WO2024048534A1 - Véhicule inclinable - Google Patents

Véhicule inclinable Download PDF

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Publication number
WO2024048534A1
WO2024048534A1 PCT/JP2023/031029 JP2023031029W WO2024048534A1 WO 2024048534 A1 WO2024048534 A1 WO 2024048534A1 JP 2023031029 W JP2023031029 W JP 2023031029W WO 2024048534 A1 WO2024048534 A1 WO 2024048534A1
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WIPO (PCT)
Prior art keywords
steering
torque
vehicle
rider
angle
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PCT/JP2023/031029
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English (en)
Japanese (ja)
Inventor
大介 神津
Original Assignee
ヤマハ発動機株式会社
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Filing date
Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Publication of WO2024048534A1 publication Critical patent/WO2024048534A1/fr

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    • 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
    • B62K21/00—Steering devices

Definitions

  • the present invention relates to a lean vehicle that leans to the right when turning right and leans to the left when turning left.
  • a lean vehicle In a lean vehicle, the vehicle body tilts when the rider steers the steering wheel.
  • a lean vehicle is, for example, a motorcycle.
  • a lean vehicle whose attitude is controlled by a control device.
  • the roll angle of the vehicle body frame is controlled by setting a target roll angle based on the steering angle, which is the amount of operation by the rider, and controlling the driving force. Thereby, the lean vehicle of Patent Document 1 can be smoothly moved in the direction instructed by the rider.
  • An object of the present invention is to provide a lean vehicle that can increase responsiveness to a rider's intention to change the traveling direction while controlling the posture of the lean vehicle in the roll direction.
  • a lean vehicle has the following configuration. a plurality of wheels including at least one front wheel and at least one rear wheel arranged rearward in the longitudinal direction of the vehicle than the at least one front wheel; A vehicle body frame that rotatably supports at least one front wheel around a steering axis, and tilts to the right of the vehicle with respect to the vertical direction of the vehicle when turning to the right, and tilts to the left of the vehicle with respect to the vertical direction of the vehicle when turning to the left.
  • a lean vehicle comprising: a control device for controlling the vehicle; a rider steering torque detection device for detecting information related to the rider steering torque input to the steering unit; and the at least one front wheel and the at least one rear wheel.
  • a drive torque applying device configured to apply positive and negative drive torques about the axle axis to at least one of the wheels; and a drive torque applying device configured to apply the rider steering torque and the steering actuator to the at least one front wheel.
  • a torque applying device including at least one of a steering torque applying device configured to apply a steering torque around the steering axis that is a composite torque with an actuator steering torque, the control device The device is configured to control at least one of the drive torque and the steering torque applied by the device, and a steering angle that is a rotation angle of the at least one front wheel about the steering axis is detected by the rider steering torque detection device. controlling at least one of the driving torque and the steering torque of the torque applying device so as to achieve a target steering angle set based at least on information related to the rider steering torque, thereby controlling the lean vehicle; Execute attitude control to control the attitude in the roll direction.
  • attitude control is executed by the control device, and the attitude of the lean vehicle in the roll direction is controlled.
  • the control device controls at least one of the drive torque and the steering torque so that the steering angle becomes a target steering angle set based at least on information related to rider steering torque.
  • the target steering angle is set based on the rider steering torque. Since the target steering angle is set based on the rider steering torque, which is the torque while the rider is steering the steering unit, the target roll angle is set based on the steering angle, which is the result after the rider steers the steering unit. Compared to the case where the target steering angle is set, the target steering angle can be set more quickly. Therefore, while controlling the attitude of the lean vehicle in the roll direction, it is possible to increase the responsiveness to the rider's intention to change the traveling direction.
  • a lean vehicle may have the following configuration.
  • the control device controls the rider steering torque.
  • the direction of rotation around the steering axis that changes from the actual steering angle, which is the steering angle when the steering angle is applied, to the target steering angle is opposite to the direction of rotation around the steering axis of the rider steering torque.
  • the target steering angle is set, and the intersection point of the steering axis of the at least one front wheel and the running surface of the at least one front wheel is the same as a grounding point of the at least one front wheel or a grounding point of the at least one front wheel.
  • the control device is located toward the rear of the vehicle from the point, the control device is configured such that the direction of rotation around the steering axis in which the actual steering angle changes from the target steering angle is the same as the direction of rotation of the rider steering torque around the steering axis.
  • the target steering angle is set so as to correspond to the direction.
  • a lean vehicle in which the intersection of the steering axis of at least one front wheel and the running surface of at least one front wheel is the same as the grounding point of at least one front wheel or is located in the vehicle rearward direction from the grounding point of at least one front wheel,
  • a lean vehicle with a trail length of 0 or a negative value moves such that at least one front wheel is steered in the same direction as the direction in which the rider applies rider steering torque.
  • the posture of the lean vehicle in the roll direction is controlled while , it is possible to increase responsiveness to the rider's intention to change the direction of travel.
  • a lean vehicle may have the following configuration.
  • a steering angle related information detection device that detects information related to a steering angle that is a rotation angle of the at least one front wheel about the steering axis; and a wheel speed that is the rotation speed of the at least one wheel about the axle axis.
  • a wheel speed related information detection device that detects related information, and the control device is configured such that the steering angle of the at least one front wheel is in addition to information related to the rider steering torque.
  • Target steering set based on at least one of information related to the actual vehicle speed, which is the vehicle speed when the rider steering torque was applied, and information related to the actual steering angle, which is the steering angle when the rider steering torque was applied. At least one of the driving torque and the steering torque of the torque applying device is controlled so that the torque applying device has an angle.
  • the target steering angle is set based on at least one of the actual vehicle speed and the actual steering angle in addition to the rider steering torque. Even when the amount of change in the steering angle is the same, the attitude of the lean vehicle in the roll direction changes more as the speed increases. Therefore, even if the rider applies the same rider steering torque, the target steering angle can be made smaller if the actual vehicle speed is high. In addition, if the steering unit is being steered a lot and the actual steering angle is large, if the same target steering angle is given as when the steering unit is not being steered a lot and the actual steering angle is small, the mechanical Limits may be reached.
  • the target steering angle can be made small so that it becomes difficult to largely steer the steering unit.
  • a lean vehicle may have the following configuration.
  • a steering angle related information detection device for detecting information related to a steering angle, which is a rotation angle of the at least one front wheel about the steering axis; and a lean angle, which is an inclination angle of the vehicle body frame in the left-right direction of the vehicle with respect to the vertical direction of the vehicle.
  • a lean angle related information detection device that detects information related to the angle; and a wheel speed related information detection device that detects information related to a wheel speed that is a rotational speed of the at least one wheel about the axle axis.
  • the control device controls the target steering, wherein the steering angle of the at least one front wheel is set based on at least information related to the rider steering torque detected by the rider steering torque detection device.
  • information related to the steering angle detected by the steering angle related information detection device and the lean angle related information detection so that a change in the attitude of the lean vehicle in the roll direction is suppressed while the lean vehicle is at an angle.
  • the drive torque and the steering torque of the torque applying device are determined based on information related to the lean angle detected by the device and information related to the rotation speed detected by the wheel rotation related information detection device. Control at least one of them.
  • the control device does not execute the attitude control of the present invention and controls the attitude of the lean vehicle so that changes in the attitude of the lean vehicle in the roll direction are suppressed without considering the rider steering torque
  • the target steering angle is controlled so that it does not comply with the rider's intention to change the direction of travel.
  • the posture of the lean vehicle in the roll direction is controlled so that changes in the posture of the lean vehicle in the roll direction are suppressed.
  • responsiveness to the rider's intention to change the traveling direction can be increased.
  • a lean vehicle may have the following configuration.
  • the attitude control executed by the control device applies the torque so that the steering angle becomes a target steering angle set based at least on information regarding the rider steering torque detected by the rider steering torque detection device.
  • the first attitude control for controlling at least one of the drive torque and the steering torque of the device, and a lean angle that is an inclination angle of the vehicle body frame in the vehicle lateral direction with respect to the vehicle vertical direction, are performed by the rider steering torque detection device.
  • second attitude control for controlling at least one of the driving torque and the steering torque of the torque applying device so as to achieve a target lean angle set based at least on information related to the detected rider steering torque; , including at least
  • the attitude control executed by the control device includes at least the first attitude control and the second attitude control.
  • the control device can switch between the first attitude control and the second attitude control depending on the running state of the lean vehicle. For example, in a low-speed running state where the steering angle is more likely to change than the lean angle of a lean vehicle, the control device may execute the first attitude control so that the steering angle becomes the target steering angle set based on the rider steering torque. Then, the steering angle of the lean vehicle is adjusted to a relatively large value, and the attitude of the lean vehicle in the roll direction is controlled.
  • the control device executes second attitude control to maintain the lean angle at a target lean angle set based on the rider steering torque.
