Vehicle
A vehicle and body technology, applied to vehicle parts, bicycles, motorcycles, etc., can solve the problems of not being able to set high limit values and limit value changes, and achieve the effect of increasing the turning limit value and increasing the limit value
Inactive Publication Date: 2011-11-16
EQUOS RES
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Problems solved by technology
[0012] However, if the occupant changes the seating position or posture, or if a person of a different body type rides, the limit value of the turning speed or the turning curvature (the reciprocal of the turning radius) will also change
Therefore, in consideration of safety issues, it is necessary to set the limit value corresponding to the most stringent condition within the assumed range of condition variation, so that it is impossible to set a high limit value suitable for each condition
[0013] In addition, the same problem exists even when there is no load at all, or when autonomous driving is carried with any cargo
Method used
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Embodiment Construction
[0045] Below, refer to Figure 1-Figure 19 , a suitable embodiment of the vehicle of the present invention will be described in detail.
[0046] (1) Outline of Embodiment
[0047] When turning, if the vehicle's ground load center point moves to the outside between the two drive wheels, the vehicle will roll over.
[0048] Here, the ground-ground load center point means an intersection point of a straight line parallel to the resultant force vector F of centrifugal force and gravity acting on the vehicle and passing through the center of gravity and the ground. At this time, the direction of the resultant force vector F is determined by the lateral acceleration of the vehicle. Additionally, lateral acceleration is determined by the vehicle's turning speed and curvature of turn.
[0049]Therefore, the position of the center point of the ground load, that is, whether or not the vehicle rolls over is determined by the position of the center of gravity and the lateral accelerati...
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A transverse two-wheeled vehicle capable of increasing a turning limit value is provided. As measures for a turn of the transverse two-wheeled vehicle, a turning limit estimation system which obtains the turning limit value and a center-of-gravity position adjustment system which improves the turning limit value are provided. The turning limit estimation system obtains the turning limit value anda turning stability by estimating a center-of-gravity position and a lateral acceleration with high precision. In the center-of-gravity position adjustment system, the turning limit value is increased by causing the estimated center-of-gravity position to move toward a centripetal direction. As mechanisms for causing the center of gravity to move, one or more of i) a vehicle body tilt mechanism, ii) weight movement mechanism, and iii) a seat parallel movement mechanism are used. Accordingly, the transverse two-wheeled vehicle, particularly a vehicle with a narrow interval between two wheels and a high center of gravity, can make a faster and smaller turn, and a driving performance, stability, and security of a turning operation are improved.
Description
technical field [0001] The present invention relates to attitude control during cornering of a vehicle-related transverse vehicle having, for example, two drive wheels arranged opposite to each other. Background technique [0002] A vehicle controlled by posture using an inverted pendulum (hereinafter, simply referred to as an inverted pendulum vehicle) is attracting attention and is being put into practical use. [0003] For example, the technique disclosed in Patent Document 1 has two drive wheels arranged coaxially, and drives by sensing the attitude of the drive wheels due to the movement of the driver's center of gravity. [0004] In addition, the vehicle disclosed in Patent Document 2 moves while controlling the attitude of one conventional circular drive wheel or one spherical drive wheel. Also, Patent Document 2 discloses various inverted pendulum vehicles. [0005] [Patent Document 1] Japanese Patent Laid-Open No. 2004-276727 [0006] [Patent Document 2] Japanese...
Claims
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IPC IPC(8): B62K17/00B62K3/00B60L15/20B62J99/00
CPCY02T10/7258B62K3/007B62K11/007Y02T10/72
Inventor 土井克则泽田和昭三木修昭
Owner EQUOS RES