Vehicle

Abstract

In order to achieve improved turning performance and stable traveling state even when disturbance in the direction of inclination is applied, a vehicle comprises a vehicle body provided with a steering part and a drive part which are coupled to each other, a steering wheel which is a wheel rotatably attached to the steering part and steers the vehicle body, a drive wheel which is a wheel rotatably attached to the drive part and drives the vehicle body, an inclination actuator device which inclines the steering part or the drive part in a turning direction, a lateral acceleration sensor which detects lateral acceleration that acts on the vehicle body, and a control device which controls the inclination actuator device to control the inclination of the vehicle body, wherein when disturbance in the inclination direction of the vehicle body is applied, the control device controls the inclination of the vehicle body by extracting the amount of change caused by the disturbance from the change of the inclination angle of the vehicle body and adding a control value corresponding to the extracted amount of change caused by the disturbance.

Description

Technical field [0001] The present invention relates to a vehicle having at least a pair of left and right wheels. Background technique [0002] In recent years, in view of the exhaustion of energy resources, there is a strong demand for fuel economy of vehicles. On the other hand, due to lower prices of vehicles, etc., there is a tendency for more vehicle owners to own one vehicle per person. Therefore, for example, there is a problem of unnecessary consumption of energy because only one driver drives a vehicle with a capacity of four people. As the fuel economy achieved by the downsizing of the vehicle, it can be said that the configuration of the vehicle as a three-wheeled or four-wheeled vehicle with a capacity of one person is the most effective. [0003] However, the stability of the vehicle sometimes decreases due to the driving state. In view of this, a technique for improving the stability of the vehicle during turning by tilting the vehicle body in the lateral directio...

AI Technical Summary

Problems solved by technology

[0005] However, in the above-mentioned conventional vehicles, in order to improve the turning performance, the vehicle body can be tilted inwardly in the turning direction, but if there is a large disturbance in the lateral direction due to the unevenness of the road surface, the lateral sway, etc., there is a problem that it cannot be properly performed. The tilt control of the vehicle body, the vehicle becomes unstable, the occupants feel uncomfortable, and feel uneasy

Images