  • the lean angle of the vehicle is adjusted to a relatively large value to control the attitude of the lean vehicle in the roll direction.
  • a lean vehicle may have the following configuration.
  • the torque applying device includes at least the driving torque applying device and the steering torque applying device of the steering torque applying device, and the control device controls the driving torque and the steering torque applied by the torque applying device.
  • the steering angle of the at least one front wheel is configured to control at least the steering torque, and in the attitude control, the steering angle of the at least one front wheel is based on information related to the rider steering torque detected by the rider steering torque detection device.
  • At least the steering torque of the driving torque and the steering torque of the torque applying device is controlled so that the target steering angle is set based on at least the target steering angle.
  • attitude control of the control device it is easier to make the steering angle equal to the target steering angle than when only the drive torque is controlled. Therefore, while controlling the attitude of the lean vehicle in the roll direction, it is possible to increase the responsiveness to the rider's intention to change the traveling direction.
  • a lean vehicle may have the following configuration.
  • the control device is configured to perform the attitude control at least when the vehicle speed is greater than 0 km/h and less than 10 km/h.
  • attitude control is executed at least when the vehicle is traveling at a speed greater than 0 km/h and less than 10 km/h.
  • the steering angle is more likely to change than the lean angle of a lean vehicle compared to a running state where the vehicle speed is greater than 10 km/h.
  • the control device adjusts the steering angle to the target steering angle set based on the rider steering torque.
  • attitude control By performing attitude control, the steering angle of the lean vehicle is adjusted to a relatively large value, and the attitude of the lean vehicle in the roll direction is controlled. This makes it possible to control the attitude of the lean vehicle in the roll direction while increasing responsiveness to the rider's intention to change the direction of travel.
  • a lean vehicle may have the following configuration.
  • the steering unit includes a handle unit that is steered by a rider, and a connection part that connects the handle unit and the at least one front wheel, and the connection part allows the handle unit to rotate around a handle axis.
  • the at least one front wheel rotates around the steering axis when the handle unit rotates around the steering axis
  • the at least one front wheel rotates around the steering axis when the handle unit rotates around the steering axis.
  • the handle unit rotates about the handle axis
  • the rotation angle of any one of the at least one front wheel about the steering axis is the rotation angle of the handle unit about the handle axis.
  • the vehicle includes a connecting portion that connects the handle unit and the at least one front wheel.
  • the rotation angle of at least one front wheel around the steering axis is greater than or equal to the rotation angle around the steering axis of the steering wheel unit, and the rotation angle of the front wheel around the steering axis is greater than the rotation angle around the steering axis of the steering wheel unit.
  • the rotation angle of at least one of the front wheels around the steering axis is greater than or equal to the rotation angle of the steering wheel unit around the steering axis.
  • the control device sets the target steering angle according to the rider steering torque. This makes it possible to control the roll direction posture of the lean vehicle, which tends to change its roll direction posture, while increasing responsiveness to the rider's intention to change the traveling direction.
  • a lean vehicle may have the following configuration.
  • the steering unit includes a handle unit that is steered by a rider, and a connection part that connects the handle unit and the at least one front wheel, and the connection part is configured such that the handle unit is rotated by less than 360° around the handlebar axis.
  • the at least one front wheel rotates about the steering axis when the handle unit rotates about the steering wheel axis;
  • a connecting portion is provided for connecting the handle unit and the at least one front wheel so that the handle unit rotates about the steering axis when the front wheel rotates about the steering axis.
  • lean vehicles with a steering wheel unit that is rotatable in a rotary angular range of less than 360° may be rotated in a rotary angular range of 360° or more.
  • the angle of rotation of the at least one front wheel about the steering axis when the steering wheel unit is rotated through the same angle of rotation about the axis of the steering wheel is greater than that of a vehicle with a steering wheel unit that is possible.
  • the rider is less likely to touch the handle unit compared to a vehicle equipped with a handle unit that can be rotated over a rotation angle range of 360° or more. It is easy to apply force and give rider steering torque.
  • the control device sets the target steering angle according to the rider steering torque. This makes it possible to control the roll direction posture of the lean vehicle, which tends to change its roll direction posture, while increasing responsiveness to the rider's intention to change the traveling direction.
  • the vehicle vertical direction in the present invention and embodiments is a direction perpendicular to the running surface. More specifically, it is a direction perpendicular to the ground contact position of the wheel.
  • the running surface is a road surface on which a lean vehicle runs.
  • the vehicle longitudinal direction in the present invention and the embodiments is a direction fixed to the vehicle body frame, and is a traveling direction of the lean vehicle when the lean vehicle is traveling straight.
  • the lateral direction of the vehicle in the present invention and the embodiments is a direction perpendicular to the longitudinal direction of the vehicle and the vertical direction of the vehicle. When a rider rides on a lean vehicle, the left-right direction of the vehicle is the left-right direction for the rider.
  • the plurality of wheels including at least one front wheel and at least one rear wheel may include one front wheel and one rear wheel, or may include one front wheel and multiple rear wheels. , may include multiple front wheels and one rear wheel.
  • the lean vehicle may be a two-wheeled vehicle or a three-wheeled vehicle.
  • the lean vehicle may be a motorcycle or a motor tricycle.
  • Motorcycles also include scooters and mopeds.
  • the lean vehicle may be a two-wheeled or three-wheeled bicycle.
  • Lean vehicles according to the present invention and embodiments may have positive caster angles. That is, the steering axis may be tilted rearward.
  • the caster angle is the angle formed between the steering axis and the vertical direction of the vehicle, and is positive when the steering axis is tilted rearward.
  • a lean vehicle according to the present invention and embodiments may have a trail length of a positive value.
  • the trail length is the distance between the grounding point of the front wheels and the intersection of the steering axis and the running surface. In other words, the trail length is the distance in the vehicle longitudinal direction between the axle axis of the front wheels and the intersection of the steering axis and the running surface.
  • a state in which the trail length is a positive value is a state in which the grounding point of the front wheels is located further forward of the vehicle than the intersection of the steering axis and the running surface.
  • a lean vehicle according to the present invention and embodiments may have a trail length of zero or a negative value.
  • the lean vehicle according to the present invention and the embodiments may be configured such that the trail length cannot be changed.
  • the lean vehicle according to the present invention and the embodiments may be configured to be able to change the trail length.
  • the trail length may be varied within a range of positive values.
  • the trail length may be changeable from a positive value to a negative value.
  • the lean vehicle according to the present invention and the embodiments may be configured such that the rear wheels cannot be steered.
  • the lean vehicle according to the present invention and embodiments does not need to have a mechanism that can change the lean angle without changing the steering angle of the front wheels.
  • the lean vehicle according to the present invention and embodiments does not need to have a mechanism that changes the center of gravity position of the body frame without changing the steering angle of the front wheels.
  • the lean vehicle according to the present invention and embodiments may have at least one operator (for example, an accelerator operator, a brake operator, a bicycle pedal, etc.) operated by the rider to maintain or change the vehicle speed, It is not necessary to have one.
  • the lean vehicle according to the present invention and embodiments may be configured to be switchable between a mode in which attitude control is not performed and a mode in which attitude control is performed.
  • supporting a plurality of wheels so as to be rotatable around an axle line means supporting a plurality of wheels so that each wheel can rotate around an axle line.
  • supporting at least one front wheel rotatably around the steering axis means supporting a plurality of front wheels rotatably around the steering axis for each front wheel.
  • a wheel front wheel or rear wheel
  • the portion of the outer edge of the front wheel that contacts the running surface in a cross section perpendicular to the circumferential direction of the front wheel may be arcuate.
  • the roll direction of a lean vehicle is a rotation direction about a roll axis of the lean vehicle along the longitudinal direction of the vehicle, in which the body frame of the lean vehicle is rotated with respect to the vertical direction of the vehicle. This is the direction in which the vehicle is inclined in the left-right direction.
  • the lean angle-related information detected by the lean angle-related information detection device includes the lean angle, the lean angular velocity which is the time change rate of the lean angle, and the lean angle velocity which is the time change rate of the lean angular velocity. and at least one of angular acceleration.
  • the lean angle may be a so-called roll angle.
  • the lean angle related information detection device may be, for example, an IMU (Inertial Measurement Unit).
  • the information related to the steering angle detected by the steering angle related information detection device includes the steering angle, the steering angular velocity which is the time rate of change of the steering angle, and the steering angle which is the time rate of change of the steering angular velocity. and at least one of angular acceleration.
  • the steering angle is the rotation angle of at least one front wheel about the steering axis. When a lean vehicle is traveling straight, the steering angle is zero.
  • a lean vehicle may have one front wheel. When the number of front wheels is plural, the lean vehicle may be configured such that the rotation angles of the plurality of front wheels about the steering axis are always the same.
