Angular Speed Acquisition Device for Leaning Vehicles
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Solution Overview
Problem
Existing angular speed acquisition devices for leaning vehicles require complex calculations to estimate roll angles, making it difficult to easily acquire angular speed about the road surface perpendicular axis.
Innovation Solution
An angular speed acquisition device that includes a processor and memory to store the relationship between steering angle, vehicle speed, and angular speed, allowing for easy acquisition of angular speed about the road surface perpendicular axis by processing steering and vehicle speed signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a roll angle sensor and complex calculation methods are used to estimate roll angle, then the angular speed about the road surface perpendicular axis can be calculated, but the calculation process becomes complicated and hardware requirements increase
Solution Approach 1:
The patent uses a pre-established relationship table that copies the complex relationship between steering angle, vehicle speed, and angular speed into a ready-reference format. Instead of calculating roll angle and angular speed in real-time through complex formulas, the system directly references pre-calculated values from the table based on measured steering angle and vehicle speed, significantly simplifying the acquisition process while maintaining measurement precision
Solution Approach 2:
The patent performs preliminary calculations by pre-establishing the relationship between steering angle, vehicle speed, and angular speed about the road surface perpendicular axis before actual operation. This relationship is stored in a table that can be directly referenced during vehicle operation, eliminating the need for complex real-time calculations and roll angle sensor requirements
2Measurement precision
If a roll angle sensor is added to the vehicle, then the angular speed can be calculated, but the hardware requirements and system complexity increase
Solution Approach 1:
The patent replaces the physical roll angle sensor with a copied relationship table that contains pre-calculated angular speed values. This table is generated offline based on the vehicle's dynamics characteristics and stored in memory, allowing the system to retrieve angular speed information without requiring additional sensing hardware
Solution Approach 2:
The patent extracts the essential relationship between steering angle, vehicle speed, and angular speed from the complex vehicle dynamics model and separates it into a standalone reference table. This extraction eliminates the need for roll angle sensors and complex real-time calculations, reducing hardware requirements while preserving measurement capability
3Measurement precision
If complex calculation formulas are used to convert yaw rate sensor data to road surface perpendicular axis angular speed, then accurate angular speed can be obtained, but the processing time and computational load increase
Solution Approach 1:
The patent performs the complex conversion calculations in advance and stores the results in a relationship table. During actual vehicle operation, the system only needs to perform simple table lookups based on measured steering angle and vehicle speed, dramatically reducing processing time while maintaining the accuracy that would otherwise require complex real-time calculations
Solution Approach 2:
The patent copies the results of complex angular speed calculations into a readily accessible table format. This allows the system to retrieve accurate angular speed values through simple reference operations rather than performing time-consuming calculations in real-time, improving acquisition speed while preserving accuracy
Data Source
AI summary
An angular speed acquisition device acquires the angular speed about a road surface perpendicular axis of a leaning vehicle. The leaning vehicle includes a vehicle body frame capable of leaning in a vehicle left-right direction and a steering shaft which steers at least one of a front wheel unit and a rear wheel unit. An angular speed acquisition device, which is mountable on the leaning vehicle, includes a memory and a processor. The memory stores the relationship between the steering angle, which is a rotation angle about the rotational axis of the steering shaft, the vehicle speed of the leaning vehicle, and the angular speed ω about the road surface perpendicular axis.