TW202421499A - Tilt the vehicle - Google Patents

Abstract

本發明之傾斜車輛(1)之車體框架(5)係至少在以高速區域(AV2)之車速(V)迴旋時，朝車輛左右方向中與迴旋方向相同之方向傾斜，當以較高速區域(AV2)低之極低速區域(AV1)之車速迴旋時，朝車輛左右方向中與迴旋方向相反之方向傾斜。傾斜車輛(1)之控制裝置(9)係於傾斜車輛正以極低速區域(AV1)之車速(V)迴旋時，車輛左右方向中與迴旋方向相反之方向上之傾斜角(ϕ)小於作為正值之第1值時，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，一面使傾斜車輛以極低速區域(AV1)之車速(V)迴旋，一面使車輛左右方向中與迴旋方向相反之方向上之傾斜角(ϕ)增加。The body frame (5) of the tilting vehicle (1) of the present invention is tilted in the same direction as the turning direction in the left-right direction of the vehicle at least when the vehicle is turning at a vehicle speed (V) in a high-speed area (AV2), and is tilted in the opposite direction to the turning direction in the left-right direction of the vehicle when the vehicle is turning at an extremely low-speed area (AV1) lower than the high-speed area (AV2). The control device (9) of the tilted vehicle (1) is configured to control the tilted vehicle (1) ... The device controls at least one of the driving torque and the steering torque imparted by the torque imparting device (10) based on the information detected by the wheel speed related information detection device (8), so as to make the tilted vehicle rotate at a vehicle speed (V) in an extremely low speed area (AV1) and increase the tilt angle (φ) of the vehicle in a direction opposite to the rotation direction in the left and right directions.

Description

傾斜車輛Tilt the vehicle

本發明例如係關於一種二輪車等傾斜車輛。The present invention relates to a tilting vehicle such as a two-wheeled vehicle, for example.

例如二輪車等傾斜車輛具有當迴旋時車體朝左右方向中與迴旋方向相同之方向傾斜的特性。但是，當以極低速迴旋時，傾斜車輛之車體會朝左右方向中與迴旋方向相反之方向傾斜。藉由將迴旋時之車體之傾斜度之大小設為與車速及控向角對應之適當大小，傾斜車輛能夠順利地迴旋。又，與汽車相比，傾斜車輛更容易發生車體傾斜度之變化。因此，先前，提出控制傾斜車輛以使傾斜車輛能夠順利地迴旋之技術。For example, a tilting vehicle such as a two-wheeled vehicle has a characteristic that when turning, the body of the tilting vehicle tilts in the same direction as the turning direction in the left-right direction. However, when turning at an extremely low speed, the body of the tilting vehicle tilts in the opposite direction to the turning direction in the left-right direction. By setting the tilt of the body during turning to an appropriate size corresponding to the vehicle speed and the steering angle, the tilting vehicle can turn smoothly. In addition, compared with a car, a tilting vehicle is more likely to have a change in the tilt of the body. Therefore, previously, a technology for controlling a tilting vehicle so that the tilting vehicle can turn smoothly has been proposed.

例如，專利文獻1中記載之二輪車之控制裝置係以對車輪賦予基於檢測到之控向角、車速及滾轉角所設定之驅動轉矩之方式控制驅動轉矩產生器件，藉此來控制二輪車之姿勢。具體而言，首先，根據控向角、車速及目標橫擺角速率計算圖而計算目標橫擺角速率。其次，根據目標橫擺角速率計算目標滾轉角，根據目標滾轉角及檢測到之滾轉角而計算目標滾轉率。繼而，基於目標滾轉率設定驅動轉矩。目標滾轉角係基於表示作用於車體之重力引起之第1滾轉力矩與根據目標橫擺角速率及車速算出之第2滾轉力矩之平衡的公式而算出。藉由該計算，目標滾轉角以atan(V・ω/g)之形式算出。此處，V表示車速L，ω表示目標橫擺角速率，g表示重力加速度。 [先前技術文獻] [專利文獻] For example, the control device of the two-wheeled vehicle described in Patent Document 1 controls the driving torque generating device in a manner that the driving torque set based on the detected steering angle, vehicle speed and rolling angle is applied to the wheels, thereby controlling the posture of the two-wheeled vehicle. Specifically, first, the target roll angle rate is calculated based on the steering angle, vehicle speed and target roll angle rate calculation map. Secondly, the target roll angle is calculated based on the target roll angle, and the target roll rate is calculated based on the target roll angle and the detected roll angle. Then, the driving torque is set based on the target roll rate. The target roll angle is calculated based on a formula that represents the balance between the first roll moment caused by the gravity acting on the vehicle body and the second roll moment calculated from the target roll angle rate and the vehicle speed. By this calculation, the target roll angle is calculated in the form of atan (V・ω/g). Here, V represents the vehicle speed L, ω represents the target roll angle rate, and g represents the acceleration of gravity. [Prior technical literature] [Patent literature]

[專利文獻1]日本專利第5418512號公報[Patent Document 1] Japanese Patent No. 5418512

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

於專利文獻1中，若車速相同，則控向角越小，目標橫擺角速率設定為越小之值，若車速相同，則目標橫擺角速率越小，目標滾轉角設定為越小之值。因此，於專利文獻1之技術中，於迴旋時，無法以車體朝左右方向中與迴旋方向相反之方向傾斜的方式控制傾斜車輛之姿勢。In Patent Document 1, if the vehicle speed is the same, the smaller the steering angle, the smaller the target yaw rate is set to, and if the vehicle speed is the same, the smaller the target yaw rate is, the smaller the target roll angle is set to. Therefore, in the technology of Patent Document 1, when turning, it is impossible to control the posture of the tilted vehicle by tilting the vehicle body in the left-right direction opposite to the turning direction.

要求傾斜車輛能夠更順利地以極低速迴旋。The requirement is to allow the tilted vehicle to maneuver more smoothly at very slow speeds.

本發明之目的在於提供一種當以極低速迴旋時能夠使傾斜車輛更順利地迴旋之傾斜車。 [解決問題之技術手段] The purpose of the present invention is to provide a tilting vehicle that can make the tilting vehicle rotate more smoothly when rotating at an extremely low speed. [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，至少在以高速區域之車速迴旋時朝車輛左右方向中與迴旋方向相同之方向傾斜；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上述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，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；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；及控制裝置，其構成為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。上述車體框架係於以較上述高速區域低之極低速區域之車速迴旋時，朝上述車輛左右方向中與迴旋方向相反之方向傾斜。上述控制裝置係於上述傾斜車輛正以上述極低速區域之上述車速迴旋時，上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角小於作為正值之第1值時，執行第1極低速控制，該第1極低速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，來對上述驅動轉矩及上述控向轉矩之至少一者進行控制，一面使上述傾斜車輛以上述極低速區域之上述車速迴旋，一面使上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角增加。 A tilting vehicle according to 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 relative to the at least one front wheel; a body frame, which supports the plurality of wheels so that they can rotate around the axle, and supports the at least one front wheel so that it can rotate around the control axis. The invention relates to a device for detecting information related to a tilt angle, wherein the tilt angle is a 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 device for detecting information related to a steering angle, wherein the steering angle is a tilt angle of the vehicle body frame in the left-right direction of the vehicle relative to the up-down direction of the vehicle; and a device for detecting information related to a steering angle, wherein the steering angle is a tilt angle of the vehicle body frame in the left-right direction of the vehicle relative to the up-down direction of the vehicle. The steering angle is the rotation angle of any of the above-mentioned front wheels around the above-mentioned steering axis; the wheel speed related information detection device detects information related to the wheel speed, and the wheel speed is the rotation speed of any of the above-mentioned wheels around the above-mentioned axle; the torque imparting device includes at least one of a driving torque imparting device and a steering torque imparting device, and the above-mentioned driving torque imparting device is configured as follows The at least one front wheel and at least one rear wheel are provided with positive and negative driving torques around the axle, the steering torque providing device is configured to provide the at least one front wheel with a steering torque around the steering axis; and the control device is configured to control at least one of the driving torque and the steering torque provided by the torque providing device. When the vehicle body frame is turned at an extremely low speed range lower than the high speed range, the vehicle body frame is tilted in a direction opposite to the turning direction in the left-right direction of the vehicle. The control device performs the first extremely low speed control when the tilted vehicle is rotating at the vehicle speed in the extremely low speed range and the tilt angle in the direction opposite to the rotating direction in the left and right directions of the vehicle is less than the first value which is a positive value. The first extremely low speed control 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, so that the tilted vehicle rotates at the vehicle speed in the extremely low speed range and the tilt angle in the direction opposite to the rotating direction in the left and right directions of the vehicle increases.