  • the lean vehicle may be configured such that the rotation angles of the plurality of front wheels about the steering axis can be slightly different.
  • the rotation angle of any one front wheel about the steering axis is related to the rotation angle of the remaining front wheels about the steering axis.
  • the steering angle related information detection device may be a sensor that supports the front wheels rotatably about the axle axis and detects a rotation angle of a steering shaft that is rotatably supported by the vehicle body frame about the steering axis.
  • the steering angle related information detection device may include a sensor that detects the rotation angle of the shaft of the electric motor included in the steering torque imparting device.
  • the information related to the wheel speed detected by the wheel speed related information detection device includes the rotational speed of the front wheel around the axle line, the rotational acceleration around the axle line of the front wheel, and the rotational acceleration around the axle line of the front wheel. Amount of rotation (number of rotations or rotation angle), rotation speed of the rear wheels around the axle line, rotational acceleration of the rear wheels around the axle line, amount of rotation of the rear wheels around the axle line, vehicle speed (vehicle longitudinal speed of lean vehicles) ), acceleration of the lean vehicle in the longitudinal direction of the vehicle.
  • wheel speed is the rotation angle of at least one wheel around the axle axis.
  • the rotational speed of one wheel about its axle is related to the rotational speed of the remaining wheels about their axles.
  • the rotation speed around the axle axis is the number of rotations or rotation angle per unit time.
  • the wheel speed related information detection device may be a sensor provided on the wheel.
  • the wheel speed related information detection device may be a device that detects information related to the wheel speed of the lean vehicle using GNSS (Global Navigation Satellite System).
  • the control device may calculate the vehicle speed from the rotational speed of the front wheels around the axle line and the steering angle.
  • the control device may calculate the vehicle speed from the rotation speed of the rear wheels around the axle line.
  • the steering unit includes a handle unit operated by a rider to maintain or change the steering angle.
  • at least a portion of the steering unit is included in the steering torque applying device.
  • a rider steers the steering unit it means rotating the handle unit.
  • Steering the steering unit to the right of the vehicle means rotating the handle unit clockwise in plan view.
  • Steering the steering unit to the left of the vehicle means rotating the handle unit counterclockwise in plan view.
  • the rotational axis of the handle unit may or may not coincide with the steering axis of the front wheels.
  • the steering unit will transmit the torque input to the steering wheel unit around the rotational axis of the steering wheel unit as torque around the steering axis of the front wheels. It is configured to In the present invention, rider steering torque is input to the steering unit as torque about the steering axis of at least one front wheel, when the number of front wheels is plural, the rider steering torque is input to the steering unit as torque about the steering axis of the plurality of front wheels. It is not our intention to deny input at the same time.
  • the steering unit of the present invention and the embodiments is configured such that when there is a plurality of front wheels, the torque around the steering axis of the plurality of front wheels input to the steering unit by the rider's steering of the steering unit is always the same. It's okay.
  • the steering unit of the present invention and the embodiments may slightly differ in the torque around the steering axis of the plurality of front wheels that is input to the steering unit by the rider's steering of the steering unit. It may be configured so that it can be done.
  • the rider steering torque detection device is a device that detects information related to the rider steering torque input to the steering unit when the rider steers the steering unit.
  • the rider steering torque detection device may detect at least rider steering torque as information related to rider steering torque.
  • the steering torque applying device generates an actuator steering torque by a steering actuator, and the torque is a combination of the actuator steering torque generated by the steering actuator and the rider steering torque input to the steering unit. Applying steering torque to at least one front wheel.
  • being configured to apply steering torque around the steering axis to the front wheels means being configured to apply steering torque to a member that rotatably supports the front wheels around the axle axis. It means to be done.
  • the steering torque applying device may be configured to rotatably support the front wheels around the axle axis and apply steering torque to a steering shaft supported by the vehicle body frame so as to be rotatable around the steering axis.
  • the steering torque applying device is configured to apply steering torque to at least one front wheel, when the number of front wheels is plural, the steering torque applying device applies steering torque to the plurality of front wheels simultaneously. Alternatively, the steering torque applying device may apply steering torque to some of the plurality of front wheels simultaneously.
  • the steering actuator is, for example, an electric motor or a hydraulic actuator.
  • an assist motor electric motor
  • the control device controls the steering torque it means controlling the actuator steering torque.
  • the drive torque application device generates drive torque and applies the generated drive torque to at least one of at least one front wheel and at least one rear wheel.
  • the driving torque applying device may be configured to apply driving torque only to at least one front wheel, may be configured to apply driving torque only to at least one rear wheel, and may be configured to apply driving torque only to at least one front wheel. It may be configured to apply drive torque to both of the at least one rear wheel.
  • the drive torque application device is configured to apply drive torque to both at least one front wheel and at least one rear wheel, the drive torque is not necessarily applied to at least one front wheel and at least one rear wheel at the same time. It's okay.
  • driving torque means a driving torque applied to one wheel, or a general term for a plurality of driving torques applied to a plurality of wheels.
  • being configured to apply positive and negative driving torques means being configured to be able to apply positive and negative driving torques to one wheel at different timings. It means to do something.
  • the positive drive torque is a torque that rotates the wheels in the positive direction so that the lean vehicle moves forward. If a negative drive torque is applied while the wheel is rotating in the positive direction, the rotation of the wheel in the positive direction is decelerated.
  • the drive torque applying device may or may not be configured to be able to generate a torque that rotates the wheels in a negative direction as a negative drive torque.
  • the drive torque applying device may include a plurality of devices that each apply torque to one wheel.
  • a composite torque of a plurality of torques simultaneously applied to one wheel corresponds to the driving torque of the present invention.
  • the drive torque applying device may be configured to be able to simultaneously apply positive torque and negative torque to one wheel.
  • the drive torque applying device may include at least one of an engine and an electric motor.
  • the drive torque applying device may include a brake device.
  • the brake device may be a hydraulic brake device, for example.
  • a lean vehicle does not have a brake device included in the drive torque applying device, and may have a brake device not included in the drive torque applying device.
  • the control device does not control the braking device so that the steering angle becomes the target steering angle set based at least on information related to rider steering torque, the braking device controls the driving torque applying device. Does not need to be included.
  • the torque applying device may include both a driving torque applying device and a steering torque applying device, may include only a driving torque applying device, or may include only a steering torque applying device.
  • the torque applying device includes at least a steering torque applying device, and may include both a driving torque applying device and a steering torque applying device, or may include only a steering torque applying device.
  • the case where the torque applying device includes only the steering torque applying device is, for example, the case where the lean vehicle is applied to a two-wheeled or three-wheeled bicycle.
  • the target steering angle is set based on at least the rider steering torque.
  • the target steering angle is set such that the direction of change from the actual steering angle, which is the steering angle when the rider steering torque is applied, is opposite to the direction of the rider steering torque around the steering axis.
  • the target steering angle is set so that the direction of change from the actual steering angle is the same as the direction of the rider steering torque around the steering axis. Further, the target steering angle may be set such that the amount of change in the steering angle, which is the difference between the target steering angle and the actual steering angle, increases as the rider steering torque increases.
  • the target steering angle may be set based on the rider steering torque and the actual vehicle speed that is the vehicle speed when the rider steering torque is applied.
  • the target steering angle may be set based on the rider steering torque and the actual steering angle or the previously set target steering angle. Further, the target steering angle may be set based on the rider steering torque, the actual vehicle speed, and the actual steering angle or the previously set target steering angle. Note that when the lean vehicle has a plurality of front wheels, the target steering angle may be the same or different for the plurality of front wheels.
  • the type of torque controlled by the control device in attitude control may be only the steering torque or only the driving torque, Both driving torque and steering torque may be used.
  • the control device may control the drive torque while the attitude control is being performed. More specifically, for example, the control device may control the drive torque in response to the rider's operation of an accelerator operator or a brake operator.
  • the type of torque controlled in attitude control is not necessarily the same every time attitude control is executed.
  • the control device may determine the type of torque to be controlled in attitude control based on the actual steering angle and actual speed of the lean vehicle. Specifically, when the actual steering angle of the lean vehicle is large, the control device may set the type of torque controlled in attitude control to drive torque. When the actual speed of the lean vehicle is high, the control device may set the type of torque controlled in attitude control to steering torque. Further, the control device may determine the type of torque to be controlled in attitude control based on information input to the control device. The information input to the control device may be information input to the control device through an operation by a user, information indicating the behavior of a lean vehicle, or may include both.
  • the operation by the user may be an operation for the rider to drive the lean vehicle, or may be an operation performed by the user (including the rider) while the lean vehicle is stopped.
  • a lean vehicle may be configured such that a mode that allows a speed change of a lean vehicle and a mode that does not allow a speed change of a lean vehicle are selected and input to the control device.
  • the control device may control either the driving torque or the steering torque in attitude control, and does not allow speed changes of the lean vehicle.
