WO2023073855A1 - 車両 - Google Patents
車両 Download PDFInfo
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- WO2023073855A1 WO2023073855A1 PCT/JP2021/039774 JP2021039774W WO2023073855A1 WO 2023073855 A1 WO2023073855 A1 WO 2023073855A1 JP 2021039774 W JP2021039774 W JP 2021039774W WO 2023073855 A1 WO2023073855 A1 WO 2023073855A1
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- WIPO (PCT)
- Prior art keywords
- vehicle
- steering
- angle
- steering angle
- driving force
- Prior art date
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- 238000001514 detection method Methods 0.000 claims abstract description 14
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- 230000005484 gravity Effects 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 4
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- 238000010168 coupling process Methods 0.000 abstract 1
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- 238000010586 diagram Methods 0.000 description 10
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- 230000001360 synchronised effect Effects 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
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- 229910001416 lithium ion Inorganic materials 0.000 description 1
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- 229920005989 resin Polymers 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/10—Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
Definitions
- the present invention relates to a vehicle having front wheels and rear wheels.
- Patent Document 1 a vehicle configured to be able to swing in the left-right direction via a swing mechanism is conventionally known (see Patent Document 1, for example).
- the front wheels are provided so as to be steerable in the left and right directions by operating the steering wheel.
- the vehicle may become unstable.
- One aspect of the present invention includes a front wheel and a rear wheel, a steering section arranged above the front wheel, a resting section on which a passenger's feet are placed, and a front wheel rotatable and steerable by the steering section. a second member disposed behind the first member and rotatably supporting the rear wheel; and the first member relative to the second member about an axis extending in the longitudinal direction.
- a connecting portion that is horizontally swingably connected, a travel actuator that drives at least one of the front wheels and the rear wheels, an input portion that inputs a travel command including an acceleration command, and a travel command that is input by the input portion.
- control unit for controlling the traveling actuator so as to generate a driving force corresponding to the driving force
- a steering angle detection unit for detecting a lateral steering angle of the steering unit, and a lateral swing of the first member with respect to the second member and a swing angle detector for detecting an angle.
- the controller controls the steering angle detected by the steering angle detector and the rocking angle detected by the rocking angle detector to reduce driving force below the acceleration command input by the input unit.
- a travel actuator is controlled to generate a driving force.
- FIG. 1 is a perspective view showing the overall configuration of a vehicle according to an embodiment of the present invention, and is a view of the vehicle seen obliquely from the front left.
- 1 is a front view showing the overall configuration of a vehicle according to an embodiment of the invention
- FIG. 1 is a cross-sectional view showing a schematic configuration of a Neidhardt rubber spring provided in a swinging portion of a vehicle according to an embodiment of the present invention
- FIG. FIG. 2 is a block diagram showing the control configuration of the traveling drive system of the vehicle according to the embodiment of the invention
- FIG. 5 is a diagram showing the relationship between the steering angle, the swing angle, and the first correction coefficient when the steering angle is 0° or more, which is used when calculating the motor command value in FIG.
- FIG. 5 is a diagram showing the relationship between the steering angle, the swing angle, and the first correction coefficient when the steering angle is 0° or less, which is used when calculating the motor command value in FIG. 4 ;
- FIG. 5 is a diagram showing the relationship between the vehicle speed and the second correction coefficient used when calculating the motor command value in FIG. 4;
- FIG. 5 is a diagram showing an example of changes in correction coefficients accompanying an increase in vehicle speed, which are used when calculating a motor command value in FIG. 4 ;
- FIG. 5 is a diagram showing an example of a swing angle from a reference line in the direction of gravity when the vehicle is positioned on a slope;
- FIG. A vehicle according to an embodiment of the present invention is a three-wheeled vehicle having a single front wheel and a pair of left and right rear wheels, and is configured so that a user can ride it in a standing position.
- FIG. 1 is a perspective view showing the overall configuration of a vehicle 100 according to an embodiment of the invention
- FIG. 2 is a front view.
- three mutually orthogonal axial directions are defined as the longitudinal direction (longitudinal direction), the lateral direction (width direction), and the vertical direction (height direction) of the vehicle 100, and each part is configured according to this definition.