根據該構成，傾斜車輛之車體框架係至少在以高速區域之車速迴旋時，朝車輛左右方向中與迴旋方向相同之方向傾斜，當以較高速區域低之極低速區域之車速迴旋時，朝車輛左右方向中與迴旋方向相反之方向傾斜。當以極低速區域之車速迴旋時，能夠抑制傾斜車輛之姿勢變化之傾斜角之值例如根據傾斜車輛之尺寸、控向角及車速等而不同。傾斜車輛之控制裝置係於傾斜車輛正以極低速區域之車速迴旋時，與迴旋方向相反之方向上之傾斜角小於第1值時，執行第1極低速控制，該第1極低速控制係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，來對驅動轉矩及控向轉矩之至少一者進行控制，使得與迴旋方向相反之方向上之傾斜角增加。因此，於第1值等於或者小於能夠抑制傾斜車輛之姿勢變化之傾斜角之值時，可藉由執行第1極低速控制而使傾斜車輛順利地迴旋。因此，當以極低速迴旋時能夠使傾斜車輛更順利地迴旋。According to this configuration, the body frame of the tilted vehicle tilts in the same direction as the turning direction in the left-right direction of the vehicle at least when turning at a speed in the high speed range, and tilts in the opposite direction to the turning direction in the left-right direction of the vehicle when turning at a speed in the extremely low speed range lower than the high speed range. The value of the tilt angle that can suppress the change in the posture of the tilted vehicle when turning at the extremely low speed range varies depending on, for example, the size of the tilted vehicle, the steering angle, and the speed of the vehicle. The control device of the tilted vehicle performs a first extremely low-speed control when the tilted vehicle is rotating at an extremely low-speed range and the tilt angle in the direction opposite to the rotating direction is less than a first value. The first extremely low-speed control controls at least one of the driving torque and the steering torque based on information detected by at least 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 tilt angle in the direction opposite to the rotating direction increases. Therefore, when the first value is equal to or less than the value of the lean angle that can suppress the change in the posture of the leaning vehicle, the leaning vehicle can be smoothly turned by executing the first extremely low speed control. Therefore, the leaning vehicle can be turned more smoothly when turning at an extremely low speed.

本發明之一實施方式之傾斜車輛亦可具有以下之構成。 上述控制裝置係於上述第1極低速控制中，在上述傾斜車輛正以上述極低速區域之上述車速迴旋時之第1時間點，上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角小於上述第1值時，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，來對上述驅動轉矩及上述控向轉矩之至少一者進行控制，一面使上述傾斜車輛以上述極低速區域之上述車速迴旋，一面使上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角增加，上述第1值根據上述第1時間點之至少上述控向角及上述車速而不同。 The tilting vehicle of one embodiment of the present invention may also have the following structure. The control device 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 first extremely low speed control, so that the tilt vehicle is rotated at the vehicle speed in the extremely low speed range and the tilt angle in the direction opposite to the rotation direction in the horizontal direction of the vehicle is increased, when the tilt angle in the direction opposite to the rotation direction in the horizontal direction of the vehicle is less than the first value at the first time point.

根據該構成，與第1值無關於控向角及車速而保持固定之情形相比，能夠使傾斜車輛更順利地以極低速迴旋。According to this configuration, compared with a case where the first value is kept constant regardless of the steering angle and the vehicle speed, the leaning vehicle can be turned more smoothly at an extremely low speed.

本發明之一實施方式之傾斜車輛亦可具有以下之構成。 上述控制裝置係於上述傾斜車輛正以上述極低速區域之上述車速迴旋時，上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角大於作為正值之第2值時，執行第2極低速控制，該第2極低速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，來對上述驅動轉矩及上述控向轉矩之至少一者進行控制，一面使上述傾斜車輛以上述極低速區域之上述車速迴旋，一面使上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角減小。 The tilting vehicle of one embodiment of the present invention may also have the following structure. The control device performs the second extremely low speed control when the tilted vehicle is rotating at the vehicle speed in the extremely low speed range and the tilt angle in the direction opposite to the rotating direction in the left and right directions of the vehicle is greater than a second value which is a positive value. The second extremely low speed control 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, so as to reduce the tilt angle in the direction opposite to the rotating direction in the left and right directions of the vehicle while rotating the tilted vehicle at the vehicle speed in the extremely low speed range.

根據該構成，控制裝置係於傾斜車輛正以極低速區域之車速迴旋時，與迴旋方向相反之方向上之傾斜角大於第2值時，執行第2極低速控制，該第2極低速控制係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，來對驅動轉矩及控向轉矩之至少一者進行控制，使得與迴旋方向相反之方向上之傾斜角減小。因此，於第2值等於或者大於能夠抑制傾斜車輛之姿勢變化之傾斜角之值時，可藉由執行第2極低速控制而使傾斜車輛順利地迴旋。因此，當以極低速迴旋時能夠使傾斜車輛更順利地迴旋。According to this configuration, when the tilted vehicle is turning at a speed in an extremely low speed range and the tilt angle in the direction opposite to the turning direction is greater than a second value, the control device performs a second extremely low speed control. The second extremely low speed control controls at least one of the driving torque and the steering torque based on at least 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 tilt angle in the direction opposite to the turning direction is reduced. Therefore, when the second value is equal to or greater than the value of the lean angle that can suppress the change in the posture of the leaning vehicle, the leaning vehicle can be smoothly turned by executing the second extremely low speed control. Therefore, the leaning vehicle can be turned more smoothly when turning at an extremely low speed.

本發明之一實施方式之傾斜車輛亦可具有以下之構成。 上述控制裝置係於上述第2極低速控制中，在上述傾斜車輛正以上述極低速區域之上述車速迴旋時之第2時間點，上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角大於上述第2值時，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，來對上述驅動轉矩及上述控向轉矩之至少一者進行控制，一面使上述傾斜車輛以上述極低速區域之上述車速迴旋，一面使上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角減小，上述第2值根據上述第2時間點之至少上述控向角及上述車速而不同。 The tilting vehicle of one embodiment of the present invention may also have the following structure. The control device 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 second extremely low speed control, so that the tilt vehicle is rotated at the vehicle speed in the extremely low speed range and the tilt angle in the direction opposite to the rotation direction in the horizontal direction of the vehicle is reduced, when the tilt angle in the direction opposite to the rotation direction in the horizontal direction of the vehicle is greater than the second value, and the tilt angle is different according to at least the steering angle and the vehicle speed at the second time point.

根據該構成，與第2值無關於控向角及車速而保持固定之情形相比，能夠使傾斜車輛更順利地以極低速迴旋。According to this configuration, compared with a case where the second value is kept constant regardless of the steering angle and the vehicle speed, the leaning vehicle can be turned more smoothly at an extremely low speed.

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。上述控制裝置係於上述第1極低速控制中，於上述傾斜車輛正以上述極低速區域之上述車速迴旋時，上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角小於作為正值之上述第1值時，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，一面使上述傾斜車輛以上述極低速區域之上述車速迴旋，一面使上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角增加。 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 controls at least the driving torque and the steering torque 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 when the tilt vehicle is rotating at the vehicle speed in the extremely low speed range in the first extremely low speed control, and the tilt angle in the direction opposite to the rotating direction in the left and right directions of the vehicle is less than the first value which is a positive value, so that the tilt vehicle is rotated at the vehicle speed in the extremely low speed range and the tilt angle in the direction opposite to the rotating direction in the left and right directions of the vehicle is increased.

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，控制裝置係於第1極低速控制中，對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使傾斜車輛更順利地以極低速迴旋。According to this configuration, the torque imparting device includes at least one of the driving torque imparting device and the steering torque imparting device, and the control device controls at least one of the driving torque and the steering torque in the first extremely low speed control. For example, a motorcycle, a tricycle, an electric bicycle, etc. have 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 make the tilting vehicle turn more smoothly at an extremely low speed.

本發明之一實施方式之傾斜車輛亦可具有以下之構成。 上述控制裝置係於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，執行上述第1極低速控制。 The tilting vehicle of one embodiment of the present invention may also have the following structure. The control device performs the first extremely low speed control in at least one of the following states: the tilting vehicle is driven autonomously without the driver's control, and the tilting vehicle is driven by the driver.

根據該構成，於傾斜車輛不由駕駛者駕駛而以極低速區域之車速自主行駛時、及傾斜車輛由駕駛者駕駛而以極低速區域之車速行駛時之至少一種情形時，可藉由第1極低速控制而使傾斜車輛順利地迴旋。又，於傾斜車輛不由駕駛者駕駛而自主行駛之情形時，不會因駕駛者之駕駛而導致傾斜角、控向角及車速之關係改變，因此，能夠使傾斜車輛更順利地以極低速迴旋。According to this configuration, in at least one of the following situations: when the leaning vehicle is driven autonomously at an extremely low speed range without the driver's control, and when the leaning vehicle is driven by the driver at an extremely low speed range, the leaning vehicle can be smoothly turned by the first extremely low speed control. In addition, in the case where the leaning vehicle is driven autonomously without the driver's control, the relationship between the lean angle, the steering angle, and the vehicle speed does not change due to the driver's control, so the leaning vehicle can be turned more smoothly at an extremely low speed.

本發明之傾斜車輛之控制裝置構成為執行第1極低速控制。本發明之傾斜車輛之控制裝置亦可構成為執行第2極低速控制。為了以下之說明，而將第1極低速控制與第2極低速控制中由控制裝置執行之至少1種控制統稱為極低速控制。The tilting vehicle control device of the present invention is configured to perform the first extremely low speed control. The tilting vehicle control device of the present invention can also be configured to perform the second extremely low speed control. For the following description, at least one of the first extremely low speed control and the second extremely low speed control performed by the control device is collectively referred to as the extremely low speed control.