  • the control device may control only the steering torque without controlling the drive torque in attitude control.
  • the control device will control only the steering torque without controlling the drive torque during attitude control. May be controlled.
  • the timing of applying the controlled driving torque and the timing of applying the controlled steering torque may be the same or different. It's okay.
  • the control device executes attitude control to control the attitude of the lean vehicle in the roll direction so that the steering angle becomes the target steering angle.
  • attitude control of the control device for example, a target steering angle is determined based on a combination of information related to detected rider steering torque and a target steering angle.
  • the combination of the information related to the rider steering torque and the target steering angle is, for example, a map in which the input is the rider steering torque and the output is the target steering angle.
  • the control device may be composed of a plurality of devices that communicate by wire or wirelessly, or may be composed of one device.
  • the control device may perform attitude control so that the steering angle becomes the target steering angle, and a change in attitude of the lean vehicle in the roll direction is suppressed.
  • the control device sets the lean angle, the steering angle, and the vehicle speed so that the combination of values indicates a state in which the steering angle becomes the target steering angle and a change in attitude of the lean vehicle in the roll direction is suppressed.
  • attitude control is executed.
  • a combination of values of lean angle, steering angle, and vehicle speed that indicates a state in which changes in the attitude of a lean vehicle in the roll direction are suppressed is a condition in which a lean vehicle is driven so that the steering angle and vehicle speed are maintained at the values of the combination.
  • attitude control in a combination of lean angle, steering angle, and vehicle speed values that suppress changes in attitude of the lean vehicle in the roll direction, at least the value of the target steering angle set based on the rider steering torque is set.
  • At least one of the driving torque and the steering torque of the torque applying device is determined based on information related to the lean angle, information related to the steering angle, and information related to the rotational speed so that the values of the lean angle and vehicle speed become a combination. control.
  • the information related to the lean angle, the information related to the steering angle, and the information related to the rotational speed are, for example, a steering angle, a steering angular velocity, a lean angle, a lean angular velocity, and a vehicle speed.
  • the control device of the present invention may store a combination of lean angle, steering angle, and vehicle speed values that suppresses changes in the attitude of the lean vehicle in the roll direction. In this case, the control device may perform attitude control based on a combination of the stored lean angle, steering angle, and vehicle speed values.
  • the control device may detect lean angles and steering angles detected by a lean angle related information detection device, a steering angle related information detection device, and a wheel speed related information detection device or calculated from values detected by these detection devices. At least one of the driving torque and the steering torque may be controlled based on the difference between the vehicle speed or the wheel speed, and the combination of the lean angle, the steering angle, and the vehicle speed.
  • the control device stores a combination of values of lean angle, steering angle, and vehicle speed
  • calculation is performed based on the combination of values of lean angle, steering angle, and vehicle speed, or based on the combination of values of lean angle, steering angle, and vehicle speed. may be configured to correct the calculated value.
  • control device may store multiple types of combinations of lean angle, steering angle, and vehicle speed values.
  • the combinations of multiple types of lean angles, steering angles, and vehicle speed values may include, for example, multiple combinations of lean angles, steering angles, and vehicle speed values created on the assumption that the lean vehicle has different number of occupants. .
  • the control device of the present invention does not need to store combinations of lean angle, steering angle, and vehicle speed values.
  • attitude control a method for determining whether torque control is being performed based on rider steering torque will be described.
  • this determination method for example, a test is performed multiple times in which a lean vehicle with a positive trail length is driven straight at a constant speed and a rider steers a steering unit. In the test conditions for this determination method, the rider steering torque is changed and the vehicle speed and steering angle (0 degrees) are kept the same.
  • the steering unit determines whether the direction of travel has changed in the opposite direction to the direction in which the rider has steered. This is because the vehicle is steered in the same direction.
  • the lean vehicle control device controls the lean angle related information detection device and the steering angle related information detection device so that the steering angle becomes the target steering angle and changes in the attitude of the lean vehicle in the roll direction are suppressed.
  • the information detected by the wheel speed related information detection device it can be determined, for example, by the following method whether attitude control that controls at least one of the drive torque and the steering torque is being executed.
  • attitude control a method for determining whether torque control is being performed based on information (for example, vehicle speed) detected by a wheel speed related information detection device will be described. In this determination method, for example, a test is performed multiple times in which a lean vehicle with a positive trail length is driven straight at a constant speed and a rider steers a steering unit.
  • the vehicle speed is changed and the rider steering torque and steering angle (0 degrees) are kept the same. Whether at least one of the applied driving torque and steering torque is different from each other at two points in time when the vehicle speed is different after the rider steers the steering unit, and the direction of travel is opposite to the direction in which the rider steered the steering unit. It can be determined whether posture control is being executed by whether the position has changed. Further, in attitude control, a method for determining whether torque control is being performed based on information (for example, steering angle) detected by the steering angle related information detection device will be described.
  • information for example, steering angle
  • this determination method for example, a test is performed multiple times in which a lean vehicle with a positive trail length is turned at a constant speed and a rider steers a steering unit.
  • the steering angle is changed and the rider steering torque, vehicle speed, and lean angle are kept the same.
  • the rider steers the steering unit at least one of the applied driving torque and the steering torque is different at two points in time when the steering angles are different, and the direction of travel is opposite to the direction in which the rider steered the steering unit. It can be determined whether attitude control is being executed based on whether the direction has changed.
  • attitude control a method for determining whether torque control is being performed based on information (for example, lean angle) detected by the lean angle related information detection device.
  • this determination method for example, a test is performed multiple times in which a lean vehicle with a positive trail length is turned at a constant speed and a rider steers a steering unit.
  • the lean angle is changed and the rider steering torque, vehicle speed, and steering angle are kept the same.
  • the rider steers the steering unit at least one of the applied driving torque and the steering torque is different from each other at two points in time when the lean angles are different, and the direction of travel is opposite to the direction in which the rider steered the steering unit. It is possible to determine whether posture control is being executed based on the change in direction.
  • the steering unit is steered in the same direction as the direction in which the rider applies rider steering torque. Therefore, in the above determination method, when using a lean vehicle with a trail length of 0 or a negative value, the determination is made based on whether the balance control is being executed based on whether the traveling direction has changed to the same direction as the direction steered by the rider.
  • rotation is not limited to rotation of 360° or more. Rotation in the present invention and embodiments also includes rotations of less than 360°.
  • controlling based on A does not mean to limit the information used for control to only A.
  • Controlling based on A includes controlling based on A and information other than A.
  • At least one of the plurality of options includes all possible combinations of the plurality of options.
  • At least one (one) of the multiple options may be any one of the multiple options, or may be all of the multiple options.
  • at least one of A, B, and C may be only A, only B, only C, A and B, or A and C. It may be B and C, or it may be A, B, and C.
  • the present invention may have a plurality of this component. Further, the present invention may include only one such component.
  • the terms “mounted,” “connected,” “coupled,” and “supported” are used in a broad sense. Specifically, it includes not only direct attachment, connection, coupling, and support, but also indirect attachment, connection, coupling, and support. Furthermore, connected and coupled are not limited to physical or mechanical connections/couplings. They also include direct or indirect electrical connections/coupling.
  • the term “preferable” is non-exclusive.
  • Preferred means “preferred, but not limited to.”
  • the configuration described as “preferable” exhibits at least the above-mentioned effects obtained by the configuration of claim 1.
  • the term “may” is non-exclusive. “You may do so” means “you may do so, but it is not limited to this.” In this specification, the configuration described as “may be performed” produces at least the above-mentioned effects obtained by the configuration of claim 1.
  • the lean vehicle of the present invention it is possible to control the attitude of the lean vehicle in the roll direction while increasing the responsiveness to the rider's intention to change the traveling direction.
  • FIG. 1 is a diagram illustrating the configuration of a lean vehicle according to an embodiment of the present invention.
  • FIG. 2 is a diagram illustrating an example of a lean vehicle in which posture control is performed by the control device according to the embodiment of the present invention.
  • FIG. 2(a) shows the case of a lean vehicle with a trail length of a positive value
  • FIG. 2(b) shows the case of a lean vehicle with a trail length of 0 or a negative value
  • FIG. 3 is a diagram illustrating an example of a lean vehicle in which posture control is performed by the control device according to the embodiment of the present invention.
  • FIG. 3(a) shows the case of a lean vehicle with a trail length of a positive value
  • FIG. 4 is a diagram illustrating an example of a lean vehicle in which posture control is performed by the control device according to the embodiment of the present invention.
  • FIG. 4(a) shows the case of a lean vehicle with a positive trail length
  • FIG. 4(b) shows the case of a lean vehicle with a trail length of 0 or a negative value.
  • FIG. 5 is a diagram illustrating an example of a steering wheel unit for a lean vehicle according to a sixth embodiment of the present invention.
