be controlled to be in a state of being independent while traveling at a low speed. On the contrary, when the non-traveling low-speed traveling fusion control is performed, the two-wheeled vehicle may be controlled to be in a state of being independent while traveling at a low speed, and may not be controlled to be in a state of being independent without traveling. In the present invention and the embodiment, the "low speed" is, for example, a speed of 10 to 20 km / h or less.
In the present invention and the embodiment, the "state in which the two-wheeled vehicle stands on its own without traveling" means a state in which the two-wheeled vehicle stands on its own with almost no movement in the front-rear direction of the vehicle. The "state in which the two-wheeled vehicle stands on its own without traveling" may include a state in which the two-wheeled vehicle slightly moves in the front-rear direction of the vehicle. The "state in which the two-wheeled vehicle stands on its own without traveling" may include a state in which the two-wheeled vehicle alternately repeats a slight movement in the front direction of the vehicle and a slight movement in the rear direction of the vehicle.
In the present invention and the embodiment, the "state in which the two-wheeled vehicle is self-supporting" means a state in which the vehicle body of the two-wheeled vehicle is self-supporting without support.
In the present invention and the embodiment, when the vehicle body frame is tilted during the non-traveling low-speed traveling fusion control, the control device states that "the front wheels rotate around the front axle line while changing the steering angle, so that the ground contact position of the front wheels is changed. The driving force and steering force are controlled so that the vehicle body frame moves to the right of the vehicle (to the left of the vehicle) and rises. " Therefore, the self-sustaining control device controls the driving force applied to at least one of the front wheels and the rear wheels so as to "rotate the front wheels around the front axle line". However, in this case, the driving force is not always controlled so that the driving force is applied to the front wheels. The driving force may be applied only to the rear wheels to rotate the front wheels. Driving force may be applied to both the front wheels and the rear wheels to rotate the front wheels.

<Driving force applying device>
In the present invention and the embodiment, the driving force applying device "to apply the driving force to at least one of the front wheels and the rear wheels" may be configured to apply the driving force only to the front wheels, or only to the rear wheels. It may be configured to apply a driving force, or may be configured to apply a driving force to both the front wheels and the rear wheels. When the driving force applying device is configured to apply the driving force to both the front wheels and the rear wheels, the driving force is not necessarily applied to both the front wheels and the rear wheels by the driving force applying device during the non-driving low-speed running fusion control. It does not have to be granted. The driving force may be applied to both the front wheels and the rear wheels, or the driving force may be applied only to the front wheels or the rear wheels. The driving force may be applied only to the front wheels without applying the driving force to both the front wheels and the rear wheels, or the driving force may be applied only to the rear wheels.
In the present invention and the embodiment, the driving force applying device "to apply the driving force to rotate in the forward direction and the reverse direction" can apply both the driving force to rotate in the forward direction and the driving force to rotate in the reverse direction. Means a drive force applying device.

<Vehicle speed related information detection device>
In the present invention and the embodiment, the "information related to the vehicle speed" detected by the vehicle speed-related information detection device includes the vehicle speed, the acceleration in the front-rear direction of the vehicle body frame, the rotation speed of the front wheels, the rotation acceleration of the front wheels, and the rotation speed of the rear wheels. , And at least one of the rotational accelerations of the rear wheels.

<Rotation>
"Rotation" in the present invention and embodiments is not limited to rotation of 360 ° or more. Rotations in the present invention and embodiments also include rotations of less than 360 °.

<Control based on A>
In addition, "control based on A" in the present invention and the embodiment is not limited to A as the information used for control. The "control based on A" includes the case of including information other than A and controlling based on A and information other than A.

<Others>
In addition, "at least one (one) of a plurality of options" in this invention and an embodiment includes all combinations considered from a plurality of options. At least one (one) of the plurality of options may be any one of the plurality of options, or may be all of the plurality of options. For example, at least one of A, B, and C may be only A, may be only B, may be only C, may be A and B, and may be A and C. It may be, B and C, or A, B and C.

In the scope of claims, if the number of certain components is not clearly specified and is displayed in the singular when translated into English, the present invention may have a plurality of these components. Further, the present invention may have only one of these components.

It should be noted that in the present invention and embodiments, "including, comprising, having and derivatives thereof" includes additional items in addition to the listed items and their equivalents. Is intended and used.