本發明及實施方式中之車輛上下方向係與行駛面垂直之方向。更詳細而言，係與車輪之接地位置垂直之方向。行駛面係供傾斜車輛行駛之路面。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 methods is a direction perpendicular to the running surface. More specifically, it is a direction perpendicular to the ground contact position of the wheels. The running surface is the road surface for the tilted vehicle to run on. The front-rear direction of the vehicle in the present invention and its implementation methods is a direction fixed to the vehicle body 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 methods 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行駛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行駛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行駛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 tilting 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 formed by 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 tilting 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 driving 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 driving 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 running surface. The tilted vehicle in the present invention and the embodiments may also have a negative trail length. The tilted vehicle in the present invention and the embodiments may also be configured such that the trail length cannot be changed. The tilted vehicle in the present invention and the embodiments may also be configured such that the trail length can be changed. The trail length may also be changed within the range of positive values. The trail 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極低速控制時，可有駕駛者乘坐，亦可無駕駛者乘坐。本發明及實施方式中之傾斜車輛係於控制裝置執行極低速控制時，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極低速控制時，極低速控制支援駕駛者之駕駛。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極低速控制之模式與進行極低速控制之模式。The tilting vehicle in the present invention and the implementation method can be driven by a driver or not when the control device performs the extremely low speed control. The tilting vehicle in the present invention and the implementation method can be driven autonomously without the driver when the control device performs the extremely low speed control, or can be driven by the driver. When the tilting vehicle performs the extremely low speed control in the state where the driver is driving, the extremely low speed control supports the driving of the driver. The tilting 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 (such as 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 able to switch between a mode in which the extremely low speed control is not performed and a mode in which the extremely low speed 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行駛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 running 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 so that it can rotate around the vehicle axis and is supported on the vehicle body frame so that it can 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(車輛前後方向之速度)、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 implementation methods, 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 (vehicle front-to-rear speed), and the acceleration of the vehicle front-to-rear direction. 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 speeds of the remaining wheels around the axis. The rotation speed around the axle is the rotation speed or rotation angle per unit time. The wheel speed related information detection device may also be a sensor installed on the wheel. The wheel speed related information detection device may 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 may also calculate the vehicle speed based on the rotation speed of the front wheel around the axle and the steering angle. The control device may also calculate the vehicle speed based on the rotation speed of the rear wheel around the axle.

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。於執行極低速控制之期間，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 execution of the extremely low speed 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，控制裝置構成為控制驅動轉矩及控向轉矩兩者。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，控制裝置可於第1極低速控制中選擇至少基於由3個檢測裝置(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)檢測到之資訊而同時控制驅動轉矩及控向轉矩兩者的狀態、至少基於由3個檢測裝置檢測到之資訊而僅控制驅動轉矩之狀態、及至少基於由3個檢測裝置檢測到之資訊而僅控制控向轉矩之狀態。於本發明之控制裝置構成為執行第2極低速控制，且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時，控制裝置可於第2極低速控制中選擇至少基於由3個檢測裝置檢測到之資訊而同時控制驅動轉矩及控向轉矩兩者之狀態、至少基於由3個檢測裝置檢測到之資訊而僅控制驅動轉矩之狀態、及至少基於由3個檢測裝置檢測到之資訊而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第1極低速控制中基於由3個檢測裝置檢測到之資訊來控制之轉矩之類型。這於第2極低速控制之情形時亦同樣。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。於自第1極低速控制開始至結束之期間，基於由3個檢測裝置檢測到之資訊而控制驅動轉矩及控向轉矩兩者時，賦予基於由3個檢測裝置檢測到之資訊控制後之驅動轉矩的時序與賦予基於由3個檢測裝置檢測到之資訊控制後之控向轉矩的時序可相同，亦可不同。這於第2極低速控制之情形時亦同樣。於第1極低速控制中至少基於由3個檢測裝置檢測到之資訊來控制之轉矩僅為控向轉矩時，控制裝置亦可於執行第1極低速控制之期間，不基於由3個檢測裝置檢測到之資訊而控制驅動轉矩。更具體而言，例如，控制裝置亦可根據駕駛者對加速器操作器或刹車操作器之操作而控制驅動轉矩。這於第2極低速控制之情形時亦同樣。In the present invention, when the torque imparting device includes both a driving torque imparting device and a steering torque imparting device, the control device is configured to control both the driving torque and the steering torque. When the torque imparting device includes both a driving torque imparting device and a steering torque imparting device, the control device can choose in the first extreme low-speed control to simultaneously control the states of the driving torque and the steering torque based on at least information detected by three detection devices (a tilt angle related information detection device, a steering angle related information detection device, and a wheel speed related information detection device), to only control the state of the driving torque based on at least information detected by three detection devices, and to only control the state of the steering torque based on at least information detected by three detection devices. When the control device of the present invention is configured to perform the second extremely low speed control, and the torque imparting device includes both the driving torque imparting device and the steering torque imparting device, the control device can select in the second extremely low speed control the state of simultaneously controlling both the driving torque and the steering torque based on at least the information detected by the three detection devices, the state of only controlling the driving torque based on at least the information detected by the three detection devices, and the state of only controlling the steering torque based on at least the information detected by the three detection devices. The control device can also determine the type of torque to be controlled based on the information detected by the three detection devices in the first extremely low speed control based on the information input to the control device. This is also the case in the second extreme low speed control. The information input to the control device may be information input to the control device by the user's operation, may be information indicating the behavior of tilting the vehicle, or may include both. The user's operation 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 both the driving torque and the steering torque are controlled based on the information detected by the three detection devices during the period from the start to the end of the first extremely low speed control, the timing of giving the driving torque after the control based on the information detected by the three detection devices and the timing of giving the steering torque after the control based on the information detected by the three detection devices may be the same or different. This is also the case in the second extremely low speed control. When the torque controlled based on at least the information detected by the three detection devices in the first extremely low speed control is only the steering torque, the control device may control the driving torque not based on the information detected by the three detection devices during the execution of the first extremely low speed control. More specifically, for example, the control device can also control the driving torque according to the driver's operation of the accelerator operator or the brake operator. This is also the case in the second extreme low speed control.

於本發明及實施方式中，於迴旋時車體框架朝車輛左右方向中與迴旋方向相同之方向傾斜，係指當朝車輛右方向迴旋時車體框架朝車輛右方向傾斜，當朝車輛左方向迴旋時車體框架朝車輛左方向傾斜。於迴旋時車體框架朝車輛左右方向中與迴旋方向相反之方向傾斜，係指當朝車輛右方向迴旋時車體框架朝車輛左方向傾斜，當朝車輛左方向迴旋時車體框架朝車輛右方向傾斜。於本說明書中，迴旋方向係指車輛右方向或車輛左方向。於本發明及實施方式中，傾斜車輛迴旋係指傾斜車輛一面朝車輛前方向行進一面迴旋。無論車速如何，當傾斜車輛迴旋時，車輛左右方向中與迴旋方向相同之方向上之控向角均大於零。In the present invention and the embodiments, when the vehicle body frame is turned, the vehicle body frame is tilted in the same direction as the turning direction in the left-right direction of the vehicle, which means that when the vehicle body frame is turned in the right direction of the vehicle, the vehicle body frame is tilted in the right direction of the vehicle, and when the vehicle body frame is turned in the left direction of the vehicle, the vehicle body frame is tilted in the left direction of the vehicle. When the vehicle body frame is turned, the vehicle body frame is tilted in the opposite direction to the turning direction in the left-right direction of the vehicle, which means that when the vehicle body frame is turned in the right direction of the vehicle, the vehicle body frame is tilted in the left direction of the vehicle, and when the vehicle body frame is turned in the left direction of the vehicle, the vehicle body frame is tilted in the right direction of the vehicle. In this specification, the turning direction refers to the right direction of the vehicle or the left direction of the vehicle. In the present invention and embodiments, a tilted vehicle turns refers to a tilted vehicle turning while moving in the forward direction of the vehicle. Regardless of the vehicle speed, when the tilted vehicle turns, the steering angle in the left and right directions of the vehicle that are the same as the turning direction is greater than zero.

於本發明及實施方式中，車輛左右方向中與迴旋方向相反之方向上之傾斜角小於作為正值之第1值的情況，係指車輛左右方向中與迴旋方向相反之方向上之傾斜角為小於第1值之正值、零或負值。In the present invention and implementation methods, the situation where the tilt angle in the direction opposite to the turning direction in the left-right direction of the vehicle is less than the first value which is a positive value means that the tilt angle in the direction opposite to the turning direction in the left-right direction of the vehicle is a positive value less than the first value, zero, or a negative value.

