Leaning Vehicle Torque Switching for Self-Standing and Walk Assist
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Solution Overview
Problem
Existing leaning vehicles struggle to assist in standing upright when stopped and require rider intervention for easy starting and walking, especially due to strong actuator torques maintaining an upright position.
Innovation Solution
A lean control device that switches between gravity compensation control and self-standing assist control based on vehicle speed and rider input, allowing the vehicle to stand upright without rider support and facilitating easy starting and walking by adjusting torque output.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the actuator applies strong torque to keep the vehicle body upright when stopped, then the vehicle body stability is improved, but the ease of operation deteriorates because the rider cannot walk or start the vehicle easily
Solution Approach 1:
The patent applies dynamics by making the control mode switchable between high-rigidity stand-up control and gravity compensation control. The system transitions from a static upright-holding state to a dynamic state where the rider can lean the vehicle body freely. This is achieved by detecting rider input (throttle operation, clutch operation, or brake operation) and switching the control mode accordingly, allowing the vehicle to adapt between stability and maneuverability needs.
Solution Approach 2:
The patent changes the torque output parameter of the actuator based on the control mode. In high-rigidity stand-up control, the actuator applies strong torque to maintain upright position. In gravity compensation control, the actuator applies reduced torque that compensates for gravity but allows rider-induced leaning. This parameter change enables the system to provide appropriate support level for different operational requirements.
2Extent of automation
If the vehicle body is kept upright at stop, then the self-standing capability is improved, but the productivity deteriorates because the rider needs extra power to handle the vehicle
Solution Approach 1:
The patent applies partial action by providing just enough actuator torque to achieve the desired effect without excessive force. In gravity compensation control, the actuator applies torque sufficient to counteract gravity and enable self-standing, but not so much as to prevent natural leaning. This partial torque application reduces the power the rider must expend compared to fighting against strong actuator torque, while still maintaining adequate self-standing capability.
3Reliability
If the actuator maintains strong torque output, then the reliability of upright positioning is improved, but the ease of operation worsens due to difficulty in canceling the control
Solution Approach 1:
The patent applies feedback by continuously monitoring rider input through detection devices that sense throttle operation, clutch operation, or brake operation. When any of these inputs are detected, the system automatically switches from high-rigidity stand-up control to gravity compensation control. This feedback mechanism ensures reliable upright positioning when needed while making cancellation equally reliable and automatic based on rider intent, eliminating the need for separate cancellation operations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the leaning vehicle to stand upright autonomously and simplifies starting and walking by allowing gradual torque adjustments, enhancing rider convenience and balance.
Implementation Method 1
The actuator applies output torques in directions towards a return to an upright state of the leaning vehicle
Data Source
Figure 1(a)~1(b)
Figure 2
Figure 3
AI summary
[Problem] A problem to be solved by the present teaching is to make it possible to assist a leaning vehicle in a stopped state to stand by itself and make it easy to start a leaning vehicle and make it easy to walk the leaning vehicle. [Solution to Problem] A lean control device 17 is capable of executing at least gravity compensation control C1 and self-standing assist control C2. When a condition for a switch of control is satisfied, the lean control device 17 instructs an actuator 16 to conduct a switch between the gravity compensation control C1 and the self-standing assist control C2. The output torque, at least when the leaning vehicle 1 is at a stop and when the gravity compensation control C1 is being executed, is greater than zero and smaller than a leaning moment. The output torque, at least when the leaning vehicle 1 is at a stop, when the vehicle body 11 leans at an angle within a substantially self-standing range and when the self-standing assist control C2 is being executed, is greater than the leaning moment. The leaning moment is a moment that acts on the vehicle body due to gravity when the vehicle body 11 leans.