- FIG. 1 is a view of the vehicle 100 viewed obliquely from the front left
- FIG. 2 is a view of the vehicle 100 viewed from the front.
- vehicle 100 has front wheels 1 and rear wheels 2, and a frame FL that forms the frame of vehicle 100.
- Center line CL1 passing through the center of vehicle 100 in the left-right direction is a reference. The whole is constructed symmetrically. More specifically, the front wheel 1 is arranged along the center line CL1, and the left and right rear wheels 2 are arranged symmetrically with respect to the center line CL1.
- the front wheel 1 has the same diameter as the rear wheel 2 . Note that the front wheel 1 may have a smaller diameter or a larger diameter than the rear wheel 2 .
- the center line CL1 is the swing center of the connecting portion 30, which will be described later, and extends with a downward slope toward the rear. Note that the center line CL1 may extend horizontally toward the rear, or may extend with an upward slope toward the rear.
- the frame FL has a main frame 10 extending from the front wheel 1 to the rear wheel 2 and a vertical frame 20 erected above the front wheel 1 .
- the main frame 10 has a front frame 11 extending rearward from above the front wheel 1 and a rear frame 12 extending from the front frame 11 to the rear wheel 2 .
- the front frame 11 is configured to be inclined with an upward slope (forward upward) toward the front.
- a front end portion 11a of the front frame 11 is positioned above the front wheel 1, and a rear end portion 11b extends substantially horizontally.
- the vertical frame 20 has a substantially columnar or cylindrical shaft 21 extending along an axis CL2 inclined rearward by a predetermined angle with respect to the direction of gravity so that the upper end is located behind the lower end.
- the shaft 21 passes through the front end portion 11a of the front frame 11 and is rotatably supported by the front frame 11 about the axis CL2.
- a handle 22 is provided at the upper end of the shaft 21, and a pair of left and right front forks 23 are fixed to the lower end.
- the vertical frame 20 may be composed of a vertical pipe extending upward from the front end portion 11a of the front frame 11 and a shaft passing through the vertical pipe.
- a vertical pipe may be provided integrally with the front frame 11, and a shaft may be provided in the vertical pipe so as to be rotatable about the axis CL2.
- a rotating shaft 1a of the front wheel 1 is rotatably supported by a pair of left and right front forks 23.
- the front wheel 1 is steered by a turning operation (steering) of the steering wheel 22 about the axis CL2.
- the handle 22 is a bar handle that extends substantially linearly in the left-right direction, and grips 22a made of resin or rubber that are gripped by the user are provided at both left and right ends of the handle 22 .
- a brake lever 22b is provided in front of the grip 22a.
- Vehicle 100 is configured as an electric vehicle that travels by being driven by travel motor 4 .
- the steering wheel 22 is provided with a throttle lever 24 at or near a grip 22a.
- the throttle lever 24 is configured to be operable by the driver while gripping the grip 22a.
- a travel command including an acceleration command for the vehicle 100 is input.
- the throttle lever 24 is provided so that the amount of operation thereof can be adjusted.
- the brake unit 5 is configured, for example, as a drum brake unit that constitutes a drum brake.
- a brake unit 5 is similarly provided for the rear wheel 2 as well.
- These brake units 5 are operated by operating the brake lever 22b, and braking force is applied to the front wheels 1 and the rear wheels 2.
- the traveling motor 4 as an electric motor may be provided in the rear wheels 2 instead of the front wheels 1, or may be provided in both the front wheels 1 and the rear wheels 2. As a result, the towing ability and hill-climbing ability of the vehicle 100 can be improved.
- a vertically long battery 6 is supported on the rear surface of the vertical frame 20 via a holder.
- the battery 6 is a secondary battery such as a lithium ion battery that stores power supplied to the travel motor 4 .
- the battery 6 is connected to the travel motor 4 via a power line passing through the vertical frame 20 . Electric power supplied from the battery 6 to the travel motor 4 is controlled by a power control unit (not shown). Note that the battery 6 may be arranged inside the vertical frame 20 or may be arranged around other structural members such as the main frame 10 .
- the steering wheel 22 is provided with a starter switch for turning on/off the main power supply, a blinker switch for turning right or left, an accelerator lever for inputting a travel command, and the like, which can be operated by the user.
