PROBLEM TO BE SOLVED: To effectively use a gyroscopic moment acting on a rear wheel at the time of deceleration of an automatic tilting vehicle for turning and reduce an inclination angle of the vehicle so as to reduce a possibility of excessively increasing the inclination angle of the vehicle and to improve controllability on the inclination angle of the vehicle at the time of deceleration for turning.SOLUTION: An automatic tilting vehicle 10 includes right and left front wheels 12R, 12L supported by knuckles 16R, 16L, a rear wheel 14 to be turned by a turning actuator, a vehicle tilting device 18, and a controller. The controller calculates a target inclination angle of the vehicle and a target turning angle of the rear wheel based on a turning angle and a vehicle speed. The controller controls the vehicle tilting device so that an inclination angle θ of the vehicle reaches the target inclination angle and controls the turning actuator so that the turning angle of the rear wheel reaches the target turning angle. However, at the time of deceleration of the vehicle for turning, the controller controls the turning angle of the rear wheel not to the target turning angle but to 0; therefore, the inclination angle of the vehicle is reduced by a gyroscopic moment of the rear wheel.SELECTED DRAWING: Figure 6
【課題】自動傾斜車両の旋回減速時に後輪に作用するジャイロモーメントを有効に利用して車両の傾斜角を低減することにより、車両の傾斜角が過大になる虞を低減し、旋回減速時の車両の傾斜角の制御性を従来に比して向上させる。【解決手段】ナックル16L、16Rにより支持された左右の前輪12L、12Rと、転舵アクチュエータにより転舵される一つの後輪14と、車両傾斜装置18と、制御装置とを含む自動傾斜車両10であり、制御装置は、操舵角及び車速に基づいて車両の目標傾斜角及び後輪の目標転舵角を演算し、車両の傾斜角θが目標傾斜角になるように車両傾斜装置を制御し、後輪の転舵角が目標転舵角になるように転舵アクチュエータを制御するが、車両の旋回減速時には、後輪の転舵角が目標転舵角ではなく0に制御され、後輪のジャイロモーメントにより車両の傾斜角が低減される。【選択図】図6
AUTOMATIC TILTING VEHICLE
自動傾斜車両
2018-08-30
Patent
Elektronische Ressource
Japanisch