It should be noted that the terms "mounted, connected, coupled, supported" are used in a broad sense in the present invention and embodiments. Specifically, it includes not only direct mounting, connection, coupling and support, but also indirect mounting, connection, coupling and support. Moreover, connected and coupled are not limited to physical or mechanical connections / couplings. They also include direct or indirect electrical connections / couplings.

Unless otherwise defined, all terms used herein and in the claims (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. Terms such as those defined in commonly used dictionaries should be construed to have a meaning consistent with the meaning in the context of the relevant technology and the present disclosure, and are idealized or over-formed. It is not interpreted in a specific sense.

Note that the term "preferable" in the present invention and embodiments is non-exclusive. "Preferable" means "preferable, but not limited to". In the present specification, the configuration described as "preferable" exhibits at least the above-mentioned effect obtained by the configuration of claim 1. Further, in the present specification, the term "may" is non-exclusive. "May" means "may be, but is not limited to". In the present specification, the configuration described as "may" exerts at least the above-mentioned effect obtained by the configuration of claim 1.

It should be noted that the present invention and the embodiments do not limit the combination of the above-mentioned preferable configurations with each other. Prior to discussing embodiments of the invention in detail, it should be understood that the invention is not limited to the details of component configuration and arrangement described in the following description or illustrated in the drawings. The present invention is also possible in embodiments other than the embodiments described later. The present invention can also be an embodiment in which various modifications are made to the embodiment described later. In addition, the present invention can be carried out by appropriately combining embodiments and modifications described later.

The two-wheeled vehicle of the present invention can perform control in which a non-driving state and a low-speed running state are fused by the self-sustaining control device of the two-wheeled vehicle.

It is a right side view explaining the outline of the motorcycle of 1st Embodiment of this invention. It is a front view explaining the outline of the motorcycle of the 1st Embodiment of this invention. It is a top view explaining the outline of the motorcycle of the 1st Embodiment of this invention. It is a block diagram explaining the outline of the self-sustaining control device of 1st Embodiment of this invention. It is a figure explaining the relationship between the angular velocity of the front wheel or the rear wheel of the motorcycle of the 1st Embodiment of this invention, and a vehicle speed. It is a block diagram which shows the relationship between the yaw rate of the motorcycle of the 1st Embodiment of this invention, a vehicle speed and a steering angle. It is a figure explaining the relationship between the yaw rate of the motorcycle of the 1st Embodiment of this invention, a vehicle speed and a steering angle.

[Definition of direction]
In the figure, U is the vehicle upward direction of the two-wheeled vehicle, D is the vehicle downward direction of the two-wheeled vehicle, L is the vehicle left direction of the two-wheeled vehicle, R is the vehicle right direction of the two-wheeled vehicle, F is the vehicle forward direction of the two-wheeled vehicle, and Re is the vehicle of the two-wheeled vehicle. Indicates the backward direction.

[First Embodiment]
Hereinafter, the two-wheeled vehicle according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 7.
As shown in FIG. 1, the motorcycle 1 has one front wheel 2, one rear wheel 3, and a vehicle body frame 4. The front wheels 2 are rotatably supported around the axis of the steering shaft 5 (hereinafter, abbreviated as "steering axis") with respect to the vehicle body frame 4. The front wheel 2 is rotatably supported with respect to the vehicle body frame 4 around the axis of the front axle 2a (hereinafter, abbreviated as "front axle line"). The rear wheel 3 is rotatably supported around the axis of the rear axle 3a (hereinafter, abbreviated as "rear axle line") with respect to the vehicle body frame 4.

The motorcycle 1 has a lean angle-related information detection device 51, a steering angle-related information detection device 52, and a vehicle speed-related information detection device 53. The lean angle-related information detection device 51 detects information related to the lean angle Φ (see FIG. 2), which is the inclination angle of the vehicle body frame 4 in the vehicle left-right direction with respect to the vehicle vertical direction. The steering angle-related information detection device 52 detects information related to the steering angle δf (see FIG. 3), which is the rotation angle of the front wheel 2 around the steering axis. The vehicle speed-related information detection device 53 detects information related to the vehicle speed V (see FIG. 3), which is the speed of the vehicle body frame in the vehicle front-rear direction.

