Lean Vehicle Rear-Wheel Slip Control for Intentional Sliding
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Solution Overview
Problem
Conventional controllers for lean vehicles struggle to balance freedom of driving and safety during slide travel, as anti-lock braking operations reduce lateral grip force, making intended slide maneuvers difficult and limiting vehicle freedom.
Innovation Solution
A controller that implements a slide control mode by setting a higher slip degree target for the rear wheel during slide requests, allowing for controlled slip and maintaining lateral grip force, thereby enabling intended slide travel while ensuring safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If anti-lock braking operation is performed by controlling slip degree to a standard target, then safety is improved by preventing wheel locking, but lateral grip force of the rear wheel is reduced making slide travel difficult
Solution Approach 1:
The patent applies dynamics by making the slip degree target variable rather than fixed. The control section dynamically adjusts the slip degree target based on detected vehicle state (sliding vs. non-sliding), switching between a first target (higher slip allowance) and a second target (lower slip allowance). This dynamic adaptation resolves the contradiction by allowing high slip degrees for slide travel while maintaining low slip degrees for safety-critical situations.
Solution Approach 2:
The patent changes the parameter of slip degree target value based on operating conditions. When sliding is detected, the system switches to a first slip degree target that permits higher slip, enabling slide travel. When no sliding is detected, it uses a second slip degree target that maintains lower slip for safety. This parameter change strategy allows the same anti-lock braking system to serve dual purposes: enabling slide travel when intended and preventing wheel locking when safety is the priority.
2Ease of operation
If slip degree is increased to enable slide travel, then freedom of driving is improved, but lateral grip force is reduced compromising safety
Solution Approach 1:
The system dynamically switches between two operational modes with different slip degree targets. In slide travel mode, the first slip degree target allows higher slip to maintain lateral grip force for intended slide maneuvers. In normal operation mode, the second slip degree target maintains lower slip to prevent wheel locking and ensure safety. The control section continuously monitors vehicle state to determine which mode to activate.
Solution Approach 2:
The patent implements parameter changes by switching the slip degree target value based on detected sliding conditions. When sliding is detected, the system adopts a first slip degree target parameter that permits higher slip values. When no sliding is detected, it switches to a second slip degree target parameter with lower slip values. This parameter switching resolves the contradiction between freedom of driving and safety.
Data Source
AI summary
The present invention obtains a controller and a control method capable of simultaneously achieving freedom of driving and safety of a lean vehicle.In a controller (60) and the control method according to the present invention, a control section of the controller (60) can execute anti-lock braking operation for suppressing locking of a rear wheel (4) by increasing/reducing a braking force or drive power of the rear wheel (4) of a lean vehicle (100) and thereby controlling a slip degree of the rear wheel (4) to a slip degree target, and in the case where a slide request, which is a request by a rider to make the lean vehicle (100) slide, is present, implements a slide control mode in which the anti-lock braking operation is performed by setting the slip degree target to be higher than that of a case where the slide request is absent.