TW202421491A - Tilt the vehicle - Google Patents

Abstract

本發明之傾斜車輛(1)之控制裝置(9)係於姿勢控制中，以至少在傾斜車輛以加速度與控向角速度為零於摩擦係數固定之平坦路面上行駛之狀態下，傾斜角(ϕ)、控向角(δ)及車速(V)之關係落在平衡三維空間(E1)內的方式，至少基於由傾斜角相關資訊檢測裝置(6)、控向角相關資訊檢測裝置(7)及車輪速度相關資訊檢測裝置(8)檢測到之資訊，來對驅動轉矩及控向轉矩之至少一者進行控制，使得至少以極低速之加速狀態或減速狀態下之控制系統之穩定性提高。平衡三維空間(E1)至少包含：表示傾斜車輛在幾何確定之平衡狀態下之關係的平衡三維非平面(E2)；及因加速度及控向角速度之至少一者從零開始微小變化而遠離平衡三維非平面(E1)的傾斜角、控向角及車速之關係。The control device (9) of the tilting vehicle (1) of the present invention controls at least one of the driving torque and the steering torque in a posture control in such a way that the relationship between the tilt angle (ϕ), the steering angle (δ) and the vehicle speed (V) falls within the equilibrium three-dimensional space (E1) at least based on the information detected by the tilt angle related information detection device (6), the steering angle related information detection device (7) and the wheel speed related information detection device (8), so that the stability of the control system is improved at least in an extremely low speed acceleration state or deceleration state. The equilibrium three-dimensional space (E1) at least includes: an equilibrium three-dimensional non-plane (E2) representing the relationship of a tilted vehicle in a geometrically determined equilibrium state; and the relationship between the tilt angle, the steering angle and the vehicle speed that deviates from the equilibrium three-dimensional non-plane (E1) due to a slight change in at least one of the acceleration and the steering angular velocity from zero.

Description

傾斜車輛Tilt the vehicle

本發明係關於一種於右迴旋時朝右方向傾斜且於左迴旋時朝左方向傾斜之傾斜車輛。The present invention relates to a tilting vehicle which tilts to the right when turning right and tilts to the left when turning left.

例如二輪車等傾斜車輛具有車體框架，該車體框架係於右迴旋時相對於車輛上下方向朝車輛右方向傾斜，於左迴旋時相對於車輛上下方向朝車輛左方向傾斜。於專利文獻1中揭示有一種二輪車，其具備控制系統，該控制系統用以於停止狀態時、低速度行駛狀態時、自停止狀態轉變為低速度行駛狀態時、及自低速度行駛狀態移動至停止狀態時，使二輪車豎立。專利文獻1之控制系統具有：檢測裝置，其檢測與傾斜角相關之資訊，該傾斜角係車體框架之車輛左右方向相對於車輛上下方向之傾斜角；檢測裝置，其檢測與前輪之控向角相關之資訊；檢測裝置，其檢測與前輪或後輪之繞車軸線之旋轉速度相關之資訊；驅動力賦予裝置，其對前輪及後輪之至少一者賦予驅動力；控向力賦予裝置，其對前輪賦予控向力；及控制裝置。專利文獻1之控制裝置基於由3個檢測裝置檢測到之資訊而控制驅動力賦予裝置之驅動力及控向力賦予裝置之控向力，使得當車體框架朝車輛右方向(車輛左方向)傾斜時，前輪之接地位置朝車輛右方向(車輛左方向)移動而車體框架上升。 [先前技術文獻] [專利文獻] For example, a tilting vehicle such as a two-wheeled vehicle has a body frame, which is tilted toward the right direction of the vehicle relative to the vehicle vertical direction when turning right, and is tilted toward the left direction of the vehicle relative to the vehicle vertical direction when turning left. Patent document 1 discloses a two-wheeled vehicle having a control system, which is used to make the two-wheeled vehicle stand upright when in a stopped state, in a low-speed driving state, when changing from a stopped state to a low-speed driving state, and when moving from a low-speed driving state to a stopped state. The control system of Patent Document 1 comprises: a detection device for detecting information related to a tilt angle, wherein the tilt angle is the tilt angle of the vehicle body frame in the left-right direction of the vehicle relative to the up-down direction of the vehicle; a detection device for detecting information related to a steering angle of the front wheel; a detection device for detecting information related to a rotation speed of the front wheel or the rear wheel around the axle; a driving force imparting device for imparting a driving force to at least one of the front wheel and the rear wheel; a steering force imparting device for imparting a steering force to the front wheel; and a control device. The control device of Patent Document 1 controls the driving force of the driving force imparting device and the steering force of the steering force imparting device based on the information detected by the three detection devices, so that when the vehicle frame tilts toward the right direction of the vehicle (the left direction of the vehicle), the contact position of the front wheel moves toward the right direction of the vehicle (the left direction of the vehicle) and the vehicle frame rises. [Prior Technical Document] [Patent Document]

[專利文獻1]國際公開第2022/059714號[Patent Document 1] International Publication No. 2022/059714

[發明所欲解決之問題][The problem the invention is trying to solve]

控制傾斜車輛之姿勢之控制系統期望控制傾斜車輛之姿勢時之穩定性較高。A control system for controlling the posture of a tilted vehicle is expected to have higher stability when controlling the posture of the tilted vehicle.

本發明之目的在於提供一種能夠提高控制傾斜車輛之姿勢之控制系統之穩定性之傾斜車輛。 [解決問題之技術手段] The purpose of the present invention is to provide a tilting vehicle capable of improving the stability of a control system for controlling the posture of the tilting vehicle. [Technical means for solving the problem]

本發明之一實施方式之傾斜車輛具有以下之構成。 一種傾斜車輛，其具備：複數個車輪，其等包含至少1個前輪及配置於相較上述至少1個前輪更靠車輛前後方向上之後方向之至少1個後輪；車體框架，其將上述複數個車輪以使之能夠繞車軸線旋轉的方式予以支持，並將上述至少1個前輪以使之能夠繞控向軸線旋轉的方式予以支持，於右迴旋時相對於車輛上下方向朝車輛右方向傾斜，於左迴旋時相對於上述車輛上下方向朝車輛左方向傾斜；傾斜角相關資訊檢測裝置，其檢測與傾斜角相關之資訊，該傾斜角係上述車體框架之車輛左右方向相對於上述車輛上下方向之傾斜角；控向角相關資訊檢測裝置，其檢測與控向角相關之資訊，該控向角係任一個上述前輪之繞上述控向軸線之旋轉角度；車輪速度相關資訊檢測裝置，其檢測與車輪速度相關之資訊，該車輪速度係任一個上述車輪之繞上述車軸線之旋轉速度；及轉矩賦予裝置，其包含驅動轉矩賦予裝置及控向轉矩賦予裝置之至少一者，上述驅動轉矩賦予裝置構成為對上述至少1個前輪及上述至少1個後輪之至少一者賦予繞上述車軸線之正及負之驅動轉矩，上述控向轉矩賦予裝置構成為對上述至少1個前輪賦予繞上述控向軸線之控向轉矩。上述傾斜車輛具有傾斜車輛姿勢控制系統，該傾斜車輛姿勢控制系統包含：上述傾斜角相關資訊檢測裝置；上述控向角相關資訊檢測裝置；上述車輪速度相關資訊檢測裝置；上述轉矩賦予裝置；及控制裝置，其構成為執行姿勢控制，該姿勢控制係至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制，藉此控制上述傾斜車輛之姿勢。上述控制裝置係以如下方式至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制，使得於執行上述姿勢控制之期間，至少以極低速區域之車速之加速狀態或減速狀態下的上述傾斜車輛姿勢控制系統之穩定性提高，上述方式係於執行上述姿勢控制之期間，至少在上述傾斜車輛以上述車輛前後方向之加速度為零且上述控向角之時間變化率即控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，上述傾斜角、上述控向角及上述車速之關係落在將上述傾斜角、上述控向角及上述車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面，其表示上述傾斜車輛在幾何確定之平衡狀態下之上述傾斜角、上述控向角及車速之關係，且將上述傾斜角、上述控向角及上述車速設為3個軸，上述傾斜車輛處於如下狀態，即，以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛，且搭載有人或物體或者未搭載人及物體；及(B)如下情形時之上述傾斜角、上述控向角及上述車速之關係，即，在上述傾斜車輛以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述車輛前後方向之加速度及上述控向角速度之至少一者從零開始微小變化，而導致上述傾斜角、上述控向角及上述車速之關係處於遠離上述平衡三維非平面之關係。 The tilting vehicle of one embodiment of the present invention has the following structure. A tilting vehicle, comprising: a plurality of wheels, including at least one front wheel and at least one rear wheel arranged in a rearward direction of the vehicle in relation to the at least one front wheel; a body frame, which supports the plurality of wheels so as to enable them to rotate around an axle, and supports the at least one front wheel so as to enable them to rotate around a control axis, tilting toward the right direction of the vehicle relative to the up-down direction of the vehicle when turning right, and tilting toward the left direction of the vehicle relative to the up-down direction of the vehicle when turning left; and a tilt angle related information detection device, which detects information related to a tilt angle, wherein the tilt angle is the tilt of the left-right direction of the vehicle of the body frame relative to the up-down direction of the vehicle. Angle; a steering angle related information detection device, which detects information related to the steering angle, the steering angle being the rotation angle of any of the above-mentioned front wheels around the above-mentioned steering axis; a wheel speed related information detection device, which detects information related to the wheel speed, the wheel speed being the rotation speed of any of the above-mentioned wheels around the above-mentioned axle; and a torque imparting device, which The invention comprises at least one of a driving torque imparting device and a steering torque imparting device, wherein the driving torque imparting device is configured to impart positive and negative driving torques around the axle to at least one of the at least one front wheel and the at least one rear wheel, and the steering torque imparting device is configured to impart a steering torque around the steering axis to the at least one front wheel. The above-mentioned leaning vehicle has a leaning vehicle posture control system, which includes: the above-mentioned lean angle related information detection device; the above-mentioned steering angle related information detection device; the above-mentioned wheel speed related information detection device; the above-mentioned torque imparting device; and a control device, which is configured to perform posture control. The posture control is based on at least the information detected by the above-mentioned lean angle related information detection device, the above-mentioned steering angle related information detection device and the above-mentioned wheel speed related information detection device to control at least one of the above-mentioned driving torque and the above-mentioned steering torque imparted by the above-mentioned torque imparting device, thereby controlling the posture of the above-mentioned leaning vehicle. The control device controls at least one of the driving torque and the steering torque imparted by the torque imparting device based on at least the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device in the following manner, so that during the execution of the posture control, the stability of the tilted vehicle posture control system in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range is maintained. The above method is qualitatively improved. During the execution of the above posture control, at least when the above tilted vehicle is traveling on a flat road surface with a constant friction coefficient and the acceleration in the front-rear direction of the above vehicle is zero and the time change rate of the above steering angle, i.e., the steering angular velocity, is zero, the relationship between the above tilt angle, the above steering angle, and the above vehicle speed falls within a balanced three-dimensional space in which the above tilt angle, the above steering angle, and the above vehicle speed are set as three axes. The balanced three-dimensional space at least includes: (A) A balanced three-dimensional non-plane, which represents the relationship between the tilt angle, the steering angle and the vehicle speed of the tilted vehicle in a geometrically determined equilibrium state, and the tilt angle, the steering angle and the vehicle speed are set as three axes, and the tilted vehicle is in the following state, that is, the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero on the flat road surface with a fixed friction coefficient, and is carrying a person or an object or is not carrying a person and an object; and (B) as follows The relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed in the above-mentioned situation is that, when the above-mentioned banked vehicle is traveling on the above-mentioned flat road surface with a fixed friction coefficient and the above-mentioned acceleration in the front and rear directions of the above-mentioned vehicle is zero and the above-mentioned steering angular velocity is zero, at least one of the above-mentioned acceleration in the front and rear directions of the above-mentioned vehicle and the above-mentioned steering angular velocity changes slightly from zero, resulting in the relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed being far away from the above-mentioned balanced three-dimensional non-plane relationship.

根據該構成，將傾斜角、控向角及車速設為3個軸之平衡三維非平面表示傾斜車輛之幾何確定之平衡狀態下之傾斜角、控向角及車速之關係，上述傾斜車輛處於如下狀態，即，以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛，且搭載有人或物體或者未搭載人及物體。傾斜車輛控制系統之控制裝置係以如下方式，即，於執行控制傾斜車輛之姿勢之姿勢控制之期間，至少在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在將傾斜角、控向角及車速設為3個軸之平衡三維空間內，於姿勢控制中，至少基於由傾斜角相關資訊檢測裝置、控向角相關資訊檢測裝置及車輪速度相關資訊檢測裝置檢測到之資訊，來對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制。控制裝置係於姿勢控制中，至少基於由傾斜角相關資訊檢測裝置、控向角相關資訊檢測裝置及車輪速度相關資訊檢測裝置檢測到之資訊，來對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，因此，能夠控制為至少在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在平衡三維空間內。 平衡三維空間包含平衡三維非平面，該平衡三維非平面表示傾斜角、控向角及車速之關係，且將傾斜角、控向角及車速設為3個軸。又，平衡三維空間亦包含如下情形時之傾斜角、控向角及車速之關係，即，在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。因此，控制裝置係以如下方式對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，即，於執行姿勢控制之期間，至少在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在包含幾何確定之平衡三維非平面及平衡三維非平面之附近的平衡三維空間內。因此，能夠抑制於執行姿勢控制之期間，例如，當傾斜車輛自以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態轉變為加速或減速之狀態時，傾斜角、控向角及車速之關係大幅度遠離平衡三維空間。 若傾斜角、控向角及車速之關係大幅度遠離平衡三維空間，則控制裝置係以傾斜角、控向角及車速之關係接***衡三維空間之方式控制驅動轉矩及控向轉矩之至少一者。若傾斜角、控向角及車速之關係以多次通過平衡三維非平面之方式反覆出現大幅度遠離平衡三維空間之狀態，則控制裝置頻繁地大幅度變更成為目標之傾斜角、控向角及車速之關係，而頻繁地大幅度變更對驅動轉矩賦予裝置之指令信號，或者頻繁地對控向轉矩賦予裝置發送指令信號，或者進行上述兩者。即，成為無法保持傾斜車輛姿勢系統之穩定性之狀態。 當傾斜車輛以極低速區域之車速行駛時，因控向角容易變化等而導致傾斜車輛之姿勢容易變化。因此，認為當傾斜車輛以極低速區域之車速行駛時，傾斜車輛控制系統之穩定性容易降低。但是，能夠抑制於執行姿勢控制之期間，例如，當傾斜車輛自以極低速區域之車速且以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態轉變為於極低速區域之車速下加速或減速之狀態時，傾斜角、控向角及車速之關係大幅度遠離平衡三維空間。因此，控制裝置以如下方式對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，即，於執行姿勢控制之期間，至少在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在平衡三維空間內，藉此，於執行姿勢控制之期間，至少能夠提高以極低速區域之車速之加速狀態或減速狀態下的傾斜車輛姿勢控制系統之穩定性。 According to this structure, a balanced three-dimensional non-plane with the lean angle, steering angle and vehicle speed set as three axes represents the relationship between the lean angle, steering angle and vehicle speed in a geometrically determined equilibrium state of a tilted vehicle. The above-mentioned tilted vehicle is in the following state, that is, it is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, and is carrying people or objects or not carrying people and objects. The control device of the lean vehicle control system is in the following manner, that is, during the period of posture control for controlling the posture of the lean vehicle, at least when the lean vehicle is traveling on a flat road surface with a fixed friction coefficient and the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero, the relationship between the lean angle, the steering angle and the vehicle speed falls within a balanced three-dimensional space with the lean angle, the steering angle and the vehicle speed as three axes. In the posture control, at least one of the driving torque and the steering torque assigned by the torque assigning device is controlled based on the information detected by the lean angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device. The control device controls at least one of the driving torque and the steering torque assigned by the torque assigning device in the posture control based on at least the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device, so that the relationship between the tilt angle, the steering angle and the vehicle speed can be controlled to fall within the balanced three-dimensional space at least when the tilted vehicle is traveling on a flat road surface with a fixed friction coefficient and a zero acceleration in the front and rear directions of the vehicle and a zero steering angular velocity. The balanced three-dimensional space includes a balanced three-dimensional non-plane, which represents the relationship between the tilt angle, the steering angle and the vehicle speed, and sets the tilt angle, the steering angle and the vehicle speed as three axes. In addition, the balanced three-dimensional space also includes the relationship between the bank angle, the steering angle and the vehicle speed under the following circumstances, that is, when a tilted vehicle is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, at least one of the acceleration in the front and rear directions of the vehicle and the steering angular velocity changes slightly from zero, causing the relationship between the bank angle, the steering angle and the vehicle speed to be far from a balanced three-dimensional non-planar relationship. Therefore, the control device controls at least one of the driving torque and the steering torque imparted by the torque imparting device in the following manner, that is, during the execution of posture control, at least when the tilted vehicle is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, the relationship between the tilt angle, the steering angle and the vehicle speed falls within a balanced three-dimensional space that includes a geometrically determined balanced three-dimensional non-plane and the vicinity of the balanced three-dimensional non-plane. Therefore, it is possible to suppress the relationship between the bank angle, the steering angle, and the vehicle speed from being greatly deviated from the equilibrium three-dimensional space during the execution of posture control, for example, when the leaning vehicle changes from a state where the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero on a flat road surface with a constant friction coefficient to a state of acceleration or deceleration. If the relationship between the bank angle, the steering angle, and the vehicle speed is greatly deviated from the equilibrium three-dimensional space, the control device controls at least one of the driving torque and the steering torque in a manner such that the relationship between the bank angle, the steering angle, and the vehicle speed is close to the equilibrium three-dimensional space. If the relationship between the bank angle, steering angle, and vehicle speed repeatedly deviates greatly from the balanced three-dimensional space by passing through the balanced three-dimensional non-plane multiple times, the control device frequently and greatly changes the target bank angle, steering angle, and vehicle speed relationship, and frequently and greatly changes the command signal to the drive torque imparting device, or frequently sends a command signal to the steering torque imparting device, or performs both of the above. That is, it becomes a state where the stability of the leaning vehicle posture system cannot be maintained. When the leaning vehicle is traveling at a speed in the extremely low speed area, the posture of the leaning vehicle is easy to change due to the easy change of the steering angle, etc. Therefore, it is considered that when the leaning vehicle is traveling at a speed in the extremely low speed range, the stability of the leaning vehicle control system is likely to decrease. However, it can be suppressed during the execution of posture control, for example, when the leaning vehicle changes from a state of traveling at a speed in the extremely low speed range and with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity on a flat road surface with a constant friction coefficient to a state of accelerating or decelerating at a speed in the extremely low speed range, the relationship between the lean angle, steering angle and vehicle speed greatly deviates from the equilibrium three-dimensional space. Therefore, the control device controls at least one of the driving torque and the steering torque imparted by the torque imparting device in the following manner, that is, during the execution of posture control, at least when the tilted vehicle is traveling on a flat road surface with a fixed friction coefficient and the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero, the relationship between the tilt angle, the steering angle and the vehicle speed falls within a balanced three-dimensional space, thereby, during the execution of posture control, at least the stability of the tilted vehicle posture control system in the acceleration state or deceleration state at a vehicle speed in an extremely low speed range can be improved.