- a display section for displaying vehicle information such as remaining battery capacity and set vehicle speed can also be provided.
- a pair of left and right winker lamps that flash when a winker switch is operated is provided below the steering wheel 22 , and a headlamp is provided at the upper end of the vertical frame 20 .
- the rear frame 12 extends rearward through the inner sides of the left and right rear wheels 2 .
- support frames extending in the left-right direction (for example, a pair of front and rear support frames) are joined to both left and right sides of the rear frame 12 in front of the rear wheel 2 .
- a rear wheel support portion extending in the left-right direction is joined to a rear portion (for example, a rear end portion) of the rear frame 12, and a rotating shaft 2a of the rear wheel 2 is rotatably supported by the rear wheel support portion.
- a step (footrest) 25 which is a rectangular plate, is mounted.
- the step 25 is fixed to the support frame by welding or the like, so that both front and rear ends of the step 25 are supported by the rear frame 12 via the support frame.
- the step 25 constitutes a placing portion on which a standing user (occupant) places both feet, and the upper surface (placing surface) of the step 25 is configured as a horizontal plane parallel to the road surface 101 .
- the step 25 has a length in the front-rear direction and a width in the left-right direction so that a predetermined portion of the user's foot, for example, from the heel to the ball of the foot can be placed.
- the front frame 11 and the rear frame 12 of the main frame 10 are connected via a connecting portion 30 . That is, the front frame 11 is connected to the rear frame 12 via the connection portion 30 so as to be capable of swinging in the left-right direction about the center line CL1 extending in the front-rear direction.
- the connecting portion 30 has a Neidhardt rubber spring 31 fixed to the bottom surface of the flat plate portion 112 of the front frame 11 .
- FIG. 3 is a cross-sectional view showing a schematic configuration of the Neidhardt rubber spring 31 provided in the connecting portion 30.
- the Neidhardt rubber spring 31 is housed in a frame-shaped case 311 having a substantially rectangular cross section and fixed to the rear end portion 11 b of the front frame 11 .
- a shaft 312 having a substantially circular cross section is arranged which is fixed to the front end portion of the rear frame 12 and extends in the front-rear direction along the center line CL1.
- the front end portion of the rear frame 12 may be configured to have a substantially circular cross section and used as the shaft 312 .
- the Neidhardt rubber spring 31 includes a substantially diamond-shaped cam block 313 spline-connected to the shaft 312 so as to be rotatable integrally with the shaft 312 , and rubber rollers arranged to face concave surfaces of the cam block 313 . 314.
- FIG. 3 shows an initial state in which the front frame 11 is not rocked, and at this time, the vertical frame 20 does not tilt in the left-right direction as indicated by the solid line in FIG. 2, and the vehicle 100 is in the standard posture.
- Torque acts on the case 311 from this initial state, and when the case 311 rotates around the center line CL1, the rubber roller 314 is pressed between the case 311 and the cam block 313 and is elastically deformed, and the rubber roller 314 is elliptical. become.
- the front frame 11 swings together with the vertical frame 20, and the vehicle 100 assumes an inclined posture as indicated by the two-dot chain line in FIG.
- the rotational resistance to the case 311 increases.
- the rubber roller 314 returns to its original shape due to its elastic force, and the front frame 11 returns to its reference posture.
- the front frame 11 of the main frame 10 By providing the front frame 11 of the main frame 10 so as to be able to swing via the connecting portion 30 in this way, a user who gets into the vehicle 100 in a standing posture can easily turn the vehicle 100 in the left-right direction. can.
- the vehicle 100 turns left and right
- the user slightly bends the knees and ankles and tilts the upper body left and right.
- the vertical frame 20 is swung integrally with the front frame 11 with both feet placed on the step 25 while the step 25 integral with the rear frame 12 is kept horizontal, and the front wheel 1 is moved left and right. Can be tilted.
- the vehicle 100 can be smoothly turned, and the turning performance is improved.
- the Neidhardt rubber spring 31 is provided in the connecting portion 30, when the front frame 11 is swung in the left-right direction from the reference posture, a restoring force acts on the front frame 11 to prevent the front frame 11 from swinging. can be well suppressed.
- the cam block 313 may be formed in a polygonal shape (for example, a triangular shape) instead of a square shape.
- the cam block 313 instead of all surfaces of the cam block 313 being concave, two surfaces may be concave, and the rubber roller 314 may be arranged to face these concave surfaces. By way of example, they may be located on two faces formed on a triangular cam block.
- a restoring force may be applied to the front frame 11 by an elastic member such as a coil spring instead of the Neidhardt rubber spring 31 . That is, the configuration of the restoring force applying portion is not limited to the Neidhardt rubber spring 31 .
- the weight of the user in a standing posture acts on the step 25 (the center point of the load acting from the soles of the feet) is the ground contact point of the front wheel 1 and the pair of left and right rear wheels 2 in plan view. Located within the triangular area connecting the respective ground points. As a result, the user can get into the vehicle 100 in a stable posture during both running and stopping.
- the vertical frame 20 is provided so as to be rotatable rearward (in the direction of arrow A in FIG. 1) via a rotating mechanism 201 above the front end portion 11a of the front frame 11 .
- the vehicle 100 can be changed from the traveling posture shown in FIG. 1 to the folded posture.
- the vertical frame 20 is arranged substantially parallel to the rear frame 12 between the left and right rear wheels 2 .
- the vehicle 100 in the folded posture can be easily transported by erecting the vehicle 100 with the rear wheels 2 as fulcrums, arranging the front wheels 1 upward, and rolling the rear wheels 2.
- - ⁇ A handle 14 that is gripped when the vehicle 100 is transported is provided at the front end of the front frame 11 .
- the steering wheel 22 is steerable in the left-right direction about the axis line CL2, and the vertical frame 20 is provided so as to be swingable in the left-right direction about the center line CL1. Therefore, when the vehicle 100 starts moving or turns, if the throttle lever 24 is operated (throttle operation) in a state in which the relationship between the steering angle and the swing angle is not appropriate, the stability of the vehicle 100 may decrease. be. Specifically, when the steering wheel 22 is steered leftward and the vertical frame 20 is swung rightward, and the throttle is operated, the change in the centrifugal force of the vehicle 100 increases. Stability may decrease. Therefore, in order to suppress deterioration in the stability of the vehicle 100 when the relationship between the steering angle and the swing angle is not appropriate, the present embodiment is configured as follows.
- the amount of operation of the steering wheel 22 from the axis L1 extending in the longitudinal direction is defined as the steering angle ⁇ s
- the steering angle ⁇ s when the steering wheel 22 is operated leftward is added. is defined as a negative steering angle.
- the amount of rocking of the vertical frame 20 from the axis L2 extending in the vertical direction is defined as a rocking angle ⁇ r
- the rocking angle ⁇ r when the vertical frame 20 is rocked leftward is The angle ⁇ r is defined as a positive rocking angle
- the rocking angle ⁇ r when rocked to the right is defined as a negative rocking angle.
- FIG. 4 is a block diagram schematically showing the configuration of the controller 40 provided in the power control unit that controls driving of the travel motor 4.
- the controller 40 includes a computer having an arithmetic unit such as a CPU, a storage unit such as ROM and RAM, and other peripheral circuits.
- signals from a throttle sensor 41 , a steering angle sensor 42 , a swing angle sensor 43 and a vehicle speed sensor 44 are input to the controller 40 .
- the throttle sensor 41 is provided on the throttle lever 24 and detects a command value (throttle command value Th) corresponding to the amount of operation of the throttle lever 24 .
- the steering angle sensor 42 is provided on the shaft 21, for example, and detects the amount of rotation of the shaft 21 due to the operation of the steering wheel 22, that is, the steering angle ⁇ s.
- the swing angle sensor 43 is provided on the connecting portion 30 and detects the swing angle ⁇ r.
- the vehicle speed sensor 44 is provided on the rotary shaft 1a of the front wheels 1 or the travel motor 4, and detects the vehicle speed v from the rotation speed of the rotary shaft 1a or the travel motor 4.
- the controller 40 executes predetermined processing according to input signals from these sensors 41 to 44 and controls driving of the travel motor 4 .