於本發明及實施方式中，極低速區域包含於當傾斜車輛以平衡狀態迴旋時車體框架朝車輛左右方向中與迴旋方向相反之方向傾斜的車速區域中。高速區域包含於當傾斜車輛以平衡狀態迴旋時車體框架朝車輛左右方向中與迴旋方向相同之方向傾斜的車速區域中。極低速區域可不與高速區域連續。於本說明書中，傾斜車輛之平衡狀態係指傾斜角、控向角及車速之值之組合為如維持控向角與車速行駛時傾斜角不變而維持之組合的狀態。此處，將傾斜車輛以平衡狀態迴旋時車體框架朝車輛左右方向中與迴旋方向相反之方向傾斜的車速區域定義為平衡極低速區域。圖3係以將傾斜角、控向角及車速設為3個軸之三維曲面表示某傾斜車輛之平衡狀態下之傾斜角、控向角及車速之值之組合。圖3中之區域EAV表示平衡極低速區域。傾斜車輛之平衡狀態下之傾斜角、控向角及車速之值之組合係根據傾斜車輛之重量、傾斜車輛之重心位置、軸距、後傾角、及輪胎之胎冠半徑等傾斜車輛之尺寸、以及有無搭載在傾斜車輛上之人及物體、其重量及其重心位置等而不同。於本發明及實施方式中，極低速區域係無論傾斜角及控向角如何，當傾斜車輛迴旋時車體框架均朝車輛左右方向中與迴旋方向相反之方向傾斜的車速區域。極低速區域之上限值略低於平衡極低速區域之上限值。極低速區域之上限值及平衡極低速區域之上限值係根據傾斜車輛之重量、傾斜車輛之重心位置、軸距、後傾角、及輪胎之胎冠半徑等傾斜車輛之尺寸、以及有無搭載在傾斜車輛上之人及物體、其重量及其重心位置等而不同。極低速區域之上限值及平衡極低速區域之上限值例如為3～5 km/h左右。極低速區域之上限值及平衡極低速區域之下限值為零。再者，平衡極低速區域之下限值係於傾斜車輛能夠朝車輛後方向行駛時為負值，於傾斜車輛無法朝車輛後方向行駛時為零。於本發明及實施方式中，第1極低速控制可於極低速區域之整個區域中執行，亦可僅於極低速區域之一部分區域中執行。In the present invention and implementation methods, the extremely low speed area is included in the vehicle speed area where the body frame is tilted in the direction opposite to the turning direction in the left-right direction of the vehicle when the leaning vehicle rotates in a balanced state. The high speed area is included in the vehicle speed area where the body frame is tilted in the direction same as the turning direction in the left-right direction of the vehicle when the leaning vehicle rotates in a balanced state. The extremely low speed area may not be continuous with the high speed area. In this specification, the balanced state of the leaning vehicle refers to the state in which the combination of the values of the lean angle, the steering angle and the vehicle speed is a combination that is maintained when the lean angle is maintained unchanged while the steering angle and the vehicle speed are driven. Here, the vehicle speed region where the vehicle frame tilts in the direction opposite to the turning direction in the left and right directions of the vehicle when the tilted vehicle rotates in a balanced state is defined as the extremely low-speed region of balance. FIG3 shows the combination of the values of the tilt angle, the steering angle, and the vehicle speed in the balanced state of a tilted vehicle using a three-dimensional surface with the tilt angle, the steering angle, and the vehicle speed as three axes. The region EAV in FIG3 represents the extremely low-speed region of balance. The combination of the lean angle, steering angle and vehicle speed in the balanced state of the leaning vehicle is different according to the weight of the leaning vehicle, the center of gravity of the leaning vehicle, the wheelbase, the rear caster angle, the crown radius of the tires and other dimensions of the leaning vehicle, as well as the presence or absence of people and objects on the leaning vehicle, their weight and the center of gravity. In the present invention and the implementation method, the extremely low speed area is a vehicle speed area in which the body frame tilts in the direction opposite to the turning direction in the left and right directions of the vehicle when the leaning vehicle turns, regardless of the lean angle and the steering angle. The upper limit value of the extremely low speed area is slightly lower than the upper limit value of the balanced extremely low speed area. The upper limit value of the extremely low speed zone and the upper limit value of the balanced extremely low speed zone vary according to the weight of the leaning vehicle, the position of the center of gravity of the leaning vehicle, the wheelbase, the rear caster angle, the crown radius of the tires, and the presence or absence of people and objects on the leaning vehicle, their weight and the position of their center of gravity. The upper limit value of the extremely low speed zone and the upper limit value of the balanced extremely low speed zone are, for example, about 3 to 5 km/h. The upper limit value of the extremely low speed zone and the lower limit value of the balanced extremely low speed zone are zero. Furthermore, the lower limit value of the balanced extremely low speed zone is a negative value when the leaning vehicle can move toward the rear of the vehicle, and is zero when the leaning vehicle cannot move toward the rear of the vehicle. In the present invention and implementation, the first extremely low speed control may be performed in the entire extremely low speed area, or may be performed only in a portion of the extremely low speed area.

當傾斜車輛以平衡狀態迴旋時，作用於傾斜車輛之離心力與整個傾斜車輛之重力保持平衡。再者，此處之整個傾斜車輛之重力係指人及物體之至少一者搭載於傾斜車輛時將傾斜車輛與人及物體之至少一者相加所得者之重力。於高速區域之車速下傾斜車輛以平衡狀態迴旋時，由於離心力較大，故車體框架於車輛左右方向中與迴旋方向相同之方向上之傾斜角為正值。另一方面，於極低速區域之車速下傾斜車輛以平衡狀態迴旋時，由於離心力較小，故於車輛左右方向中與迴旋方向相反之方向上之傾斜角為正值。 於傾斜車輛例如具有正值之後傾角與正值之曳距長度之情形時，使車輛右方向上之控向角從在極低速區域之車速下傾斜車輛以平衡狀態右迴旋之狀態增加時，車輛左方向上之傾斜角增加，控向角維持增加後之角度。此時，藉由控向角之增加，而相對於車體框架繞控向軸線相對旋轉之部分之重心朝車輛右方向移動。但是，與此同時，藉由控向角之增加而前輪之接地點移動時，車體框架受到來自前輪之反作用力而車體框架之重心朝車輛左方向移動。藉此，整個傾斜車輛之重心朝車輛左方向移動。因此，車輛左方向上之傾斜角增加。反之，使車輛右方向上之控向角從在極低速區域之車速下傾斜車輛以平衡狀態右迴旋之狀態減小時，車輛左方向上之傾斜角減小，控向角維持減小後之角度。又，於極低速區域之範圍內使車速從在極低速區域之車速下傾斜車輛以平衡狀態右迴旋之狀態增加時，因離心力增加而車輛左方向上之傾斜角增加。於該情形時，有車輛右方向上之控向角略微減小之情況。反之，於極低速區域之範圍內使車速從在極低速區域之車速下傾斜車輛以平衡狀態右迴旋之狀態減小時，有因離心力減小而車輛左方向上之傾斜角減小之情況。於該情形時，有車輛右方向上之控向角略微增加之情況。 When the tilted vehicle rotates in a balanced state, the centrifugal force acting on the tilted vehicle is balanced with the gravity of the entire tilted vehicle. Furthermore, the gravity of the entire tilted vehicle here refers to the gravity obtained by adding the tilted vehicle and at least one of the people and objects when at least one of the people and objects is carried on the tilted vehicle. When the tilted vehicle rotates in a balanced state at a high speed, the centrifugal force is large, so the tilt angle of the vehicle frame in the left and right directions of the vehicle in the same direction as the rotation direction is positive. On the other hand, when the tilted vehicle turns in a balanced state at a speed in the extremely low speed range, the centrifugal force is small, so the tilt angle in the direction opposite to the turning direction in the left and right directions of the vehicle is positive. In the case where the tilted vehicle has a positive back-tilt angle and a positive trail length, for example, when the steering angle in the right direction of the vehicle is increased from the state in which the tilted vehicle turns right in a balanced state at a speed in the extremely low speed range, the tilt angle in the left direction of the vehicle increases, and the steering angle maintains the increased angle. At this time, due to the increase in the steering angle, the center of gravity of the portion rotating relative to the vehicle frame around the steering axis moves toward the right direction of the vehicle. However, at the same time, when the contact point of the front wheel moves due to the increase in the steering angle, the body frame receives the reaction force from the front wheel and the center of gravity of the body frame moves toward the left direction of the vehicle. As a result, the center of gravity of the entire tilted vehicle moves toward the left direction of the vehicle. Therefore, the tilt angle of the vehicle in the left direction increases. Conversely, when the steering angle in the right direction of the vehicle is reduced from the state of the tilted vehicle turning right in a balanced state at a speed in the extremely low speed range, the tilt angle in the left direction of the vehicle decreases, and the steering angle maintains the reduced angle. Furthermore, when the vehicle speed is increased from the state in which the vehicle is tilted and turned right in a balanced state at the extremely low speed range, the vehicle's tilt angle in the left direction increases due to the increase in centrifugal force. In this case, the vehicle's steering angle in the right direction decreases slightly. Conversely, when the vehicle speed is reduced from the state in which the vehicle is tilted and turned right in a balanced state at the extremely low speed range, the vehicle's tilt angle in the left direction decreases due to the decrease in centrifugal force. In this case, the vehicle's steering angle in the right direction increases slightly.

於本發明及實施方式中，控制裝置於第1極低速控制中至少基於由3個檢測裝置檢測到之資訊而至少控制驅動轉矩時，亦可以車速增加之方式控制驅動轉矩。於本發明及實施方式中，控制裝置於第1極低速控制中至少基於由3個檢測裝置檢測到之資訊而至少控制控向轉矩時，亦可以車輛左右方向中與迴旋方向相同之方向上之控向角增加之方式控制控向轉矩。於本發明及實施方式中，控制裝置於第2極低速控制中至少基於由3個檢測裝置檢測到之資訊而至少控制驅動轉矩時，亦可以車速減小之方式控制驅動轉矩。於本發明及實施方式中，控制裝置於第2極低速控制中至少基於由3個檢測裝置檢測到之資訊而至少控制控向轉矩時，亦可以車輛左右方向中與迴旋方向相同之方向上之控向角減小之方式控制控向轉矩。In the present invention and its implementation, when the control device controls at least the driving torque in the first extremely low speed control based at least on the information detected by the three detection devices, the driving torque may be controlled in such a way that the vehicle speed increases. In the present invention and its implementation, when the control device controls at least the steering torque in the first extremely low speed control based at least on the information detected by the three detection devices, the steering torque may be controlled in such a way that the steering angle in the direction that is the same as the turning direction in the left-right direction of the vehicle increases. In the present invention and its implementation, when the control device controls at least the driving torque in the second extremely low speed control based at least on the information detected by the three detection devices, the driving torque may be controlled in such a way that the vehicle speed decreases. In the present invention and its implementation method, when the control device controls at least the steering torque in the second extremely low speed control based on information detected by at least three detection devices, the steering torque can also be controlled in a manner that reduces the steering angle in the direction that is the same as the turning direction in the left and right directions of the vehicle.

