Title:
TILTING VEHICLE
Document Type and Number:
WIPO Patent Application WO/2023/119426
Kind Code:
A1
Abstract:
This tilting vehicle, which tilts a vehicle body to turn the vehicle body, is formed by: a plurality of wheels including one or two front steered wheels; a steering wheel that an occupant operates in order to change the steering angle of the front steered wheel and the tilt angle of the vehicle body during a turning operation; a tilting device that changes the tilting angle of the vehicle body during turning; and a steering device that changes the steering angle of the front steered wheel during turning. The tilting vehicle executes turning control to control the tilting device and the steering device such that lateral acceleration acting on the vehicle body increases to lateral acceleration set on the basis of the speed of the tilting vehicle, from a balanced turning state in which the gravity acting on the vehicle body at the steering angle and tilt angle corresponding to the steering wheel angle during the turning operation by the occupant matches the centrifugal force to the outside of the turn, the tilting vehicle also changing the acceleration gain that indicates the rate of increase of the acceleration of the tilting vehicle relative to the operation amount of the acceleration operation performed by the occupant in order to cause the tilting vehicle to accelerate, the acceleration gain being changed on the basis of a physical quantity relating to the lateral acceleration obtained during the execution of the turning control.
Inventors:
TERADA KEISUKE (JP)
OHNISHI SEIGO (JP)
OHNISHI SEIGO (JP)
Application Number:
PCT/JP2021/047354
Publication Date:
June 29, 2023
Filing Date:
December 21, 2021
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
International Classes:
B62K21/00; B60W10/04; B60W10/20; B60W30/045; B62K5/05; B62K5/10
Foreign References:
| JP2010058783A | 2010-03-18 | |||
| JP2018193009A | 2018-12-06 | |||
| JP2011201505A | 2011-10-13 |
Attorney, Agent or Firm:
NAKATSUJI, Shiro et al. (JP)
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