- the travel motor 4 is, for example, an embedded magnet synchronous motor having a rotor and a stator arranged around the rotor, and is driven by electric power supplied from the battery 6 to the coils of the stator via the controller 40 .
- a synchronous reluctance motor, a switched reluctance motor, or the like that does not have a magnet can also be used as the traveling motor 4 .
- the controller 40 calculates a correction coefficient ⁇ for correcting the throttle command value Th based on the steering angle ⁇ s, the swing angle ⁇ r, and the vehicle speed v detected by the sensors 42-44. Specifically, using the function f( ⁇ s, ⁇ r) with the steering angle ⁇ s and the rocking angle ⁇ r as parameters, the calculation unit 40A calculates the first correction coefficient ⁇ , and the function g with the vehicle speed v as the parameter. (v) is used to calculate the second correction coefficient ⁇ in the calculation unit 40B. Further, the calculation unit 40C calculates ⁇ to the power of ⁇ as a correction coefficient ⁇ .
- the calculation unit 40C multiplies the throttle command value Th by the correction coefficient ⁇ to calculate a corrected throttle command value Th' (referred to as a motor command value), and outputs this to the motor output unit 40D.
- the motor output unit 40D controls the travel motor 4 so that the travel motor 4 outputs a drive torque corresponding to the motor command value Th'.
- FIGS. 5A and 5B are diagrams showing an example of characteristics representing the relationship between the steering angle ⁇ s, the rocking angle ⁇ r, and the first correction coefficient ⁇ .
- FIG. 5A shows the characteristics when the steering angle ⁇ s is 0° or more (when steering to the left)
- FIG. 5B shows the characteristics when the steering angle ⁇ s is 0° or less (when steering to the right).
- the characteristics f10 solid line
- f11 dotted line
- f12 one-dot chain line
- f13 two-dot chain line
- the first correction coefficient ⁇ is calculated in the range of greater than 0 and less than or equal to 1.
- the greater the first correction coefficient ⁇ the greater the correction coefficient ⁇ and the motor command value Th'.
- ⁇ is 1 or nearly 1 in the region where the swing angle ⁇ r is small, and the magnitude of the swing angle ⁇ r is (absolute value) increases, ⁇ gradually decreases. Therefore, when the magnitude of the swing angle ⁇ r becomes equal to or greater than the predetermined value, the motor command value Th' becomes small, and the motor output is suppressed.
- the steering angle .theta.s and the swing angle .theta.r have different signs in this manner, the steering angle .theta.s and the swing angle .theta.r have the same sign because the value .alpha.
- the motor output is greatly suppressed compared to when it is certain.
- FIG. 6 is a diagram showing an example of characteristics representing the relationship between the vehicle speed v and the second correction coefficient ⁇ . This characteristic is pre-stored in memory.
- the second correction coefficient ⁇ is set within a range of 0 or more and 1 or less. As shown in FIG. 6, the second correction coefficient ⁇ is 1 or approximately 1 when the vehicle speed v is low, and gradually decreases as the vehicle speed v increases. More specifically, when the vehicle speed v is low, ⁇ is substantially constant, and when the vehicle speed v exceeds a predetermined value, ⁇ sharply decreases as the vehicle speed v increases.
- h0 solid line
- h1 dotted line
- h2 one-dot chain line
- h3 two-dot chain line
- the motor command when the throttle lever 24 is operated is greater than when the steering direction and the swinging direction are the same.
- the value Th' becomes smaller and the motor output is suppressed.
- the motor output is suppressed when a sudden throttle operation is performed.
- the degree of suppression of the motor output decreases, so the user can accelerate the vehicle 100 without discomfort. That is, when the vehicle speed v increases, the change in the vehicle speed v becomes smaller with respect to the change in the throttle command value Th. Users tend to feel uncomfortable.
- the ratio of motor output suppression is reduced, so that the user's sense of discomfort can be suppressed.
- the vehicle speed v is high, the change in centrifugal force when the throttle lever 24 is operated is small. Therefore, even if the degree of motor output suppression is small, the stability of the vehicle 100 is not greatly affected.
- the vehicle 100 includes a front wheel 1 and a rear wheel 2, a handle 22 arranged above the front wheel 1, a step 25 on which the passenger's (user's) feet are placed, and the front wheel 1.
