Curve-Aware Driving Force Control for Motorcycle Following
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Solution Overview
Problem
Straddle type vehicles, such as two-wheeled or three-wheeled motor vehicles, face challenges in maintaining independent control of preceding vehicle following and turning operations due to the interdependence of bank angle adjustments and driving forces, leading to potential understeering, oversteering, or falling when traveling on curves.
Innovation Solution
A vehicle control device is mounted on straddle type vehicles, equipped with a curvature acquisition unit to measure road curvature and a driving force control unit that limits the change in driving force per unit time based on the acquired curvature, thereby prioritizing stability over inter-vehicle distance and relative speed maintenance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If preceding vehicle following control is applied to straddle type vehicle, then inter-vehicle distance and relative speed can be maintained, but driver's bank angle operation is delayed causing understeering or oversteering
Solution Approach 1:
The patent changes the parameter of driving force by limiting its rate of change based on road curvature. When curvature is detected, the driving force change amount per unit time is restricted, which prevents sudden acceleration or deceleration that would cause bank angle operation delays. This parameter modification resolves the contradiction by maintaining inter-vehicle distance control while preventing excessive driving force changes that would interfere with driver's bank angle adjustments.
2Speed
If bank angle adjustment is made rapidly to respond to curve, then turning response is improved, but vehicle stability is reduced causing understeering or oversteering
Solution Approach 1:
The patent applies preliminary anti-action by limiting driving force changes before the driver adjusts the bank angle. By restricting the rate of driving force change when curvature is detected, the system prevents sudden longitudinal forces that would counteract or delay the driver's bank angle adjustments. This creates a more stable environment for the driver's turning operation, preventing understeering and oversteering while still allowing rapid bank angle response.
Data Source
AI summary
Provided is a vehicle control device capable of preventing a delay in driver's bank angle operation during traveling of a straddle type vehicle on a curve and enhancing safety of the vehicle. The vehicle control device 100 is a device that is mounted on a two-wheeled motor vehicle and controls the vehicle to travel while following a preceding vehicle. The vehicle control device 100 includes a curvature acquisition unit 110 that acquires a curvature of a road in front of the vehicle and a driving force control unit 120 that limits a change amount of driving force of the vehicle per unit time based on the curvature acquired by the curvature acquisition unit 110.