本發明及實施方式中之第1極低速控制於傾斜車輛由駕駛者駕駛而行駛之狀態下執行時，在與迴旋方向相反之方向上之傾斜角小於第1值之狀態到與迴旋方向相反之方向上之傾斜角增加為止的期間，駕駛者可不進行改變車速之操作器之操作、改變控向角之把手單元之操作、及改變傾斜角之駕駛者之姿勢之變更中之任一個，亦可進行該等中之至少1個。本發明及實施方式中之第2極低速控制於傾斜車輛由駕駛者駕駛而行駛之狀態下執行時，在與迴旋方向相反之方向上之傾斜角大於第2值之狀態到與迴旋方向相反之方向上之傾斜角減小為止的期間，駕駛者可不進行改變車速之操作器之操作、改變控向角之把手單元之操作、及改變傾斜角之駕駛者之姿勢之變更中之任一個，亦可進行該等中之至少1個。When the first extremely low speed control in the present invention and its implementation method is executed in a state where the driver is driving a tilted vehicle, during the period from the state where the tilt angle in the direction opposite to the turning direction is less than the first value to the state where the tilt angle in the direction opposite to the turning direction increases, the driver may not operate any of the operating device for changing the vehicle speed, the handle unit for changing the steering angle, and the driver's posture for changing the tilt angle, or may perform at least one of the above. When the second extreme low speed control in the present invention and implementation method is executed in a state where the driver is driving a tilted vehicle, during the period from the state where the tilt angle in the direction opposite to the turning direction is greater than the second value to the state where the tilt angle in the direction opposite to the turning direction decreases, the driver may not operate any of the operating device for changing the vehicle speed, the handle unit for changing the steering angle, and the driver's posture for changing the tilt angle, or may perform at least one of the above.

於本發明及實施方式中，「第1值根據第1時間點之至少控向角及車速而不同」係指於控向角及車速之至少一者不同之複數個行駛場景中實施之第1極低速控制中，「第1值根據第1時間點之至少控向角及車速而不同」。亦可為第1時間點之車輛左右方向中與迴旋方向相同之方向上之控向角越大，則第1值越大。亦可為第1時間點之車速越小，則第1值越大。第1值亦可小於與第1時間點之控向角及車速對應之傾斜車輛之平衡狀態之傾斜角。第1值亦可除了根據第1時間點之控向角及車速而不同以外，亦根據第1時間點之車輛前後方向之加速度及控向角速度之至少一者而不同。於該情形時，第1值不限於較與第1時間點之控向角及車速對應之傾斜車輛之平衡狀態之傾斜角小，亦可能為與第1時間點之控向角及車速對應之傾斜車輛之平衡狀態之傾斜角以上。又，第1時間點可為車輛左右方向中與迴旋方向相反之方向上之傾斜角減小並成為小於第1值之值的時間點。第1時間點亦可為藉由傾斜角、控向角及車速中之至少控向角或車速改變而車輛左右方向中與迴旋方向相反之方向上之傾斜角成為小於第1值之值的時間點，上述第1值根據第1時間點之至少控向角及車速而不同。In the present invention and implementation, "the first value is different according to at least the steering angle and the vehicle speed at the first time point" means that in the first extremely low-speed control implemented in a plurality of driving scenarios in which at least one of the steering angle and the vehicle speed is different, "the first value is different according to at least the steering angle and the vehicle speed at the first time point". Alternatively, the larger the steering angle in the direction that is the same as the turning direction in the left and right directions of the vehicle at the first time point, the larger the first value. Alternatively, the smaller the vehicle speed at the first time point, the larger the first value. The first value may also be smaller than the tilt angle of the balanced state of the tilted vehicle corresponding to the steering angle and the vehicle speed at the first time point. The first value may also be different according to at least one of the acceleration and the steering angular velocity in the front-rear direction of the vehicle at the first time point, in addition to being different according to the steering angle and the vehicle speed at the first time point. In this case, the first value is not limited to being smaller than the tilt angle of the balanced state of the tilted vehicle corresponding to the steering angle and the vehicle speed at the first time point, and may be greater than the tilt angle of the balanced state of the tilted vehicle corresponding to the steering angle and the vehicle speed at the first time point. In addition, the first time point may be a time point when the tilt angle in the direction opposite to the turning direction of the vehicle in the left-right direction decreases and becomes a value smaller than the first value. The first time point may also be a time point when the tilt angle in the direction opposite to the turning direction of the vehicle in the left-right direction becomes less than the first value due to a change in at least the tilt angle or the vehicle speed among the tilt angle, the steering angle and the vehicle speed, and the above-mentioned first value varies according to the at least steering angle and the vehicle speed at the first time point.

於本發明及實施方式中，「第2值根據第2時間點之至少控向角及車速而不同」係指於控向角及車速之至少一者不同之複數個行駛場景中實施之第2極低速控制中，「第2值根據第2時間點之至少控向角及車速而不同」。亦可為第2時間點之車輛左右方向中與迴旋方向相同之方向上之控向角越大，則第2值越大。亦可為第2時間點之車速越小，則第2值越大。第2值亦可較與第2時間點之控向角及車速對應之傾斜車輛之平衡狀態之傾斜角大。第2值亦可除了根據第2時間點之控向角及車速而不同以外，亦根據第2時間點之車輛前後方向之加速度及控向角速度之至少一者而不同。於該情形時，第2值不限於較與第2時間點之控向角及車速對應之傾斜車輛之平衡狀態之傾斜角大，亦可能為與第2時間點之控向角及車速對應之傾斜車輛之平衡狀態之傾斜角以下。又，第2時間點可為車輛左右方向中與迴旋方向相反之方向上之傾斜角增加並成為大於第2值之值的時間點。第2時間點亦可為藉由傾斜角、控向角及車速中之至少控向角或車速改變而車輛左右方向中與迴旋方向相反之方向上之傾斜角成為大於第2值之值的時間點，上述第2值根據第2時間點之至少控向角及車速而不同。In the present invention and implementation, "the second value is different according to at least the steering angle and the vehicle speed at the second time point" means that in the second extremely low-speed control implemented in a plurality of driving scenarios in which at least one of the steering angle and the vehicle speed is different, "the second value is different according to at least the steering angle and the vehicle speed at the second time point". Alternatively, the greater the steering angle in the direction of the left and right directions of the vehicle at the second time point that is the same as the turning direction, the greater the second value. Alternatively, the smaller the vehicle speed at the second time point, the greater the second value. The second value may also be greater than the tilt angle of the balanced state of the tilted vehicle corresponding to the steering angle and the vehicle speed at the second time point. The second value may also be different according to at least one of the acceleration and the steering angular velocity in the front-rear direction of the vehicle at the second time point, in addition to being different according to the steering angle and the vehicle speed at the second time point. In this case, the second value is not limited to being larger than the tilt angle of the balanced state of the tilted vehicle corresponding to the steering angle and the vehicle speed at the second time point, and may be smaller than the tilt angle of the balanced state of the tilted vehicle corresponding to the steering angle and the vehicle speed at the second time point. Furthermore, the second time point may be a time point when the tilt angle in the direction opposite to the turning direction in the left-right direction of the vehicle increases and becomes a value greater than the second value. The second time point may also be a time point when the tilt angle in the direction opposite to the turning direction of the vehicle in the left-right direction becomes greater than a second value due to a change in at least the tilt angle or the vehicle speed among the tilt angle, the steering angle and the vehicle speed, and the above second value differs according to at least the steering angle and the vehicle speed at the second time point.