  • FIG. 5(a) is a diagram showing the configuration of a lean vehicle viewed from the front
  • FIG. 5(b) is a diagram showing the configuration of the lean vehicle viewed from above.
  • U is the vehicle upward direction of a lean vehicle
  • D is the vehicle downward direction of the lean vehicle
  • L is the vehicle left direction of the lean vehicle
  • R is the vehicle right direction of the lean vehicle
  • F is the vehicle front direction of the lean vehicle
  • Re indicates the rearward direction of the lean vehicle.
  • the lean vehicle 1 of the first embodiment includes a plurality of wheels 2, a body frame 5, a steering unit 13, a rider steering torque detection device 14, a torque application device 10, and a control device 9.
  • the plurality of wheels 2 include at least one front wheel 3 and at least one rear wheel 4. At least one rear wheel 4 is arranged further rearward than at least one front wheel 3 in the longitudinal direction of the vehicle. Note that although the lean vehicle 1 shown in FIG. 1 is a two-wheeled vehicle, the lean vehicle 1 of the first embodiment is not limited to a two-wheeled vehicle.
  • the vehicle body frame 5 rotatably supports a plurality of wheels 2 around an axle axis X1, and supports at least one front wheel 3 rotatably around a steering axis X2.
  • the vehicle body frame 5 tilts to the right of the vehicle with respect to the vertical direction of the vehicle when turning to the right, and tilts to the left of the vehicle with respect to the vertical direction of the vehicle when turning to the left.
  • FIG. 1 schematically represents the steering angle ⁇ , which is the rotation angle of at least one front wheel 3 about the steering axis X2.
  • the steering unit 13 can be steered by a rider.
  • a rider steering torque T which is a torque generated by the rider's steering, is input to the steering unit 13 to rotate at least one front wheel 3 around the steering axis X2.
  • each front wheel 3 has a steering axis X2.
  • the rider steering torque T is input to the steering unit 13 as a torque around the steering axis X2 of each front wheel 3.
  • the steering axis X2 is inclined in the vehicle longitudinal direction with respect to the vehicle vertical direction.
  • a part of the steering unit 13 is schematically expressed in accordance with the schematically expressed steering angle ⁇ . Note that the lean vehicle 1 in FIG.
  • the lean vehicle of the first embodiment of the present invention may have a caster angle CA of a positive value and a trail length TL of 0 or a negative value.
  • the caster angle CA of the lean vehicle is smaller than the caster angle CA of the lean vehicle 1 shown in FIG.
  • the rider steering torque detection device 14 detects information regarding the rider steering torque T input to the steering unit 13.
  • the torque applying device 10 includes at least one of a driving torque applying device 11 and a steering torque applying device 12.
  • the torque applying device 10 includes a driving torque applying device 11 and a steering torque applying device 12 .
  • the torque applying device 10 may be only either the driving torque applying device 11 or the steering torque applying device 12.
  • the drive torque applying device 11 is configured to apply positive and negative drive torques about the axle axis X1 to at least one of the at least one front wheel 3 and the at least one rear wheel 4. Note that the driving torque applying device 11 shown in FIG.
  • the steering torque applying device 12 is configured to apply a steering torque around the steering axis X2 to any one of the front wheels 3.
  • Steering torque applying device 12 includes a steering unit 13 and a steering actuator 15.
  • the steering torque applied by the steering torque applying device 12 is the sum of the rider steering torque T input to the steering unit 13 and the actuator steering torque generated by the steering actuator 15. Note that the driving torque applying device 11 shown in FIG.
  • the steering torque applying device 12 is configured to apply a steering torque around the steering axis X2 to at least one front wheel 3.
  • the number of front wheels 3 is one in FIG. 1, the number of front wheels 3 may be plural.
  • the steering torque applying device 12 is configured to apply a steering torque around the steering axis X2 set for each front wheel 3 to the plurality of front wheels 3.
  • the control device 9 is configured to control at least one of the driving torque and the steering torque applied by the torque applying device 10. That is, the control device 9 may be configured to control both the steering torque and the drive torque. Alternatively, the control device 9 may be configured to control only the steering torque or the drive torque. Specifically, when the lean vehicle 1 has only the drive torque applying device 11, the control device 9 is configured to control only the drive torque. Furthermore, when the lean vehicle 1 has only the steering torque applying device 12, the control device 9 is configured to control only the steering torque. When the lean vehicle 1 has the driving torque applying device 11 and the steering torque applying device 12, the control device 9 controls only the driving torque, only the steering torque, or the driving torque and the steering torque, depending on various conditions. configured to do so.
  • the steering angle ⁇ can be set to the target steering angle ⁇ g set based on the rider steering torque T.
  • the control device 9 controls the drive torque and the steering angle changes when the vehicle speed changes while the lean vehicle 1 is turning
  • the steering angle ⁇ is set as the target steering angle set based on the rider steering torque T. ⁇ g. Specifically, when the lean vehicle 1 accelerates while turning, the body of the lean vehicle 1 rises and the steering angle decreases, and when the lean vehicle 1 decelerates while turning, the body of the lean vehicle 1 falls down. The steering angle increases.
  • the control device 9 is configured to perform attitude control to control at least one of the drive torque and the steering torque so that the steering angle ⁇ becomes a target steering angle ⁇ g set based on the rider steering torque T. .
  • the control device 9 controls the posture of the lean vehicle 1 in the roll direction by setting the target steering angle ⁇ g based on the rider steering torque T, which is the torque while the rider is steering the steering unit 13.
  • the target roll angle is set based on the current steering angle ⁇ which is the result of the rider steering the steering unit 13. Therefore, in the prior art, the attitude of the lean vehicle is controlled without considering how the rider will steer the steering unit 13 from now on.
  • the lean vehicle 1 of this embodiment can more quickly set the target steering angle ⁇ g that reflects the rider's intention to change the traveling direction, compared to the conventional technology. Therefore, responsiveness to the rider's intention to change the traveling direction can be increased.
  • the steering angle ⁇ can be set to the target steering angle ⁇ g, compared to the case where the control device 9 controls only the steering torque or only the driving torque. is easy.
  • the control device 9 controls both the steering torque and the drive torque in attitude control
  • the rider's intention to change the traveling direction is reflected more easily than when the control device 9 controls only the steering torque or only the drive torque.
  • the target steering angle ⁇ g can be set more quickly.
  • responsiveness to the rider's intention to change the traveling direction can be increased.
  • the target steering angle ⁇ g is set based on information regarding the rider steering torque T detected by the rider steering torque detection device 14.
  • the target steering angle ⁇ g is determined, for example, based on a combination of the information related to the rider steering torque detected by the rider steering torque detection device 14 and the target steering angle.
  • the combination of the information related to the rider steering torque and the target steering angle is, for example, a map in which the input is the rider steering torque and the output is the target steering angle, and is stored in the control device 9 in advance.
  • the target steering angle ⁇ g is set such that the direction of change from the steering angle ⁇ when the rider steering torque T is applied is opposite to the direction of the rider steering torque T around the steering axis X2.
  • the intersection point P between the steering axis X2 of the at least one front wheel 3 and the running surface G of the at least one front wheel 3 is the same as the grounding point Q of the at least one front wheel 3 or closer to the grounding point Q of the at least one front wheel 3.
  • the target steering angle ⁇ g changes in the same direction from the actual steering angle as the direction of the rider steering torque T around the steering axis X2. is set to be.
  • the amount of change in the steering angle which is the difference between the target steering angle ⁇ g and the steering angle ⁇ when the rider steering torque T is applied, increases as the magnitude of the rider steering torque T increases.
  • the target steering angle ⁇ g may be set as follows. Further, when the lean vehicle 1 has a plurality of front wheels 3, the target steering angle ⁇ g may be the same or different for the plurality of front wheels 3.
  • the lean vehicle 1 may further include a steering angle related information detection device 7 and a wheel speed related information detection device 8.
  • the steering angle related information detection device 7 detects information related to the steering angle ⁇ , which is the rotation angle of any one front wheel 3 about the steering axis X2.
  • the wheel speed related information detection device 8 detects information related to the wheel speed S, which is the rotational speed of any one wheel 2 around the axle axis X1.
  • the target steering angle ⁇ g may be set based on the rider steering torque T and the vehicle speed V, for example.
  • the target steering angle ⁇ g may be set based on, for example, the rider steering torque T and the actual steering angle ⁇ , which is the current steering angle ⁇ , or the previously set target steering angle ⁇ g.
  • the target steering angle ⁇ g may be set by adding a steering angle change amount calculated based on the rider steering torque T to the actual steering angle ⁇ or the previously set target steering angle ⁇ g.
  • the target steering angle ⁇ g may be set based on, for example, the rider steering torque T, the vehicle speed V, and the actual steering angle ⁇ , which is the current steering angle ⁇ , or the previously set target steering angle ⁇ g.