本發明之一實施方式之傾斜車輛亦可具有以下之構成。 上述控制裝置構成為執行上述姿勢控制 ，上述姿勢控制係至少在高於0 km/h且為10 km/h以下之車速區域中，至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制，藉此控制上述傾斜車輛之姿勢，上述控制裝置係以如下方式至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制，使得於執行上述姿勢控制之期間，至少以上述極低速區域之車速之加速狀態或減速狀態下的上述傾斜車輛姿勢控制系統之穩定性提高，上述方式係於執行上述姿勢控制之期間，至少在上述傾斜車輛以車速高於0 km/h且為10 km/h以下、上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述傾斜角、上述控向角及上述車速之關係落在將上述傾斜角、上述控向角及上述車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面，其表示上述傾斜車輛之幾何確定之平衡狀態下之上述傾斜角、上述控向角及車速之關係，且將上述傾斜角、上述控向角及上述車速設為3個軸，上述傾斜車輛處於如下狀態，即，以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛，且搭載有人或物體或者未搭載人及物體；及(B)如下情形時之上述傾斜角、上述控向角及上述車速之關係，即，在上述傾斜車輛以車速高於0 km/h且為10 km/h以下、上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述車輛前後方向之加速度及上述控向角速度之至少一者從零開始微小變化，而導致上述傾斜角、上述控向角及上述車速之關係處於遠離上述平衡三維非平面之關係。 The tilting vehicle of one embodiment of the present invention may also have the following structure. The control device is configured to execute the posture control , and the posture control is to control at least one of the driving torque and the steering torque assigned by the torque assigning device based on at least the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device, at least in the vehicle speed range higher than 0 km/h and lower than 10 km/h, thereby controlling the posture of the tilting vehicle. The control device is configured to perform the posture control in the following manner based on at least the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device. The information detection device and the wheel speed related information detection device are used to control at least one of the driving torque and the steering torque assigned by the torque assigning device, so that during the execution of the posture control, the stability of the tilted vehicle posture control system is improved at least in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range. The method is that during the execution of the posture control, at least when the tilted vehicle is at a speed higher than 0 km/h and 10 When the vehicle is traveling on a flat road surface with a constant friction coefficient at a speed below km/h, the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero, the relationship among the bank angle, the steering angle and the vehicle speed falls within a balanced three-dimensional space with the bank angle, the steering angle and the vehicle speed as three axes, and the balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane, which represents the bank angle, the steering angle and the vehicle speed in a geometrically determined equilibrium state of the tilted vehicle; (B) the relationship between the above-mentioned steering angle and the vehicle speed, and setting the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed as three axes, the above-mentioned tilted vehicle is in the following state, that is, the above-mentioned tilted vehicle is traveling on the above-mentioned flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the above-mentioned vehicle and zero steering angular velocity, and is carrying a person or an object or is not carrying a person and an object; and (B) the relationship between the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed in the following situation, that is, when the above-mentioned tilted vehicle is traveling at a speed higher than 0 When the vehicle is traveling at a speed of less than 10 km/h and the acceleration in the front-rear direction of the vehicle is zero and the steering angular velocity is zero on the flat road surface with a fixed friction coefficient, at least one of the acceleration in the front-rear direction of the vehicle and the steering angular velocity changes slightly from zero, causing the relationship among the bank angle, the steering angle and the vehicle speed to be far away from the balanced three-dimensional non-plane relationship.

根據該構成，控制裝置係以如下方式至少基於由傾斜角相關資訊檢測裝置、控向角相關資訊檢測裝置及車輪速度相關資訊檢測裝置檢測到之資訊，來對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，即，於執行姿勢控制之期間，至少在傾斜車輛以車速高於0 km/h且為10 km/h以下、車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在平衡三維空間內。因此，於執行姿勢控制之期間，能夠提高以極低速區域之車速之加速狀態或減速狀態下的傾斜車輛姿勢控制系統之穩定性。According to this configuration, the control device controls at least one of the driving torque and the steering torque assigned by the torque assigning device based at least on the information detected by the lean angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device in the following manner, that is, during the execution of posture control, at least when the leaning vehicle is traveling on a flat road surface with a fixed friction coefficient at a speed higher than 0 km/h and lower than 10 km/h, with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, the relationship between the lean angle, steering angle and vehicle speed falls within a balanced three-dimensional space. Therefore, during the execution of posture control, the stability of the leaning vehicle posture control system in the acceleration state or deceleration state at the vehicle speed in the extremely low speed range can be improved.

本發明之一實施方式之傾斜車輛亦可具有以下之構成。 上述轉矩賦予裝置包含上述驅動轉矩賦予裝置及上述控向轉矩賦予裝置中之至少上述驅動轉矩賦予裝置。上述控制裝置構成為於上述姿勢控制中，至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩中之至少上述驅動轉矩進行控制，藉此控制上述傾斜車輛之姿勢，上述控制裝置係以如下方式至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少上述驅動轉矩進行控制 ，使得於執行上述姿勢控制之期間，至少以上述極低速區域之車速之加速狀態或減速狀態下的上述傾斜車輛姿勢控制系統之穩定性提高，上述方式係於執行上述姿勢控制之期間，至少在上述傾斜車輛以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述傾斜角、上述控向角及上述車速之關係落在將上述傾斜角、上述控向角及上述車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面，其表示上述傾斜車輛之幾何確定之平衡狀態下之上述傾斜角、上述控向角及車速之關係，且將上述傾斜角、上述控向角及上述車速設為3個軸，上述傾斜車輛處於如下狀態，即，以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛，且搭載有人或物體或者未搭載人及物體；及(B)如下情形時之上述傾斜角、上述控向角及上述車速之關係，即，在上述傾斜車輛以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述車輛前後方向之加速度及上述控向角速度之至少一者從零開始微小變化，而導致上述傾斜角、上述控向角及上述車速之關係處於遠離上述平衡三維非平面之關係。 The tilting vehicle of one embodiment of the present invention may also have the following structure: The torque imparting device includes at least the driving torque imparting device among the driving torque imparting device and the steering torque imparting device. The control device is configured to control at least the driving torque of the driving torque and the steering torque imparted by the torque imparting device in the posture control based on at least the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device, thereby controlling the posture of the tilted vehicle. The control device is configured to control at least the driving torque of the driving torque and the steering torque imparted by the torque imparting device based on the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device in the following manner: The driving torque and the steering torque imparted by the torque imparting device are controlled based on the information detected by the device, so that during the execution of the posture control, the stability of the posture control system of the tilted vehicle is improved at least in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range. The method is that during the execution of the posture control, at least when the tilted vehicle is traveling on the flat road surface with a fixed friction coefficient and the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero, the tilted vehicle posture control system is controlled based on the information detected by the device, so that during the execution of the posture control, the stability of the posture control system of the tilted vehicle is improved at least in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range. The relationship between the tilt angle, the steering angle and the vehicle speed falls within a balanced three-dimensional space with the tilt angle, the steering angle and the vehicle speed set as three axes, and the balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane, which represents the relationship between the tilt angle, the steering angle and the vehicle speed in a geometrically determined equilibrium state of the tilted vehicle, and with the tilt angle, the steering angle and the vehicle speed set as three axes, the tilted vehicle is in the following state, that is, with the acceleration of the vehicle in the front and rear directions being zero and the steering angular velocity being zero on a flat surface with a fixed friction coefficient. (B) the relationship among the bank angle, the steering angle and the vehicle speed when the banked vehicle is traveling on the flat road surface with a constant friction coefficient and with a person or object on board or without a person and object on board; i.e., when the banked vehicle is traveling on the flat road surface with a zero acceleration in the front-rear direction of the vehicle and a zero steering angular velocity, at least one of the acceleration in the front-rear direction of the vehicle and the steering angular velocity changes slightly from zero, causing the relationship among the bank angle, the steering angle and the vehicle speed to be far from the equilibrium three-dimensional non-plane.

根據該構成，轉矩賦予裝置包含驅動轉矩賦予裝置及控向轉矩賦予裝置中之至少驅動轉矩賦予裝置，控制裝置於姿勢控制中，對轉矩賦予裝置賦予之驅動轉矩及控向轉矩中之至少驅動轉矩進行控制。例如，機車、三輪機車及電動腳踏車等具有對前輪及後輪之至少一者賦予驅動轉矩之驅動轉矩賦予裝置。因此，於傾斜車輛為機車、三輪機車及電動腳踏車等之情形時，可有效利用既有之驅動轉矩賦予裝置而控制傾斜車輛之姿勢。According to this configuration, the torque imparting device includes at least one of a driving torque imparting device and a steering torque imparting device, and the control device controls at least one of the driving torque and the steering torque imparted by the torque imparting device during posture control. For example, a motorcycle, a tricycle, an electric bicycle, etc., has a driving torque imparting device that imparts a driving torque to at least one of the front wheels and the rear wheels. Therefore, when the tilting vehicle is a motorcycle, a tricycle, an electric bicycle, etc., the existing driving torque imparting device can be effectively used to control the posture of the tilting vehicle.

本發明之一實施方式之傾斜車輛亦可具有以下之構成。 上述控制裝置構成為執行上述姿勢控制，上述姿勢控制係在上述傾斜車輛不由駕駛者駕駛而自主行駛之狀態、及上述傾斜車輛由駕駛者駕駛而行駛之狀態中之至少一種狀態下，至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制，藉此控制上述傾斜車輛之姿勢，(i)在上述傾斜車輛不由駕駛者駕駛而自主行駛之狀態下執行上述姿勢控制時，上述控制裝置係以如下方式至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制，使得於執行上述姿勢控制之期間，在上述傾斜車輛不由駕駛者駕駛而自主行駛之狀態下，至少以上述極低速區域之車速之加速狀態或減速狀態下的上述傾斜車輛姿勢控制系統之穩定性提高，上述方式係於執行上述姿勢控制之期間，至少在上述傾斜車輛不由駕駛者駕駛而以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上自主行駛的狀態下，上述傾斜角、上述控向角及上述車速之關係落在將上述傾斜角、上述控向角及上述車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面，其表示上述傾斜車輛之幾何確定之平衡狀態下之上述傾斜角、上述控向角及車速之關係，且將上述傾斜角、上述控向角及上述車速設為3個軸，上述傾斜車輛處於如下狀態，即，以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛，且搭載有人或物體或者未搭載人及物體；及(B)如下情形時之上述傾斜角、上述控向角及上述車速之關係，即，在上述傾斜車輛不由駕駛者駕駛而以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上自主行駛的狀態下，上述車輛前後方向之加速度及上述控向角速度之至少一者從零開始微小變化，而導致上述傾斜角、上述控向角及上述車速之關係處於遠離上述平衡三維非平面之關係；(ii)在上述傾斜車輛由駕駛者駕駛而行駛之狀態下執行上述姿勢控制時，上述控制裝置係以如下方式至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制，使得於執行上述姿勢控制之期間，在上述傾斜車輛由駕駛者駕駛而行駛之狀態下至少以上述極低速區域之車速之加速狀態或減速狀態下的上述傾斜車輛姿勢控制系統之穩定性提高，上述方式係於執行上述姿勢控制之期間，至少在上述傾斜車輛由駕駛者駕駛而以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述傾斜角、上述控向角及上述車速之關係落在將上述傾斜角、上述控向角及上述車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面，其表示上述傾斜車輛之幾何確定之平衡狀態下之上述傾斜角、上述控向角及車速之關係，且將上述傾斜角、上述控向角及上述車速設為3個軸，上述傾斜車輛處於如下狀態，即，以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛，且搭載有人或物體或者未搭載人及物體；及(B)如下情形時之上述傾斜角、上述控向角及上述車速之關係，即，在上述傾斜車輛由駕駛者駕駛而以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述車輛前後方向之加速度及上述控向角速度之至少一者從零開始微小變化，而導致上述傾斜角、上述控向角及上述車速之關係處於遠離上述平衡三維非平面之關係。 The tilting vehicle of one embodiment of the present invention may also have the following structure. The control device is configured to execute the posture control, wherein the posture control is to control at least one of the driving torque and the steering torque given by the torque giving device based on information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device in at least one of the states in which the tilted vehicle is driven autonomously without the driver's control and the state in which the tilted vehicle is driven by the driver, thereby controlling the posture of the tilted vehicle, (i) in which the tilted vehicle is driven autonomously without the driver's control and (ii) in which the tilted vehicle is driven autonomously without the driver's control When the posture control is performed in a state where the vehicle is driven autonomously by the driver, the control device controls at least one of the driving torque and the steering torque given by the torque giving device based on at least the information detected by the tilt angle related information detection device, the steering angle related information detection device, and the wheel speed related information detection device, so that during the execution of the posture control, in a state where the tilted vehicle is driven autonomously without the driver's driving, at least the tilted vehicle in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range is controlled. The stability of the vehicle posture control system is improved. The above method is that during the execution of the above posture control, at least when the above tilted vehicle is not driven by the driver and is autonomously driven on the above flat road surface with a fixed friction coefficient and the acceleration in the front and rear directions of the above vehicle is zero and the above steering angular velocity is zero, the relationship between the above tilt angle, the above steering angle and the above vehicle speed falls within a balanced three-dimensional space in which the above tilt angle, the above steering angle and the above vehicle speed are set as three axes, and the balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane, which represents the above tilted vehicle in a geometrically determined equilibrium state; (A) the relationship between the above-mentioned bank angle, the above-mentioned steering angle and the vehicle speed, and setting the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed as three axes, the above-mentioned banked vehicle is in the following state, that is, the above-mentioned banked vehicle is traveling on the above-mentioned flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the above-mentioned vehicle and zero steering angular velocity, and is carrying a person or an object or is not carrying a person and an object; and (B) the relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed in the following situation, that is, when the above-mentioned banked vehicle is not driven by a driver and is traveling on the above-mentioned flat road surface with zero acceleration in the front and rear directions of the above-mentioned vehicle and zero steering angular velocity. (ii) when the tilted vehicle is driven by a driver and the posture control is performed, the control device is based on at least the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device in the following manner: The invention relates to a method for controlling at least one of the driving torque and the steering torque imparted by the torque imparting device, so that during the execution of the posture control, the stability of the posture control system of the tilted vehicle is improved in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range when the tilted vehicle is driven by the driver. The method is that during the execution of the posture control, at least when the tilted vehicle is driven by the driver and the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero on the flat road surface with a fixed friction coefficient. , the relationship among the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed falls within a balanced three-dimensional space with the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed set as three axes, and the balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane, which represents the relationship among the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed in the geometrically determined equilibrium state of the above-mentioned tilted vehicle, and with the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed set as three axes, the above-mentioned tilted vehicle is in the following state, that is, with the above-mentioned acceleration in the front and rear directions of the above-mentioned vehicle being zero and the above-mentioned steering angular velocity being zero on a flat surface with a fixed friction coefficient. driving on the above road surface and carrying a person or object or not carrying a person and object; and (B) the relationship between the above bank angle, the above steering angle and the above vehicle speed in the following situation, that is, when the above banked vehicle is driven by a driver and the acceleration in the front and rear directions of the above vehicle is zero and the above steering angular velocity is zero on the above flat road surface with a fixed friction coefficient, at least one of the acceleration in the front and rear directions of the above vehicle and the above steering angular velocity changes slightly from zero, resulting in the relationship between the above bank angle, the above steering angle and the above vehicle speed being far away from the above balanced three-dimensional non-plane.

根據該構成，當在傾斜車輛不由駕駛者駕駛而自主行駛之狀態或傾斜車輛由駕駛者駕駛而行駛之狀態下執行姿勢控制時，至少能夠提高以極低速區域之車速之加速狀態或減速狀態下的傾斜車輛姿勢控制系統之穩定性。又，於傾斜車輛不由駕駛者駕駛而自主行駛時執行姿勢控制之情形時，傾斜角、控向角及車速之關係不會因駕駛者之駕駛而產生變化，因此，至少更容易提高以極低速區域之車速之加速狀態或減速狀態下的傾斜車輛姿勢控制系統之穩定性。According to this configuration, when posture control is performed in a state where the leaning vehicle is driven autonomously without the driver's control or in a state where the leaning vehicle is driven by the driver, the stability of the leaning vehicle posture control system in an acceleration state or a deceleration state at a vehicle speed in an extremely low speed range can be improved. Furthermore, when posture control is performed when the leaning vehicle is driving autonomously without the driver's control, the relationship between the lean angle, steering angle and vehicle speed will not change due to the driver's driving. Therefore, it is at least easier to improve the stability of the leaning vehicle posture control system in the acceleration state or deceleration state at a very low speed range.

本發明及實施方式中之車輛上下方向係與路面垂直之方向。更詳細而言，係與車輪之接地位置垂直之方向。本發明及實施方式中之車輛前後方向係固定於車體框架之方向，且係傾斜車輛直線行進時之傾斜車輛之行進方向。本發明及實施方式中之車輛左右方向係與車輛前後方向及車輛上下方向正交之方向。當駕駛者乘坐於傾斜車輛時，車輛左右方向係對駕駛者而言之左右方向。The up-down direction of the vehicle in the present invention and its implementation method is a direction perpendicular to the road surface. More specifically, it is a direction perpendicular to the ground contact position of the wheels. The front-rear direction of the vehicle in the present invention and its implementation method is a direction fixed to the vehicle frame, and is the direction of travel of the tilted vehicle when the tilted vehicle travels in a straight line. The left-right direction of the vehicle in the present invention and its implementation method is a direction orthogonal to the front-rear direction of the vehicle and the up-down direction of the vehicle. When a driver is riding in a tilted vehicle, the left-right direction of the vehicle is the left-right direction relative to the driver.