- a front frame 11 and a vertical frame 20 that are rotatably and steerably supported by a handlebar 22; a rear frame 12 that is arranged behind the front frame 11 and rotatably supports the rear wheel 2;
- a connecting portion 30 that connects the front frame 11 and the vertical frame 20 to the rear frame 12 so as to be able to swing in the left-right direction about the existing center line CL1;
- a throttle lever 24 to which a travel command including an acceleration command is input;
- a controller 40 that controls the travel motor 4 so as to generate driving force corresponding to the travel command (throttle command value Th) input by the throttle lever 24;
- a steering angle sensor 42 for detecting a lateral steering angle ⁇ s of the steering wheel 22 and a swing angle sensor 43 for detecting a lateral swing angle ⁇ r of the vertical frame 20 are provided (FIGS.
- the controller 40 adjusts the driving force according to the throttle command value Th input from the throttle lever 24 according to the steering angle ⁇ s detected by the steering angle sensor 42 and the swing angle ⁇ r detected by the swing angle sensor 43.
- the traveling motor 4 is controlled so as to generate a driving force that is lower than that (Fig. 4).
- the throttle lever 24 is suddenly operated when the swinging direction and the steering direction do not match during turning.
- the vehicle speed is increased or decreased, it is possible to suppress a large change in the centrifugal force.
- the controller 40 determines whether the steering direction and the swinging direction are the same. are in the same direction, the traveling motor 4 is controlled so that the driving force for the same acceleration command is reduced (FIGS. 5A and 5B).
- the traveling motor 4 is controlled so that the driving force for the same acceleration command is reduced.
- the controller 40 increases the reduction rate of the driving force with respect to the throttle command value Th (FIGS. 5A and 5B). As the steering angle .theta.s increases, the vehicle attitude becomes more unstable with respect to changes in vehicle speed.
- Vehicle 100 further includes a vehicle speed sensor 44 that detects vehicle speed v (FIG. 4). Further, the controller 40 controls the motor output so as to generate a driving force smaller than the driving force corresponding to the acceleration command input by the throttle lever 24, in accordance with the vehicle speed v detected by the vehicle speed sensor 44.
- the traveling motor 4 is controlled so as to do so (FIGS. 4 and 6). By controlling the traveling motor 4 in consideration of the vehicle speed v in addition to the steering angle .theta.s and the swing angle .theta.r, it is possible to appropriately prevent the vehicle attitude from becoming unstable when the throttle lever 24 is suddenly operated. can be prevented.
- the controller 40 increases the reduction rate of the driving force with respect to the acceleration command (FIGS. 6 and 7). As a result, it is possible to prevent the vehicle attitude from becoming unstable without suppressing the acceleration of the vehicle 100 more than necessary.
- the controller 40 as a control unit calculates the correction coefficient ⁇ for the throttle command value Th based on the steering angle ⁇ s, the swing angle ⁇ r, and the vehicle speed v.
- the correction coefficient ⁇ may be calculated based on the steering angle ⁇ s and the swing angle ⁇ r.
- the swing angle (expressed as ⁇ rg ) may be used. This point will be described below.
- FIG. 8 is a front view of the vehicle 100 positioned on a sloping ground where the angle (tilt angle) of the road surface with respect to the horizon is ⁇ g.
- the left-right direction of the vehicle 100 coincides with the inclination direction of the road surface (inclined surface).
- the angle of the vertical frame 20 from the reference line L3 extending along the direction of gravity is defined as the swing angle ⁇ rg.
- This swing angle ⁇ rg can be calculated using the value of a tilt sensor (not shown) that detects the road surface tilt angle ⁇ g.
- the swing angle ⁇ rg of the vertical frame 20 with respect to the direction of gravity can be calculated from the detected value ( ⁇ g) of the tilt sensor and the detected value ( ⁇ r) of the swing angle sensor 43 .
- the tilt sensor for example, a pendulum type or a float type provided on the rear frame 12 can be used.
- the swing angle ⁇ rg may be calculated using a gyro sensor or a gravity type bank angle sensor.