  • the target steering angle ⁇ g is set by adding the amount of change in the steering angle calculated based on the rider steering torque T and the vehicle speed V to the actual steering angle ⁇ or the previously set target steering angle ⁇ g. Good too.
  • the type of torque controlled in the attitude control of the control device 9 is not necessarily the same every time the attitude control of the control device 9 is executed.
  • the control device 9 may determine the type of torque to be controlled in attitude control based on information input to the control device 9.
  • the information input to the control device 9 may be information indicating the rider's operation, information indicating the behavior of the lean vehicle 1, or may include both.
  • the timing of applying the driving torque and the timing of applying the steering torque may be the same or different. good.
  • FIG. 2 is an explanatory diagram of cases in which the lean vehicle 1 traveling straight is turned to the right and the lean vehicle 1 traveling straight is turned left by the rider's steering of the steering unit 13.
  • FIG. 3 is an explanatory diagram of a case in which the rider steers the steering unit 13 to cause the lean vehicle 1 that is turning to the right to travel straight, and for causing the lean vehicle 1 that is turning to the left to travel straight.
  • FIG. 4 is an explanatory diagram of the case where the turning radius of the lean vehicle 1 turning to the right is made smaller by the rider's steering of the steering unit 13, and the turning radius of the lean vehicle 1 turning left is made smaller. .
  • the direction of travel of the lean vehicle 1 is changed by the rider's steering of the steering unit 13.
  • FIG. 2(a) a case where the lean vehicle 1 has a trail length TL of a positive value will be described.
  • posture control is not executed by the control device 9
  • the rider steers the steering unit 13 to turn the lean vehicle 1 from a straight running state to the right
  • the rider performs reverse steering in which the rider slightly steers the steering unit 13 to the left of the vehicle.
  • the vehicle body frame 5 is tilted to the right of the vehicle.
  • the front wheels 3 and the steering unit 13 are steered to the right of the vehicle by so-called self-steering, and the lean vehicle 1 starts turning to the right.
  • attitude control is not executed by the control device 9
  • the rider turns the lean vehicle 1 from a straight running state to the left by steering the steering unit 13
  • the rider steers the steering unit 13 to the right of the vehicle, which is called reverse steering.
  • the vehicle body frame 5 is tilted to the left of the vehicle.
  • the front wheels 3 and the steering unit 13 are steered to the left of the vehicle by so-called self-steering, and the lean vehicle 1 starts turning left.
  • the lean angle ⁇ changes in a direction different from the rider steering torque T in the left-right direction of the vehicle. tilt.
  • the steering angle ⁇ of the lean vehicle 1 also changes in the direction opposite to the direction in which the rider steering torque T is applied.
  • the traveling direction of the lean vehicle 1 changes to a direction different from the direction of the rider steering torque T in the left-right direction of the vehicle. Therefore, as shown in FIG.
  • the target The direction of change in the steering angle ⁇ g from the steering angle ⁇ when the rider steering torque T is applied is opposite to the direction of the rider steering torque T.
  • the control device 9 sets the target steering angle ⁇ g as shown in FIG. 2(a), and adjusts the driving torque and steering torque applied by the torque applying device 10 By controlling at least one of these, the lean vehicle 1 can make a right turn or a left turn from a straight traveling state. Therefore, the attitude of the lean vehicle 1 can be controlled so as to make the traveling direction of the lean vehicle 1 comply with the rider's intention and to increase responsiveness to the rider's intention to change the traveling direction.
  • attitude control when the rider steers the steering unit 13 to turn the lean vehicle 1 from a straight running state to the right, the rider performs forward steering to steer the steering unit 13 to the right of the vehicle. , the body frame 5 is tilted to the right of the vehicle. After that, the lean vehicle 1 starts turning to the right.
  • attitude control when attitude control is not executed by the control device 9, when the rider turns the lean vehicle 1 from a straight running state to the left by steering the steering unit 13, the rider steers the steering unit 13 to the left of the vehicle, so-called forward steering.
  • the vehicle body frame 5 is tilted to the left of the vehicle. After that, the lean vehicle 1 starts turning left.
  • the lean angle ⁇ changes in the same direction as the rider steering torque T in the left-right direction of the vehicle, so the lean vehicle 1 tilts. do.
  • the traveling direction of the lean vehicle 1 changes to the same direction as the direction of the rider steering torque T in the left-right direction of the vehicle. Therefore, as shown in FIG. 2(b), when the trail length TL of the lean vehicle 1 is 0 or a negative value, and the rider causes the lean vehicle 1 to turn right or left from a straight traveling state.
  • the target steering angle ⁇ g changes in the same direction as the direction of the rider steering torque T from the steering angle ⁇ when the rider steering torque T is applied.
  • the control device 9 sets the target steering angle ⁇ g as shown in FIG. 2(b), and adjusts the driving torque and steering torque applied by the torque applying device 10.
  • the lean vehicle 1 can make a right turn or a left turn from a straight traveling state. Therefore, the attitude of the lean vehicle 1 can be controlled so as to make the traveling direction of the lean vehicle 1 comply with the rider's intention and to increase responsiveness to the rider's intention to change the traveling direction.
  • FIG. 3(a) A case in which the rider steers the steering unit 13 to cause the lean vehicle 1 to travel straight from a turning state will be described with reference to FIG. 3.
  • attitude control is not executed by the control device 9
  • the rider steers the steering unit 13 to cause the lean vehicle 1 to travel straight from a right-turning state, the rider steers the steering unit 13 to the right of the vehicle, thereby steering the vehicle body frame. 5 to the left of the vehicle.
  • the front wheels 3 and the steering unit 13 are steered to the left of the vehicle by self-steering or by the rider's steering of the steering unit 13, and the lean vehicle 1 starts traveling straight.
  • attitude control is not executed by the control device 9
  • the rider steers the steering unit 13 to the left of the vehicle
  • the body frame 5 is raised to the right of the vehicle.
  • the front wheels 3 and the steering unit 13 are steered to the right of the vehicle by self-steering or by the rider's steering of the steering unit 13, and the lean vehicle 1 starts traveling straight.
  • the rider applies a rider steering torque T in the same direction as the turning direction among the left and right directions of the vehicle, so that the lean angle ⁇ is applied in a direction different from the rider steering torque T in the right and left directions of the vehicle. Due to the change, the lean vehicle 1 rises. As a result, the traveling direction of the lean vehicle 1 changes to a direction different from the direction of the rider steering torque T in the left-right direction of the vehicle, and the lean vehicle 1 travels straight. Therefore, as shown in FIG.
  • the control device 9 sets the target steering angle ⁇ g as shown in FIG.
  • the attitude of the lean vehicle 1 can be controlled so as to make the traveling direction of the lean vehicle 1 comply with the rider's intention and to increase responsiveness to the rider's intention to change the traveling direction.
  • attitude control when attitude control is not executed by the control device 9, when the rider steers the steering unit 13 to cause the lean vehicle 1 to travel straight from a left-turning state, the rider steers the steering unit 13 to the right of the vehicle, The body frame 5 is raised to the right of the vehicle. After that, the lean vehicle 1 starts traveling straight.
  • the rider when the lean vehicle 1 is turning, the rider applies a rider steering torque T in the direction opposite to the turning direction among the left and right directions of the vehicle, thereby increasing the lean angle ⁇ in the same direction as the rider steering torque T among the left and right directions of the vehicle. Due to the change, the lean vehicle 1 rises.
  • the traveling direction of the lean vehicle 1 changes to the same direction as the direction of the rider steering torque T in the left-right direction of the vehicle, and the lean vehicle 1 travels straight. Therefore, as shown in FIG. 3(b), when the trail length TL of the lean vehicle 1 is 0 or a negative value, the rider causes the lean vehicle 1 to travel straight from a right or left turn.
  • the direction of change in the target steering angle ⁇ g from the steering angle ⁇ when the rider steering torque T is applied is the same as the direction of the rider steering torque T.
  • the control device 9 sets the target steering angle ⁇ g as shown in FIG.
  • the torque applying device 10 applies the drive.
  • the lean vehicle 1 can travel straight from a right-turning or left-turning state. Therefore, the attitude of the lean vehicle 1 can be controlled so as to make the traveling direction of the lean vehicle 1 comply with the rider's intention and to increase responsiveness to the rider's intention to change the traveling direction.
  • FIG. 4 a case will be described in which the turning radius of the lean vehicle 1 that is turning right or left is reduced by the rider's steering of the steering unit 13.
  • attitude control is not executed by the control device 9
  • the rider steers the steering unit 13 to reduce the turning radius of the lean vehicle 1 turning to the right
  • the rider steers the steering unit 13 to the left of the vehicle.
  • the body frame 5 is tilted to the right of the vehicle.
