An angular speed acquisition device of acquiring angular speed about a road surface perpendicular axis of a leaning vehicle, which is able to easily acquire the angular speed about the road surface perpendicular axis of the leaning vehicle, is provided. A leaning vehicle (1) on a road surface (E) includes a vehicle body frame (4) capable of leaning in a vehicle left-right direction and a steering shaft (4b) which steers at least one of a front wheel unit (2) or a rear wheel unit (3). An angular speed acquisition device (20) for acquiring angular speed about the road surface perpendicular axis of the leaning vehicle, which is mountable on the leaning vehicle (1), includes a memory (27) and a processor (20a). The memory (27) stores the relationship between steering angle which is a rotation angle about the rotational axis of the steering shaft (4b), vehicle speed of the leaning vehicle (1), and angular speed ω about the road surface perpendicular axis in advance. The processor (20a) executes a steering angle acquisition process (S21) of acquiring a steering angle signal, a vehicle speed acquisition process (S22) of acquiring a vehicle speed signal, and a road surface perpendicular axis angular speed acquisition process (S23) of acquiring angular speed ω about the road surface perpendicular axis based on the above-described relationship and from the steering angle signal and the vehicle speed signal.
DEVICE FOR OBTAINING LEANING VEHICLE ANGULAR VELOCITY AROUND AXIS IN DIRECTION PERPENDICULAR TO ROAD SURFACE
VORRICHTUNG ZUR DER WINKELGESCHWINDIGKEIT EINES NEIGEFAHRZEUGS UM DIE ACHSE RECHTWINKLIG ZUR STRASSENOBERFLÄCHE
DISPOSITIF PERMETTANT D'OBTENIR UNE VITESSE ANGULAIRE DE VÉHICULE INCLINABLE AUTOUR D'UN AXE DANS UNE DIRECTION PERPENDICULAIRE À LA SURFACE D'UNE ROUTE
2020-02-26
Patent
Electronic Resource
English
IPC: | G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62J Fahrrad- oder Motorradsättel oder -sitze , CYCLE SADDLES OR SEATS |
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