AUTOMATICALLY INCLINING VEHICLE

• Main Authors: TOYAMA EIJI, MIZUTA ATSUSHI, NAKATSU CHIKATOSHI, OIKAWA MIWANORI, ISHINO TAKAHITO
• Format: Patent
• Language: English; Japanese
• Published: 17.10.2019
• 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; VEHICLE SUSPENSION ARRANGEMENTS; VEHICLES IN GENERAL

To improve control performance of an inclination angle of a vehicle in comparison with conventional one by accurately controlling the inclination angle of the vehicle to a target inclination angle even in a situation where friction coefficients of right and left road surfaces are different from each other.SOLUTION: An automatically inclining vehicle 10 includes: right and left front wheels 12L, 12R as non-steered driving wheels; a vehicle inclination device 18; and a control device 20. The control device 20 calculates a target inclination angle of the vehicle 10 for inclining the vehicle 10 to the turning inside to control a vehicle inclining device 18 so that an inclination angle of the vehicle 10 becomes the target inclination angle. The control device 20 corrects the target inclination angle so that a roll moment against a roll moment which difference in a vertical force due to the difference between braking/driving forces of right and left front wheels 12L, 12R resulted from difference in friction coefficients of the road surfaces gives to the vehicle 10, is given to the vehicle 10, when an index value of the difference in the friction coefficients of the road surfaces at positions corresponding to the right and left front wheels 12L, 12R is determined to be equal to or more than a reference value.SELECTED DRAWING: Figure 1 【課題】左右の路面の摩擦係数が異なる状況においても、車両の傾斜角を精度よく目標傾斜角に制御し、従来に比して車両の傾斜角の制御性を向上させる。【解決手段】非操舵駆動輪である左右の前輪１２Ｌ、１２Ｒと、車両傾斜装置１８と、制御装置２０とを含み、制御装置２０は、車両１０を旋回内側へ傾斜させるための車両１０の目標傾斜角を演算し、車両１０の傾斜角が目標傾斜角になるように車両傾斜装置１８を制御する自動傾斜車両１０であって、制御装置２０は、左右の前輪１２L、１２Ｒに対応する位置の路面の摩擦係数の差の指標値が基準値以上であると判定されているときには、路面の摩擦係数の差に起因して生じる左右の前輪１２Ｌ、１２Ｒの制駆動力の差による上下力の差が車両１０に与えるロールモーメントに対抗するロールモーメントが車両１０に与えられるように目標傾斜角を修正する。【選択図】図１