INVERTED TWO-WHEEL VEHICLE

• Main Authors: KIDA YUSUKE, TAIRA TETSUYA, NAKAYAMA TAKAHIRO
• Format: Patent
• Language: English; Japanese
• Published: 18.05.2015
• Subjects: CYCLE AXLE SUSPENSIONS; CYCLE FRAMES; CYCLE SIDE-CARS, FORECARS, OR THE LIKE; CYCLE STEERING DEVICES; CYCLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; PERFORMING OPERATIONS; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES; TRANSPORTING

PROBLEM TO BE SOLVED: To provide an inverted two-wheel vehicle that can estimate travelling environment.SOLUTION: An inverted two-wheel vehicle 1 comprises: a memorizing portion 118 that memorizes a predetermined inclination angle coefficient that determines a relation among weight of an occupant, an angle of a slope, torque of a wheel 31 when the vehicle is standing still on the slope; direction signal measuring portions 119, 120 and 121 that are connected to a vehicle body and measure a plurality of direction signals; first calculating means 112 that calculates inclination angles of a travelling face on the basis of roll angles acquired from the direction signal measuring portions 119, 120 and 121 and inclination angles from a vertical axis of the vehicle body; second calculating means 113 that when angle speed of the wheel 31 is equal to a predetermined value or more, calculates the inclination angles of the travelling face on the basis of at least two direction signal values acquired from the direction signal measuring portion 121; third calculating means 114 that when the angle speed of the wheel 31 is less than the predetermined value, calculates the inclination angles of the travelling face, on the basis of the inclination angle coefficient memorized in the memorizing portion 11, the weight of the occupant and torque given to the wheel 31. 【課題】倒立二輪車の走行環境の推定を行う。【解決手段】倒立二輪車１は、坂道で静止している場合の、搭乗者の体重と、坂道の角度と、車輪３１のトルクと、の関係を決定する所定の傾斜角度係数を、記憶する記憶部１１８と、車体に連結し、複数の方向信号を測定する方向信号測定部１１９、１２０、１２１と、方向信号測定部１１９、１２０、１２１より取得したロール角度と、車体の鉛直軸から傾き角に基づいて走行面の傾斜角度を算出する第１の算出手段１１２と、車輪３１の角速度が所定値以上である場合に、方向信号測定部１２１より取得した２つ以上の方向信号値に基づいて、走行面の傾斜角度を算出する第２の算出手段１１３と、車輪３１の角速度が所定値未満である場合に、記憶部１１に記憶された傾斜角度係数と、搭乗者の体重と、車輪３１に与えられるトルクと、に基づき走行面の傾斜角度を算出する第３の算出手段１１４と、を備える。【選択図】図６