是否執行了第1極低速控制例如可利用以下方法來判別。 首先，進行使傾斜車輛以固定車速於圓上迴旋之第1試驗。改變車速與圓之大小之組合，進行複數次第1試驗。藉由該第1試驗，特定出使傾斜車輛以固定車速於圓上迴旋時車輛左右方向中與迴旋方向相反之方向上之傾斜角成為正值之值的車速區域M。 其次，進行第2試驗，該第2試驗係自傾斜車以車速區域M內之固定車速與固定控向角迴旋之狀態使與迴旋方向相反之方向上之傾斜角減小。例如，亦可藉由對傾斜車輛賦予外力而使與迴旋方向相反之方向上之傾斜角減小。並且，在剛使與迴旋方向相反之方向上之傾斜角減小之後，便判斷是否已賦予驅動轉矩及控向轉矩之至少一者，一面使傾斜車輛以車速區域M之車速迴旋，一面使與迴旋方向相反之方向上之傾斜角增加。於未賦予驅動轉矩及控向轉矩之至少一者，使得與迴旋方向相反之方向上之傾斜角增加時，可判斷為未執行本發明之第1極低速控制。於已賦予驅動轉矩及控向轉矩之至少一者，使得與迴旋方向相反之方向上之傾斜角增加時，改變控向角、傾斜角及車速等試驗條件而進行複數次第2試驗。全部相同之試驗條件之第2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。並且，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個第2試驗中，使與迴旋方向相反之方向上之傾斜角減小時的與迴旋方向相反之方向上之傾斜角之最小值互不相同，且傾斜角成為該最小值之時間點之控向角、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，且為了使與迴旋方向相反之方向上之傾斜角增加而賦予之驅動轉矩及控向轉矩之至少一者互不相同。但是，於傾斜車輛為由駕駛者駕駛而行駛之傾斜車輛時，在自傾斜角成為上述最小值之時間點至與迴旋方向相反之方向上之傾斜角增加為止的期間，駕駛者不進行改變車速之操作器之操作、改變控向角之把手單元之操作、改變傾斜角之駕駛者之姿勢之變更中之任一個。 A2：於任意2個第2試驗中，使與迴旋方向相反之方向上之傾斜角減小時的與迴旋方向相反之方向上之傾斜角之最小值彼此相同，且傾斜角成為該最小值之時間點之傾斜角速度、傾斜角加速度、車速、及車輛前後方向之加速度彼此相同，且傾斜角成為該最小值之時間點之控向角互不相同，且為了使與迴旋方向相反之方向上之傾斜角增加而賦予之驅動轉矩及控向轉矩之至少一者互不相同。但是，於傾斜車輛為由駕駛者駕駛而行駛之傾斜車輛之情形時，可添加與判別條件A1相同之條件。 A3：於任意2個第2試驗中，使與迴旋方向相反之方向上之傾斜角減小時的與迴旋方向相反之方向上之傾斜角之最小值彼此相同，且傾斜角成為該最小值之時間點之傾斜角速度、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，且傾斜角成為該最小值之時間點之車速互不相同，且為了使與迴旋方向相反之方向上之傾斜角增加而賦予之驅動轉矩及控向轉矩之至少一者互不相同。但是，於傾斜車輛為由駕駛者駕駛而行駛之傾斜車輛之情形時，可添加與判別條件A1相同之條件。 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，可判別是否執行了第1極低速控制。 Whether the first extremely low speed control is performed can be determined, for example, by the following method. First, the first test is performed to make the tilted vehicle rotate on a circle at a fixed speed. The first test is performed multiple times by changing the combination of the vehicle speed and the size of the circle. Through the first test, a vehicle speed range M is identified in which the tilt angle in the direction opposite to the rotation direction in the left and right directions of the vehicle becomes a positive value when the tilted vehicle rotates on a circle at a fixed speed. Next, a second test is performed, which is to reduce the tilt angle in the direction opposite to the rotation direction from the state in which the tilted vehicle rotates at a fixed speed and a fixed steering angle in the vehicle speed range M. For example, the tilt angle in the direction opposite to the turning direction may be reduced by applying an external force to the tilted vehicle. And, immediately after the tilt angle in the direction opposite to the turning direction is reduced, it is determined whether at least one of a driving torque and a steering torque has been applied, so that the tilted vehicle is turned at a speed in the vehicle speed range M while the tilt angle in the direction opposite to the turning direction is increased. When at least one of a driving torque and a steering torque is not applied, so that the tilt angle in the direction opposite to the turning direction is increased, it can be determined that the first extremely low speed control of the present invention is not executed. When at least one of the driving torque and the steering torque is applied so that the tilt angle in the direction opposite to the turning direction increases, the steering angle, the tilt angle and the vehicle speed are changed to perform the second test multiple times. The second test with all the same test conditions is also performed multiple times. Furthermore, even if all the same test conditions are set, the behavior of the tilted vehicle may not be exactly the same. This also applies to the tilted vehicle of the present invention. The lower the vehicle speed, the higher the tendency of the tilted vehicle behavior to be different even if the same test conditions are set. In addition, investigate whether there are test results that meet the following judgment conditions A1 to A3. A1: In any two second tests, the minimum values of the bank angle in the direction opposite to the turning direction when the bank angle in the direction opposite to the turning direction is reduced are different from each other, and the steering angle, steering angular velocity, steering angular acceleration, vehicle speed, and acceleration in the front-rear direction of the vehicle at the time point when the bank angle becomes the minimum value are the same as each other, and at least one of the driving torque and the steering torque applied to increase the bank angle in the direction opposite to the turning direction is different from each other. However, when the leaning vehicle is a leaning vehicle driven by the driver, the driver does not operate any of the operating device for changing the vehicle speed, the handle unit for changing the steering angle, or the driver's posture for changing the lean angle during the period from the time when the lean angle becomes the minimum value mentioned above to the time when the lean angle increases in the direction opposite to the turning direction. A2: In any two second tests, the minimum values of the tilt angle in the direction opposite to the turning direction when the tilt angle in the direction opposite to the turning direction decreases are the same, and the tilt angle velocity, tilt angle acceleration, vehicle speed, and vehicle acceleration in the front and rear directions at the time point when the tilt angle reaches the minimum value are the same, and the steering angle at the time point when the tilt angle reaches the minimum value is different, and at least one of the driving torque and steering torque given to increase the tilt angle in the direction opposite to the turning direction is different. However, in the case where the tilting vehicle is driven by a driver, the same conditions as the judgment condition A1 may be added. A3: In any two second tests, the minimum value of the tilt angle in the direction opposite to the turning direction when the tilt angle in the direction opposite to the turning direction decreases is the same, and the tilt angle velocity, tilt angle acceleration, steering angle, steering angle velocity, and steering angle acceleration at the time point when the tilt angle becomes the minimum value are the same, and the vehicle speed at the time point when the tilt angle becomes the minimum value is different, and at least one of the driving torque and steering torque given to increase the tilt angle in the direction opposite to the turning direction is different. However, in the case where the tilting vehicle is driven by a driver, the same condition as the judgment condition A1 may be added. When there is a test result that the driving torque satisfies the judgment conditions A1 to A3, it can be judged that at least the driving torque is 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. 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 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. Through the above steps, it can be judged whether the first extremely low speed control is executed.

再者，是否執行了第2極低速控制可按照與是否執行了第1極低速控制之判別方法相同之判別方法來判別。於該情形時，代替上述之第2試驗，進行如下試驗，即，自傾斜車輛以車速區域M內之固定車速與固定控向角迴旋之狀態使與迴旋方向相反之方向上之傾斜角增加。Furthermore, whether the second extremely low speed control is executed can be determined by the same determination method as the determination method of whether the first extremely low speed control is executed. In this case, instead of the above-mentioned second test, a test is performed in which the tilt angle in the direction opposite to the turning direction is increased from the state where the tilted vehicle is turning at a constant vehicle speed and a constant steering angle within the vehicle speed range M.

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 methods, controlling based on A does not intend to limit the information used for controlling to only A. Controlling based on A includes the situation where control is performed 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，當以極低速迴旋時能夠使傾斜車輛順利地迴旋。According to the tilting vehicle of the present invention, the tilting vehicle can rotate smoothly when rotating at an extremely low speed.

＜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.

＜第1實施方式＞ 以下，參照圖1對本發明之第1實施方式進行說明。圖1表示第1實施方式之傾斜車輛1之一例。第1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。再者，圖1所示之傾斜車輛1係二輪車，但第1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。圖1所示之傾斜車輛1具有正值之後傾角CA與正值之曳距長度TL，但第1實施方式之傾斜車輛1不限於此。車體框架5至少在以高速區域AV2之車速迴旋時，朝車輛左右方向中與迴旋方向相同之方向傾斜。車體框架5在以低於高速區域AV2之極低速區域AV1之車速V迴旋時，朝車輛左右方向中與迴旋方向相反之方向傾斜。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，但第1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。控制裝置9構成為對轉矩賦予裝置10賦予之驅動轉矩及控向轉矩之至少一者進行控制。 <First embodiment> Hereinafter, the first embodiment of the present invention will be described with reference to FIG1 . FIG1 shows an example of a tilting vehicle 1 of the first embodiment. The tilting vehicle 1 of the first 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 rear direction that is closer to the front-rear direction of the vehicle than the at least one front wheel 3. Furthermore, the tilting vehicle 1 shown in FIG1 is a two-wheeled vehicle, but the tilting vehicle 1 of the first embodiment is not limited to a two-wheeled vehicle. The body frame 5 supports the plurality of wheels 2 so as to be able to rotate around the axle X1, and supports at least one front wheel 3 so as to be able to rotate around the axial line X2. The leaning vehicle 1 shown in FIG. 1 has a positive caster angle CA and a positive trail length TL, but the leaning vehicle 1 of the first embodiment is not limited thereto. The body frame 5 is tilted in the same direction as the turning direction in the left-right direction of the vehicle at least when turning at a vehicle speed in the high speed range AV2. The body frame 5 is tilted in the opposite direction to the turning direction in the left-right direction of the vehicle when turning at a vehicle speed V in the extremely low speed range AV1 lower than the high speed range AV2. The tilt angle related information detection device 6 detects information related to the tilt angle ϕ, which is the tilt angle of the vehicle body frame 5 in the left-right direction relative to the up-down direction of the vehicle. 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 axis 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 torques around the vehicle axis X1 to at least one of the at least one front wheel 3 and the at least one rear wheel 4. Furthermore, the driving torque imparting device 11 shown in FIG. 1 is configured to impart driving torques to both the at least one front wheel 3 and the at least one rear wheel 4, but the driving torque imparting device 11 of the first embodiment may be configured to impart driving torque only to the at least one front wheel 3, or may be configured to impart driving torque only to the at least one rear wheel 4. The steering torque imparting device 12 is configured to impart steering torque around the steering axis X2 to the at least one front wheel 3. The control device 9 is configured to control at least one of the driving torque and the steering torque imparted by the torque imparting device 10.

控制裝置9係於傾斜車輛1正以極低速區域AV1之車速V迴旋時，車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ小於作為正值之第1值時，執行第1極低速控制。控制裝置9係於第1極低速控制中，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，對驅動轉矩及控向轉矩之至少一者進行控制，一面使傾斜車輛1以極低速區域AV1之車速V迴旋，一面使車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ增加。根據第1實施方式之傾斜車輛1，當以極低速迴旋時能夠使傾斜車輛1順利地迴旋。The control device 9 performs the first extremely low speed control when the tilting vehicle 1 is turning at the vehicle speed V in the extremely low speed range AV1 and the tilting angle φ in the direction opposite to the turning direction in the left-right direction of the vehicle is less than a first value which is a positive value. In the first extremely low speed control, the control device 9 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 6, the steering angle related information detection device 7 and the wheel speed related information detection device 8, so as to increase the tilting angle φ in the direction opposite to the turning direction in the left-right direction of the vehicle while turning the tilting vehicle 1 at the vehicle speed V in the extremely low speed range AV1. According to the tilting vehicle 1 of the first embodiment, the tilting vehicle 1 can be smoothly rotated when rotating at an extremely low speed.