於本發明及實施方式中，包含至少1個前輪及至少1個後輪之複數個車輪既可包含1個前輪與1個後輪，亦可包含1個前輪與複數個後輪，還可包含複數個前輪與1個後輪。於本發明及實施方式中，傾斜車輛可為二輪車(two-wheeled vehicle)，亦可為三輪車(three-wheeled vehicle)。傾斜車輛亦可為機車(motorcycle)或三輪機車(motor tricycle)。機車亦包含速克達與附踏板之輕型機車。傾斜車輛亦可為二輪或三輪之腳踏車。In the present invention and embodiments, the plurality of wheels including at least one front wheel and at least one rear wheel may include one front wheel and one rear wheel, one front wheel and a plurality of rear wheels, or a plurality of front wheels and one rear wheel. In the present invention and embodiments, the tilting vehicle may be a two-wheeled vehicle or a three-wheeled vehicle. The tilting vehicle may also be a motorcycle or a motor tricycle. Motorcycles also include scooters and light motorcycles with pedals. The tilting vehicle may also be a two-wheeled or three-wheeled bicycle.

本發明及實施方式中之傾斜車輛亦可具有正值之後傾角。即，控向軸線亦可後傾。後傾角係控向軸線與車輛上下方向所成之角度，將控向軸線後傾之情況設為正。本發明及實施方式中之傾斜車輛亦可具有正值之曳距長度。曳距長度係指前輪之接地點與控向軸線和路面之交點之間之距離。換言之，曳距長度係前輪之車軸線與控向軸線和路面之交點之間的車輛前後方向之距離。曳距長度為正值之狀態係指前輪之接地點位於相較控向軸線與路面之交點更靠車輛前方向之狀態。本發明及實施方式中之傾斜車輛亦可具有負值之曳距長度。本發明及實施方式中之傾斜車輛亦可構成為無法變更曳距長度。本發明及實施方式中之傾斜車輛亦可構成為能夠變更曳距長度。曳距長度亦可於正值之範圍內變更。曳距長度亦可能夠自正值變更為負值。The tilted vehicle in the present invention and its implementation methods may also have a positive caster angle. That is, the steering axis may also tilt backward. The caster angle is the angle between the steering axis and the up-down direction of the vehicle, and the situation where the steering axis tilts backward is set to positive. The tilted vehicle in the present invention and its implementation methods may also have a positive trail length. The trail length refers to the distance between the contact point of the front wheel and the intersection of the steering axis and the road surface. In other words, the trail length is the distance in the front-rear direction of the vehicle between the axle of the front wheel and the intersection of the steering axis and the road surface. The state where the trail length is a positive value refers to the state where the contact point of the front wheel is located closer to the front direction of the vehicle than the intersection of the steering axis and the road surface. The tilting vehicle of the present invention and embodiments may also have a negative trailing length. The tilting vehicle of the present invention and embodiments may also be configured such that the trailing length cannot be changed. The tilting vehicle of the present invention and embodiments may also be configured such that the trailing length can be changed. The trailing length may also be changed within a positive range. The trailing length may also be changed from a positive value to a negative value.

本發明及實施方式中之傾斜車輛亦可構成為無法對後輪進行控向。本發明及實施方式中之傾斜車輛可不具有能夠不改變前輪之控向角而變更傾斜角之機構。本發明及實施方式中之傾斜車輛可不具有不改變前輪之控向角而改變車體框架之重心位置之機構。The tilting vehicle of the present invention and embodiments may also be configured to be unable to steer the rear wheels. The tilting vehicle of the present invention and embodiments may not have a mechanism that can change the tilt angle without changing the steering angle of the front wheels. The tilting vehicle of the present invention and embodiments may not have a mechanism that can change the center of gravity position of the vehicle frame without changing the steering angle of the front wheels.

本發明及實施方式中之傾斜車輛係於控制裝置執行姿勢控制時，能夠以搭載有人或物體之狀態或未搭載人及物體之狀態之至少一種狀態行駛。本發明及實施方式中之傾斜車輛亦可以搭載有人及物體兩者之狀態行駛。本發明及實施方式中之傾斜車輛係於控制裝置執行姿勢控制時，可為不由駕駛者駕駛而自主行駛之狀態，亦可為由駕駛者駕駛而行駛之狀態。於傾斜車輛由駕駛者駕駛而行駛之狀態下執行姿勢控制時，姿勢控制支援駕駛者之駕駛。傾斜車輛不由駕駛者駕駛而自主行駛之狀態可為於傾斜車輛搭載有人之狀態，亦可為於傾斜車輛未搭載人之狀態。本發明及實施方式中之傾斜車輛可具有供駕駛者進行操作以維持或變更控向角之把手單元，亦可不具有。本發明及實施方式中之傾斜車輛可具有供駕駛者進行操作以維持或變更車速之至少1個操作器(例如加速器操作器、刹車操作器、腳踏車之踏板等)，亦可不具有。本發明及實施方式中之傾斜車輛亦可構成為能夠切換成不進行姿勢控制之模式與進行姿勢控制之模式。The tilting vehicle in the present invention and the implementation method is capable of driving in at least one state of carrying a person or an object or not carrying a person and an object when the control device performs posture control. The tilting vehicle in the present invention and the implementation method can also drive in a state of carrying both a person and an object. The tilting vehicle in the present invention and the implementation method is capable of driving autonomously without being driven by a driver or being driven by a driver when the control device performs posture control. When posture control is performed in a state where the leaning vehicle is driven by a driver, the posture control supports the driver's driving. The state where the leaning vehicle is driven autonomously without the driver's driving may be a state where the leaning vehicle is carrying a person or a state where the leaning vehicle is not carrying a person. The leaning vehicle in the present invention and embodiments may or may not have a handle unit for the driver to operate to maintain or change the steering angle. The tilting vehicle in the present invention and embodiments may or may not have at least one operator (e.g., an accelerator operator, a brake operator, a bicycle pedal, etc.) for the driver to operate to maintain or change the vehicle speed. The tilting vehicle in the present invention and embodiments may also be configured to be switchable between a mode in which posture control is not performed and a mode in which posture control is performed.

於本發明及實施方式中，將複數個車輪以使之能夠繞車軸線旋轉的方式予以支持，係指將複數個車輪以使之能夠繞每個車輪之車軸線旋轉的方式予以支持。於本發明及實施方式中，於前輪之數量為複數個之情形時，將至少1個前輪以使之能夠繞控向軸線旋轉的方式予以支持，係指將複數個前輪以使之能夠繞每個前輪之控向軸線旋轉的方式予以支持。於本發明及實施方式中，車輪(前輪或後輪)包含輪胎、及保持輪胎之輪圈本體。於本發明及實施方式中，與前輪之圓周方向正交之剖面中之前輪之外緣之與路面接觸之部分可呈圓弧狀。In the present invention and embodiments, supporting a plurality of wheels so as to be able to rotate around an axle means supporting a plurality of wheels so as to be able to rotate around the axle of each wheel. In the present invention and embodiments, when there are a plurality of front wheels, supporting at least one front wheel so as to be able to rotate around a steering axis means supporting a plurality of front wheels so as to be able to rotate around a steering axis of each front wheel. In the present invention and embodiments, a wheel (front wheel or rear wheel) includes a tire and a rim body for holding the tire. In the present invention and embodiments, the portion of the outer edge of the front wheel in contact with the road surface in a cross section orthogonal to the circumferential direction of the front wheel may be in an arc shape.

於本發明及實施方式中，與由傾斜角相關資訊檢測裝置檢測之傾斜角相關之資訊可包含傾斜角、作為傾斜角之時間變化率之傾斜角速度、及作為傾斜角速度之時間變化率之傾斜角加速度之至少1個。傾斜角亦可為所謂滾轉角。傾斜角相關資訊檢測裝置例如亦可為IMU(慣性測量裝置：Inertial Measurement Unit)。In the present invention and implementation methods, information related to the tilt angle detected by the tilt angle related information detection device may include at least one of the tilt angle, the tilt angle velocity as the time change rate of the tilt angle, and the tilt angle acceleration as the time change rate of the tilt angle velocity. The tilt angle may also be the so-called roll angle. The tilt angle related information detection device may also be, for example, an IMU (Inertial Measurement Unit).

於本發明及實施方式中，與由控向角相關資訊檢測裝置檢測之控向角相關之資訊可包含控向角、作為控向角之時間變化率之控向角速度、及作為控向角速度之時間變化率之控向角加速度之至少1個。於本發明中，控向角係指任一個前輪之繞控向軸線之旋轉角度。傾斜車輛直線行進時之控向角為零。再者，任一個前輪之記載並非意欲限定前輪之數量為複數個之情況。傾斜車輛具有之前輪之數量亦可為1個。於前輪之數量為複數個之情形時，傾斜車輛亦可構成為複數個前輪之繞控向軸線之旋轉角度始終相同。於前輪之數量為複數個之情形時，傾斜車輛亦可構成為能夠使複數個前輪之繞控向軸線之旋轉角度略有不同。於該情形時，任一個前輪之繞控向軸線之旋轉角度與其餘前輪之繞控向軸線之旋轉角度相關。亦可以前輪之數量為2個且把手單元之旋轉角度成為2個前輪之繞控向軸線之旋轉角度之間之角度的方式構成傾斜車輛。於該情形時，與由控向角相關資訊檢測裝置檢測之任一個前輪之控向角相關之資訊亦可為把手單元之旋轉角度、把手單元之旋轉角速度、及把手單元之旋轉角度加速度中之至少1個。又，控向角相關資訊檢測裝置亦可為檢測轉向軸之旋轉角度之感測器，上述轉向軸將前輪以使之能夠繞車軸線旋轉的方式予以支持，並能夠繞控向軸線旋轉地支持於車體框架。控向角相關資訊檢測裝置亦可包含檢測控向轉矩賦予裝置具有之電動馬達之軸之旋轉角度的感測器。In the present invention and implementation methods, the information related to the steering angle detected by the steering angle related information detection device may include at least one of the steering angle, the steering angular velocity which is the time change rate of the steering angle, and the steering angular acceleration which is the time change rate of the steering angular velocity. In the present invention, the steering angle refers to the rotation angle of any front wheel around the steering axis. The steering angle when the tilted vehicle is moving in a straight line is zero. Furthermore, the recording of any front wheel is not intended to limit the number of front wheels to plural. The number of front wheels that a tilted vehicle has may also be 1. When the number of front wheels is plural, the tilted vehicle may also be configured so that the rotation angles of the plural front wheels around the steering axis are always the same. When there are multiple front wheels, the tilted vehicle can be configured so that the rotation angles of the steering axes of the multiple front wheels are slightly different. In this case, the rotation angle of the steering axis of any one front wheel is related to the rotation angles of the steering axes of the remaining front wheels. The tilted vehicle can also be configured in a manner such that the number of front wheels is two and the rotation angle of the handle unit becomes the angle between the rotation angles of the steering axes of the two front wheels. In this case, the information related to the steering angle of any one front wheel detected by the steering angle related information detection device can also be at least one of the rotation angle of the handle unit, the rotation angular velocity of the handle unit, and the rotation angular acceleration of the handle unit. Furthermore, the steering angle related information detection device may also be a sensor for detecting the rotation angle of the steering shaft, which supports the front wheel in a manner that allows it to rotate around the vehicle axis and is supported on the vehicle body frame so as to be able to rotate around the steering axis. The steering angle related information detection device may also include a sensor for detecting the rotation angle of the shaft of the electric motor of the steering torque imparting device.

於本發明及實施方式中，與由車輪速度相關資訊檢測裝置檢測之車輪速度相關之資訊可包含前輪之繞車軸線之旋轉速度、前輪之繞車軸線之旋轉加速度、前輪之繞車軸線之旋轉量(轉速或旋轉角度)、後輪之繞車軸線之旋轉速度、後輪之繞車軸線之旋轉加速度、後輪之繞車軸線之旋轉量、車速(傾斜車輛之車輛前後方向之速度)、傾斜車輛之車輛前後方向之加速度中之至少1個。於本發明中，車輪速度係任一個車輪之繞車軸線之旋轉角度。1個車輪之繞車軸線之旋轉速度與其餘車輪之繞車軸線之旋轉速度相關。繞車軸線之旋轉速度係每單位時間之轉速或旋轉角度。車輪速度相關資訊檢測裝置亦可為設置於車輪之感測器。車輪速度相關資訊檢測裝置亦可為利用GNSS(全球導航衛星系統)檢測與傾斜車輛之車輪速度相關之資訊的裝置。控制裝置亦可根據前輪之繞車軸線之旋轉速度與控向角而計算車速。控制裝置亦可根據後輪之繞車軸線之旋轉速度而計算車速。In the present invention and embodiments, the information related to the wheel speed detected by the wheel speed related information detection device may include at least one of the rotation speed of the front wheel around the axis, the rotation acceleration of the front wheel around the axis, the rotation amount of the front wheel around the axis (rotation speed or rotation angle), the rotation speed of the rear wheel around the axis, the rotation acceleration of the rear wheel around the axis, the rotation amount of the rear wheel around the axis, the vehicle speed (the speed of the vehicle in the front-rear direction of the tilted vehicle), and the acceleration of the vehicle in the front-rear direction of the tilted vehicle. In the present invention, the wheel speed is the rotation angle of any wheel around the axis. The rotation speed of one wheel around the axis is related to the rotation speed of the remaining wheels around the axis. The rotation speed around the axis is the rotation speed or rotation angle per unit time. The wheel speed related information detection device can also be a sensor installed on the wheel. The wheel speed related information detection device can also be a device that uses GNSS (Global Navigation Satellite System) to detect information related to the wheel speed of a tilted vehicle. The control device can also calculate the vehicle speed based on the rotation speed of the front wheel around the axis and the steering angle. The control device can also calculate the vehicle speed based on the rotation speed of the rear wheel around the axis.

於本發明及實施方式中，控向轉矩賦予裝置產生控向轉矩，並對至少1個前輪賦予所產生之控向轉矩。於本發明及實施方式中，構成為對前輪賦予繞控向軸線之控向轉矩，係指構成為對將前輪以使之能夠繞車軸線旋轉的方式予以支持之構件賦予控向轉矩。例如，控向轉矩賦予裝置亦可構成為對轉向軸賦予控向轉矩，上述轉向軸將前輪以使之能夠繞車軸線旋轉的方式予以支持，並能夠繞控向軸線旋轉地支持於車體框架。於傾斜車輛具有之前輪之數量為複數個之情形時，對複數個前輪賦予之控向轉矩之值可相同，亦可不同。於本發明中，控向轉矩之用語係指對1個前輪賦予之控向轉矩，或者指對複數個前輪分別賦予之複數個控向轉矩之統稱。控向轉矩賦予裝置例如包含電動馬達或液壓式致動器作為產生控向轉矩之致動器。於傾斜車輛具有之前輪之數量為複數個之情形時，控向轉矩賦予裝置具有之致動器之數量可為1個，亦可與前輪之數量相同。於傾斜車輛具有電動動力轉向裝置之情形時，於電動動力轉向裝置中輔助駕駛者輸入之控向力之輔助馬達(電動馬達)亦可作為本發明之控向轉矩賦予裝置之致動器發揮功能。又，傾斜車輛亦可具有包含控向轉矩賦予裝置之線控轉向系統。In the present invention and the embodiments, the steering torque imparting device generates a steering torque and imparts the generated steering torque to at least one front wheel. In the present invention and the embodiments, the steering torque imparted to the front wheel about the steering axis refers to the member that is configured to impart the steering torque to the member that supports the front wheel so that it can rotate about the axle. For example, the steering torque imparting device may also be configured to impart the steering torque to the steering axis, the steering axis supports the front wheel so that it can rotate about the axle, and is supported on the vehicle body frame so that it can rotate about the steering axis. When a tilting vehicle has a plurality of front wheels, the values of the steering torques imparted to the plurality of front wheels may be the same or different. In the present invention, the term steering torque refers to the steering torque imparted to one front wheel, or refers to a general term for a plurality of steering torques imparted to a plurality of front wheels respectively. The steering torque imparting device, for example, includes an electric motor or a hydraulic actuator as an actuator for generating the steering torque. When a tilting vehicle has a plurality of front wheels, the number of actuators possessed by the steering torque imparting device may be one or may be the same as the number of front wheels. When the tilting vehicle has an electric power steering device, the auxiliary motor (electric motor) in the electric power steering device that assists the steering force input by the driver can also function as an actuator of the steering torque imparting device of the present invention. In addition, the tilting vehicle can also have a steer-by-wire system including a steering torque imparting device.

於本發明及實施方式中，驅動轉矩賦予裝置產生驅動轉矩，並對至少1個前輪及至少1個後輪之至少一者賦予所產生之驅動轉矩。驅動轉矩賦予裝置可構成為僅對至少1個前輪賦予驅動轉矩，亦可構成為僅對至少1個後輪賦予驅動轉矩，還可構成為對至少1個前輪與至少1個後輪兩者賦予驅動轉矩。於驅動轉矩賦予裝置構成為對至少1個前輪與至少1個後輪兩者賦予驅動轉矩之情形時，可並非必須對至少1個前輪與至少1個後輪同時賦予驅動轉矩。於對複數個車輪同時賦予驅動轉矩之情形時，對任一個車輪賦予之驅動轉矩之值可與對其餘車輪賦予之驅動轉矩之值相同，亦可不同。於本發明中，驅動轉矩之用語係指對1個車輪賦予之驅動轉矩，或者指對複數個車輪分別賦予之複數個驅動轉矩之統稱。In the present invention and embodiments, the driving torque imparting device generates driving torque and imparts the generated driving torque to at least one of at least one front wheel and at least one rear wheel. The driving torque imparting device may be configured to impart driving torque only to at least one front wheel, or only to at least one rear wheel, or to impart driving torque to both at least one front wheel and at least one rear wheel. When the driving torque imparting device is configured to impart driving torque to both at least one front wheel and at least one rear wheel, it is not necessary to impart driving torque to at least one front wheel and at least one rear wheel at the same time. When a driving torque is applied to a plurality of wheels at the same time, the value of the driving torque applied to any one wheel may be the same as or different from the values of the driving torque applied to the remaining wheels. In the present invention, the term driving torque refers to the driving torque applied to one wheel, or refers to a collective term for a plurality of driving torques applied to a plurality of wheels.

於本發明及實施方式中，構成為賦予正及負之驅動轉矩，係指構成為能夠對1個車輪於不同之時序賦予正驅動轉矩與負驅動轉矩。正驅動轉矩係使車輪於正方向上旋轉以使傾斜車輛朝車輛前方向行進之轉矩。若於車輪在正方向上旋轉時賦予負驅動轉矩，則車輪之正方向之旋轉減速。於本發明及實施方式中，驅動轉矩賦予裝置可構成為能夠產生使車輪於負方向上旋轉之轉矩作為負驅動轉矩，亦可不構成為能夠產生使車輪於負方向上旋轉之轉矩作為負驅動轉矩。In the present invention and embodiments, being configured to impart positive and negative driving torques means being configured to be able to impart positive driving torques and negative driving torques to one wheel at different timings. Positive driving torque is a torque that rotates the wheel in a positive direction so that the tilted vehicle moves in the forward direction of the vehicle. If a negative driving torque is imparted when the wheel rotates in the positive direction, the rotation of the wheel in the positive direction is decelerated. In the present invention and embodiments, the driving torque imparting device may be configured to be able to generate a torque that rotates the wheel in a negative direction as a negative driving torque, or may not be configured to be able to generate a torque that rotates the wheel in a negative direction as a negative driving torque.