The motorcycle 1 has a driving force applying device 31, a steering force applying device 32, and an independent control device 40. The driving force applying device 31 applies a driving force for rotating at least one of the front wheels 2 and the rear wheels 3 in the forward and reverse directions around at least one of the front axle lines and the rear axle lines, the front wheels 2 and the rear wheels 3. Grant to at least one of. The driving force applying device 31 is, for example, a driving motor provided on at least one of the front axle 2a and the rear axle 3a and rotating at least one of the front wheels 2 and the rear wheels 3 in the forward and reverse directions around the axle line. The steering force applying device 32 applies a steering force that rotates the front wheels 2 around the steering axis to the front wheels 2. The steering force applying device 32 is, for example, a steering motor provided on the steering shaft 5 of the motorcycle 1 and rotating the front wheels 2 around the steering axis by rotating the steering shaft 5.

As shown in FIG. 4, the self-supporting control device 40 controls the driving force of the driving force applying device 31 and the steering force of the steering force applying device 32 to control the vehicle body frame 4 to stand on its own. The self-sustaining control device 40 controls the driving force and the steering force based on the information related to the lean angle, the information related to the steering angle, and the information related to the vehicle speed, thereby performing non-traveling low-speed traveling fusion control. Configured to do. The information related to the lean angle is information related to the lean angle Φ (see FIG. 2), which is the tilt angle of the vehicle body frame 4 in the vehicle vertical direction with respect to the vehicle vertical direction detected by the lean angle related information detecting device 51. The information related to the steering angle is information related to the steering angle δf (see FIG. 3), which is the rotation angle around the steering axis of the front wheel 2 detected by the steering angle-related information detecting device 52. The information related to the vehicle speed is information related to the vehicle speed V (see FIG. 3), which is the speed of the vehicle body frame in the vehicle front-rear direction detected by the vehicle speed-related information detection device 53. The non-traveling low-speed traveling fusion control is a control for controlling the two-wheeled vehicle 1 to be self-sustaining without traveling and the two-wheeled vehicle 1 to be self-sustaining while traveling at a low speed.

Here, assuming that the wheel speed of the two-wheeled vehicle 1 (angular velocity of the front wheel 2 or the rear wheel 3) is proportional to the speed V of the vehicle body frame 4, as shown in FIG. 5, the yaw rate of the two-wheeled vehicle 1 (as shown in FIG. 3) Centrifugal force) is proportional to the vehicle speed V and the steering angle δf. That is, the self-sustaining control device 40 controls the driving force and the steering force when the vehicle body frame 4 is tilted to the right of the vehicle or to the left of the vehicle by a lean angle Φ with respect to the vehicle vertical direction during the non-traveling low-speed traveling fusion control. By changing the vehicle speed V and the steering angle δf, the yaw rate (centrifugal force) proportional to the vehicle speed V and the steering angle δf is controlled. Then, the motorcycle 1 can raise the vehicle body frame 4 by the controlled yaw rate (centrifugal force) so that the lean angle Φ of the vehicle body frame 4 is 0.

As described above, the yaw rate (centrifugal force) of the motorcycle 1 is proportional to the vehicle speed V and the steering angle δf. Therefore, in the self-sustaining control device 40, when the vehicle body frame 4 is tilted by the lean angle Φ to the vehicle right direction or the vehicle left direction with respect to the vehicle vertical direction during the non-traveling low-speed traveling fusion control, the two-wheeled vehicle 1 is in a stationary state or a pole. It is preferable to control so that the steering angle δf becomes larger as the vehicle speed V is smaller, such as when traveling at a low speed. Further, in the self-sustaining control device 40, when the vehicle body frame 4 is tilted to the right of the vehicle or to the left of the vehicle by a lean angle Φ with respect to the vertical direction of the vehicle during the non-traveling low-speed traveling fusion control, the two-wheeled vehicle 1 travels at a low speed. It is preferable to control the vehicle speed V so that the smaller the steering angle δf is, the larger the vehicle speed V is.

The non-running low-speed running fusion control of the self-sustaining control device 40 will be described with reference to FIGS. 6 and 7. 6 (a) and 6 (b) and 7 (a) and 7 (b) show the non-traveling low-speed traveling fusion control of the self-sustaining control device 40 in a state where the motorcycle 1 is stationary or traveling at an extremely low speed. There is. 6 (c) and 7 (c) show the non-traveling low-speed traveling fusion control of the self-sustaining control device 40 in the low-speed traveling state of the motorcycle 1.