將藉由第1極低速控制而車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ增加之前的、車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ小於第1值之時間點定義為第1時間點。第1值較佳為根據第1時間點之至少控向角δ及車速V而不同。藉此，能夠使傾斜車輛1更順利地以極低速迴旋。第1值亦可無關於第1時間點之控向角δ及車速V而相同。The time point at which the tilt angle ϕ in the direction opposite to the turning direction in the left-right direction of the vehicle becomes smaller than the first value before the tilt angle ϕ in the direction opposite to the turning direction in the left-right direction of the vehicle increases by the first extremely low speed control is defined as the first time point. The first value is preferably different according to at least the steering angle δ and the vehicle speed V at the first time point. In this way, the tilted vehicle 1 can be turned more smoothly at an extremely low speed. The first value may also be the same regardless of the steering angle δ and the vehicle speed V at the first time point.

第1實施方式之控制裝置9亦可於第1極低速控制中基於由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。藉此，當以極低速迴旋時能夠使傾斜車輛1更順利地迴旋。又，第1實施方式之控制裝置9亦可於第1極低速控制中基於由3個檢測裝置6～8檢測到之資訊而僅控制驅動轉矩或者僅控制控向轉矩。The control device 9 of the first embodiment can also control both the driving torque and the steering torque in the first extremely low speed control based on the information detected by the three detection devices 6 to 8. In this way, the tilted vehicle 1 can be turned more smoothly when turning at an extremely low speed. In addition, the control device 9 of the first embodiment can also control only the driving torque or only the steering torque in the first extremely low speed control based on the information detected by the three detection devices 6 to 8.

第1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第1極低速控制。第1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第1極低速控制。The control device 9 of the first embodiment can also perform the first extremely low speed control when the tilted vehicle 1 is driven by the driver without the driver's control. The control device 9 of the first embodiment can also perform the first extremely low speed control when the tilted vehicle 1 is driven by the driver.

＜第2實施方式＞ 以下，對本發明之第2實施方式之傾斜車輛1進行說明。第2實施方式之傾斜車輛1具有第1實施方式之傾斜車輛1之所有特徵。第2實施方式之控制裝置9係於傾斜車輛1正以極低速區域AV1之車速V迴旋時，車輛左右方向中與迴旋方向相反之方向上之傾斜角大於作為正值之第2值時，執行第2極低速控制。控制裝置9係於第2極低速控制中，至少基於由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之至少一者，一面使傾斜車輛1以極低速區域AV1之車速V迴旋，一面使車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ減小。 <Second embodiment> Hereinafter, the tilting vehicle 1 of the second embodiment of the present invention will be described. The tilting vehicle 1 of the second embodiment has all the features of the tilting vehicle 1 of the first embodiment. The control device 9 of the second embodiment performs the second extremely low speed control when the tilting vehicle 1 is turning at a vehicle speed V in the extremely low speed range AV1 and the tilt angle in the direction opposite to the turning direction in the left-right direction of the vehicle is greater than a second value which is a positive value. The control device 9 controls at least one of the driving torque and the steering torque in the second extremely low speed control based on at least the information detected by the three detection devices 6 to 8, so as to make the tilted vehicle 1 rotate at the vehicle speed V in the extremely low speed range AV1, and at the same time reduce the tilt angle φ in the left-right direction of the vehicle in the direction opposite to the rotation direction.

將藉由第2極低速控制而車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ減小之前的、車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ大於第2值之時間點定義為第2時間點。第2值較佳為根據第2時間點之至少控向角δ及車速V而不同。藉此，能夠使傾斜車輛1更順利地以極低速迴旋。再者，第2值亦可無關於第2時間點之控向角δ及車速V而相同。The time point at which the tilt angle φ in the direction opposite to the turning direction in the left-right direction of the vehicle becomes greater than the second value before the tilt angle φ in the direction opposite to the turning direction in the left-right direction of the vehicle decreases by the second extremely low speed control is defined as the second time point. The second value is preferably different according to at least the steering angle δ and the vehicle speed V at the second time point. Thereby, the tilted vehicle 1 can be turned more smoothly at an extremely low speed. Furthermore, the second value may be the same regardless of the steering angle δ and the vehicle speed V at the second time point.

第2實施方式之控制裝置9亦可於第2極低速控制中基於由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。藉此，當以極低速迴旋時能夠使傾斜車輛1更順利地迴旋。又，第2實施方式之控制裝置9亦可於第2極低速控制中基於由3個檢測裝置6～8檢測到之資訊而僅控制驅動轉矩或者僅控制控向轉矩。The control device 9 of the second embodiment can also control both the driving torque and the steering torque in the second extremely low speed control based on the information detected by the three detection devices 6 to 8. In this way, the tilted vehicle 1 can be turned more smoothly when turning at an extremely low speed. In addition, the control device 9 of the second embodiment can also control only the driving torque or only the steering torque in the second extremely low speed control based on the information detected by the three detection devices 6 to 8.

第2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第2極低速控制。第2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第2極低速控制。The control device 9 of the second embodiment can also perform the second extremely low speed control when the tilted vehicle 1 is driven autonomously without the driver's control. The control device 9 of the second embodiment can also perform the second extremely low speed control when the tilted vehicle 1 is driven by the driver.

＜第3實施方式＞ 以下，參照圖2對本發明之第3實施方式之傾斜車輛1進行說明。第3實施方式之傾斜車輛1具有第1實施方式及第2實施方式之傾斜車輛1之所有特徵。即，第3實施方式之控制裝置9構成為能夠執行第1極低速控制及第2極低速控制。進而，第1值根據第1時間點之至少控向角δ及車速V而不同。又，第2值根據第2時間點之至少控向角δ及車速V而不同。 <Third embodiment> Hereinafter, the tilting vehicle 1 of the third embodiment of the present invention will be described with reference to FIG. 2. The tilting vehicle 1 of the third embodiment has all the features of the tilting vehicles 1 of the first and second embodiments. That is, the control device 9 of the third embodiment is configured to be able to perform the first extremely low speed control and the second extremely low speed control. Furthermore, the first value is different according to at least the steering angle δ and the vehicle speed V at the first time point. Furthermore, the second value is different according to at least the steering angle δ and the vehicle speed V at the second time point.

圖2係表示用於控制裝置9進行之第1極低速控制及第2極低速控制之處理步序的流程圖。圖2之流程圖之開始例如係傾斜車輛1之行駛開始。首先，控制裝置9於步驟S1中判斷傾斜車輛1是否正以極低速區域AV1之車速V迴旋。傾斜車輛1是否正以極低速區域AV1之車速V迴旋，例如亦可基於由控向角相關資訊檢測裝置7與車輪速度相關資訊檢測裝置8檢測到之資訊而進行判斷。於控制裝置9判斷傾斜車輛1正以極低速區域AV1之車速V迴旋時(步驟S1：是)，控制裝置9於步驟S2中，至少基於使用控向角相關資訊檢測裝置7與車輪速度相關資訊檢測裝置8所獲得之當前之控向角與車速來設定第1值與第2值。繼而，控制裝置9於步驟S3中判斷車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ是否小於第1值。於車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ小於第1值時(步驟S3：是)，控制裝置9進入步驟S4，執行第1極低速控制。即，控制裝置9於步驟S4中，至少基於由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之至少一者，一面使傾斜車輛1以極低速區域AV1之車速迴旋，一面使車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ增加。其後，控制裝置9返回至步驟S1。FIG2 is a flow chart showing the processing steps of the first extremely low speed control and the second extremely low speed control performed by the control device 9. The start of the flow chart of FIG2 is, for example, the start of the driving of the tilted vehicle 1. First, the control device 9 determines in step S1 whether the tilted vehicle 1 is rotating at the vehicle speed V in the extremely low speed area AV1. Whether the tilted vehicle 1 is rotating at the vehicle speed V in the extremely low speed area AV1 can also be determined based on information detected by the steering angle related information detection device 7 and the wheel speed related information detection device 8, for example. When the control device 9 determines that the tilted vehicle 1 is turning at the vehicle speed V in the extremely low speed area AV1 (step S1: yes), the control device 9 sets the first value and the second value in step S2 based on at least the current steering angle and vehicle speed obtained by the steering angle related information detection device 7 and the wheel speed related information detection device 8. Then, the control device 9 determines in step S3 whether the tilt angle φ in the direction opposite to the turning direction in the left and right directions of the vehicle is less than the first value. When the tilt angle φ in the direction opposite to the turning direction in the left and right directions of the vehicle is less than the first value (step S3: yes), the control device 9 enters step S4 and executes the first extremely low speed control. That is, in step S4, the control device 9 controls at least one of the driving torque and the steering torque based on at least the information detected by the three detection devices 6 to 8, so as to make the tilted vehicle 1 rotate at the vehicle speed in the extremely low speed range AV1 and increase the tilt angle φ in the direction opposite to the rotation direction in the left-right direction of the vehicle. Thereafter, the control device 9 returns to step S1.