於本發明及實施方式中，驅動轉矩賦予裝置亦可具有對1個車輪分別賦予轉矩之複數個裝置。於該情形時，對1個車輪同時賦予之複數個轉矩之合成轉矩相當於本發明之驅動轉矩。又，於該情形時，驅動轉矩賦予裝置亦可構成為能夠對1個車輪同時賦予正轉矩與負轉矩。於本發明及實施方式中，驅動轉矩賦予裝置亦可包含引擎及電動馬達之至少一者。驅動轉矩賦予裝置亦可包含刹車裝置。刹車裝置例如亦可為液壓式刹車裝置。傾斜車輛亦可不具有包含於驅動轉矩賦予裝置之刹車裝置，而具有不包含於驅動轉矩賦予裝置之刹車裝置。於執行姿勢控制之期間，控制裝置不基於由傾斜角相關資訊檢測裝置、控向角相關資訊檢測裝置及車輪速度相關資訊檢測裝置檢測到之資訊而控制刹車裝置時，刹車裝置不包含於驅動轉矩賦予裝置。In the present invention and its implementation, the driving torque imparting device may also have a plurality of devices that impart torque to one wheel respectively. In this case, the combined torque of the plurality of torques imparted to one wheel at the same time is equivalent to the driving torque of the present invention. Furthermore, in this case, the driving torque imparting device may also be configured to be able to impart positive torque and negative torque to one wheel at the same time. In the present invention and its implementation, the driving torque imparting device may also include at least one of an engine and an electric motor. The driving torque imparting device may also include a brake device. The brake device may also be, for example, a hydraulic brake device. The tilting vehicle may not have a brake device included in the driving torque imparting device, but may have a brake device not included in the driving torque imparting device. When the control device does not control the brake device based on the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device during the posture control, the brake device is not included in the driving torque imparting device.

於本發明及實施方式中，轉矩賦予裝置可包含驅動轉矩賦予裝置及控向轉矩賦予裝置兩者，亦可僅包含驅動轉矩賦予裝置，還可僅包含控向轉矩賦予裝置。轉矩賦予裝置僅包含控向轉矩賦予裝置之情況例如係本發明之傾斜車輛應用於二輪或三輪之腳踏車之情況。In the present invention and embodiments, the torque imparting device may include both a driving torque imparting device and a steering torque imparting device, or may include only a driving torque imparting device, or may include only a steering torque imparting device. The case where the torque imparting device includes only a steering torque imparting device is, for example, the case where the tilting vehicle of the present invention is applied to a two-wheeled or three-wheeled bicycle.

於本發明中，於轉矩賦予裝置包含驅動轉矩賦予裝置及控向轉矩賦予裝置兩者之情形時，控制裝置構成為於姿勢控制中控制驅動轉矩及控向轉矩兩者。但是，控制裝置不限於在姿勢控制中同時控制驅動轉矩及控向轉矩。於轉矩賦予裝置包含驅動轉矩賦予裝置及控向轉矩賦予裝置兩者之情形時，控制裝置可於姿勢控制中選擇同時控制驅動轉矩及控向轉矩兩者之狀態、僅控制驅動轉矩之狀態、及僅控制控向轉矩之狀態。控制裝置亦可基於輸入至控制裝置之資訊而決定要被控制用於姿勢控制之轉矩之類型。輸入至控制裝置之資訊可為藉由使用者之操作而輸入至控制裝置之資訊，亦可為表示傾斜車輛之行為之資訊，還可包含其兩者。使用者之操作可為用以駕駛者駕駛傾斜車輛之操作，亦可為使用者(包含駕駛者)於傾斜車輛停止時進行之操作。當為了姿勢控制而僅控制控向轉矩時，亦可並非用於姿勢控制而控制驅動轉矩。並非用於姿勢控制之驅動轉矩之控制例如係指與駕駛者對加速器操作器或刹車操作器之操作對應的驅動轉矩之控制。In the present invention, when the torque imparting device includes both the driving torque imparting device and the steering torque imparting device, the control device is configured to control both the driving torque and the steering torque in posture control. However, the control device is not limited to controlling both the driving torque and the steering torque at the same time in posture control. When the torque imparting device includes both the driving torque imparting device and the steering torque imparting device, the control device can choose to control both the driving torque and the steering torque at the same time, the state of only controlling the driving torque, and the state of only controlling the steering torque in posture control. The control device can also determine the type of torque to be controlled for posture control based on information input to the control device. The information input to the control device may be information input to the control device through the operation of the user, or may be information indicating the behavior of tilting the vehicle, or may include both. The operation of the user may be an operation for the driver to drive the tilted vehicle, or may be an operation performed by the user (including the driver) when the tilted vehicle stops. When only the steering torque is controlled for posture control, the driving torque may be controlled without being used for posture control. The control of the driving torque that is not used for posture control refers to, for example, the control of the driving torque corresponding to the driver's operation of the accelerator operator or the brake operator.

於本發明及實施方式中，將傾斜角、控向角及車速設為3個軸之平衡三維非平面表示傾斜車輛之幾何確定之平衡狀態下的傾斜角、控向角及車速之關係，該傾斜車輛處於如下狀態，即，以車輛前後方向之加速度為零且控向角速度為零在摩擦係數固定之平坦路面上行駛，且搭載有人或物體或者未搭載人及物體。傾斜車輛之平衡狀態下之傾斜角、控向角及車速之關係係如若控向角與車速維持其值不變而行駛，則傾斜角不改變而維持其值的傾斜角、控向角及車速之值之組合。平衡三維非平面可藉由模擬等計算而獲得。平衡三維非平面並非1個平面。平衡三維非平面亦可為曲面。平衡三維非平面亦可為將多個平面連結所得之面。平衡三維非平面亦可為表示傾斜車輛之平衡狀態下之傾斜角、控向角及車速之關係之點的集合。平衡三維非平面可藉由假設傾斜車輛於搭載有人或物體之狀態或者未搭載人及物體之狀態下，以車輛前後方向之加速度為零且控向角速度為零在摩擦係數固定之平坦路面上行駛，改變車速與控向角進行計算而獲得。計算平衡三維非平面時之車速區域中至少包含極低速區域。表示傾斜車輛之平衡狀態之平衡三維非平面根據傾斜車輛之尺寸而不同。即便為同一輛傾斜車輛，表示搭載有人或物體之狀態之傾斜車輛之平衡狀態的平衡三維非平面與表示未搭載人及物體之狀態之傾斜車輛之平衡狀態的平衡三維非平面亦略有不同。當於傾斜車輛搭載有人或物體時，平衡三維非平面根據其重心位置與重量等條件而略有不同。又，平衡三維非平面根據路面相對於車輪之摩擦係數之大小亦略有不同。但是，利用鋪設面或地面等普通路面之摩擦係數計算時之平衡三維非平面與假設摩擦係數為無限大進行計算時之平衡三維非平面幾乎無差別，尤其於低速區域中。又，平衡三維非平面係在假設傾斜車輛未受到人或物體之重心位置之變化或側風等干擾之情況下計算。即，平衡三維非平面表示傾斜車輛之幾何確定之平衡狀態下的傾斜角、控向角及車速之關係，該傾斜車輛處於如下狀態，即，以車輛前後方向之加速度為零且控向角速度為零在摩擦係數固定之平坦路面上行駛，且搭載有人或物體或者未搭載人及物體，且未受到干擾而行駛。In the present invention and implementation method, a balanced three-dimensional non-plane with the lean angle, steering angle and vehicle speed as three axes is used to represent the relationship between the lean angle, steering angle and vehicle speed in a geometrically determined equilibrium state of a leaning vehicle, wherein the leaning vehicle is in the following state, i.e., the vehicle is traveling on a flat road surface with a fixed friction coefficient, with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, and is carrying a person or an object, or is not carrying a person and an object. The relationship between the lean angle, steering angle and vehicle speed in the equilibrium state of the leaning vehicle is a combination of the values of the lean angle, steering angle and vehicle speed that will maintain their values without changing the lean angle if the steering angle and the vehicle speed are maintained at the same values. The balanced three-dimensional non-plane can be obtained by calculation such as simulation. A balanced three-dimensional non-plane is not a single plane. A balanced three-dimensional non-plane may be a curved surface. A balanced three-dimensional non-plane may be a surface obtained by connecting multiple planes. A balanced three-dimensional non-plane may be a set of points that represent the relationship between the lean angle, steering angle, and vehicle speed in a balanced state of a tilted vehicle. A balanced three-dimensional non-plane may be obtained by assuming that a tilted vehicle is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions and zero steering angular velocity in a state where a person or object is on board or not on board, and then changing the vehicle speed and steering angle for calculation. The vehicle speed range when calculating the balanced three-dimensional non-plane includes at least an extremely low speed range. The balanced three-dimensional non-plane representing the balanced state of a tilted vehicle varies depending on the size of the tilted vehicle. Even for the same tilted vehicle, the equilibrium three-dimensional non-plane representing the equilibrium state of the tilted vehicle with people or objects on board is slightly different from the equilibrium three-dimensional non-plane representing the equilibrium state of the tilted vehicle without people and objects on board. When the tilted vehicle is carrying people or objects, the equilibrium three-dimensional non-plane is slightly different depending on the conditions such as the position and weight of the center of gravity. In addition, the equilibrium three-dimensional non-plane is slightly different depending on the size of the friction coefficient of the road surface relative to the wheels. However, the equilibrium three-dimensional non-plane when calculated using the friction coefficient of ordinary roads such as paved surfaces or ground is almost the same as the equilibrium three-dimensional non-plane when calculated assuming that the friction coefficient is infinite, especially in low-speed areas. Furthermore, the equilibrium three-dimensional non-plane is calculated under the assumption that the tilted vehicle is not disturbed by changes in the center of gravity of a person or object or by side winds. That is, the equilibrium three-dimensional non-plane represents the relationship between the tilt angle, steering angle, and vehicle speed in a geometrically determined equilibrium state of the tilted vehicle, and the tilted vehicle is in the following state, that is, the vehicle is traveling on a flat road surface with a constant friction coefficient, with zero acceleration in the front and rear directions and zero steering angular velocity, and is carrying a person or object or is not carrying a person or object, and is traveling without being disturbed.

於本發明及實施方式中，控制裝置係以如下方式對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，即，於執行姿勢控制之期間，至少在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在將傾斜角、控向角及車速設為3個軸之平衡三維空間內。平衡三維空間至少包含平衡三維非平面。此處之「摩擦係數固定之平坦路面」之摩擦係數係普通路面之摩擦係數，與計算平衡三維非平面時之摩擦係數相同。但是，如上所述，利用普通路面之摩擦係數計算時之平衡三維非平面與假設摩擦係數為無限大進行計算時之平衡三維非平面幾乎無差別，尤其於低速區域中。再者，平坦路面係指不存在凹凸且不傾斜之路面。再者，路面不限於具有既定行進方向之道路之面，亦可為停車場等之面。又，於平衡三維非平面表示搭載有人或物體之狀態之傾斜車輛之平衡狀態時，「傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態」可為搭載有人或物體之狀態之傾斜車輛行駛之狀態。於平衡三維非平面表示未搭載人及物體之狀態之傾斜車輛之平衡狀態時，「傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態」可為未搭載人及物體之狀態之傾斜車輛行駛之狀態。In the present invention and implementation method, the control device controls at least one of the driving torque and the steering torque assigned by the torque assigning device in the following manner, that is, during the period of posture control, at least when the tilted vehicle is driving on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, the relationship between the tilt angle, the steering angle and the vehicle speed falls within a balanced three-dimensional space with the tilt angle, the steering angle and the vehicle speed set as three axes. The balanced three-dimensional space at least includes a balanced three-dimensional non-plane. The friction coefficient of the "flat road surface with a fixed friction coefficient" here is the friction coefficient of an ordinary road surface, which is the same as the friction coefficient when calculating a balanced three-dimensional non-plane. However, as mentioned above, there is almost no difference between the equilibrium three-dimensional non-plane when calculating using the friction coefficient of an ordinary road surface and the equilibrium three-dimensional non-plane when calculating assuming that the friction coefficient is infinite, especially in low-speed areas. Furthermore, a flat road surface refers to a road surface that is not uneven and is not tilted. Furthermore, the road surface is not limited to the surface of a road with a predetermined direction of travel, but may also be a surface of a parking lot, etc. Furthermore, when the equilibrium three-dimensional non-plane represents the equilibrium state of a tilted vehicle carrying a person or an object, "the state of the tilted vehicle driving on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity" may be the state of a tilted vehicle driving with a person or an object on board. When the equilibrium state of a tilted vehicle without people and objects is represented by a balanced three-dimensional non-plane, "the state of the tilted vehicle driving on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity" can be the state of the tilted vehicle driving without people and objects.

於本發明及實施方式中，平衡三維空間至少包含如下情形時之傾斜角、控向角及車速之關係，即，於執行姿勢控制之期間，在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係成為遠離平衡三維非平面之關係。此處，「在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化」的狀況例如係指如下狀況。 於執行姿勢控制之期間，傾斜車輛以加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛時，即便未產生側風及搭載於傾斜車輛之人或物體之重心移動，且不進行旨在改變加速度及控向角速度之至少一者之驅動轉矩及控向轉矩之控制，亦可能會因路面之微小凹凸、路面之微小傾斜或摩擦係數之微小偏差等原因而導致加速度及控向角速度之至少一者從零開始微小變化。 又，搭載有人或物體之狀態之傾斜車輛於執行姿勢控制之期間，以加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛時，即便未產生側風，且不進行旨在改變加速度及控向角速度之至少一者之驅動轉矩及控向轉矩之控制，亦可能會因搭載於傾斜車輛之人或物體之重心位置略微變化而導致加速度及控向角速度之至少一者從零開始微小變化。 「在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛之狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化的狀況」係指如下狀況，即，於執行姿勢控制之期間，在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零，在幾乎未受到干擾或者未受到干擾之情況下於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化。 In the present invention and implementation methods, the balanced three-dimensional space at least includes the relationship between the bank angle, the steering angle and the vehicle speed under the following circumstances, that is, during the execution of posture control, when the tilted vehicle is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, at least one of the acceleration in the front and rear directions of the vehicle and the steering angular velocity changes slightly from zero, causing the relationship between the bank angle, the steering angle and the vehicle speed to become a relationship far from a balanced three-dimensional non-planar surface. Here, the situation of "when a tilted vehicle is traveling on a flat road surface with a constant friction coefficient and the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero, at least one of the acceleration in the front and rear directions of the vehicle and the steering angular velocity changes slightly from zero" refers to the following situation, for example. During posture control, when a tilted vehicle is traveling on a flat road surface with a constant friction coefficient at zero acceleration and zero steering angular velocity, even if there is no side wind and no movement of the center of gravity of the person or object on the tilted vehicle, and no control of the driving torque and steering torque to change at least one of the acceleration and steering angular velocity is performed, at least one of the acceleration and steering angular velocity may change slightly from zero due to slight bumps in the road surface, slight tilt of the road surface, or slight deviation in the friction coefficient. Furthermore, when a tilted vehicle carrying a person or object is driving on a flat road with a constant friction coefficient at zero acceleration and zero steering angular velocity during posture control, even if there is no crosswind and the driving torque and steering torque are not controlled to change at least one of the acceleration and steering angular velocity, the center of gravity of the person or object carried on the tilted vehicle may slightly change, causing at least one of the acceleration and steering angular velocity to change slightly from zero. "When a tilted vehicle is traveling on a flat road surface with a constant friction coefficient and the acceleration in the vehicle's forward and backward directions is zero and the steering angular velocity is zero, at least one of the acceleration in the vehicle's forward and backward directions and the steering angular velocity changes slightly from zero" means the following situation: when a tilted vehicle is traveling on a flat road surface with a constant friction coefficient and the acceleration in the vehicle's forward and backward directions and the steering angular velocity is zero, with little or no interference, at least one of the acceleration in the vehicle's forward and backward directions and the steering angular velocity changes slightly from zero during posture control.

於本發明中，「在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛之狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係成為遠離平衡三維非平面之關係時的傾斜角、控向角及車速之關係」並非意欲限定當加速度及控向角速度均未發生微小變化時傾斜角、控向角及車速之關係處於平衡三維非平面上之關係這一情況。亦可有如下情形，即，在傾斜車輛實際以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛之狀態下，即便加速度及控向角速度均未發生微小變化，傾斜角亦發生微小變化，而傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。 於本發明中，「在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛之狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係成為遠離平衡三維非平面之關係時的傾斜角、控向角及車速之關係」並非意欲限定當加速度及控向角速度發生微小變化時傾斜角、控向角及車速之關係必然遠離平衡三維非平面這一情況。亦可有如下情形，即，在傾斜車輛實際以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛之狀態下，即便加速度及控向角速度發生微小變化，傾斜角、控向角及車速之關係亦處於平衡三維非平面上之關係。 In the present invention, "the relationship between the bank angle, the steering angle and the vehicle speed when the bank angle, the steering angle and the vehicle speed become a relationship far away from a balanced three-dimensional non-planar surface when at least one of the acceleration and the steering angular velocity in the banked vehicle and the vehicle's front and rear directions changes slightly from zero and the relationship between the bank angle, the steering angle and the vehicle speed becomes a relationship far away from a balanced three-dimensional non-planar surface" is not intended to limit the situation where the relationship between the bank angle, the steering angle and the vehicle speed is a relationship on a balanced three-dimensional non-planar surface when neither the acceleration nor the steering angular velocity changes slightly. There may also be the following situation, that is, when the tilted vehicle is actually driving on a flat road with a fixed friction coefficient with zero acceleration in the front and rear directions and zero steering angular velocity, even if the acceleration and steering angular velocity do not change slightly, the tilt angle also changes slightly, and the relationship between the tilt angle, steering angle and vehicle speed is in a three-dimensional non-planar relationship far from equilibrium. In the present invention, "the relationship between the bank angle, the steering angle and the vehicle speed when at least one of the acceleration in the front and rear directions and the steering angular velocity of the vehicle changes slightly from zero when the vehicle is tilted and traveling on a flat road surface with a constant friction coefficient with zero acceleration in the front and rear directions and zero steering angular velocity, thereby causing the relationship between the bank angle, the steering angle and the vehicle speed to deviate from a balanced three-dimensional non-planar relationship" is not intended to limit the situation where the relationship between the bank angle, the steering angle and the vehicle speed must deviate from a balanced three-dimensional non-planar relationship when the acceleration and the steering angular velocity change slightly. There may also be the following situation, that is, when the tilted vehicle is actually driving on a flat road with a fixed friction coefficient with zero acceleration in the front and rear directions and zero steering angular velocity, even if the acceleration and steering angular velocity change slightly, the relationship between the tilt angle, steering angle and vehicle speed is in a balanced three-dimensional non-plane relationship.