  • the front wheels 3 and the steering unit 13 are steered to the right of the vehicle by self-steering or by the rider's steering of the steering unit 13, and the turning radius of the lean vehicle 1 becomes smaller. Furthermore, when the balance control is not executed by the control device 9, when the rider steers the steering unit 13 to reduce the turning radius of the lean vehicle 1 turning left, the rider steers the steering unit 13 to the right of the vehicle. Then, the body frame 5 is tilted to the left of the vehicle. Thereafter, the front wheels 3 and the steering unit 13 are steered to the left of the vehicle by self-steering or by the rider's steering of the steering unit 13, and the turning radius of the lean vehicle 1 becomes smaller.
  • the rider applies a rider steering torque T in a direction different from the turning direction among the left and right directions of the vehicle, thereby increasing the lean angle ⁇ in a direction different from the rider steering torque T among the left and right directions of the vehicle.
  • the lean vehicle 1 leans more.
  • the traveling direction of the lean vehicle 1 changes to a direction different from the rider steering torque T in the left-right direction of the vehicle. Therefore, as shown in FIG.
  • the target steering angle ⁇ g is The direction of change from the steering angle ⁇ when the steering torque T is applied is opposite to the direction of the rider steering torque T.
  • the control device 9 sets the target steering angle ⁇ g as shown in FIG.
  • attitude control when the rider steers the steering unit 13 to reduce the turning radius of the lean vehicle 1 turning to the right, the rider steers the steering unit 13 to the right of the vehicle. , the body frame 5 is tilted to the right of the vehicle. After that, the turning radius of the lean vehicle 1 becomes smaller. Further, when the balance control is not executed by the control device 9, when the rider steers the steering unit 13 to reduce the turning radius of the lean vehicle 1 turning left, the rider steers the steering unit 13 to the left of the vehicle.
  • the body frame 5 is tilted to the left of the vehicle.
  • the turning radius of the lean vehicle 1 becomes smaller.
  • the rider applies a rider steering torque T in the same direction as the turning direction among the left and right directions of the vehicle, so that the lean angle ⁇ changes in the same direction as the rider steering torque T in the left and right directions of the vehicle. Therefore, the lean vehicle 1 leans more.
  • the traveling direction of the lean vehicle 1 changes in the same direction as the rider steering torque T in the left-right direction of the vehicle. Therefore, as shown in FIG.
  • the target steering angle ⁇ g is , the direction of change from the steering angle ⁇ when the rider steering torque T is applied is the same as the direction of the rider steering torque T.
  • the control device 9 sets the target steering angle ⁇ g as shown in FIG. 4(b), and the torque applying device 10 applies the drive.
  • the traveling direction of the lean vehicle 1 can be changed so that the turning radius of the lean vehicle 1 becomes smaller. Therefore, the attitude of the lean vehicle 1 can be controlled so as to make the traveling direction of the lean vehicle 1 comply with the rider's intention and to increase responsiveness to the rider's intention to change the traveling direction.
  • the lean vehicle 1 in which the trail length TL shown in the examples of FIGS. 2(a), 3(a), and 4(a) is a positive value basically rotates to the right.
  • the vehicle leans to the right and when turning left, the vehicle leans to the left.
  • the body frame 5 leans to the left of the vehicle when turning to the right, and leans to the right of the vehicle when turning to the left. That is, in most of the entire range of the vehicle speed V, the vehicle lateral direction of the lean angle ⁇ and the vehicle lateral direction of the steering angle ⁇ of the lean vehicle 1 during turning are the same.
  • the vehicle lateral direction of the lean angle ⁇ and the vehicle lateral direction of the steering angle ⁇ of the lean vehicle 1 that is turning are different.
  • 2(a), 3(a), and 4(a) show that the lean vehicle 1 is traveling at a vehicle speed V such that the vehicle lateral direction at the lean angle ⁇ is the same as the vehicle lateral direction at the steering angle ⁇ .
  • the attitude control of the control device 9 of the first embodiment is performed when the lean vehicle 1 is at an extremely low vehicle speed V such that the vehicle lateral direction of the lean angle ⁇ is different from the vehicle lateral direction of the steering angle ⁇ . may be executed when the vehicle is running.
  • the extremely low vehicle speed V at which the left-right direction of the vehicle at the lean angle ⁇ is different from the left-right direction of the vehicle at the steering angle ⁇ varies depending on the lean vehicle 1, but is, for example, greater than 0 km/h and less than about 3 to 5 km/h.
  • the control device 9 performs attitude control in which the target steering angle ⁇ g is set and at least one of the driving torque and the steering torque applied by the torque applying device 10 is controlled.
  • input of at least one of driving torque and rider steering torque from the rider may be accepted, or may not be accepted.
  • the control device 9 performs attitude control and receives input of at least one of the rider's driving torque and rider steering torque
  • the control device 9 applies torque according to the value of at least one of the rider's driving torque and rider steering torque.
  • a value for controlling at least one of the driving torque and the steering torque applied by the device 10 is adjusted.
  • the target steering angle ⁇ g is set immediately after detecting the rider steering torque, and the torque applying device 10 applies the target steering angle ⁇ g.
  • At least one of the driving torque and the steering torque may be controlled.
  • the torque applying device 10 when the rider reversely steers the lean vehicle 1, at least one of the driving torque and the steering torque is applied by the torque applying device 10 so that the steering angle ⁇ of the lean vehicle 1 becomes the target steering angle ⁇ g. It may also be possible to control the
  • a lean vehicle 1 according to a second embodiment of the present invention will be described with reference to FIG. 1.
  • the lean vehicle 1 of the second embodiment has all the features of the lean vehicle 1 of the first embodiment.
  • the lean vehicle 1 further includes a lean angle related information detection device 6, a steering angle related information detection device 7, and a wheel speed related information detection device 8.
  • the lean angle related information detection device 6 detects information related to the lean angle ⁇ , which is the inclination angle of the vehicle body frame 5 in the vehicle lateral direction with respect to the vehicle vertical direction.
  • the steering angle related information detection device 7 detects information related to the steering angle ⁇ , which is the rotation angle of any one front wheel 3 about the steering axis X2.
  • the wheel speed related information detection device 8 detects information related to the wheel speed S, which is the rotational speed of any one wheel 2 around the axle axis X1.
  • the control device 9 performs attitude control so that the steering angle ⁇ becomes the target steering angle ⁇ g, and the change in attitude of the lean vehicle 1 in the roll direction is suppressed.
  • the control device 9 determines a state in which the combination of the values of the lean angle ⁇ , the steering angle ⁇ , and the vehicle speed V is such that the steering angle ⁇ becomes the target steering angle ⁇ g and a change in the attitude of the lean vehicle 1 in the roll direction is suppressed.
  • Attitude control is executed so that the state is a combination of the indicated values.
  • At least the target steering angle ⁇ g set based on the rider steering torque T is adjusted in a combination of lean angle, steering angle, and vehicle speed that suppresses changes in the attitude of the lean vehicle 1 in the roll direction.
  • the drive torque and steering of the torque applying device 10 are adjusted so that the combination of the values of the lean angle and the vehicle speed corresponds to the values.
  • Control at least one of the torques.
  • the control device 9 stores in advance information regarding the combination of the values of the lean angle ⁇ , the steering angle ⁇ , and the vehicle speed V for controlling the lean vehicle 1 so that the change in attitude in the roll direction is suppressed.
  • the control device 9 may execute the attitude control based on the stored information regarding the combination of the values of the lean angle ⁇ , the steering angle ⁇ , and the vehicle speed V. With this configuration, even when the control device 9 executes posture control of the lean vehicle 1, the change in the posture of the lean vehicle 1 in the roll direction is suppressed. It is possible to increase the responsiveness to the rider's intention to change the direction of travel while controlling the posture in the roll direction.
  • a lean vehicle 1 according to a third embodiment of the present invention will be described below.
  • the lean vehicle 1 of the third embodiment has all the features of the lean vehicle 1 of the first or second embodiment.
  • the attitude control executed by the control device 9 of the lean vehicle 1 of the third embodiment includes at least first attitude control and second attitude control.
  • the control device 9 applies torque so that the steering angle ⁇ becomes a target steering angle ⁇ g set based at least on information regarding the rider steering torque T detected by the rider steering torque detection device 14. At least one of the driving torque and steering torque of the device 10 is controlled.
  • the control device 9 controls the lean angle ⁇ so that it becomes the target lean angle ⁇ g set based on at least information related to the rider steering torque T detected by the rider steering torque detection device 14. At least one of the driving torque and steering torque of the torque applying device 10 is controlled.
  • the control device 9 can switch between the first attitude control and the second attitude control depending on the running state of the lean vehicle 1. For example, in a low-speed running state where the steering angle ⁇ is more likely to change than the lean angle ⁇ of the lean vehicle 1, the control device 9 adjusts the steering angle ⁇ so that it becomes the target steering angle ⁇ g set based on the rider steering torque T. By executing the 1 attitude control, the steering angle ⁇ of the lean vehicle 1 is adjusted to a relatively large value, and the attitude of the lean vehicle 1 in the roll direction is controlled.
