Leaning Vehicle Dynamic Steering Force Control
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Solution Overview
Problem
Existing leaning vehicles lack the ability to dynamically adjust steering forces based on tilt angles, leading to incongruity in rider experience, especially at low speeds where frequent vertical angle reduction is needed, and fail to provide new functions beyond power-assisted steering.
Innovation Solution
A leaning vehicle configuration that includes a motor-controlled steering system, a linkage mechanism, and a tilt-angle-detection system, which adjusts steering forces and their magnitude in real-time according to the vehicle's tilt angle and speed, allowing for enhanced control and feedback to the rider.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a motor applies steering torque to assist rider steering, then steering burden is reduced and low-speed steering is assisted, but the system lacks dynamic adjustment capability based on tilt angle
Solution Approach 1:
The patent implements dynamic steering force adjustment by controlling the motor to vary steering torque according to the detected tilt angle. The control unit continuously monitors the tilt angle sensor data and adjusts the motor output accordingly, transforming a static power assist system into a dynamic one that adapts to real-time vehicle orientation changes.
Solution Approach 2:
The system incorporates a tilt angle detection mechanism that provides continuous feedback to the control unit. This feedback loop enables the control unit to adjust the motor's steering torque in real-time based on the actual tilt angle, creating a closed-loop control system that enhances both adaptability and operational ease.
2Adaptability or versatility
If steering force magnitude is adjusted during tilting, then rider feels change in operation characteristics, but rider experience becomes incongruous
Solution Approach 1:
The patent systematically varies the steering force parameter based on the tilt angle parameter. The control unit implements a predetermined relationship where steering torque is adjusted as a function of tilt angle, ensuring that the parameter changes follow a consistent pattern that maintains rider expectation and operational congruity.
3Stability of the object's composition
If motor applies steering force in direction causing vehicle to turn opposite to tilt side, then body frame rises, but control complexity increases
Solution Approach 1:
The system applies preliminary anti-action by detecting the tilt angle and pre-compensating for the body frame's tendency to lean further. The control unit calculates the required counter-steering torque based on the detected tilt and applies it proactively, preventing excessive tilting and promoting body frame stabilization before the problem escalates.
Data Source
AI summary
A leaning vehicle includes a body frame, a steered wheel and a non-steered wheel, a motor, a left-right-tilt-angle-detection-section, and a control device that controls the motor to apply a steering force to the steered wheel. The steering force steers the steered wheel to turn the leaning vehicle rightward in a case where the body frame tilts rightward, and steers the steered wheel to turn the leaning vehicle leftward in a case where the body frame tilts leftward. Alternatively, the steering force steers the steered wheel to turn the leaning vehicle leftward in the case where the body frame tilts rightward, and steers the steered wheel to turn the leaning vehicle rightward in the case where the body frame tilts leftward.