於本發明及實施方式中，平衡三維空間不包含大幅度遠離平衡三維非平面之傾斜角、控向角及車速之關係。處於平衡三維空間之邊緣之傾斜角、控向角及車速之關係亦可為如下情形時之傾斜角、控向角及車速之關係，即，於執行姿勢控制之期間，在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。平衡三維空間亦可為如下情形時之傾斜角、控向角及車速之關係之集合，即，於執行姿勢控制之期間，在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。平衡三維空間例如亦可不包含與平衡三維非平面上之某個點具有相同之控向角及車速但傾斜角相差2°以上的點。In the present invention and implementation methods, the balanced three-dimensional space does not include the relationship between the bank angle, steering angle, and vehicle speed that is far away from the balanced three-dimensional non-plane. The relationship between the bank angle, steering angle, and vehicle speed at the edge of the balanced three-dimensional space can also be the relationship between the bank angle, steering angle, and vehicle speed in the following situation, that is, during the period of posture control, when the leaning vehicle is driving on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, at least one of the acceleration in the front and rear directions of the vehicle and the steering angular velocity changes slightly from zero, resulting in the relationship between the bank angle, steering angle, and vehicle speed being far away from the balanced three-dimensional non-plane. The balanced three-dimensional space may also be a collection of the relationships among the bank angle, steering angle, and vehicle speed in the following situations: that is, during the posture control, when the leaning vehicle is traveling on a flat road surface with a constant friction coefficient and the acceleration and steering angular velocity in the front and rear directions of the vehicle are zero, at least one of the acceleration and steering angular velocity in the front and rear directions of the vehicle changes slightly from zero, resulting in the relationship among the bank angle, steering angle, and vehicle speed being far from the balanced three-dimensional non-plane. For example, the balanced three-dimensional space may not include a point that has the same steering angle and vehicle speed as a point on the balanced three-dimensional non-plane but has a bank angle that differs by more than 2°.

於本發明及實施方式之姿勢控制中，以在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零行駛之狀態下傾斜角、控向角及車速之關係落在將傾斜角、控向角及車速設為3個軸之平衡三維空間的方式，控制驅動轉矩及控向轉矩之至少一者，例如包括當車輛前後方向之加速度及控向角速度之至少一者發生微小變化而導致傾斜角、控向角及車速之關係如遠離平衡三維非平面般變化時，以使傾斜角、控向角及車速之關係接***衡三維非平面之方式控制驅動轉矩及控向轉矩之至少一者。藉由控制驅動轉矩及控向轉矩之至少一者，而傾斜角、控向角及車速之關係發生變化。例如，在傾斜車輛以控向角不為零、車輛之前後方向加速度為零且控向角速度為零迴旋之狀態下，藉由驅動轉矩之控制而改變車速時，傾斜角與控向角發生變化。在傾斜車輛以車輛之前後方向加速度為零且控向角速度為零行駛之狀態下，藉由控向轉矩之控制而改變控向角時，傾斜角與車速發生變化。In the posture control of the present invention and its implementation method, when the tilted vehicle is traveling with zero acceleration in the front-rear direction and zero steering angular velocity, the relationship among the lean angle, steering angle and vehicle speed falls within a balanced three-dimensional space with the lean angle, steering angle and vehicle speed set as three axes, and at least one of the driving torque and the steering torque is controlled. For example, when at least one of the acceleration and steering angular velocity in the front-rear direction of the vehicle undergoes a slight change, causing the relationship among the lean angle, steering angle and vehicle speed to change as if far away from a balanced three-dimensional non-plane, at least one of the driving torque and the steering torque is controlled in a manner such that the relationship among the lean angle, steering angle and vehicle speed is close to a balanced three-dimensional non-plane. By controlling at least one of the driving torque and the steering torque, the relationship between the bank angle, the steering angle, and the vehicle speed changes. For example, when the banked vehicle is rotating with the steering angle not being zero, the vehicle's front-to-rear acceleration being zero, and the steering angular velocity being zero, the bank angle and the steering angle change when the vehicle speed is changed by controlling the driving torque. When the banked vehicle is traveling with the vehicle's front-to-rear acceleration being zero and the steering angular velocity being zero, the bank angle and the vehicle speed change when the steering angle is changed by controlling the steering torque.

於本發明及實施方式中，控制裝置係於執行姿勢控制之期間，至少在以極低速區域之車速之加速狀態或減速狀態下，至少基於由傾斜角相關資訊檢測裝置、控向角相關資訊檢測裝置及車輪速度相關資訊檢測裝置檢測到之資訊，來對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制。於本發明及實施方式中，控制裝置可以如下方式進行控制，即，於執行姿勢控制之期間，在以極低速區域之車速之加速狀態或減速狀態下，傾斜角、控向角及車速之關係落在平衡三維空間內，亦可以落在包括平衡三維空間之至少一部分之三維空間內之方式進行控制。在以極低速區域以外之車速之加速狀態或減速狀態下亦同樣。再者，於本說明書中，加速狀態係指車速增加之狀態，減速狀態係指車速減小之狀態。In the present invention and implementation, the control device controls at least one of the driving torque and the steering torque assigned by the torque assigning device based on information detected by the tilt angle related information detection device, the steering angle related information detection device, and the wheel speed related information detection device during the execution of posture control, at least in the acceleration state or deceleration state at the vehicle speed in the extremely low speed range. In the present invention and implementation, the control device can be controlled in the following manner, that is, during the execution of posture control, in the acceleration state or deceleration state at the vehicle speed in the extremely low speed range, the relationship between the tilt angle, the steering angle, and the vehicle speed falls within the balanced three-dimensional space, and can also be controlled in a manner that falls within the three-dimensional space including at least a portion of the balanced three-dimensional space. The same is true for the acceleration state or deceleration state of the vehicle speed outside the extremely low speed area. Furthermore, in this specification, the acceleration state refers to the state where the vehicle speed increases, and the deceleration state refers to the state where the vehicle speed decreases.

本發明及實施方式中之姿勢控制可於傾斜車輛之整個車速區域中執行，亦可僅於一部分車速區域中執行。姿勢控制可於包含0 km/h之車速區域中執行。姿勢控制亦可至少於0 km/h至5 km/h以下之車速區域中執行。The posture control in the present invention and embodiments can be performed in the entire speed range of the tilted vehicle, or can be performed only in a portion of the speed range. The posture control can be performed in a speed range including 0 km/h. The posture control can also be performed in a speed range of at least 0 km/h to 5 km/h or less.

於本發明及實施方式中，極低速區域之最大車速亦可為10 km/h以下。極低速區域之最大車速亦可小於10 km/h。極低速區域之最大車速例如亦可為5 km/h。極低速區域之最小車速大於0 km/h。In the present invention and implementation, the maximum vehicle speed in the extremely low speed area may be less than 10 km/h. The maximum vehicle speed in the extremely low speed area may be less than 10 km/h. The maximum vehicle speed in the extremely low speed area may be, for example, 5 km/h. The minimum vehicle speed in the extremely low speed area is greater than 0 km/h.

於本發明及實施方式中，控制裝置以如下方式對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，即，於執行姿勢控制之期間，至少在傾斜車輛以極低速區域之車速且以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在將傾斜角、控向角及車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面；及(B)如下情形時之傾斜角、控向角及車速之關係，即，在傾斜車輛以極低速區域之車速且以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。 於本發明及實施方式中，控制裝置亦可以如下方式對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，即，於執行姿勢控制之期間，在傾斜車輛以包含極低速區域之車速在內之各種車速以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態之任何狀態下，傾斜角、控向角及車速之關係均落在將傾斜角、控向角及車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面；及(B)如下情形時之傾斜角、控向角及車速之關係，即，在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。 於本發明及實施方式中，控制裝置以如下方式對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，即，於執行姿勢控制之期間，至少在傾斜車輛以控向角不為零、車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在將傾斜角、控向角及車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面；及(B)如下情形時之傾斜角、控向角及車速之關係，即，在傾斜車輛以控向角不為零、車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。此處，控向角不為零意味著車輛右方向上之控向角或車輛左方向上之控向角大於零。 於本發明及實施方式中，控制裝置亦可以如下方式對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，即，於執行姿勢控制之期間，在傾斜車輛於各種控向角下以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態之任何狀態下，傾斜角、控向角及車速之關係均落在將傾斜角、控向角及車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面；及(B)如下情形時之傾斜角、控向角及車速之關係，即，在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。 於本發明及實施方式中，控制裝置以如下方式對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，即，於執行姿勢控制之期間，至少在傾斜車輛以極低速區域之車速且以控向角不為零、車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在將傾斜角、控向角及車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面；及(B)如下情形時之傾斜角、控向角及車速之關係，即，在傾斜車輛以極低速區域之車速且以控向角不為零、車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。 於本發明及實施方式中，控制裝置亦可以如下方式對轉矩賦予裝置賦予之驅動轉矩及控向轉矩之至少一者進行控制，即，於執行姿勢控制之期間，在傾斜車輛於包含極低速區域之車速在內之各種車速及各種控向角下以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態之任何狀態下，傾斜角、控向角及車速之關係均落在將傾斜角、控向角及車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面；及(B)如下情形時之傾斜角、控向角及車速之關係，即，在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。 In the present invention and implementation method, the control device controls at least one of the driving torque and the steering torque assigned by the torque assigning device in the following manner, that is, during the period of performing posture control, at least when the tilted vehicle is driving at a speed in an extremely low speed range and the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero on a flat road surface with a fixed friction coefficient, the relationship between the tilt angle, the steering angle and the vehicle speed falls within a balanced three-dimensional space in which the tilt angle, the steering angle and the vehicle speed are set as three axes, and the balance The three-dimensional space at least includes: (A) a balanced three-dimensional non-plane; and (B) the relationship between the bank angle, steering angle, and vehicle speed in the following situation, that is, when a leaning vehicle is driving at a very low speed in the vehicle's forward and backward acceleration and steering angular velocity on a flat road with a constant friction coefficient, at least one of the vehicle's forward and backward acceleration and steering angular velocity changes slightly from zero, resulting in the relationship between the bank angle, steering angle, and vehicle speed being far from a balanced three-dimensional non-plane relationship. In the present invention and implementation, the control device can also control at least one of the driving torque and the steering torque assigned by the torque assigning device in the following manner, that is, during the execution of posture control, in any state of the state in which the tilted vehicle is driving at various vehicle speeds including the vehicle speed in the extremely low speed area with the acceleration in the front and rear directions of the vehicle being zero and the steering angular velocity being zero on a flat road surface with a constant friction coefficient, the relationship between the tilt angle, the steering angle and the vehicle speed falls within the state in which the tilt angle, the steering angle and the vehicle speed are set as the three axes. The balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane; and (B) the relationship between the bank angle, steering angle, and vehicle speed in the following situation, that is, when a tilted vehicle is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions and zero steering angular velocity, at least one of the acceleration in the front and rear directions and the steering angular velocity of the vehicle changes slightly from zero, resulting in the relationship between the bank angle, steering angle, and vehicle speed being far from the balanced three-dimensional non-plane. In the present invention and implementation method, the control device controls at least one of the driving torque and the steering torque assigned by the torque assigning device in the following manner, that is, during the period of performing posture control, at least when the tilted vehicle is driving on a flat road surface with a fixed friction coefficient with a steering angle that is not zero, a zero acceleration in the front and rear directions of the vehicle, and a zero steering angular velocity, the relationship between the tilt angle, the steering angle, and the vehicle speed falls within a balanced three-dimensional space in which the tilt angle, the steering angle, and the vehicle speed are set as three axes, and the balance The three-dimensional space at least includes: (A) a balanced three-dimensional non-plane; and (B) the relationship between the bank angle, steering angle, and vehicle speed in the following situation, that is, when a leaning vehicle is driving on a flat road with a fixed friction coefficient with a non-zero steering angle, zero acceleration in the front and rear directions of the vehicle, and zero steering angular velocity, at least one of the acceleration in the front and rear directions and the steering angular velocity of the vehicle changes slightly from zero, resulting in the relationship between the bank angle, steering angle, and vehicle speed being far from a balanced three-dimensional non-plane. Here, a non-zero steering angle means that the steering angle in the right direction of the vehicle or the steering angle in the left direction of the vehicle is greater than zero. In the present invention and implementation, the control device can also control at least one of the driving torque and the steering torque assigned by the torque assigning device in the following manner, that is, during the execution of posture control, in any state of the state where the tilted vehicle is driving on a flat road surface with a fixed friction coefficient at various steering angles with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, the relationship between the tilt angle, the steering angle and the vehicle speed falls within the balanced three-dimensional space with the tilt angle, the steering angle and the vehicle speed set as the three axes. The balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane; and (B) the relationship between the bank angle, steering angle, and vehicle speed in the following situation, that is, when a tilted vehicle is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions and zero steering angular velocity, at least one of the acceleration in the front and rear directions and the steering angular velocity of the vehicle changes slightly from zero, resulting in the relationship between the bank angle, steering angle, and vehicle speed being far from the balanced three-dimensional non-plane. In the present invention and implementation method, the control device controls at least one of the driving torque and the steering torque assigned by the torque assigning device in the following manner, that is, during the period of performing posture control, at least when the tilted vehicle is driving at a speed in an extremely low speed range and the steering angle is not zero, the acceleration in the front and rear directions of the vehicle is zero, and the steering angular velocity is zero on a flat road surface with a fixed friction coefficient, the relationship between the tilt angle, the steering angle and the vehicle speed falls within a balanced three-dimensional space with the tilt angle, the steering angle and the vehicle speed set as three axes, and the balance The three-dimensional space at least includes: (A) a balanced three-dimensional non-plane; and (B) the relationship between the bank angle, steering angle, and vehicle speed in the following situation, that is, when a banked vehicle is traveling at a speed in an extremely low speed zone and the steering angle is not zero, the vehicle's front and rear acceleration is zero, and the steering angular velocity is zero on a flat road surface with a constant friction coefficient, at least one of the vehicle's front and rear acceleration and the steering angular velocity changes slightly from zero, resulting in the relationship between the bank angle, steering angle, and vehicle speed being far from a balanced three-dimensional non-plane relationship. In the present invention and the implementation method, the control device can also control at least one of the driving torque and the steering torque assigned by the torque assigning device in the following manner, that is, during the execution of posture control, in any state of the state where the tilted vehicle is driving on a flat road surface with a constant friction coefficient at various vehicle speeds including the vehicle speed in the extremely low speed area and various steering angles with the acceleration in the front and rear directions of the vehicle being zero and the steering angular velocity being zero, the relationship between the tilt angle, the steering angle and the vehicle speed is set to In a balanced three-dimensional space of three axes, the balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane; and (B) the relationship between the bank angle, steering angle, and vehicle speed in the following situation, that is, when a tilted vehicle is traveling on a flat road surface with a fixed friction coefficient and the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero, at least one of the acceleration in the front and rear directions of the vehicle and the steering angular velocity changes slightly from zero, resulting in the relationship between the bank angle, steering angle, and vehicle speed being far from the balanced three-dimensional non-plane.

本發明之控制裝置可不記憶平衡三維空間。本發明之控制裝置可不記憶平衡三維非平面。本發明之控制裝置亦可記憶平衡三維非平面。於該情形時，控制裝置亦可使用所記憶之平衡三維非平面而執行姿勢控制。例如，控制裝置亦可基於由傾斜角相關資訊檢測裝置、控向角相關資訊檢測裝置及車輪速度相關資訊檢測裝置檢測或者根據該3個檢測裝置所檢測到之值計算出之傾斜角、控向角及車速或車輪速度與平衡三維非平面之差而控制驅動轉矩及控向轉矩之至少一者。又，控制裝置亦可僅於檢測或計算出之車輛前後方向之加速度為零之情形時，使用所記憶之平衡三維非平面而執行姿勢控制。於該情形時，控制裝置亦可針對車輛前後方向之每一加速度記憶表示用於姿勢控制之傾斜角、控向角及車速之關係之映射表。並且，於檢測或計算出之車輛前後方向之加速度不為零時，亦可使用該映射表而執行姿勢控制。又，控制裝置亦可僅於檢測或計算出之控向角速度為零之情形時，使用所記憶之平衡三維非平面而執行姿勢控制。於該情形時，控制裝置亦可針對每一控向角速度記憶表示用於姿勢控制之傾斜角、控向角及車速之關係之映射表。並且，於檢測或計算出之控向角速度不為零之情形時，亦可使用該映射表而執行姿勢控制。又，控制裝置亦可僅於檢測或計算出之車輛前後方向之加速度與控向角速度均為零之情形時，使用所記憶之平衡三維非平面而執行姿勢控制。於該情形時，控制裝置亦可針對車輛前後方向之每一加速度及每一控向角速度而記憶表示用於姿勢控制之傾斜角、控向角及車速之關係之映射表。並且，於檢測或計算出之車輛前後方向之加速度及控向角速度之至少一者不為零之情形時，亦可使用該映射表而執行姿勢控制。又，於控制裝置記憶平衡三維非平面之情形時，亦可構成為修正平衡三維非平面之值或基於平衡三維非平面計算出之值。又，控制裝置亦可記憶複數種平衡三維非平面。複數種平衡三維非平面例如亦可包含設想傾斜車輛之乘坐人數不同之情形而創建之複數個平衡三維非平面。The control device of the present invention may not memorize the balanced three-dimensional space. The control device of the present invention may not memorize the balanced three-dimensional non-plane. The control device of the present invention may also memorize the balanced three-dimensional non-plane. In this case, the control device may also use the memorized balanced three-dimensional non-plane to perform posture control. For example, the control device may also control at least one of the driving torque and the steering torque based on the lean angle, steering angle and vehicle speed or the difference between the wheel speed and the balanced three-dimensional non-plane detected by the lean angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device or calculated based on the values detected by the three detection devices. Furthermore, the control device may also perform posture control using the stored balanced three-dimensional non-plane only when the detected or calculated acceleration in the front-rear direction of the vehicle is zero. In this case, the control device may also store a mapping table representing the relationship between the tilt angle, steering angle, and vehicle speed used for posture control for each acceleration in the front-rear direction of the vehicle. Furthermore, when the detected or calculated acceleration in the front-rear direction of the vehicle is not zero, the mapping table may also be used to perform posture control. Furthermore, the control device may also perform posture control using the stored balanced three-dimensional non-plane only when the detected or calculated steering angular velocity is zero. In this case, the control device may also memorize a mapping table representing the relationship between the bank angle, steering angle, and vehicle speed used for posture control for each steering angular velocity. Furthermore, when the detected or calculated steering angular velocity is not zero, the mapping table may be used to perform posture control. Furthermore, the control device may also perform posture control using the memorized balanced three-dimensional non-plane only when the detected or calculated acceleration and steering angular velocity in the front and rear directions of the vehicle are both zero. In this case, the control device may also memorize a mapping table representing the relationship between the bank angle, steering angle, and vehicle speed used for posture control for each acceleration and each steering angular velocity in the front and rear directions of the vehicle. Furthermore, when at least one of the detected or calculated acceleration and steering angular velocity in the front and rear directions of the vehicle is not zero, the mapping table can also be used to perform posture control. Furthermore, when the control device memorizes the situation of the balanced three-dimensional non-plane, it can also be configured to correct the value of the balanced three-dimensional non-plane or the value calculated based on the balanced three-dimensional non-plane. Furthermore, the control device can also memorize a plurality of balanced three-dimensional non-planes. For example, a plurality of balanced three-dimensional non-planes can also include a plurality of balanced three-dimensional non-planes created by assuming different numbers of passengers in a tilted vehicle.