- the configuration of the swing angle detection section that detects the swing angle .theta.rg from the reference line L3 may be of any type.
- the motor output can be favorably suppressed.
- the magnitude of the swing angle ⁇ rg when the vertical frame 20 is swinging on the upward slope side is smaller than the swing angle ⁇ r when the vehicle is traveling on a non-sloping ground. can be prevented from being suppressed too much.
- the handle 22 as the steering portion is configured in a bar shape, but the configuration of the steering portion is not limited to this.
- the step 25 (mounting portion) is configured by a single plate member, but the mounting portion may be divided into left and right portions.
- the front frame 11 and the vertical frame 20 support the front wheel 1 rotatably and operably by the handle 22, but the configuration of the first member is not limited to that described above.
- the rear wheel 2 is rotatably supported by the rear frame 12, but the configuration of the second member is not limited to this.
- the first member front frame 11
- the second member rear frame 12
- the connecting portion 30 provided with the Neidhardt rubber spring 31.
- a biasing member other than the Neidhardt rubber spring may be used, and the structure of the connecting portion is not limited to that described above.
- the traveling motor 4 is provided as the traveling actuator for the front wheel 1. However, if it is provided so as to drive at least one of the front wheel 1 and the rear wheel 2, the configuration of the traveling actuator may be the same as described above.
- a brake brake unit 5
- the controller 40 may control the brake in addition to the travel motor 4 or instead of the travel motor 4 .
- a prime mover may be used as the travel actuator.
- the drive command including the acceleration command is input by operating the throttle lever 24 provided on the steering wheel 22.
- the drive command may be input by stepping on the pedal.
- the configuration is not limited to that described above.
- the travel command may include not only an acceleration command but also a deceleration command.
- the steering angle sensor 42 detects the steering angle ⁇ s, but the configuration of the steering angle detector is not limited to that described above.
- the swing angle sensor 43 detects the swing angle ⁇ r, but the structure of the swing angle detector is not limited to that described above.
- the vehicle speed sensor 44 detects the vehicle speed v, but the configuration of the vehicle speed detector is not limited to that described above.
- the first correction coefficient ⁇ is calculated based on the characteristics of FIGS. 5A and 5B using the steering angle ⁇ s and the swing angle ⁇ r as parameters, but ⁇ may be calculated based on other characteristics.
- the second correction coefficient ⁇ is calculated based on the characteristics of FIG. 6 using the vehicle speed v as a parameter, but ⁇ may be calculated based on other characteristics.
- the correction coefficient ⁇ for the throttle command value Th is calculated using the first correction coefficient ⁇ and the second correction coefficient ⁇ .
- the expressions are not limited to those described above.
- the correction coefficient ⁇ may be calculated without dividing into the first correction coefficient ⁇ and the second correction coefficient ⁇ .
- the correction coefficient ⁇ may be calculated using a map or the like without using the calculation formula. Therefore, the configuration of the control unit is not limited to that described above.
- the vehicle 100 is configured to have a single front wheel 1 and a pair of left and right rear wheels 2, but the single front wheel and single rear wheel, or a pair of front wheels and a single rear wheel.
- the vehicle can also be configured to have
- a single front wheel includes, for example, a pair of front wheels provided at one location, that is, a pair of front wheels.
