To accurately control a tilt angle of a vehicle to a target tilt angle by controlling braking/driving force of a pair of wheels to reduce excessive roll moment and improve controllability on the tilt angle of the vehicle compared with a conventional technique.SOLUTION: An automatic inclination vehicle includes a pair of wheels as non-steered driving wheels, a braking/driving device, a vehicle tilting device, and a control device. The control device calculates a target tilt angle for tilting a vehicle turning inward to control the vehicle tilting device so that a tilt angle of the vehicle becomes the target angle. The control device calculates target drive forces Fdfl, Fdfr, Fbfl, Fbfr of the pair of wheels in accordance with braking/driving operation by a driver, corrects a target braking/driving force so that a difference upward and downward forces acting on the wheels due to the braking/driving force is reduced, and controls the braking/driving device so that braking/driving force of the pair of wheels becomes the target braking/driving force after correction.SELECTED DRAWING: Figure 6
【課題】余分なロールモーメントが低減されるよう一対の車輪の制駆動力を補正することにより、車両の傾斜角を精度よく目標とする傾斜角に制御し、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一対の車輪と、制駆動装置と、車両傾斜装置と、制御装置とを含み、制御装置は、車両を旋回内側へ傾斜させるための車両の目標傾斜角を演算し、車両の傾斜角が目標傾斜角になるように車両傾斜装置を制御する自動傾斜車両であって、制御装置は、運転者の制駆動操作に基づいて一対の車輪の目標制駆動力Fdfl、Fdfr、Fbfl、Fbfrを演算し、一対の車輪の制駆動力に起因して車輪に作用する上下力の差が小さくなるように、目標制駆動力を補正し、一対の車輪の制駆動力が補正後の目標制駆動力になるように制駆動装置を制御する。【選択図】図6
AUTOMATIC TILTING VEHICLE
自動傾斜車両
2019-10-31
Patent
Elektronische Ressource
Japanisch
IPC: | B62K Fahrräder , CYCLES |