某傾斜車輛之控制裝置是否以如下方式至少基於由傾斜角相關資訊檢測裝置、控向角相關資訊檢測裝置及車輪速度相關資訊檢測裝置檢測到之資訊而控制驅動轉矩及控向轉矩之至少一者，例如可利用以下之方法來判別，上述方式係在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在平衡三維空間內，該平衡三維空間至少包含：(A)平衡三維非平面；及(B)如下情形時之傾斜角、控向角及車速之關係，即，在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角、控向角及車速之關係處於遠離平衡三維非平面之關係。 進行使傾斜車輛以固定車速於圓上迴旋之試驗。改變車速與圓之大小之組合而進行試驗。試驗於同一路面進行。於傾斜車輛為不由駕駛者駕駛而自主行駛之傾斜車輛之情形時，例如，以傾斜車輛以固定車速於圓上迴旋之方式將行駛路線與車速等輸入至控制裝置。於傾斜車輛由駕駛者駕駛之情形時，於以固定車速於圓上迴旋之期間，駕駛者不進行重心移動與操作器之操作量之變更。相同試驗條件之試驗亦進行複數次。再者，即便設定全部相同之試驗條件，傾斜車輛之行為亦未必完全相同。這亦適用於本發明之傾斜車輛。車速越低，即便設定相同之試驗條件，傾斜車輛之行為亦不同之趨勢越高。於各試驗中測定傾斜角、傾斜角速度、傾斜角加速度、控向角、控向角速度、控向角加速度、車速、及車輛前後方向之加速度。 並且，將各試驗中測得之傾斜角、控向角及車速與藉由計算獲得之平衡三維非平面進行比較。於成為任一測定結果大幅度遠離平衡三維非平面之狀態時，可判斷未控制為在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在平衡三維空間內。於任一測定結果均未大幅度偏離平衡三維非平面時，可推定被控制為在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在平衡三維空間內。於該情形時，繼而，調查是否有滿足下述之判別條件A1～A3之試驗結果。 A1：於任意2個試驗中，存在控向角、控向角速度、控向角加速度、車速、及車輛前後方向之加速度彼此相同且傾斜角互不相同的時間點，緊接著該時間點之後賦予之驅動轉矩及控向轉矩之至少一者互不相同。 A2：於任意2個試驗中，存在傾斜角、傾斜角速度、傾斜角加速度、車速、及車輛前後方向之加速度彼此相同且控向角互不相同的時間點，緊接著該時間點之後賦予之驅動轉矩及控向轉矩之至少一者互不相同。 A3：於任意2個試驗中，存在傾斜角、傾斜角速度、傾斜角加速度、控向角、控向角速度、及控向角加速度彼此相同且車速互不相同的時間點，緊接著該時間點之後賦予之驅動轉矩及控向轉矩之至少一者互不相同。 於存在驅動轉矩滿足判別條件A1～A3之試驗結果時，可判斷至少基於由傾斜角相關資訊檢測裝置、控向角相關資訊檢測裝置及車輪速度相關資訊檢測裝置檢測到之資訊來至少對驅動轉矩進行了控制。於存在控向轉矩滿足判別條件A1～A3之試驗結果時，可判斷至少基於由傾斜角相關資訊檢測裝置、控向角相關資訊檢測裝置及車輪速度相關資訊檢測裝置檢測到之資訊來至少對控向轉矩進行了控制。 藉由以上之步序，控制裝置可判別是否以在傾斜車輛以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角、控向角及車速之關係落在平衡三維空間內的方式，基於3個檢測裝置所檢測到之資訊來對驅動轉矩及控向轉矩之至少一者進行控制。 Whether the control device of a tilted vehicle controls at least one of the driving torque and the steering torque based on at least the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device in the following manner can be determined, for example, by the following method: the above method is that when the tilted vehicle is traveling on a flat road surface with a fixed friction coefficient and the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero, the relationship between the tilt angle, the steering angle and the vehicle speed is flat. In a balanced three-dimensional space, the balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane; and (B) the relationship between the bank angle, steering angle, and vehicle speed under the following circumstances, that is, when a tilted vehicle is driving on a flat road surface with a fixed friction coefficient and the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero, at least one of the acceleration in the front and rear directions of the vehicle and the steering angular velocity changes slightly from zero, resulting in the relationship between the bank angle, steering angle, and vehicle speed being far from the balanced three-dimensional non-plane relationship. Conduct a test of rotating a tilted vehicle on a circle at a fixed speed. Conduct the test by changing the combination of vehicle speed and circle size. Conduct the test on the same road surface. In the case where the tilting vehicle is a tilting vehicle that is not driven by a driver but is driven autonomously, for example, the driving route and vehicle speed are input to the control device in a manner such that the tilting vehicle rotates in a circle at a fixed speed. In the case where the tilting vehicle is driven by a driver, the driver does not move the center of gravity or change the operation amount of the operator during the rotation in a circle at a fixed speed. The test under the same test conditions is also performed multiple times. Furthermore, even if all the same test conditions are set, the behavior of the tilting vehicle may not be exactly the same. This also applies to the tilting vehicle of the present invention. The lower the vehicle speed, the more likely the tilted vehicle will behave differently even when the test conditions are the same. In each test, the tilt angle, tilt velocity, tilt acceleration, steering angle, steering velocity, steering acceleration, vehicle speed, and acceleration in the front and rear directions of the vehicle are measured. In addition, the tilt angle, steering angle, and vehicle speed measured in each test are compared with the balanced three-dimensional non-plane obtained by calculation. When any of the measurement results deviates significantly from the equilibrium three-dimensional non-plane state, it can be judged that the relationship between the tilt angle, steering angle and vehicle speed falls within the equilibrium three-dimensional space when the tilted vehicle is not controlled to travel on a flat road surface with a fixed friction coefficient and a zero acceleration in the front and rear directions of the vehicle and a zero steering angular velocity. When any of the measurement results do not deviate significantly from the equilibrium three-dimensional non-plane state, it can be inferred that the relationship between the tilt angle, steering angle and vehicle speed falls within the equilibrium three-dimensional space when the tilted vehicle is controlled to travel on a flat road surface with a fixed friction coefficient and a zero acceleration in the front and rear directions of the vehicle and a zero steering angular velocity. In this case, then, investigate whether there are test results that meet the following judgment conditions A1 to A3. A1: In any two tests, there is a time point when the steering angle, steering angular velocity, steering angular acceleration, vehicle speed, and acceleration in the front and rear directions of the vehicle are the same, and the tilt angle is different. At least one of the driving torque and steering torque applied immediately after the time point is different. A2: In any two tests, there is a time point when the tilt angle, tilt angular velocity, tilt angular acceleration, vehicle speed, and acceleration in the front and rear directions of the vehicle are the same, and the steering angle is different. At least one of the driving torque and steering torque applied immediately after the time point is different. A3: In any two tests, there is a time point where the bank angle, bank angle velocity, bank angle acceleration, steering angle, steering angle velocity, and steering angle acceleration are the same and the vehicle speeds are different, and at least one of the driving torque and steering torque applied immediately after the time point is different. When there is a test result in which the driving torque satisfies the judgment conditions A1 to A3, it can be judged that at least the driving torque is controlled based on the information detected by the bank angle related information detection device, the steering angle related information detection device, and the wheel speed related information detection device. When there is a test result that the steering torque satisfies the judgment conditions A1 to A3, it can be judged that at least the steering torque is controlled based on the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device. Through the above steps, the control device can determine whether the relationship between the tilt angle, the steering angle and the vehicle speed falls within the balanced three-dimensional space when the tilted vehicle is driving on a flat road with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity on a fixed friction coefficient. At least one of the driving torque and the steering torque is controlled based on the information detected by the three detection devices.

於本發明及實施方式中，旋轉並不限定於360°以上之旋轉。本發明及實施方式中之旋轉亦包括未達360°之旋轉。In the present invention and the embodiments, the rotation is not limited to a rotation of 360° or more. The rotation in the present invention and the embodiments also includes a rotation of less than 360°.

於本發明及實施方式中，基於A進行控制並非意欲將用於控制之資訊僅限定為A。基於A進行控制包括基於A及除A以外之資訊進行控制之情況。In the present invention and implementation, controlling based on A does not intend to limit the information used for controlling to only A. Controlling based on A includes the situation of controlling based on A and information other than A.

本發明及實施方式中之「複數個選項中之至少1個(一者)」包括由複數個選項想出之所有組合。複數個選項中之至少1個(一者)可為複數個選項中之任意1個，亦可為複數個選項之全部。例如，A、B及C之至少1個可僅為A，亦可僅為B，亦可僅為C，亦可為A與B，亦可為A與C，亦可為B與C，還可為A、B及C。The "at least one (one) of the plurality of options" in the present invention and embodiments includes all combinations that can be imagined from the plurality of options. The at least one (one) of the plurality of options can be any one of the plurality of options, or all of the plurality of options. For example, at least one of A, B, and C can be only A, only B, only C, A and B, A and C, B and C, or A, B, and C.

於申請專利範圍內，在未明確特定出某構成要素之數量，而於翻譯成英文時顯示為單數之情形時，本發明亦可具有複數個該構成要素。又，本發明亦可僅具有1個該構成要素。In the patent application, when the number of a certain constituent element is not clearly specified and it is shown as a singular when translated into English, the present invention may also have a plurality of such constituent elements. In addition, the present invention may also have only one such constituent element.

於本發明及實施方式中，使用包含(including)、具有(comprising)、具備(having)及其等之派生詞，意在不僅包含所列舉之項目及其均等物，亦包含追加項目。In the present invention and embodiments, the use of "including", "comprising", "having" and their derivatives is intended to include not only the listed items and their equivalents but also additional items.

於本發明及實施方式中，「安裝(mounted)、連接(connected)、結合(coupled)、支持(supported)之用語」係以廣義之含義使用。具體而言，不僅包含直接之安裝、連接、結合、支持，亦包含間接之安裝、連接、結合及支持。進而，連接(connected)及結合(coupled)不限於物理上或機械式之連接/結合。其等亦包含直接或間接之電性連接/結合。In the present invention and embodiments, the terms "mounted, connected, coupled, supported" are used in a broad sense. Specifically, they include not only direct mounting, connection, coupling, support, but also indirect mounting, connection, coupling, and support. Furthermore, connected and coupled are not limited to physical or mechanical connections/couplings. They also include direct or indirect electrical connections/couplings.

除非另有定義，否則本說明書及申請專利範圍中使用之所有用語(包含技術用語及科學用語)具有與本發明所屬領域之業者通常理解之含義相同的含義。如通常使用之詞典中定義之用語的用語應解釋為具有與相關技術及本發明之上下文中之含義一致之含義，不應以理想化或過於形式化之含義來解釋。Unless otherwise defined, all terms (including technical and scientific terms) used in this specification and the scope of the patent application have the same meaning as commonly understood by practitioners in the field to which the invention belongs. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant technology and the invention, and should not be interpreted with an idealized or overly formalized meaning.

再者，於本發明及實施方式中，「較佳」之用語係非排他性者。「較佳」係指「較佳但並不限定於此」。於本說明書中，記載為「較佳」之構成至少發揮藉由技術方案1之構成所獲得之上述效果。又，於本說明書中，「亦可」之用語係非排他性者。「亦可」係「亦可但並不限定於此」之含義。於本說明書中，記載為「亦可」之構成至少發揮藉由技術方案1之構成所獲得之上述效果。Furthermore, in the present invention and embodiments, the term "preferably" is non-exclusive. "Preferably" means "preferably but not limited to this". In this specification, the composition described as "preferably" at least exerts the above-mentioned effect obtained by the composition of technical solution 1. Furthermore, in this specification, the term "may also" is non-exclusive. "May also" means "may also but not limited to this". In this specification, the composition described as "may also" at least exerts the above-mentioned effect obtained by the composition of technical solution 1.

詳細說明本發明之實施方式之前，應理解本發明並不限制於以下之說明所記載或圖式所圖示之構成要素之構成及配置之詳情。本發明亦能夠以下述實施方式以外之實施方式實現。本發明亦能夠以對下述實施方式施加各種變更所得之實施方式實現。 [發明之效果] Before describing the implementation of the present invention in detail, it should be understood that the present invention is not limited to the details of the composition and configuration of the components described in the following description or illustrated in the drawings. The present invention can also be implemented in implementations other than the following implementations. The present invention can also be implemented in implementations obtained by applying various modifications to the following implementations. [Effects of the invention]

根據本發明之傾斜車輛，至少能夠提高以極低速區域之車速之加速狀態或減速狀態下的傾斜車輛姿勢控制系統之穩定性。According to the tilted vehicle of the present invention, the stability of the tilted vehicle posture control system can at least be improved in an acceleration state or a deceleration state at a vehicle speed in an extremely low speed range.

＜方向之定義＞ 圖中，U表示傾斜車輛之車輛上方向，D表示傾斜車輛之車輛下方向，L表示傾斜車輛之車輛左方向，R表示傾斜車輛之車輛右方向，F表示傾斜車輛之車輛前方向，Re表示傾斜車輛之車輛後方向。 <Definition of direction> In the figure, U indicates the upward direction of the tilted vehicle, D indicates the downward direction of the tilted vehicle, L indicates the left direction of the tilted vehicle, R indicates the right direction of the tilted vehicle, F indicates the front direction of the tilted vehicle, and Re indicates the rear direction of the tilted vehicle.

以下，參照圖1對本發明之實施方式進行說明。本實施方式之傾斜車輛1具有複數個車輪2、車體框架5、傾斜角相關資訊檢測裝置6、控向角相關資訊檢測裝置7、車輪速度相關資訊檢測裝置8、轉矩賦予裝置10及控制裝置9。複數個車輪2包含至少1個前輪3及至少1個後輪4。至少1個後輪4配置於相較至少1個前輪3更靠車輛前後方向上之後方向。圖1所示之傾斜車輛1係本實施方式之傾斜車輛1之一例。圖1所示之傾斜車輛1係二輪車，但本實施方式之傾斜車輛1不限於二輪車。車體框架5將複數個車輪2以使之能夠繞車軸線X1旋轉的方式予以支持，且將至少1個前輪3以使之能夠繞控向軸線X2旋轉的方式予以支持。車體框架5係於右迴旋時相對於車輛上下方向朝車輛右方向傾斜，於左迴旋時相對於車輛上下方向朝車輛左方向傾斜。傾斜角相關資訊檢測裝置6檢測與傾斜角ϕ相關之資訊，傾斜角ϕ係車體框架5之車輛左右方向相對於車輛上下方向之傾斜角。控向角相關資訊檢測裝置7檢測與控向角δ相關之資訊，控向角δ係任一個前輪3之繞控向軸線X2之旋轉角度。車輪速度相關資訊檢測裝置8檢測與車輪速度S相關之資訊，車輪速度S係任一個車輪2之繞車軸線X1之旋轉速度。轉矩賦予裝置10包含驅動轉矩賦予裝置11及控向轉矩賦予裝置12之至少一者。驅動轉矩賦予裝置11構成為對至少1個前輪3及至少1個後輪4之至少一者賦予繞車軸線X1之正及負之驅動轉矩。再者，圖1所示之驅動轉矩賦予裝置11構成為對至少1個前輪3及至少1個後輪4兩者賦予驅動轉矩，但本實施方式之驅動轉矩賦予裝置11亦可構成為僅對至少1個前輪3賦予驅動轉矩，還可構成為僅對至少1個後輪4賦予驅動轉矩。控向轉矩賦予裝置12構成為對至少1個前輪3賦予繞控向軸線X2之控向轉矩。Hereinafter, an embodiment of the present invention will be described with reference to FIG1 . The tilting vehicle 1 of the present embodiment has a plurality of wheels 2, a body frame 5, a tilt angle related information detection device 6, a steering angle related information detection device 7, a wheel speed related information detection device 8, a torque imparting device 10, and a control device 9. The plurality of wheels 2 include at least one front wheel 3 and at least one rear wheel 4. The at least one rear wheel 4 is arranged in a rearward direction relative to the at least one front wheel 3 in the front-rear direction of the vehicle. The tilting vehicle 1 shown in FIG1 is an example of the tilting vehicle 1 of the present embodiment. The tilting vehicle 1 shown in FIG1 is a two-wheeled vehicle, but the tilting vehicle 1 of the present embodiment is not limited to a two-wheeled vehicle. The vehicle body frame 5 supports a plurality of wheels 2 so as to be able to rotate around the vehicle axis X1, and supports at least one front wheel 3 so as to be able to rotate around the steering axis X2. The vehicle body frame 5 is tilted toward the right direction of the vehicle relative to the vehicle up-down direction when turning right, and is tilted toward the left direction of the vehicle relative to the vehicle up-down direction when turning left. The tilt angle-related information detection device 6 detects information related to the tilt angle ϕ, which is the tilt angle of the vehicle left-right direction of the vehicle body frame 5 relative to the vehicle up-down direction. The steering angle-related information detection device 7 detects information related to the steering angle δ, which is the rotation angle of any front wheel 3 around the steering axis X2. The wheel speed related information detection device 8 detects information related to the wheel speed S, which is the rotation speed of any wheel 2 around the axle X1. The torque imparting device 10 includes at least one of a driving torque imparting device 11 and a steering torque imparting device 12. The driving torque imparting device 11 is configured to impart positive and negative driving torque around the axle X1 to at least one of at least one front wheel 3 and at least one rear wheel 4. Furthermore, the driving torque imparting device 11 shown in FIG. 1 is configured to impart driving torque to both at least one front wheel 3 and at least one rear wheel 4, but the driving torque imparting device 11 of the present embodiment may be configured to impart driving torque only to at least one front wheel 3, or may be configured to impart driving torque only to at least one rear wheel 4. The steering torque imparting device 12 is configured to impart steering torque about the steering axis X2 to at least one front wheel 3.