As shown in FIGS. 6A to 6C, when the self-supporting control device 40 is tilted by the lean angle Φ to the right of the vehicle with respect to the vertical direction of the vehicle during the non-traveling low-speed running fusion control, the self-sustaining control device 40 is used. By rotating the front wheel 2 around the front axle line while changing the steering angle δf, the driving force and the steering force are increased so that the ground contact position of the front wheel 2 moves to the right of the vehicle at a speed V and the vehicle body frame 4 rises. Control. Specifically, as shown in FIGS. 6A and 6C, the self-supporting control device 40 has a lean angle Φ in the vehicle body frame 4 in the vehicle right direction with respect to the vehicle vertical direction during non-travel low-speed travel fusion control. When only tilted, the driving force and the steering force are controlled so that the front wheel 2 rotates positively around the front axle line at the speed V while changing the steering angle δf to the right of the vehicle. Alternatively, as shown in FIG. 6B, the self-sustaining control device 40 has a steering angle when the vehicle body frame 4 is tilted by a lean angle Φ to the right of the vehicle with respect to the vertical direction of the vehicle during non-traveling low-speed running fusion control. While changing δf to the left of the vehicle, the driving force and steering force are controlled so that the front wheels 2 rotate in the reverse direction around the front axle line at a speed V. In the non-traveling low-speed traveling fusion control of the self-sustaining control device 40 when the two-wheeled vehicle 1 in FIGS. 6A and 6B is stationary, the front wheels 2 are operated while maintaining the steering angle δf when the vehicle body frame 4 is raised. The driving force and the steering force may be controlled so as to alternate between forward rotation and reverse rotation around the front axle line.

As shown in FIGS. 7A to 7C, when the self-supporting control device 40 is tilted by a lean angle Φ to the left of the vehicle with respect to the vertical direction of the vehicle during non-traveling low-speed running fusion control, the self-sustaining control device 40 is used. By rotating the front wheel 2 around the front axle line while changing the steering angle δf, the driving force and the steering force are increased so that the ground contact position of the front wheel 2 moves to the left of the vehicle at a speed V and the vehicle body frame 4 rises. Control. Specifically, as shown in FIGS. 7A and 7C, the self-supporting control device 40 has a lean angle Φ in the vehicle body frame 4 in the vehicle left direction with respect to the vehicle vertical direction during non-travel low-speed travel fusion control. When only tilted, the driving force and the steering force are controlled so that the front wheel 2 rotates positively around the front axle line at the speed V while changing the steering angle δf to the left of the vehicle. Alternatively, as shown in FIG. 7B, the self-sustaining control device 40 has a steering angle when the vehicle body frame 4 is tilted by a lean angle Φ to the left of the vehicle with respect to the vertical direction of the vehicle during non-traveling low-speed running fusion control. While changing δf to the right of the vehicle, the driving force and steering force are controlled so that the front wheels 2 rotate in the reverse direction around the front axle line at a speed V. In the non-traveling low-speed traveling fusion control of the self-sustaining control device 40 when the two-wheeled vehicle 1 in FIGS. 7A and 7B is stationary, the front wheels 2 are operated while maintaining the steering angle δf when the vehicle body frame 4 is raised. The driving force and the steering force may be controlled so as to alternate between forward rotation and reverse rotation around the front axle line.

The motorcycle 1 of the first embodiment has the following effects.

The self-sustaining control device 40 of the motorcycle 1 controls the driving force and the steering force by using the information related to the vehicle speed, the lean angle, and the steering angle. That is, the self-sustaining control device 40 has a driving force when the vehicle body frame 4 is tilted to the right of the vehicle or to the left of the vehicle with respect to the vertical direction of the vehicle (when the lean angle is not 0) during the non-traveling low-speed traveling fusion control. And by controlling the steering force to change the vehicle speed V and the steering angle δf, the yaw rate (centrifugal force) proportional to the vehicle speed V and the steering angle δf is controlled. Then, in the motorcycle 1, the vehicle body frame 4 can be raised by the controlled yaw rate (centrifugal force), and the lean angle of the vehicle body frame 4 can be set to 0. As a result, the independence of the two-wheeled vehicle 1 in the non-traveling state in which the motorcycle is not traveling and in the low-speed traveling state in which the motorcycle is traveling at a low speed is controlled. As described above, the motorcycle 1 of the first embodiment can be controlled by the self-sustaining control device 40 by fusing the non-traveling state and the low-speed traveling state.