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Abstract
Description
(1)本実施形態に係る車両100は、前輪1および後輪2と、前輪1の上方に配置されたハンドル22と、乗員(ユーザ)の足が載置されるステップ25と、前輪1を回転可能に、かつ、ハンドル22によって操舵可能に支持する前フレーム11、縦フレーム20と、前フレーム11の後方に配置され、後輪2を回転可能に支持する後フレーム12と、前後方向に延在する中心線CL1を中心にして後フレーム12に対し前フレーム11および縦フレーム20を左右方向に揺動可能に連結する連結部30と、前輪1を駆動する走行モータ4と、乗員の操作により加速指令を含む走行指令が入力されるスロットルレバー24と、スロットルレバー24により入力された走行指令(スロットル指令値Th)に応じた駆動力を発生するように走行モータ4を制御するコントローラ40と、ハンドル22の左右方向の操舵角θsを検出する操舵角センサ42と、縦フレーム20の左右方向の揺動角θrを検出する揺動角センサ43と、を備える(図1,4)。コントローラ40は、操舵角センサ42により検出された操舵角θsと揺動角センサ43により検出された揺動角θrとに応じて、スロットルレバー24により入力されたスロットル指令値Thに応じた駆動力よりも低減された駆動力を発生するように走行モータ4を制御する(図4)。
Claims (6)
- 前輪および後輪と、
前記前輪の上方に配置された操舵部と、
前記乗員の足が載置される載置部と、
前記前輪を回転可能に、かつ、前記操舵部によって操舵可能に支持する第1部材と、
前記第1部材の後方に配置され、前記後輪を回転可能に支持する第2部材と、
前後方向に延在する軸線を中心にして前記第2部材に対し前記第1部材を左右方向に揺動可能に連結する連結部と、
前記前輪および前記後輪の少なくとも一方を駆動する走行用アクチュエータと、
加速指令を含む走行指令が入力される入力部と、
前記入力部により入力された走行指令に応じた駆動力を発生するように前記走行用アクチュエータを制御する制御部と、
前記操舵部の左右方向の操舵角を検出する操舵角検出部と、
前記第2部材に対する前記第1部材の左右方向の揺動角を検出する揺動角検出部と、を備え、
前記制御部は、前記操舵角検出部により検出された操舵角と前記揺動角検出部により検出された揺動角とに応じて、前記入力部により入力された加速指令に応じた駆動力よりも低減された駆動力を発生するように前記走行用アクチュエータを制御することを特徴とする車両。 - 請求項1に記載の車両において、
前記制御部は、前記操舵角検出部および前記揺動角検出部の検出値により求められる前記操舵部の操舵方向と前記第1部材の揺動方向とが同一方向でないとき、前記操舵方向と前記揺動方向とが同一方向であるときよりも、同一の加速指令に対する駆動力が低減されるように前記走行用アクチュエータを制御することを特徴とする車両。 - 請求項2に記載の車両において、
前記制御部は、前記操舵角検出部により検出された操舵角が大きいほど、加速指令に対する駆動力の低減割合を大きくすることを特徴とする車両。 - 請求項1~3のいずれか1項に記載の車両において、
車速を検出する車速検出部をさらに備え、
前記制御部は、さらに前記車速検出部により検出された車速に応じて、前記入力部により入力された加速指令に応じた駆動力よりも低減された駆動力を発生するように前記走行用アクチュエータを制御することを特徴とする車両。 - 請求項4に記載の車両において、
前記制御部は、前記車速検出部により検出された車速が遅いほど、加速指令に対する駆動力の低減割合を大きくすることを特徴とする車両。 - 請求項1~5のいずれか1項に記載の車両において、
前記揺動角検出部は、重力方向に延在する基準線からの揺動角を検出するように構成されることを特徴とする車両。
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005323431A (ja) * | 2004-05-07 | 2005-11-17 | Atex Co Ltd | 小型電動車の走行制御装置 |
JP2016165986A (ja) * | 2015-03-06 | 2016-09-15 | 株式会社エクォス・リサーチ | 車両 |
JP2019188955A (ja) * | 2018-04-23 | 2019-10-31 | トヨタ自動車株式会社 | 自動傾斜車両 |
JP2020104640A (ja) * | 2018-12-27 | 2020-07-09 | 株式会社エクォス・リサーチ | 車両 |
JP6935610B1 (ja) | 2020-05-01 | 2021-09-15 | 本田技研工業株式会社 | 車両 |
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Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2005323431A (ja) * | 2004-05-07 | 2005-11-17 | Atex Co Ltd | 小型電動車の走行制御装置 |
JP2016165986A (ja) * | 2015-03-06 | 2016-09-15 | 株式会社エクォス・リサーチ | 車両 |
JP2019188955A (ja) * | 2018-04-23 | 2019-10-31 | トヨタ自動車株式会社 | 自動傾斜車両 |
JP2020104640A (ja) * | 2018-12-27 | 2020-07-09 | 株式会社エクォス・リサーチ | 車両 |
JP6935610B1 (ja) | 2020-05-01 | 2021-09-15 | 本田技研工業株式会社 | 車両 |
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