  • the control device 9 performs the second posture control so that the target lean angle ⁇ g is set based on the rider steering torque T.
  • the lean angle ⁇ of the lean vehicle 1 is adjusted to a relatively large value, and the attitude of the lean vehicle 1 in the roll direction is controlled.
  • the control device 9 executes the first attitude control when the target steering angle ⁇ g is larger than the target lean angle ⁇ g, and executes the second attitude control when the target steering angle ⁇ g is the same as or smaller than the target lean angle ⁇ g.
  • the vehicle speed at which the first attitude control and the second attitude control are switched is, for example, about 10 km/h.
  • the posture of the lean vehicle 1 in the roll direction can be controlled in accordance with the running state of the lean vehicle 1, and the responsiveness to the rider's intention to change the traveling direction can be increased.
  • a lean vehicle 1 according to a fourth embodiment of the present invention will be described below.
  • the lean vehicle 1 of the fourth embodiment has all the features of any of the lean vehicles 1 of the first to third embodiments.
  • the control device 9 of the lean vehicle 1 of the fourth embodiment is configured to control at least the steering torque of the driving torque and the steering torque applied by the torque applying device 10. That is, the control device 9 may be configured to control both the steering torque and the drive torque. Alternatively, the control device 9 may be configured to control only the steering torque. Specifically, when the lean vehicle 1 has only the steering torque applying device 12, the control device 9 is configured to control only the steering torque. When the lean vehicle 1 has the driving torque applying device 11 and the steering torque applying device 12, the control device 9 is configured to control only the steering torque or the driving torque and the steering torque depending on various conditions. be done.
  • the control device 9 executes attitude control to control at least the steering torque of the driving torque and the steering torque so that the steering angle ⁇ becomes a target steering angle ⁇ g set based on the rider steering torque T. configured.
  • attitude control of the control device 9 it is easier to make the steering angle ⁇ equal to the target steering angle ⁇ g than when only the drive torque is controlled. Therefore, while controlling the attitude of the lean vehicle 1 in the roll direction, it is possible to increase the responsiveness to the rider's intention to change the traveling direction.
  • a lean vehicle 1 according to a fifth embodiment of the present invention will be described below.
  • the lean vehicle 1 of the fifth embodiment has all the features of the lean vehicle 1 of any of the first to fourth embodiments.
  • the control device 9 is configured to perform attitude control when the lean vehicle 1 is running at least at a low speed.
  • the low-speed running state of the lean vehicle 1 is a state in which the lean vehicle 1 is running at a vehicle speed greater than 0 km/h and less than or equal to 10 km/h.
  • the attitude of the lean vehicle 1 changes more easily than when the vehicle speed is higher than 10 km/h.
  • responsiveness to the rider's intention to change the traveling direction can be increased.
  • a lean vehicle 1 according to a sixth embodiment of the present invention will be described below with reference to FIGS. 1 and 5.
  • the lean vehicle 1 of the sixth embodiment has all the features of the lean vehicle 1 of any of the first to fifth embodiments.
  • the steering unit 13 of the lean vehicle 1 of the sixth embodiment includes a connecting portion 28 and a handle unit 29.
  • the handle unit 29 is steered by the rider.
  • the handle unit 29 has a bar handle in which a part to be gripped by the rider's right hand and a part to be gripped by the left hand are integrated.
  • the handle may have separate handles in which the part to be gripped by the left hand and the part to be gripped by the left hand are separate members.
  • the connecting portion 28 connects the handle unit 29 and at least one front wheel 3.
  • the connecting portion 28 has a steering shaft 31 connected to the handle unit 29.
  • the steering shaft 31 is supported by the vehicle body frame 5 so as to be rotatable around the steering wheel axis X3 within a rotation angle range of less than 360 degrees.
  • the connecting portion 28 is supported by the vehicle body frame 5 so that the handle unit 29 can rotate around the handle axis X3.
  • the lean vehicle 1 includes one front wheel 3, and the connection portion 28 is such that one front wheel 3 is integrally connected to the vehicle body frame 5. It is configured to be rotatable around the steering axis X2.
  • the handle axis X3 coincides with the steering axis X2.
  • the lean vehicle 1 of the sixth embodiment includes a plurality of front wheels 3, and the connection portion 28 is configured such that each front wheel 3 is integrally connected to a portion of the connection portion 28 and other portions of the connection portion 28.
  • Each front wheel 3 may be configured to be rotatable around the steering axis X2.
  • the handle axis X3 does not coincide with the steering axis X2 of any of the front wheels 3.
  • the steering torque applying device 12 applies a steering torque around the steering axis X2 to the front wheels 3, for example, by applying torque around the steering axis X3 to the steering shaft 32. configured to do so.
  • the connecting portion 28 is configured such that when the handle unit 29 rotates around the steering axis X3, at least one front wheel 3 rotates around the steering axis X2, and when at least one front wheel 3 rotates around the steering axis X2,
  • the handle unit 29 is connected to at least one front wheel 3 so that the handle unit 29 rotates about the handle axis X3.
  • the rotation angle of one of the at least one front wheels 3 about the steering axis X2 is greater than or equal to the rotation angle of the handle unit 29 about the steering axis X3.
  • the rotation of the steering wheel unit 29 around the steering wheel axis X3 is the same or almost the same.
  • the rotation angle of the steering wheel unit 29 around the steering wheel axis X3 is The rotation angle may be between the rotation angles of the two front wheels 3 about the steering axis X2. That is, the connecting portion 28 does not include a speed reduction mechanism that makes the rotation angle of the front wheel 3 about the steering axis X2 smaller than the rotation angle of the handle unit 29 about the steering axis X3.
  • the rotation angle of at least one front wheel 3 about the steering axis X2 is smaller and larger than the rotation angle of the handle unit 29 about the steering axis X3, and the rotation angle range of the handle unit 29 may be less than 360° or more.
  • the rotation angle of any one of the at least one front wheel 3 about the steering axis X2 is greater than or equal to the rotation angle of the handle unit 29 about the steering axis X3, and , the rotation angle range of the handle unit 29 may be 360° or more.
  • the rotation angle of at least one front wheel 3 about the steering axis X2 is smaller than the rotation angle of the handle unit 29 about the steering axis X3, and the rotation angle of the handle unit 29 is The range may be greater than or equal to 360° and less than 360°.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

La présente invention concerne un dispositif de commande (9) pour un véhicule inclinable (1) qui est configuré pour commander au moins l'un parmi un couple d'entraînement et un couple de direction qui sont appliqués par un dispositif d'application de couple (10). Le dispositif de commande (9) commande au moins l'un parmi le couple d'entraînement et le couple de direction du dispositif d'application de couple (10) de telle sorte qu'un angle de braquage qui est un angle de rotation autour d'un axe de direction (X2) d'au moins une roue avant (3) atteint un angle de braquage cible (δg) qui est défini sur la base d'au moins des informations relatives au couple de direction de conducteur détecté par un dispositif de détection de couple de direction de conducteur (14), permettant ainsi d'exécuter une commande d'orientation pour commander l'orientation dans un sens de roulis du véhicule inclinable (1).
PCT/JP2023/031029 2022-08-29 2023-08-28 Véhicule inclinable WO2024048534A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022136128 2022-08-29
JP2022-136128 2022-08-29

Publications (1)

Publication Number Publication Date
WO2024048534A1 true WO2024048534A1 (fr) 2024-03-07

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PCT/JP2023/031029 WO2024048534A1 (fr) 2022-08-29 2023-08-28 Véhicule inclinable

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WO (1) WO2024048534A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014128985A (ja) * 2012-12-27 2014-07-10 Honda Motor Co Ltd 移動体
JP2017206170A (ja) * 2016-05-19 2017-11-24 ヤマハ発動機株式会社 回転補助装置、鞍乗型車両及び回転補助方法
JP2021054328A (ja) * 2019-09-30 2021-04-08 本田技研工業株式会社 鞍乗り型車両の操舵アシスト装置
WO2022059714A1 (fr) * 2020-09-17 2022-03-24 ヤマハ発動機株式会社 Véhicule à deux roues

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014128985A (ja) * 2012-12-27 2014-07-10 Honda Motor Co Ltd 移動体
JP2017206170A (ja) * 2016-05-19 2017-11-24 ヤマハ発動機株式会社 回転補助装置、鞍乗型車両及び回転補助方法
JP2021054328A (ja) * 2019-09-30 2021-04-08 本田技研工業株式会社 鞍乗り型車両の操舵アシスト装置
WO2022059714A1 (fr) * 2020-09-17 2022-03-24 ヤマハ発動機株式会社 Véhicule à deux roues

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