傾斜車輛1具有傾斜車輛姿勢控制系統，該傾斜車輛姿勢控制系統包含傾斜角相關資訊檢測裝置6、控向角相關資訊檢測裝置7、車輪速度相關資訊檢測裝置8、轉矩賦予裝置1及控制裝置9。控制裝置9構成為執行姿勢控制，該姿勢控制係至少基於由傾斜角相關資訊檢測裝置6、控向角相關資訊檢測裝置7及車輪速度相關資訊檢測裝置8檢測到之資訊，來對轉矩賦予裝置10賦予之驅動轉矩及控向轉矩之至少一者進行控制，藉此控制傾斜車輛1之姿勢。控制裝置9以如下方式至少基於由傾斜角相關資訊檢測裝置6、控向角相關資訊檢測裝置7及車輪速度相關資訊檢測裝置8檢測到之資訊，來對轉矩賦予裝置10賦予之驅動轉矩及控向轉矩之至少一者進行控制，使得於執行姿勢控制之期間，至少能夠提高以極低速區域之車速V之加速狀態或減速狀態下的傾斜車輛姿勢控制系統之穩定性，上述方式係於執行姿勢控制之期間，至少在傾斜車輛1以車輛前後方向之加速度為零且控向角δ之時間變化率即控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，傾斜角ϕ、控向角δ及車速V之關係落在平衡三維空間E1內。The leaning vehicle 1 has a leaning vehicle posture control system, which includes a lean angle related information detection device 6, a steering angle related information detection device 7, a wheel speed related information detection device 8, a torque imparting device 1 and a control device 9. The control device 9 is configured to perform posture control, and the posture control is based on at least the information detected by the lean angle related information detection device 6, the steering angle related information detection device 7 and the wheel speed related information detection device 8 to control at least one of the driving torque and the steering torque imparted by the torque imparting device 10, thereby controlling the posture of the leaning vehicle 1. The control device 9 controls at least one of the driving torque and the steering torque given by the torque imparting device 10 based on at least the information detected by the tilt angle related information detection device 6, the steering angle related information detection device 7 and the wheel speed related information detection device 8 in the following manner, so that during the execution of the posture control, at least the acceleration state of the vehicle at the vehicle speed V in the extremely low speed range can be improved. The stability of the tilted vehicle posture control system in a static or decelerating state is determined by the above method. During the posture control, at least when the tilted vehicle 1 is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front-rear direction of the vehicle and a time change rate of the steering angle δ, that is, the steering angular velocity, being zero, the relationship among the tilt angle φ, the steering angle δ and the vehicle speed V falls within the equilibrium three-dimensional space E1.

如圖1所示，平衡三維空間E1包含平衡三維非平面E2。平衡三維非平面E2係表示傾斜車輛1之幾何確定之平衡狀態下之傾斜角ϕ、控向角δ及車速V之關係，且將傾斜角ϕ、控向角δ及車速V設為3個軸的非平面，傾斜車輛1處於如下狀態，即，以車輛前後方向之加速度為零且控向角速度為零在摩擦係數固定之平坦路面上行駛，且搭載有人或物體或者未搭載人及物體。平衡三維空間E1亦包含如下情形時之傾斜角ϕ、控向角δ及車速V之關係，即，於執行姿勢控制之期間，在傾斜車輛1以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，車輛前後方向之加速度及控向角速度之至少一者從零開始微小變化，而導致傾斜角ϕ、控向角δ及車速V之關係處於遠離平衡三維非平面之關係。As shown in FIG1 , the balanced three-dimensional space E1 includes a balanced three-dimensional non-plane E2. The balanced three-dimensional non-plane E2 represents the relationship between the tilt angle φ, the steering angle δ, and the vehicle speed V in the geometrically determined equilibrium state of the tilted vehicle 1, and the tilt angle φ, the steering angle δ, and the vehicle speed V are set as non-planes of three axes. The tilted vehicle 1 is in the following state, that is, it is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, and it is carrying people or objects or not carrying people and objects. The balanced three-dimensional space E1 also includes the relationship between the bank angle φ, the steering angle δ and the vehicle speed V under the following circumstances, that is, during the execution of posture control, when the tilted vehicle 1 is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, at least one of the acceleration in the front and rear directions of the vehicle and the steering angular velocity changes slightly from zero, causing the relationship between the bank angle φ, the steering angle δ and the vehicle speed V to be far from a balanced three-dimensional non-planar relationship.

再者，圖1所示之平衡三維空間E1及平衡三維非平面E2僅為本實施方式之平衡三維空間E1及平衡三維非平面E2之一例。圖1所示之平衡三維非平面E2係曲面，但平衡三維非平面E2亦可不為曲面。平衡三維非平面E2之傾斜角ϕ與平衡三維空間E1之邊緣之傾斜角ϕ之差不限於圖示之差。圖1所示之平衡三維空間E1係傾斜角ϕ之方向之大小均勻，但傾斜角ϕ之方向之大小亦可不均勻。但是，平衡三維空間E1不包含如傾斜車輛姿勢控制系統不穩定之傾斜角ϕ、控向角δ及車速V之關係。Furthermore, the balanced three-dimensional space E1 and the balanced three-dimensional non-plane E2 shown in FIG1 are only examples of the balanced three-dimensional space E1 and the balanced three-dimensional non-plane E2 of the present embodiment. The balanced three-dimensional non-plane E2 shown in FIG1 is a curved surface, but the balanced three-dimensional non-plane E2 may not be a curved surface. The difference between the tilt angle ϕ of the balanced three-dimensional non-plane E2 and the tilt angle ϕ of the edge of the balanced three-dimensional space E1 is not limited to the difference shown in the figure. The balanced three-dimensional space E1 shown in FIG1 has a uniform size in the direction of the tilt angle ϕ, but the size in the direction of the tilt angle ϕ may also be non-uniform. However, the balanced three-dimensional space E1 does not include the relationship between the tilt angle ϕ, the steering angle δ, and the vehicle speed V, such as the instability of the tilt vehicle posture control system.

圖1之平衡三維非平面E2表示以極低速之車速V迴旋之傾斜車輛1之平衡狀態下的傾斜角ϕ與控向角δ之車輛左右方向不同。即，圖1之平衡三維非平面E2表示當傾斜車輛1以極低速之車速V右迴旋時，車體框架5相對於車輛上下方向朝車輛左方向傾斜，當傾斜車輛1以極低速之車速V左迴旋時，車體框架5相對於車輛上下方向朝車輛右方向傾斜。其原因在於，傾斜車輛1具有正值之後傾角及正值之曳距長度。此處之極低速之車速V亦可低於上述極低速區域之上限車速。具有正值之後傾角及正值之曳距長度之傾斜車輛1係於以極低速區域之車速V之加速狀態及減速狀態下傾斜車輛姿勢控制系統之穩定性容易降低，因此，採用能夠提高以極低速區域之車速V之加速狀態及減速狀態下之傾斜車輛姿勢控制系統之穩定性的姿勢控制特別有效。但是，本實施方式之傾斜車輛1不限於具有正值之後傾角及正值之曳距長度者。The balanced three-dimensional non-plane E2 of FIG1 indicates that the tilt angle φ and the steering angle δ of the tilted vehicle 1 rotating at an extremely low speed V in a balanced state are different in the left and right directions of the vehicle. That is, the balanced three-dimensional non-plane E2 of FIG1 indicates that when the tilted vehicle 1 rotates right at an extremely low speed V, the body frame 5 tilts toward the left direction of the vehicle relative to the vertical direction of the vehicle, and when the tilted vehicle 1 rotates left at an extremely low speed V, the body frame 5 tilts toward the right direction of the vehicle relative to the vertical direction of the vehicle. The reason is that the tilted vehicle 1 has a positive back-tilt angle and a positive trail length. The extremely low speed V here can also be lower than the upper speed limit of the extremely low speed area mentioned above. The leaning vehicle 1 having a positive rear caster angle and a positive trail length is prone to reduce the stability of the leaning vehicle posture control system in the acceleration state and the deceleration state at the vehicle speed V in the extremely low speed range. Therefore, it is particularly effective to adopt a posture control that can improve the stability of the leaning vehicle posture control system in the acceleration state and the deceleration state at the vehicle speed V in the extremely low speed range. However, the leaning vehicle 1 of the present embodiment is not limited to the one having a positive rear caster angle and a positive trail length.

再者，本實施方式之控制裝置9亦可至少在高於0 km/h且10 km/h以下之車速區域中執行姿勢控制。藉此，能夠提高以極低速區域之車速V之加速狀態或減速狀態下的傾斜車輛姿勢控制系統之穩定性。於該情形時，控制裝置9亦可在高於10 km/h之車速區域中執行姿勢控制。又，控制裝置9亦可於車速V為0 km/h時執行姿勢控制。即，控制裝置9亦可至少在0 km/h以上10 km/h以下之車速區域中執行姿勢控制。 又，本實施方式之控制裝置9亦可僅在納入高於0 km/h且10 km/h以下之車速區域內而較該車速區域窄的車速區域中執行姿勢控制。於該情形時，亦能夠提高以極低速區域之車速V之加速狀態或減速狀態下的傾斜車輛姿勢控制系統之穩定性。 Furthermore, the control device 9 of this embodiment can also perform posture control at least in the vehicle speed range above 0 km/h and below 10 km/h. In this way, the stability of the tilted vehicle posture control system in the acceleration state or deceleration state at the vehicle speed V in the extremely low speed range can be improved. In this case, the control device 9 can also perform posture control in the vehicle speed range above 10 km/h. In addition, the control device 9 can also perform posture control when the vehicle speed V is 0 km/h. That is, the control device 9 can also perform posture control at least in the vehicle speed range above 0 km/h and below 10 km/h. Furthermore, the control device 9 of this embodiment can also perform posture control only in a vehicle speed range that is included in the vehicle speed range higher than 0 km/h and lower than 10 km/h and is narrower than the vehicle speed range. In this case, the stability of the tilted vehicle posture control system in the acceleration state or deceleration state at the vehicle speed V in the extremely low speed range can also be improved.

於本實施方式之轉矩賦予裝置10僅具有驅動轉矩賦予裝置11及控向轉矩賦予裝置12中之任一者之情形時，控制裝置9於姿勢控制中，基於由3個檢測裝置6～8檢測到之資訊而僅控制驅動轉矩或控向轉矩。 又，於本實施方式之轉矩賦予裝置10具有驅動轉矩賦予裝置11及控向轉矩賦予裝置12兩者之情形時，控制裝置9於姿勢控制中，基於由3個檢測裝置6～8檢測到之資訊而控制驅動轉矩及控向轉矩兩者。於該情形時，於執行姿勢控制時更容易提高傾斜車輛姿勢控制系統之穩定性。於該情形時，控制裝置9可於執行姿勢控制之期間，在以極低速區域之車速V之加速狀態或減速狀態下，根據狀況選擇基於由3個檢測裝置6～8檢測到之資訊而控制驅動轉矩及控向轉矩兩者之狀態與基於由3個檢測裝置6～8檢測到之資訊而僅控制驅動轉矩或控向轉矩之狀態。又，於該情形時，控制裝置9可於執行姿勢控制之期間，在傾斜車輛1以車輛前後方向之加速度為零且控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下，根據狀況選擇基於由3個檢測裝置6～8檢測到之資訊而控制驅動轉矩及控向轉矩兩者之狀態與基於由3個檢測裝置6～8檢測到之資訊而僅控制驅動轉矩或控向轉矩之狀態。 In the case where the torque imparting device 10 of the present embodiment has only one of the driving torque imparting device 11 and the steering torque imparting device 12, the control device 9 controls only the driving torque or the steering torque in the posture control based on the information detected by the three detection devices 6 to 8. In addition, in the case where the torque imparting device 10 of the present embodiment has both the driving torque imparting device 11 and the steering torque imparting device 12, the control device 9 controls both the driving torque and the steering torque in the posture control based on the information detected by the three detection devices 6 to 8. In this case, it is easier to improve the stability of the tilted vehicle posture control system when performing posture control. In this case, the control device 9 can, during the execution of posture control, in the acceleration state or deceleration state at the vehicle speed V in the extremely low speed area, choose to control the states of both the driving torque and the steering torque based on the information detected by the three detection devices 6 to 8 or only control the driving torque or the steering torque based on the information detected by the three detection devices 6 to 8 according to the situation. Furthermore, in this case, the control device 9 can, during the posture control, select a state of controlling both the driving torque and the steering torque based on the information detected by the three detection devices 6 to 8 or a state of controlling only the driving torque or the steering torque based on the information detected by the three detection devices 6 to 8 when the tilted vehicle 1 is traveling on a flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity.

本實施方式之控制裝置9亦可於傾斜車輛1不由駕駛者駕駛而自主行駛之狀態下執行姿勢控制。本實施方式之控制裝置9亦可於傾斜車輛1由駕駛者駕駛而行駛之狀態下執行姿勢控制。本實施方式之控制裝置9亦可於傾斜車輛1由駕駛者駕駛而行駛之狀態及傾斜車輛1由駕駛者駕駛而行駛之狀態該兩種狀態下執行姿勢控制。The control device 9 of this embodiment can also perform posture control in a state where the tilted vehicle 1 is driven autonomously without being driven by the driver. The control device 9 of this embodiment can also perform posture control in a state where the tilted vehicle 1 is driven by the driver. The control device 9 of this embodiment can also perform posture control in two states: a state where the tilted vehicle 1 is driven by the driver and a state where the tilted vehicle 1 is driven by the driver.

1:傾斜車輛 2:車輪 3:前輪 4:後輪 5:車體框架 6:傾斜角相關資訊檢測裝置 7:控向角相關資訊檢測裝置 8:車輪速度相關資訊檢測裝置 9:控制裝置 10:轉矩賦予裝置 11:驅動轉矩賦予裝置 12:控向轉矩賦予裝置 D:車輛下方向 E1:平衡三維空間 E2:平衡三維非平面 F:車輛前方向 L:車輛左方向 R:車輛右方向 Re:車輛後方向 S:車輪速度 U:車輛上方向 V:車速 X1:車軸線 X2:控向軸線 δ:控向角 ϕ:傾斜角 1: Tilt vehicle 2: Wheel 3: Front wheel 4: Rear wheel 5: Vehicle frame 6: Tilt angle related information detection device 7: Steering angle related information detection device 8: Wheel speed related information detection device 9: Control device 10: Torque imparting device 11: Driving torque imparting device 12: Steering torque imparting device D: Downward direction of vehicle E1: Balanced three-dimensional space E2: Balanced three-dimensional non-plane F: Forward direction of vehicle L: Left direction of vehicle R: Right direction of vehicle Re: Rear direction of vehicle S: Wheel speed U: Upward direction of vehicle V: Vehicle speed X1: Axle line X2: Steering axis δ: Steering angle ϕ: Tilt angle

圖1係對本發明之實施方式之傾斜車輛之構成進行說明之圖。FIG. 1 is a diagram for explaining the structure of a tilting vehicle according to an embodiment of the present invention.

1:傾斜車輛 1: Tilt the vehicle

2:車輪 2: Wheels

3:前輪 3:Front wheel

4:後輪 4: Rear wheel

5:車體框架 5: Vehicle frame

6:傾斜角相關資訊檢測裝置 6: Tilt angle related information detection device

7:控向角相關資訊檢測裝置 7: Steering angle related information detection device

8:車輪速度相關資訊檢測裝置 8: Wheel speed related information detection device

9:控制裝置 9: Control device

10:轉矩賦予裝置 10: Torque imparting device

11:驅動轉矩賦予裝置 11: Driving torque imparting device

12:控向轉矩賦予裝置 12: Steering torque imparting device

D:車輛下方向 D: Downward direction of the vehicle

E1:平衡三維空間 E1: Balance three-dimensional space

E2:平衡三維非平面 E2: Balanced three-dimensional non-planar surface

F:車輛前方向 F: Vehicle front direction

L:車輛左方向 L: Left direction of vehicle

R:車輛右方向 R: Vehicle right direction

Re:車輛後方向 Re: Rear direction of vehicle

S:車輪速度 S: wheel speed

U:車輛上方向 U: Vehicle upward direction

V:車速 V: Vehicle speed

X1:車軸線 X1: Axle line

X2:控向軸線 X2: Steering axis

δ:控向角 δ: steering angle

Φ:傾斜角 Φ: Tilt angle

Claims (4)