<Second Embodiment>
Hereinafter, the motorcycle 1 according to the second embodiment of the present invention will be described. The motorcycle 1 of the second embodiment has the following configurations in addition to the configurations of the first embodiment.

The self-sustaining control device 40 controls the two-wheeled vehicle 1 to change from a self-sustaining state while traveling at a low speed to a self-sustaining state without traveling by non-traveling low-speed traveling fusion control. Then, the self-sustaining control device 40 controls the two-wheeled vehicle 1 to change from a state of being self-sustaining without traveling to a state of being self-sustaining while traveling at a low speed by non-traveling low-speed traveling fusion control.

The motorcycle 1 of the second embodiment has the following effects in addition to the effects of the motorcycle 1 of the first embodiment.

The self-sustaining control device 40 changes the two-wheeled vehicle 1 from a state of being self-supporting while traveling at a low speed to a state of being self-sustaining without traveling, and from a state of being self-sustaining without traveling to a state of being self-sustaining while traveling at a low speed. As such, the motorcycle 1 can be controlled. As described above, the motorcycle 1 of the second embodiment can be controlled by the self-sustaining control device 40 by fusing the non-traveling state and the low-speed traveling state.

<Third Embodiment>
Hereinafter, the motorcycle 1 according to the third embodiment of the present invention will be described. The motorcycle 1 of the third embodiment has the following configurations in addition to the configuration of the first embodiment or the configuration of the second embodiment.

The self-sustaining control device 40 stores in advance information related to the steering angle vehicle speed and information related to the steering angle δf and information related to the vehicle speed V. The self-sustaining control device 40 is based on information related to the lean angle Φ, information related to the steering angle δf, information related to the vehicle speed V, and information related to the steering angle vehicle speed in the non-traveling low-speed traveling fusion control. , Controls driving force and steering force. The steering angle vehicle speed-related information is, for example, a gain map optimized with information related to the steering angle δf and information related to the vehicle speed V as variables. In creating the gain map, the vehicle specifications of the vehicle / front and rear wheels of the two-wheeled vehicle 1, the weight / moment of inertia, the position of the center of gravity, the wheelbase, and the wheel diameter may be used. The self-sustaining control device 40 controls the driving force and the steering force by feeding back information related to the vehicle speed, information related to the lean angle, and information related to the steering angle based on the steering angle vehicle speed related information.

The motorcycle 1 of the third embodiment has the following effects in addition to the effects of the motorcycle 1 of the first embodiment or the motorcycle 1 of the second embodiment.

The self-sustaining control device 40 uses information related to the vehicle speed V, information related to the lean angle Φ, information related to the steering angle δf, and information related to the steering angle vehicle speed to move the two-wheeled vehicle 1 in the vehicle front-rear direction. And the movement of the two-wheeled vehicle 1 in the left-right direction of the vehicle can be coupled to control the driving force and the steering force. As described above, the motorcycle 1 of the third embodiment can be controlled by the self-sustaining control device 40 by fusing the non-traveling state and the low-speed traveling state.

<Fourth Embodiment>
Hereinafter, the motorcycle 1 according to the fourth embodiment of the present invention will be described. The motorcycle 1 of the fourth embodiment has the following configurations in addition to the configurations of any of the first to third embodiments.

The information related to the steering angle δf includes at least one of the steering angle of the front wheel 2, the steering angular velocity of the front wheel 2, and the steering angular acceleration of the front wheel 2.

Information related to the vehicle speed V includes at least the vehicle speed of the two-wheeled vehicle 1, the acceleration in the front-rear direction of the vehicle body frame 4, the rotational speed of the front wheels 2, the rotational acceleration of the front wheels 2, the rotational speed of the rear wheels 3, and the rotational acceleration of the rear wheels 3. Includes one.

