Title:
TILTING VEHICLE
Document Type and Number:
WIPO Patent Application WO/2023/120580
Kind Code:
A1
Abstract:
A tilting vehicle (1) is provided with: wheels including front steered wheels (11) and a rear wheel (12); a tilting actuator (120) for generating a tilting driving force that changes a tilting angle of a vehicle body; a steering actuator (110) for changing a steering angle of the front steered wheels (11); a control device (100) for controlling the tilting actuator (120) and the steering actuator (110); and a braking device (80) for braking the wheels (11, 12). When a balanced turning state is defined as a turning state in which the tilting angle of the vehicle body formed with the vertical axis vertical to the ground is regarded as an angle formed between the vertical axis and a combined force of the gravity and a centrifugal force in the turning outer direction, the control device (100) controls the tilting actuator (120) and the steering actuator (110) so as to make an imbalanced turning state in which a lateral acceleration greater than that in the balanced turning state is generated, and, when braking is performed by the braking device (80), the control device causes the tilting actuator (120) to generate a tilting driving force obtained by taking into consideration the lateral acceleration and braking force.
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Inventors:
TERADA KEISUKE (JP)
OHNISHI SEIGO (JP)
OHNISHI SEIGO (JP)
Application Number:
PCT/JP2022/047123
Publication Date:
June 29, 2023
Filing Date:
December 21, 2022
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
International Classes:
B62K5/10; B62K5/027; B62K5/08
Domestic Patent References:
| WO2017164342A1 | 2017-09-28 | |||
| WO2015064656A1 | 2015-05-07 | |||
| WO2017183639A1 | 2017-10-26 | |||
| WO2014054697A1 | 2014-04-10 |
Foreign References:
| JP2021160609A | 2021-10-11 | |||
| JP2007099218A | 2007-04-19 | |||
| JP2019014270A | 2019-01-31 |
Attorney, Agent or Firm:
NAKATSUJI, Shiro et al. (JP)
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