A leaning vehicle including a vehicle body frame, at least one steerable wheel, a handlebar, of which the manipulation by a rider generates a steering torque, a steering actuator configured to steer the at least one steerable wheel, a roll rate sensor configured to detect a roll rate of the vehicle body frame, and a steering actuator controller. The steering actuator controller includes a torque estimation section that receives an input to thereby generate an estimated value of the steering torque, and a current determination section that obtains a control current based on the estimated valued of the steering torque generated by the torque estimation section, and outputs the control current to the steering actuator to control the steering actuator. The input of the torque estimation section includes the roll rate obtained from the roll rate sensor, but is free from any value of the steering torque detected by a torque sensor.


    Access

    Download


    Export, share and cite



    Title :

    LEANING-VEHICLE-STEERING-ACTUATOR CONTROLLER AND LEANING VEHICLE


    Contributors:

    Publication date :

    2021-06-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62K Fahrräder , CYCLES



    Leaning-vehicle-steering-actuator controller and leaning vehicle

    HARA NOBUO / TSUBOI HIDEKAZU | European Patent Office | 2024

    Free access

    LEANING VEHICLE STEERING-ACTUATOR CONTROLLER AND LEANING VEHICLE

    HARA NOBUO / TSUBOI HIDEKAZU | European Patent Office | 2022

    Free access

    STEERING ACTUATOR CONTROL DEVICE FOR LEANING VEHICLE, AND LEANING VEHICLE

    HARA NOBUO / TSUBOI HIDEKAZU | European Patent Office | 2020

    Free access

    Leaning vehicle and vehicle leaning unit

    ISHII HIROSHI / IWAMOTO TARO / NAKAJIMA TAKESHI et al. | European Patent Office | 2022

    Free access

    LEANING VEHICLE AND VEHICLE LEANING UNIT

    ISHII HIROSHI / IWAMOTO TARO / NAKAJIMA TAKESHI et al. | European Patent Office | 2020

    Free access