另一方面，於車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ不小於第1值時(步驟S3：否)，控制裝置9於步驟S5中判斷車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ是否大於第2值。於車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ大於第2值時(步驟S5：是)，控制裝置9進入步驟S6，執行第2極低速控制。即，控制裝置9於步驟S6中，至少基於由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之至少一者，一面使傾斜車輛1以極低速區域AV1之車速迴旋，一面使車輛左右方向中與迴旋方向相反之方向上之傾斜角ϕ減小。其後，控制裝置9返回至步驟S1。On the other hand, when the tilt angle φ in the direction opposite to the turning direction among the left and right directions of the vehicle is not less than the first value (step S3: No), the control device 9 determines in step S5 whether the tilt angle φ in the direction opposite to the turning direction among the left and right directions of the vehicle is greater than the second value. When the tilt angle φ in the direction opposite to the turning direction among the left and right directions of the vehicle is greater than the second value (step S5: Yes), the control device 9 proceeds to step S6 to execute the second extremely low speed control. That is, in step S6, the control device 9 controls at least one of the driving torque and the steering torque based on at least the information detected by the three detection devices 6 to 8, so as to make the tilted vehicle 1 rotate at the vehicle speed in the extremely low speed range AV1 and reduce the tilt angle φ in the direction opposite to the rotation direction in the left and right directions of the vehicle. Thereafter, the control device 9 returns to step S1.

再者，用於控制裝置進行之第1極低速控制與第2極低速控制之處理步序並不限於圖2之流程圖之步序。Furthermore, the processing steps for the first extremely low speed control and the second extremely low speed control performed by the control device are not limited to the steps in the flow chart of FIG. 2 .

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 AV1:極低速區域 AV2:高速區域 CA:後傾角 D:車輛下方向 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 TL:曳距長度 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: Leaning vehicle 2: Wheel 3: Front wheel 4: Rear wheel 5: Vehicle frame 6: Lean 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 AV1: Extremely low speed area AV2: High speed area CA: Rear tilt angle D: Downward direction of vehicle F: Forward direction of vehicle L: Left direction of vehicle R: Right direction of vehicle Re: Rear direction of vehicle S: Wheel speed TL: Trail length U: Upward direction of vehicle V: Vehicle speed X1: Axle line X2: Steering axis δ: Steering angle ϕ: Tilt angle

圖1係對本發明之第1實施方式之傾斜車輛之構成進行說明之圖。 圖2係表示本發明之第3實施方式之傾斜車輛之控制裝置之處理步序之流程圖。 圖3係表示某傾斜車輛之平衡狀態下之傾斜角、控向角、車速之關係的曲線圖。 FIG. 1 is a diagram for explaining the structure of the tilting vehicle of the first embodiment of the present invention. FIG. 2 is a flow chart showing the processing steps of the tilting vehicle control device of the third embodiment of the present invention. FIG. 3 is a curve diagram showing the relationship between the tilt angle, steering angle, and vehicle speed in a balanced state of a tilting vehicle.

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

AV1:極低速區域 AV1: Extremely low speed area

AV2:高速區域 AV2: High-speed area

CA:後傾角 CA: Caster angle

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

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

TL:曳距長度 TL: trail length

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 (6)

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，至少在以高速區域之車速迴旋時，朝車輛左右方向中與迴旋方向相同之方向傾斜； 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上述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，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； 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；及 控制裝置，其構成為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； 上述車體框架係於以較上述高速區域低之極低速區域之車速迴旋時，朝上述車輛左右方向中與迴旋方向相反之方向傾斜， 上述控制裝置係 於上述傾斜車輛正以上述極低速區域之上述車速迴旋時，上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角小於作為正值之第1值時， 執行第1極低速控制，該第1極低速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，來對上述驅動轉矩及上述控向轉矩之至少一者進行控制，一面使上述傾斜車輛以上述極低速區域之上述車速迴旋，一面使上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角增加。 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 in relation to the at least one front wheel; A body frame, which supports the plurality of wheels so that they can rotate around the axle, and supports the at least one front wheel so that it can rotate around the control axis, and tilts in a direction in the left-right direction of the vehicle that is the same as the turning direction when turning at least at a high speed; A tilt angle-related information detection device, which detects information related to a tilt angle, wherein the tilt angle is the tilt angle of the left-right direction of the vehicle relative to the up-down direction of the vehicle of the body frame; A device for detecting information related to a steering angle, which detects information related to the steering angle, wherein the steering angle is the rotation angle of any of the above-mentioned front wheels around the above-mentioned steering axis; A device for detecting information related to wheel speed, which detects information related to wheel speed, wherein the wheel speed is the rotation speed of any of the above-mentioned wheels around the above-mentioned axle; A torque imparting device, comprising 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; and a control device, which is configured to control at least one of the driving torque and the steering torque imparted by the torque imparting device; The vehicle frame is tilted in a direction opposite to the rotation direction in the left-right direction of the vehicle when the vehicle is rotating at an extremely low speed range lower than the high speed range. The control device is When the tilted vehicle is rotating at the vehicle speed in the extremely low speed range, the tilt angle in the direction opposite to the rotation direction in the left-right direction of the vehicle is less than a first value which is a positive value, The first extremely low speed control is performed, and the first extremely low speed control is to control at least one of the driving torque and the steering torque 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, so as to make the above-mentioned tilted vehicle rotate at the above-mentioned vehicle speed in the above-mentioned extremely low speed area, and at the same time increase the above-mentioned tilt angle in the direction opposite to the rotation direction in the left-right direction of the above-mentioned vehicle. 如請求項1之傾斜車輛，其中上述控制裝置係於上述第1極低速控制中， 於上述傾斜車輛正以上述極低速區域之上述車速迴旋時之第1時間點，上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角小於上述第1值時， 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，來對上述驅動轉矩及上述控向轉矩之至少一者進行控制，一面使上述傾斜車輛以上述極低速區域之上述車速迴旋，一面使上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角增加， 上述第1值根據上述第1時間點之至少上述控向角及上述車速而不同。 The tilted vehicle as claimed in claim 1, wherein the control device is in the first extremely low-speed control, At the first time point when the tilted vehicle is rotating at the vehicle speed in the extremely low-speed zone, when the tilt angle in the direction opposite to the rotating direction in the left-right direction of the vehicle is less than the first value, At least 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, at least one of the driving torque and the steering torque is controlled, while the tilted vehicle is rotated at the vehicle speed in the extremely low-speed zone, and the tilt angle in the direction opposite to the rotating direction in the left-right direction of the vehicle is increased, The first value mentioned above varies according to at least the steering angle and the vehicle speed at the first time point mentioned above. 如請求項1或2之傾斜車輛，其中上述控制裝置係 於上述傾斜車輛正以上述極低速區域之上述車速迴旋時，上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角大於作為正值之第2值時， 執行第2極低速控制，該第2極低速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而對上述驅動轉矩及上述控向轉矩之至少一者進行控制，一面使上述傾斜車輛以上述極低速區域之上述車速迴旋，一面使上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角減小。 A tilted vehicle as claimed in claim 1 or 2, wherein the control device is configured to: When the tilted vehicle is rotating at the vehicle speed in the extremely low speed range, and the tilt angle in the direction opposite to the rotating direction in the left-right direction of the vehicle is greater than a second value which is a positive value, The second extremely low speed control is performed, and the second extremely low speed control is to control at least one of the driving torque and the steering torque 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, so as to make the above-mentioned tilted vehicle rotate at the above-mentioned vehicle speed in the above-mentioned extremely low speed area, and at the same time reduce the above-mentioned tilt angle in the direction opposite to the rotation direction in the left and right directions of the above-mentioned vehicle. 如請求項3之傾斜車輛，其中上述控制裝置係於上述第2極低速控制中， 於上述傾斜車輛正以上述極低速區域之上述車速迴旋時之第2時間點，上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角大於上述第2值時， 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，來對上述驅動轉矩及上述控向轉矩之至少一者進行控制，一面使上述傾斜車輛以上述極低速區域之上述車速迴旋，一面使上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角減小， 上述第2值根據上述第2時間點之至少上述控向角及上述車速而不同。 The tilted vehicle as claimed in claim 3, wherein the control device is in the second extremely low speed control, At the second time point when the tilted vehicle is rotating at the vehicle speed in the extremely low speed zone, when the tilt angle in the direction opposite to the rotating direction in the left-right direction of the vehicle is greater than the second value, At least 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, at least one of the driving torque and the steering torque is controlled, while the tilted vehicle is rotated at the vehicle speed in the extremely low speed zone, and the tilt angle in the direction opposite to the rotating direction in the left-right direction of the vehicle is reduced, The second value mentioned above varies according to at least the steering angle and the vehicle speed at the second time point mentioned above. 如請求項1至4中任一項之傾斜車輛，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， 上述控制裝置係於上述第1極低速控制中， 於上述傾斜車輛正以上述極低速區域之上述車速迴旋時，上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角小於作為正值之上述第1值時， 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，一面使上述傾斜車輛以上述極低速區域之上述車速迴旋，一面使上述車輛左右方向中與迴旋方向相反之方向上之上述傾斜角增加。 A tilted vehicle as claimed in any one of claims 1 to 4, wherein 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 in the first extremely low speed control, when the tilted vehicle is rotating at the vehicle speed in the extremely low speed area, the tilt angle in the left-right direction of the vehicle in the direction opposite to the rotating direction is less than the first value which is a positive value, At least based on 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, at least the above-mentioned driving torque among the above-mentioned driving torque and the above-mentioned steering torque is controlled, while the above-mentioned tilted vehicle is turned at the above-mentioned vehicle speed in the above-mentioned extremely low speed range, and the above-mentioned tilt angle in the direction opposite to the turning direction in the left-right direction of the above-mentioned vehicle is increased. 如請求項1至5中任一項之傾斜車輛，其中上述控制裝置係於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的至少一種狀態下，執行上述第1極低速控制。A tilted vehicle as in any one of claims 1 to 5, wherein the control device performs the first extremely low speed control in at least one of a state in which the tilted vehicle is driven autonomously without the driver's control and a state in which the tilted vehicle is driven by the driver.