The information related to the lean angle Φ includes at least one of the lean angle of the vehicle body frame 4, the lean angular velocity of the vehicle body frame 4, and the lean angular acceleration of the vehicle body frame 4.

1: Motorcycle, 2: Front wheel, 3: Rear wheel, 4: Body frame, 31: Driving force application device, 32: Steering force application device, 40: Self-sustaining control device, 51: Lean angle related information detection device, 52: Steering Corner related information detection device, 53: Vehicle speed related information detection device

Claims

Body frame and
One front wheel that is rotatably supported around the steering axis and rotatably around the front axle with respect to the vehicle body frame.
One rear wheel rotatably supported around the rear axle with respect to the vehicle body frame,
A lean angle-related information detection device that detects information related to a lean angle, which is an inclination angle in the vehicle left-right direction with respect to the vehicle vertical direction of the vehicle body frame.
A steering angle-related information detection device that detects information related to a steering angle, which is a rotation angle of the front wheel around the steering axis, and a steering angle-related information detection device.
A vehicle speed-related information detection device that detects information related to vehicle speed, which is the speed of the vehicle body frame in the front-rear direction of the vehicle, and
A driving force that rotates at least one of the front wheel and the rear wheel in the forward and reverse directions around at least one of the front axle line and the rear axle line is applied to the at least one of the front wheel and the rear wheel. The driving force applying device and the driving force applying device
A steering force applying device that applies a steering force that rotates the front wheels around the steering axis to the front wheels.
A self-sustaining control device that controls the driving force of the driving force applying device and the steering force of the steering force applying device to make the vehicle body frame self-supporting.
It is a two-wheeled vehicle equipped with
The self-sustaining control device includes information related to the lean angle detected by the lean angle-related information detection device, information related to the steering angle detected by the steering angle-related information detection device, and vehicle speed-related information. By controlling the driving force and the steering force based on the information related to the vehicle speed detected by the detection device, the two-wheeled vehicle is self-supporting without traveling and the two-wheeled vehicle is self-sustaining while traveling at a low speed. It is configured to perform non-running low-speed running fusion control that controls the state of driving.
When the vehicle body frame is tilted to the right of the vehicle with respect to the vertical direction of the vehicle during the non-traveling low-speed traveling fusion control, the front wheels are rotated around the front axle line while changing the steering angle of the front wheels. The driving force and the steering force are controlled so that the ground contact position moves to the right of the vehicle and the vehicle body frame rises.
When the vehicle body frame is tilted to the left of the vehicle with respect to the vertical direction of the vehicle during the non-traveling low-speed traveling fusion control, the front wheels are rotated around the front axle line while changing the steering angle of the front wheels. A two-wheeled vehicle characterized in that the driving force and the steering force are controlled so that the ground contact position moves to the left of the vehicle and the vehicle body frame rises.
The self-sustaining control device is
The non-traveling low-speed traveling fusion control controls the two-wheeled vehicle to change from a state of being independent while traveling at a low speed to a state of being independent without traveling, and
The two-wheeled vehicle according to claim 1, wherein the two-wheeled vehicle is controlled to change from a state of being independent without traveling to a state of being independent while traveling at a low speed by the non-traveling low-speed traveling fusion control.
The self-sustaining control device is
Information related to the steering angle and information related to the steering angle vehicle speed associated with the information related to the vehicle speed are stored in advance.
In the non-traveling low-speed traveling fusion control, the driving force is based on the information related to the lean angle, the information related to the steering angle, the information related to the vehicle speed, and the information related to the steering angle vehicle speed. The two-wheeled vehicle according to claim 1 or 2, wherein the steering force is controlled.
The information related to the steering angle includes at least one of the steering angle of the front wheel, the steering angular velocity of the front wheel, and the steering angular acceleration of the front wheel.
Information related to the vehicle speed includes at least the vehicle speed of the two-wheeled vehicle, the acceleration in the front-rear direction of the vehicle body frame, the rotational speed of the front wheels, the rotational acceleration of the front wheels, the rotational speed of the rear wheels, and the rotational acceleration of the rear wheels. Including one
One of claims 1 to 3, wherein the information related to the lean angle includes at least one of the lean angle of the vehicle body frame, the lean angular velocity of the vehicle body frame, and the lean angular acceleration of the vehicle body frame. Two-wheeled vehicle described in.