一種傾斜車輛，其特徵在於具備： 複數個車輪，其等包含至少1個前輪及配置於相較上述至少1個前輪更靠車輛前後方向上之後方向之至少1個後輪； 車體框架，其將上述複數個車輪以使之能夠繞車軸線旋轉的方式予以支持，並將上述至少1個前輪以使之能夠繞控向軸線旋轉的方式予以支持，且於右迴旋時相對於車輛上下方向朝車輛右方向傾斜，於左迴旋時相對於上述車輛上下方向朝車輛左方向傾斜； 傾斜角相關資訊檢測裝置，其檢測與傾斜角相關之資訊，該傾斜角係上述車體框架之車輛左右方向相對於上述車輛上下方向之傾斜角； 控向角相關資訊檢測裝置，其檢測與控向角相關之資訊，該控向角係任一個上述前輪之繞上述控向軸線之旋轉角度； 車輪速度相關資訊檢測裝置，其檢測與車輪速度相關之資訊，該車輪速度係任一個上述車輪之繞上述車軸線之旋轉速度；及 轉矩賦予裝置，其包含驅動轉矩賦予裝置及控向轉矩賦予裝置之至少一者，上述驅動轉矩賦予裝置構成為對上述至少1個前輪及上述至少1個後輪之至少一者賦予繞上述車軸線之正及負之驅動轉矩，上述控向轉矩賦予裝置構成為對上述至少1個前輪賦予繞上述控向軸線之控向轉矩；且 具有傾斜車輛姿勢控制系統，該傾斜車輛姿勢控制系統包含：上述傾斜角相關資訊檢測裝置；上述控向角相關資訊檢測裝置；上述車輪速度相關資訊檢測裝置；上述轉矩賦予裝置；及控制裝置，其構成為執行姿勢控制，該姿勢控制係至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制，藉此控制上述傾斜車輛之姿勢； 上述控制裝置係 以如下方式至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制， 使得於執行上述姿勢控制之期間，至少以極低速區域之車速之加速狀態或減速狀態下的上述傾斜車輛姿勢控制系統之穩定性提高， 上述方式係於執行上述姿勢控制之期間，至少在上述傾斜車輛以上述車輛前後方向之加速度為零且上述控向角之時間變化率即控向角速度為零於摩擦係數固定之平坦路面上行駛的狀態下， 上述傾斜角、上述控向角及上述車速之關係落在將上述傾斜角、上述控向角及上述車速設為3個軸之平衡三維空間內，上述平衡三維空間至少包含： (A)平衡三維非平面，其表示上述傾斜車輛在幾何確定之平衡狀態下之上述傾斜角、上述控向角及車速之關係，且將上述傾斜角、上述控向角及上述車速設為3個軸，上述傾斜車輛處於如下狀態，即，以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛，且搭載有人或物體或者未搭載人及物體；及 (B)如下情形時之上述傾斜角、上述控向角及上述車速之關係，即，在上述傾斜車輛以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述車輛前後方向之加速度及上述控向角速度之至少一者從零開始微小變化，而導致上述傾斜角、上述控向角及上述車速之關係處於遠離上述平衡三維非平面之關係。 A tilting vehicle is characterized by having: A plurality of wheels, including at least one front wheel and at least one rear wheel arranged in a rearward direction of the vehicle relative to the at least one front wheel; A vehicle frame, which supports the plurality of wheels so that they can rotate around the vehicle axis, and supports the at least one front wheel so that it can rotate around the control axis, and tilts toward the right direction of the vehicle relative to the up-down direction of the vehicle when turning right, and tilts toward the left direction of the vehicle relative to the up-down direction of the vehicle when turning left; A device for detecting information related to a tilt angle, which detects information related to the tilt angle, wherein the tilt angle is the tilt angle of the vehicle left-right direction of the vehicle frame relative to the vehicle up-down direction; A device for detecting information related to a steering angle, which detects information related to a steering angle, wherein the steering angle is the rotation angle of any of the front wheels around the steering axis; A device for detecting information related to a wheel speed, which detects information related to a wheel speed, wherein the wheel speed is the rotation speed of any of the wheels around the axle; and The torque imparting device includes at least one of a driving torque imparting device and a steering torque imparting device, wherein the driving torque imparting device is configured to impart positive and negative driving torques around the axle to at least one of the at least one front wheel and the at least one rear wheel, and the steering torque imparting device is configured to impart steering torque around the steering axis to the at least one front wheel; and A tilted vehicle posture control system is provided, the tilted vehicle posture control system comprising: the tilt angle related information detection device; the steering angle related information detection device; the wheel speed related information detection device; the torque imparting device; and a control device, which is configured to perform posture control, the posture control is based at least on the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device, to control at least one of the driving torque and the steering torque imparted by the torque imparting device, thereby controlling the posture of the tilted vehicle; The control device is At least one of the driving torque and the steering torque assigned by the torque assigning device is controlled based on information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device in the following manner, so that during the execution of the posture control, the stability of the tilted vehicle posture control system is improved at least in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range. The above method is that during the execution of the posture control, at least when the tilted vehicle is traveling on a flat road surface with a fixed friction coefficient, the acceleration in the front and rear directions of the vehicle is zero and the time change rate of the steering angle, i.e., the steering angular velocity, is zero. The relationship between the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed falls within a balanced three-dimensional space with the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed set as three axes, and the above-mentioned balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane, which represents the relationship between the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed in a geometrically determined equilibrium state, and the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed are set as three axes, and the above-mentioned tilt vehicle is in the following state, that is, the above-mentioned tilt vehicle is driving on the above-mentioned flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the above-mentioned vehicle and zero steering angular velocity, and is carrying people or objects or not carrying people and objects; and (B) The relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed in the following situation, that is, when the above-mentioned banked vehicle is traveling on the above-mentioned flat road surface with a constant friction coefficient and the above-mentioned acceleration in the front and rear directions of the above-mentioned vehicle is zero and the above-mentioned steering angular velocity is zero, at least one of the above-mentioned acceleration in the front and rear directions of the above-mentioned vehicle and the above-mentioned steering angular velocity changes slightly from zero, resulting in the relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed being far away from the above-mentioned balanced three-dimensional non-plane relationship. 如請求項1之傾斜車輛，其中上述控制裝置構成為執行上述姿勢控制，上述姿勢控制係至少在高於0 km/h且10 km/h以下之車速區域中，至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制，藉此控制上述傾斜車輛之姿勢， 上述控制裝置係 以如下方式至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制， 使得於執行上述姿勢控制之期間，至少以上述極低速區域之車速之加速狀態或減速狀態下的上述傾斜車輛姿勢控制系統之穩定性提高， 上述方式係於執行上述姿勢控制之期間，至少在上述傾斜車輛以車速高於0 km/h且為10 km/h以下、上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下， 上述傾斜角、上述控向角及上述車速之關係落在將上述傾斜角、上述控向角及上述車速設為3個軸之平衡三維空間內，上述平衡三維空間至少包含： (A)平衡三維非平面，其表示上述傾斜車輛在幾何確定之平衡狀態下之上述傾斜角、上述控向角及車速之關係，且將上述傾斜角、上述控向角及上述車速設為3個軸，上述傾斜車輛處於如下狀態，即，以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛，且搭載有人或物體或者未搭載人及物體；及 (B)如下情形時之上述傾斜角、上述控向角及上述車速之關係，即，在上述傾斜車輛以車速高於0 km/h且為10 km/h以下、上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述車輛前後方向之加速度及上述控向角速度之至少一者從零開始微小變化，而導致上述傾斜角、上述控向角及上述車速之關係處於遠離上述平衡三維非平面之關係。 The tilted vehicle as claimed in claim 1, wherein the control device is configured to perform the posture control, and the posture control is to control at least one of the driving torque and the steering torque assigned by the torque assigning device based on information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device at least in the vehicle speed range above 0 km/h and below 10 km/h, thereby controlling the posture of the tilted vehicle. The control device is At least one of the driving torque and the steering torque assigned by the torque assigning device is controlled based on information detected by the tilt angle related information detecting device, the steering angle related information detecting device and the wheel speed related information detecting device in the following manner, so that during the execution of the posture control, the stability of the tilted vehicle posture control system is improved at least in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range, the above method is that during the execution of the posture control, at least when the tilted vehicle is at a speed higher than 0 km/h and 10 When the vehicle is traveling on the flat road surface with a constant friction coefficient at a speed below km/h, the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero, the relationship between the tilt angle, the steering angle and the vehicle speed falls within a balanced three-dimensional space with the tilt angle, the steering angle and the vehicle speed as three axes, and the balanced three-dimensional space at least includes: (A) A balanced three-dimensional non-plane, which represents the relationship between the above-mentioned tilted vehicle's tilted angle, the above-mentioned steering angle and the vehicle speed in a geometrically determined equilibrium state, and the above-mentioned tilted vehicle is in the following state, i.e., the above-mentioned tilted vehicle is traveling on the above-mentioned flat road surface with a fixed friction coefficient, with the above-mentioned acceleration in the front and rear directions of the vehicle being zero and the above-mentioned steering angular velocity being zero, and is carrying a person or an object or is not carrying a person and an object; and (B) The relationship between the above-mentioned tilted angle, the above-mentioned steering angle and the above-mentioned vehicle speed in the following situation, i.e., when the above-mentioned tilted vehicle is traveling at a speed higher than 0 km/h and 10 When the vehicle is traveling on the flat road surface with a constant friction coefficient at a speed below km/h and the vehicle's front-rear acceleration is zero and the steering angular velocity is zero, at least one of the vehicle's front-rear acceleration and the steering angular velocity changes slightly from zero, causing the relationship between the tilt angle, the steering angle and the vehicle speed to be far from the balanced three-dimensional non-plane relationship. 如請求項1或2之傾斜車輛，其中上述轉矩賦予裝置包含上述驅動轉矩賦予裝置及上述控向轉矩賦予裝置中之至少上述驅動轉矩賦予裝置， 上述控制裝置構成為於上述姿勢控制中，至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩中之至少上述驅動轉矩進行控制，藉此控制上述傾斜車輛之姿勢， 上述控制裝置係 以如下方式至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少上述驅動轉矩進行控制， 使得於執行上述姿勢控制之期間，至少以上述極低速區域之車速之加速狀態或減速狀態下的上述傾斜車輛姿勢控制系統之穩定性提高， 上述方式係於執行上述姿勢控制之期間，至少在上述傾斜車輛以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下， 上述傾斜角、上述控向角及上述車速之關係落在將上述傾斜角、上述控向角及上述車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含： (A)平衡三維非平面，其表示上述傾斜車輛在幾何確定之平衡狀態下之上述傾斜角、上述控向角及車速之關係，且將上述傾斜角、上述控向角及上述車速設為3個軸，上述傾斜車輛處於如下狀態，即，以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛，且搭載有人或物體或者未搭載人及物體；及 (B)如下情形時之上述傾斜角、上述控向角及上述車速之關係，即，在上述傾斜車輛以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述車輛前後方向之加速度及上述控向角速度之至少一者從零開始微小變化，而導致上述傾斜角、上述控向角及上述車速之關係處於遠離上述平衡三維非平面之關係。 The tilting vehicle as claimed in claim 1 or 2, wherein the torque imparting device includes at least the driving torque imparting device and the steering torque imparting device, The control device is configured to control the driving torque imparted by the torque imparting device and at least the driving torque of the steering torque in the posture control, based at least on the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device, thereby controlling the posture of the tilting vehicle, The control device is The driving torque and the steering torque assigned by the torque assigning device are controlled based on at least the information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device in the following manner, so that during the execution of the posture control, the stability of the tilted vehicle posture control system is improved at least in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range. The above method is that during the execution of the posture control, at least when the tilted vehicle is traveling on the flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the vehicle and zero steering angular velocity, The relationship between the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed falls within a balanced three-dimensional space with the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed set as three axes, and the balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane, which represents the relationship between the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed in a geometrically determined equilibrium state, and the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed are set as three axes, and the above-mentioned tilt vehicle is in the following state, that is, the above-mentioned tilt vehicle is traveling on the above-mentioned flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the above-mentioned vehicle and zero steering angular velocity, and is carrying people or objects or not carrying people and objects; and (B) The relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed in the following situation, that is, when the above-mentioned banked vehicle is traveling on the above-mentioned flat road surface with a constant friction coefficient and the above-mentioned acceleration in the front and rear directions of the above-mentioned vehicle is zero and the above-mentioned steering angular velocity is zero, at least one of the above-mentioned acceleration in the front and rear directions of the above-mentioned vehicle and the above-mentioned steering angular velocity changes slightly from zero, resulting in the relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed being far away from the above-mentioned balanced three-dimensional non-plane relationship. 如請求項1至3中任一項之傾斜車輛，其中上述控制裝置構成為執行上述姿勢控制，上述姿勢控制係在上述傾斜車輛不由駕駛者駕駛而自主行駛之狀態、及上述傾斜車輛由駕駛者駕駛而行駛之狀態中之至少一種狀態下，至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制，藉此控制上述傾斜車輛之姿勢，且 (i)在上述傾斜車輛不由駕駛者駕駛而自主行駛之狀態下執行上述姿勢控制時， 上述控制裝置係 以如下方式至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制， 使得於執行上述姿勢控制之期間，在上述傾斜車輛不由駕駛者駕駛而自主行駛之狀態下，至少以上述極低速區域之車速之加速狀態或減速狀態下的上述傾斜車輛姿勢控制系統之穩定性提高， 上述方式係於執行上述姿勢控制之期間，至少在上述傾斜車輛不由駕駛者駕駛而以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上自主行駛的狀態下， 上述傾斜角、上述控向角及上述車速之關係落在將上述傾斜角、上述控向角及上述車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含： (A)平衡三維非平面，其表示上述傾斜車輛在幾何確定之平衡狀態下之上述傾斜角、上述控向角及車速之關係，且將上述傾斜角、上述控向角及上述車速設為3個軸，上述傾斜車輛處於如下狀態，即，以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛，且搭載有人或物體或者未搭載人及物體；及 (B)如下情形時之上述傾斜角、上述控向角及上述車速之關係，即，在上述傾斜車輛不由駕駛者駕駛而以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上自主行駛的狀態下，上述車輛前後方向之加速度及上述控向角速度之至少一者從零開始微小變化，而導致上述傾斜角、上述控向角及上述車速之關係處於遠離上述平衡三維非平面之關係； (ii)在上述傾斜車輛由駕駛者駕駛而行駛之狀態下執行上述姿勢控制時， 上述控制裝置係 以如下方式至少基於由上述傾斜角相關資訊檢測裝置、上述控向角相關資訊檢測裝置及上述車輪速度相關資訊檢測裝置檢測到之資訊，來對上述轉矩賦予裝置賦予之上述驅動轉矩及上述控向轉矩之至少一者進行控制， 使得於執行上述姿勢控制之期間，在上述傾斜車輛由駕駛者駕駛而行駛之狀態下，至少以上述極低速區域之車速之加速狀態或減速狀態下的上述傾斜車輛姿勢控制系統之穩定性提高， 上述方式係於執行上述姿勢控制之期間，至少在上述傾斜車輛由駕駛者駕駛而以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下， 上述傾斜角、上述控向角及上述車速之關係落在將上述傾斜角、上述控向角及上述車速設為3個軸之平衡三維空間內，該平衡三維空間至少包含： (A)平衡三維非平面，其表示上述傾斜車輛在幾何確定之平衡狀態下之上述傾斜角、上述控向角及車速之關係，且將上述傾斜角、上述控向角及上述車速設為3個軸，上述傾斜車輛處於如下狀態，即，以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛，且搭載有人或物體或者未搭載人及物體；及 (B)如下情形時之上述傾斜角、上述控向角及上述車速之關係，即，在上述傾斜車輛由駕駛者駕駛而以上述車輛前後方向之加速度為零且上述控向角速度為零於摩擦係數固定之平坦之上述路面上行駛的狀態下，上述車輛前後方向之加速度及上述控向角速度之至少一者從零開始微小變化，而導致上述傾斜角、上述控向角及上述車速之關係處於遠離上述平衡三維非平面之關係。 A tilting vehicle as claimed in any one of claims 1 to 3, wherein the control device is configured to perform the posture control, wherein the posture control is to control at least one of the driving torque and the steering torque imparted by the torque imparting device based on information detected by the tilt angle related information detection device, the steering angle related information detection device and the wheel speed related information detection device in at least one of the states where the tilting vehicle is driven autonomously without the driver's control and where the tilting vehicle is driven by the driver, thereby controlling the posture of the tilting vehicle, and (i) When the above-mentioned posture control is performed in a state where the above-mentioned tilted vehicle is not driven by the driver but is driven autonomously, the above-mentioned control device controls at least one of the above-mentioned driving torque and the above-mentioned steering torque given by the above-mentioned torque giving device based on at least the information detected by the above-mentioned tilt angle related information detection device, the above-mentioned steering angle related information detection device and the above-mentioned wheel speed related information detection device in the following manner, The above method is to improve the stability of the above-mentioned tilted vehicle posture control system in the state where the tilted vehicle is driven autonomously without the driver, at least in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range during the execution of the above-mentioned posture control. The above-mentioned method is to improve the stability of the above-mentioned tilted vehicle posture control system in the state where the tilted vehicle is driven autonomously without the driver, at least in the state where the tilted vehicle is driven autonomously on the above-mentioned flat road surface with a fixed friction coefficient, with the acceleration in the front and rear directions of the vehicle being zero and the steering angular velocity being zero during the execution of the above-mentioned posture control. The relationship between the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed falls within a balanced three-dimensional space with the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed set as three axes, and the balanced three-dimensional space at least includes: (A) a balanced three-dimensional non-plane, which represents the relationship between the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed in a geometrically determined equilibrium state, and the above-mentioned tilt angle, the above-mentioned steering angle and the above-mentioned vehicle speed are set as three axes, and the above-mentioned tilt vehicle is in the following state, that is, the above-mentioned tilt vehicle is traveling on the above-mentioned flat road surface with a fixed friction coefficient with zero acceleration in the front and rear directions of the above-mentioned vehicle and zero steering angular velocity, and is carrying people or objects or not carrying people and objects; and (B) The relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed in the following situation, that is, when the above-mentioned banked vehicle is not driven by the driver and is autonomously driven on the above-mentioned flat road surface with a fixed friction coefficient with the acceleration in the front and rear directions of the above-mentioned vehicle being zero and the above-mentioned steering angular velocity being zero, at least one of the acceleration in the front and rear directions of the above-mentioned vehicle and the above-mentioned steering angular velocity changes slightly from zero, resulting in the relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed being far away from the above-mentioned balanced three-dimensional non-plane relationship; (ii) When the above-mentioned posture control is performed in the state where the above-mentioned banked vehicle is driven by the driver, The above-mentioned control device is At least one of the driving torque and the steering torque assigned by the torque assigning device is controlled based on information detected by the tilt angle related information detecting device, the steering angle related information detecting device and the wheel speed related information detecting device in the following manner, so that during the execution of the posture control, when the tilted vehicle is driven by the driver, the stability of the tilted vehicle posture control system is improved at least in the acceleration state or deceleration state of the vehicle speed in the extremely low speed range, The above method is that during the execution of the above posture control, at least when the above tilted vehicle is driven by the driver and the acceleration in the front and rear directions of the above vehicle is zero and the above steering angular velocity is zero on the above flat road surface with a fixed friction coefficient, the relationship between the above tilt angle, the above steering angle and the above vehicle speed falls within a balanced three-dimensional space in which the above tilt angle, the above steering angle and the above vehicle speed are set as three axes, and the balanced three-dimensional space at least includes: (A) A balanced three-dimensional non-plane, which represents the relationship between the tilt angle, the steering angle and the vehicle speed of the tilted vehicle in a geometrically determined equilibrium state, and the tilt angle, the steering angle and the vehicle speed are set as three axes. The tilted vehicle is in the following state, that is, the acceleration in the front and rear directions of the vehicle is zero and the steering angular velocity is zero on the flat road surface with a fixed friction coefficient, and is carrying people or objects or not carrying people and objects; and (B) The relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed in the following situation, that is, when the above-mentioned banked vehicle is driven by the driver and the acceleration in the front and rear directions of the above-mentioned vehicle is zero and the above-mentioned steering angular velocity is zero on the above-mentioned flat road surface with a constant friction coefficient, at least one of the acceleration in the front and rear directions of the above-mentioned vehicle and the above-mentioned steering angular velocity changes slightly from zero, resulting in the relationship between the above-mentioned bank angle, the above-mentioned steering angle and the above-mentioned vehicle speed being far away from the above-mentioned balanced three-dimensional non-plane.