Title:
LEANING VEHICLE
Document Type and Number:
WIPO Patent Application WO/2024/048532
Kind Code:
A1
Abstract:
In order to increase the stability of a control system in an accelerating state or a decelerating state at least at a very low speed during attitude control, a control device (9) of a leaning vehicle (1) controls at least one of drive torque and steering torque at least on the basis of information detected by a leaning angle-related information detection device (6), a steering angle-related information detection device (7), and a wheel speed-related information detection device (8), so that, in a state in which the leaning vehicle is traveling at zero acceleration and steering angle speed on a flat road surface with at least a constant coefficient of friction, the relationship of the leaning angle (φ), the steering angle (δ), and the vehicle speed (V) stays within a balanced three-dimensional space (E1). The balanced three-dimensional space (E1) includes at least a balanced three-dimensional non-plane (E2) that shows the relationship in a geometrically determined balanced state of the leaning vehicle, and the relationship of the leaning angle, the steering angle, and the vehicle speed that is off the balanced three-dimensional non-plane (E1) due to a minute change from zero in at least one of acceleration and steering angle speed.
Inventors:
KOZU DAISUKE (JP)
HARA SUSUMU (JP)
HARA SUSUMU (JP)
Application Number:
PCT/JP2023/031026
Publication Date:
March 07, 2024
Filing Date:
August 28, 2023
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
International Classes:
B62K21/00; B60W40/068; B60W40/112
Domestic Patent References:
| WO2022059116A1 | 2022-03-24 | |||
| WO2014054697A1 | 2014-04-10 | |||
| WO2019004312A1 | 2019-01-03 | |||
| WO2022131345A1 | 2022-06-23 | |||
| WO2020188595A1 | 2020-09-24 |
Foreign References:
| JP2021054328A | 2021-04-08 |
Attorney, Agent or Firm:
ATEN IP ATTORNEYS (JP)
Download PDF: