WO2022059116A1 - Two-wheeled vehicle - Google Patents
Two-wheeled vehicle Download PDFInfo
- Publication number
- WO2022059116A1 WO2022059116A1 PCT/JP2020/035200 JP2020035200W WO2022059116A1 WO 2022059116 A1 WO2022059116 A1 WO 2022059116A1 JP 2020035200 W JP2020035200 W JP 2020035200W WO 2022059116 A1 WO2022059116 A1 WO 2022059116A1
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- WIPO (PCT)
- Prior art keywords
- vehicle
- speed
- traveling
- steering
- information related
- Prior art date
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- 238000001514 detection method Methods 0.000 claims abstract description 28
- 230000004927 fusion Effects 0.000 claims description 44
- 230000001133 acceleration Effects 0.000 claims description 21
- 230000000694 effects Effects 0.000 description 7
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/412—Speed sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
- B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K21/00—Steering devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/60—Rider propelled cycles with auxiliary electric motor power-driven at axle parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Definitions
- the present invention relates to a two-wheeled vehicle having a self-sustaining control device.
- Patent Document 1 when a two-wheeled vehicle is parked, the front-wheel drive torque is calculated by acquiring the vehicle body lean angle and the front-wheel steering angle, and the front-wheel drive torque is output to the front-wheel rotation motor driver to make the two-wheeled vehicle self-supporting. I'm letting you.
- Non-Patent Document 1 discloses the self-sustaining stability of a two-wheeled vehicle in motion assuming straight running.
- the autonomous stability of a two-wheeled vehicle is analyzed based on the equation of motion of back-and-forth motion and the equation of motion of lateral motion.
- the equation of motion for back-and-forth motion uses the vehicle weight and the moment of inertia of the wheels to calculate the vehicle acceleration from the driving force, braking force, and air resistance applied to the vehicle.
- the equation of motion of lateral motion calculates steering angular acceleration and lean angular acceleration using vehicle speed, vehicle and front and rear wheel weight, moment of inertia, center of gravity position, wheel base, casters, trail, crown radius, and pneumatic trail.
- Non-Patent Document 2 discloses the self-sustaining stability of a running motorcycle.
- Non-Patent Document 2 analyzes the self-sustaining stability of a two-wheeled vehicle when the vehicle speed and the turning radius are constant.
- the self-sustaining stability of a two-wheeled vehicle is analyzed based on the equation of motion in the lateral direction, the equation of motion in the yawing direction, and the equation of motion in the rolling direction.
- the steering wheel is controlled so as to reach the target roll angle based on the steering angle and the roll angle calculated from the vehicle speed.
- the driving force of the rear wheels is feedback-controlled so as to reach the target vehicle speed.
- Patent Document 1 makes a two-wheeled vehicle self-sustaining by controlling a front wheel rotary motor driver when the two-wheeled vehicle is parked, and makes the two-wheeled vehicle self-sustaining when the two-wheeled vehicle is traveling at a low speed. It's not a thing. Further, Non-Patent Documents 1 and 2 analyze the self-sustaining stability of a running two-wheeled vehicle, and do not cover the self-sustaining stability when the two-wheeled vehicle is not running.
- An object of the present invention is to provide a two-wheeled vehicle having a self-sustaining control device capable of performing control in which a non-driving state and a low-speed running state are fused.
- the two-wheeled vehicle has the following configurations.
- the two-wheeled vehicle can rotate around the vehicle body frame, one front wheel that can rotate around the steering axis with respect to the vehicle body frame and is rotatably supported around the front axle line, and can rotate around the rear axle line with respect to the vehicle body frame.
- a lean angle-related information detection device that detects information related to a lean angle, which is an inclination angle in the vehicle left-right direction with respect to the vehicle vertical direction of the vehicle body frame, and a steering axis around the front wheel.
- a steering angle-related information detection device that detects information related to the steering angle, which is the rotation angle of the vehicle, a vehicle speed-related information detection device that detects information related to the vehicle speed, which is the speed of the vehicle body frame in the vehicle front-rear direction, and the front wheel.
- the driving force for rotating at least one of the rear wheels in the forward and reverse directions around at least one of the front axle line and the rear axle line is applied to the at least one of the front wheel and the rear wheel.
- a two-wheeled vehicle including a self-sustaining control device for controlling the vehicle body frame to be self-supporting, wherein the self-supporting control device is related to the lean angle detected by the lean angle-related information detection device.
- the driving force and the steering are based on the information, the information related to the steering angle detected by the steering angle-related information detection device, and the information related to the vehicle speed detected by the vehicle speed-related information detection device.
- By controlling the force it is configured to perform non-running low-speed running fusion control that controls a state in which the two-wheeled vehicle stands on its own without running and a state in which the two-wheeled vehicle runs on its own at a low speed.
- the front wheels are rotated around the front axle line while changing the steering angle, so that the ground contact position of the front wheels is to the right of the vehicle.
- the driving force and the steering force are controlled so as to move in the direction and the vehicle body frame rises, and the vehicle body frame is tilted to the left of the vehicle with respect to the vehicle vertical direction during the non-traveling low-speed running fusion control.
- the driving force and the steering force are applied so that the ground contact position of the front wheels moves to the left of the vehicle and the vehicle body frame rises. Control.
- the inventors of the present application have found that the yaw rate (centrifugal force) of a two-wheeled vehicle is proportional to the vehicle speed and the steering angle, assuming that the wheel speed (angular velocity of the front wheel or the rear wheel) of the two-wheeled vehicle is proportional to the speed of the vehicle body frame. Then, the inventors of the present application control the yaw rate (centrifugal force) by controlling the driving force and the steering force when the body frame of the two-wheeled vehicle is tilted to the right of the vehicle or to the left of the vehicle with respect to the vertical direction of the vehicle. It was found that the lean angle of the car body frame can be set to 0 by raising the car body frame.
- the motorcycle self-sustaining control device controls the driving force and the steering force by using the information related to the vehicle speed, the lean angle, and the steering angle. That is, the self-sustaining control device provides driving force and steering when the vehicle body frame is tilted to the right of the vehicle or to the left of the vehicle with respect to the vertical direction of the vehicle (when the lean angle is not 0) during the non-running low-speed running fusion control.
- the yaw rate centrifugal force
- the two-wheeled vehicle can raise the vehicle body frame by a controlled yaw rate (centrifugal force) to set the lean angle of the vehicle body frame to zero.
- yaw rate centrifugal force
- This controls the independence of the two-wheeled vehicle in the non-running state in which the motorcycle is not running and in the low-speed running state in which the motorcycle is running at a low speed.
- the two-wheeled vehicle of the present invention can be controlled by a self-sustaining control device in which a non-running state and a low-speed running state are fused.
- the two-wheeled vehicle may have the following configurations.
- the self-sustaining control device controls the two-wheeled vehicle to change from a state of being self-sustaining while traveling at a low speed to a state of being self-sustaining without traveling by the non-traveling low-speed traveling fusion control, and the non-traveling low-speed traveling.
- the fusion control controls the two-wheeled vehicle so as to change from a state of being independent without traveling to a state of being independent while traveling at a low speed.
- the self-sustaining control device changes the two-wheeled vehicle from a state of being self-supporting while traveling at a low speed to a state of being self-sustaining without traveling, and a state of being self-sustaining while traveling at a low speed from a state of being self-sustaining without traveling.
- the two-wheeled vehicle can be controlled to change.
- the two-wheeled vehicle of the present invention can be controlled by a self-sustaining control device in which a non-running state and a low-speed running state are fused.
- the two-wheeled vehicle may have the following configurations.
- the self-sustaining control device stores in advance information related to the steering angle and information related to the steering angle vehicle speed associated with the information related to the vehicle speed, and in the non-traveling low-speed traveling fusion control, with the information related to the lean angle.
- the driving force and the steering force are controlled based on the information related to the steering angle, the information related to the vehicle speed, and the information related to the steering angle vehicle speed.
- the self-sustaining control device uses information related to the vehicle speed, information related to the lean angle, information related to the steering angle, and information related to the steering angle vehicle speed to move the two-wheeled vehicle in the vehicle front-rear direction. It is possible to control the driving force and the steering force by superimposing the left-right movements of the two-wheeled vehicle and the vehicle.
- the steering angle vehicle speed-related information associated with the information related to the steering angle and the information related to the vehicle speed is, for example, a gain map optimized with information related to the steering angle and information related to the vehicle speed as variables.
- the two-wheeled vehicle of the present invention can be controlled by a self-sustaining control device in which a non-running state and a low-speed running state are more integrated.
- the two-wheeled vehicle may have the following configurations.
- the information related to the steering angle includes at least one of the steering angle of the front wheel, the steering angular velocity of the front wheel, and the steering angular acceleration of the front wheel
- the information related to the vehicle speed includes the vehicle speed of the two-wheeled vehicle and the vehicle body.
- Information related to the lean angle includes at least one of the acceleration in the front-rear direction of the frame, the rotational speed of the front wheels, the rotational acceleration of the front wheels, the rotational speed of the rear wheels, and the rotational acceleration of the rear wheels. It includes at least one of the lean angle of the vehicle body frame, the lean angular velocity of the vehicle body frame, and the lean angular acceleration of the vehicle body frame.
- the "motorcycle” is a vehicle having front wheels and rear wheels supported by a vehicle body frame, tilting to the right of the vehicle when turning right, and tilting to the left of the vehicle when turning left. be.
- the "motorcycle” in the present invention and the embodiment includes a self-sustaining control device that controls the vehicle body to be self-supporting.
- the "motorcycle” in the present invention and the embodiment may or may not have a rider on board.
- the “motorcycle” in the present invention and the embodiment may or may not have a steering wheel that can be steered by the rider and a pedal that allows the rider to rotate the rear wheels.
- Non-running low-speed running fusion control In the present invention and the embodiment, with the self-sustaining control device "configured to perform non-running low-speed running fusion control for controlling a state in which the motorcycle is self-sustaining without traveling and a state in which the motorcycle is self-sustaining while traveling at a low speed". Is capable of controlling the two-wheeled vehicle to stand on its own without running by the non-running low-speed running fusion control, and controlling the two-wheeled vehicle to stand on its own while running at low speed by the non-running low-speed running fusion control. It means a possible self-sustaining control device.
- the self-sustaining control device can be changed from a state in which the two-wheeled vehicle is self-sustaining without traveling to a state in which the motorcycle is self-sustaining while traveling at a low speed by the non-traveling low-speed traveling fusion control.
- the self-sustaining control device can be changed from a state of being self-sustaining while traveling at a low speed to a state of being self-sustaining without traveling a two-wheeled vehicle by non-traveling low-speed traveling fusion control.
- the two-wheeled vehicle when the non-traveling low-speed traveling fusion control is performed, the two-wheeled vehicle may be controlled to be in a state of being independent without traveling, and the two-wheeled vehicle may not be controlled to be in a state of being independent while traveling at a low speed.
- the two-wheeled vehicle when the non-traveling low-speed traveling fusion control is performed, the two-wheeled vehicle may be controlled to be in a state of being independent while traveling at a low speed, and may not be controlled to be in a state of being independent without traveling.
- the "low speed" is, for example, a speed of 10 to 20 km / h or less.
- the "state in which the two-wheeled vehicle stands on its own without traveling” means a state in which the two-wheeled vehicle stands on its own with almost no movement in the front-rear direction of the vehicle.
- the “state in which the two-wheeled vehicle stands on its own without traveling” may include a state in which the two-wheeled vehicle slightly moves in the front-rear direction of the vehicle.
- the “state in which the two-wheeled vehicle stands on its own without traveling” may include a state in which the two-wheeled vehicle alternately repeats a slight movement in the front direction of the vehicle and a slight movement in the rear direction of the vehicle.
- the "state in which the two-wheeled vehicle is self-supporting” means a state in which the vehicle body of the two-wheeled vehicle is self-supporting without support.
- the control device states that "the front wheels rotate around the front axle line while changing the steering angle, so that the ground contact position of the front wheels is changed.
- the driving force and steering force are controlled so that the vehicle body frame moves to the right of the vehicle (to the left of the vehicle) and rises.
- the self-sustaining control device controls the driving force applied to at least one of the front wheels and the rear wheels so as to "rotate the front wheels around the front axle line".
- the driving force is not always controlled so that the driving force is applied to the front wheels.
- the driving force may be applied only to the rear wheels to rotate the front wheels.
- Driving force may be applied to both the front wheels and the rear wheels to rotate the front wheels.
- the driving force applying device to apply the driving force to at least one of the front wheels and the rear wheels
- the driving force applying device is configured to apply the driving force to both the front wheels and the rear wheels, the driving force is not necessarily applied to both the front wheels and the rear wheels by the driving force applying device during the non-driving low-speed running fusion control. It does not have to be granted.
- the driving force may be applied to both the front wheels and the rear wheels, or the driving force may be applied only to the front wheels or the rear wheels.
- the driving force may be applied only to the front wheels without applying the driving force to both the front wheels and the rear wheels, or the driving force may be applied only to the rear wheels.
- the driving force applying device "to apply the driving force to rotate in the forward direction and the reverse direction" can apply both the driving force to rotate in the forward direction and the driving force to rotate in the reverse direction.
- the "information related to the vehicle speed" detected by the vehicle speed-related information detection device includes the vehicle speed, the acceleration in the front-rear direction of the vehicle body frame, the rotation speed of the front wheels, the rotation acceleration of the front wheels, and the rotation speed of the rear wheels. , And at least one of the rotational accelerations of the rear wheels.
- Rotation in the present invention and embodiments is not limited to rotation of 360 ° or more. Rotations in the present invention and embodiments also include rotations of less than 360 °.
- control based on A in the present invention and the embodiment is not limited to A as the information used for control.
- the "control based on A” includes the case of including information other than A and controlling based on A and information other than A.
- At least one (one) of a plurality of options in this invention and an embodiment includes all combinations considered from a plurality of options. At least one (one) of the plurality of options may be any one of the plurality of options, or may be all of the plurality of options. For example, at least one of A, B, and C may be only A, may be only B, may be only C, may be A and B, and may be A and C. It may be, B and C, or A, B and C.
- the present invention may have a plurality of these components. Further, the present invention may have only one of these components.
- connection, connected, coupled, supported are used in a broad sense in the present invention and embodiments. Specifically, it includes not only direct mounting, connection, coupling and support, but also indirect mounting, connection, coupling and support. Moreover, connected and coupled are not limited to physical or mechanical connections / couplings. They also include direct or indirect electrical connections / couplings.
- preferable in the present invention and embodiments is non-exclusive.
- Preferable means “preferable, but not limited to”.
- the configuration described as “preferable” exhibits at least the above-mentioned effect obtained by the configuration of claim 1.
- the term “may” is non-exclusive.
- May means “may be, but is not limited to”.
- the configuration described as “may” exerts at least the above-mentioned effect obtained by the configuration of claim 1.
- the two-wheeled vehicle of the present invention can perform control in which a non-driving state and a low-speed running state are fused by the self-sustaining control device of the two-wheeled vehicle.
- U is the vehicle upward direction of the two-wheeled vehicle
- D is the vehicle downward direction of the two-wheeled vehicle
- L is the vehicle left direction of the two-wheeled vehicle
- R is the vehicle right direction of the two-wheeled vehicle
- F is the vehicle forward direction of the two-wheeled vehicle
- Re is the vehicle of the two-wheeled vehicle. Indicates the backward direction.
- the motorcycle 1 has one front wheel 2, one rear wheel 3, and a vehicle body frame 4.
- the front wheels 2 are rotatably supported around the axis of the steering shaft 5 (hereinafter, abbreviated as "steering axis") with respect to the vehicle body frame 4.
- the front wheel 2 is rotatably supported with respect to the vehicle body frame 4 around the axis of the front axle 2a (hereinafter, abbreviated as "front axle line”).
- the rear wheel 3 is rotatably supported around the axis of the rear axle 3a (hereinafter, abbreviated as "rear axle line”) with respect to the vehicle body frame 4.
- the motorcycle 1 has a lean angle-related information detection device 51, a steering angle-related information detection device 52, and a vehicle speed-related information detection device 53.
- the lean angle-related information detection device 51 detects information related to the lean angle ⁇ (see FIG. 2), which is the inclination angle of the vehicle body frame 4 in the vehicle left-right direction with respect to the vehicle vertical direction.
- the steering angle-related information detection device 52 detects information related to the steering angle ⁇ f (see FIG. 3), which is the rotation angle of the front wheel 2 around the steering axis.
- the vehicle speed-related information detection device 53 detects information related to the vehicle speed V (see FIG. 3), which is the speed of the vehicle body frame in the vehicle front-rear direction.
- the motorcycle 1 has a driving force applying device 31, a steering force applying device 32, and an independent control device 40.
- the driving force applying device 31 applies a driving force for rotating at least one of the front wheels 2 and the rear wheels 3 in the forward and reverse directions around at least one of the front axle lines and the rear axle lines, the front wheels 2 and the rear wheels 3. Grant to at least one of.
- the driving force applying device 31 is, for example, a driving motor provided on at least one of the front axle 2a and the rear axle 3a and rotating at least one of the front wheels 2 and the rear wheels 3 in the forward and reverse directions around the axle line.
- the steering force applying device 32 applies a steering force that rotates the front wheels 2 around the steering axis to the front wheels 2.
- the steering force applying device 32 is, for example, a steering motor provided on the steering shaft 5 of the motorcycle 1 and rotating the front wheels 2 around the steering axis by rotating the steering shaft 5.
- the self-supporting control device 40 controls the driving force of the driving force applying device 31 and the steering force of the steering force applying device 32 to control the vehicle body frame 4 to stand on its own.
- the self-sustaining control device 40 controls the driving force and the steering force based on the information related to the lean angle, the information related to the steering angle, and the information related to the vehicle speed, thereby performing non-traveling low-speed traveling fusion control. Configured to do.
- the information related to the lean angle is information related to the lean angle ⁇ (see FIG. 2), which is the tilt angle of the vehicle body frame 4 in the vehicle vertical direction with respect to the vehicle vertical direction detected by the lean angle related information detecting device 51.
- the information related to the steering angle is information related to the steering angle ⁇ f (see FIG. 3), which is the rotation angle around the steering axis of the front wheel 2 detected by the steering angle-related information detecting device 52.
- the information related to the vehicle speed is information related to the vehicle speed V (see FIG. 3), which is the speed of the vehicle body frame in the vehicle front-rear direction detected by the vehicle speed-related information detection device 53.
- the non-traveling low-speed traveling fusion control is a control for controlling the two-wheeled vehicle 1 to be self-sustaining without traveling and the two-wheeled vehicle 1 to be self-sustaining while traveling at a low speed.
- the self-sustaining control device 40 controls the driving force and the steering force when the vehicle body frame 4 is tilted to the right of the vehicle or to the left of the vehicle by a lean angle ⁇ with respect to the vehicle vertical direction during the non-traveling low-speed traveling fusion control.
- the motorcycle 1 can raise the vehicle body frame 4 by the controlled yaw rate (centrifugal force) so that the lean angle ⁇ of the vehicle body frame 4 is 0.
- the yaw rate (centrifugal force) of the motorcycle 1 is proportional to the vehicle speed V and the steering angle ⁇ f. Therefore, in the self-sustaining control device 40, when the vehicle body frame 4 is tilted by the lean angle ⁇ to the vehicle right direction or the vehicle left direction with respect to the vehicle vertical direction during the non-traveling low-speed traveling fusion control, the two-wheeled vehicle 1 is in a stationary state or a pole. It is preferable to control so that the steering angle ⁇ f becomes larger as the vehicle speed V is smaller, such as when traveling at a low speed.
- the self-sustaining control device 40 when the vehicle body frame 4 is tilted to the right of the vehicle or to the left of the vehicle by a lean angle ⁇ with respect to the vertical direction of the vehicle during the non-traveling low-speed traveling fusion control, the two-wheeled vehicle 1 travels at a low speed. It is preferable to control the vehicle speed V so that the smaller the steering angle ⁇ f is, the larger the vehicle speed V is.
- 6 (a) and 6 (b) and 7 (a) and 7 (b) show the non-traveling low-speed traveling fusion control of the self-sustaining control device 40 in a state where the motorcycle 1 is stationary or traveling at an extremely low speed.
- 6 (c) and 7 (c) show the non-traveling low-speed traveling fusion control of the self-sustaining control device 40 in the low-speed traveling state of the motorcycle 1.
- the self-sustaining control device 40 is used.
- the driving force and the steering force are increased so that the ground contact position of the front wheel 2 moves to the right of the vehicle at a speed V and the vehicle body frame 4 rises. Control. Specifically, as shown in FIGS.
- the self-supporting control device 40 has a lean angle ⁇ in the vehicle body frame 4 in the vehicle right direction with respect to the vehicle vertical direction during non-travel low-speed travel fusion control.
- the driving force and the steering force are controlled so that the front wheel 2 rotates positively around the front axle line at the speed V while changing the steering angle ⁇ f to the right of the vehicle.
- the self-sustaining control device 40 has a steering angle when the vehicle body frame 4 is tilted by a lean angle ⁇ to the right of the vehicle with respect to the vertical direction of the vehicle during non-traveling low-speed running fusion control.
- the driving force and steering force are controlled so that the front wheels 2 rotate in the reverse direction around the front axle line at a speed V.
- the front wheels 2 are operated while maintaining the steering angle ⁇ f when the vehicle body frame 4 is raised.
- the driving force and the steering force may be controlled so as to alternate between forward rotation and reverse rotation around the front axle line.
- the self-sustaining control device 40 when the self-supporting control device 40 is tilted by a lean angle ⁇ to the left of the vehicle with respect to the vertical direction of the vehicle during non-traveling low-speed running fusion control, the self-sustaining control device 40 is used.
- the driving force and the steering force are increased so that the ground contact position of the front wheel 2 moves to the left of the vehicle at a speed V and the vehicle body frame 4 rises. Control. Specifically, as shown in FIGS.
- the self-supporting control device 40 has a lean angle ⁇ in the vehicle body frame 4 in the vehicle left direction with respect to the vehicle vertical direction during non-travel low-speed travel fusion control.
- the driving force and the steering force are controlled so that the front wheel 2 rotates positively around the front axle line at the speed V while changing the steering angle ⁇ f to the left of the vehicle.
- the self-sustaining control device 40 has a steering angle when the vehicle body frame 4 is tilted by a lean angle ⁇ to the left of the vehicle with respect to the vertical direction of the vehicle during non-traveling low-speed running fusion control.
- the driving force and steering force are controlled so that the front wheels 2 rotate in the reverse direction around the front axle line at a speed V.
- the front wheels 2 are operated while maintaining the steering angle ⁇ f when the vehicle body frame 4 is raised.
- the driving force and the steering force may be controlled so as to alternate between forward rotation and reverse rotation around the front axle line.
- the motorcycle 1 of the first embodiment has the following effects.
- the self-sustaining control device 40 of the motorcycle 1 controls the driving force and the steering force by using the information related to the vehicle speed, the lean angle, and the steering angle. That is, the self-sustaining control device 40 has a driving force when the vehicle body frame 4 is tilted to the right of the vehicle or to the left of the vehicle with respect to the vertical direction of the vehicle (when the lean angle is not 0) during the non-traveling low-speed traveling fusion control. And by controlling the steering force to change the vehicle speed V and the steering angle ⁇ f, the yaw rate (centrifugal force) proportional to the vehicle speed V and the steering angle ⁇ f is controlled.
- the vehicle body frame 4 can be raised by the controlled yaw rate (centrifugal force), and the lean angle of the vehicle body frame 4 can be set to 0.
- the motorcycle 1 of the first embodiment can be controlled by the self-sustaining control device 40 by fusing the non-traveling state and the low-speed traveling state.
- the motorcycle 1 according to the second embodiment of the present invention has the following configurations in addition to the configurations of the first embodiment.
- the self-sustaining control device 40 controls the two-wheeled vehicle 1 to change from a self-sustaining state while traveling at a low speed to a self-sustaining state without traveling by non-traveling low-speed traveling fusion control. Then, the self-sustaining control device 40 controls the two-wheeled vehicle 1 to change from a state of being self-sustaining without traveling to a state of being self-sustaining while traveling at a low speed by non-traveling low-speed traveling fusion control.
- the motorcycle 1 of the second embodiment has the following effects in addition to the effects of the motorcycle 1 of the first embodiment.
- the self-sustaining control device 40 changes the two-wheeled vehicle 1 from a state of being self-supporting while traveling at a low speed to a state of being self-sustaining without traveling, and from a state of being self-sustaining without traveling to a state of being self-sustaining while traveling at a low speed.
- the motorcycle 1 can be controlled.
- the motorcycle 1 of the second embodiment can be controlled by the self-sustaining control device 40 by fusing the non-traveling state and the low-speed traveling state.
- the motorcycle 1 according to the third embodiment of the present invention has the following configurations in addition to the configuration of the first embodiment or the configuration of the second embodiment.
- the self-sustaining control device 40 stores in advance information related to the steering angle vehicle speed and information related to the steering angle ⁇ f and information related to the vehicle speed V.
- the self-sustaining control device 40 is based on information related to the lean angle ⁇ , information related to the steering angle ⁇ f, information related to the vehicle speed V, and information related to the steering angle vehicle speed in the non-traveling low-speed traveling fusion control. , Controls driving force and steering force.
- the steering angle vehicle speed-related information is, for example, a gain map optimized with information related to the steering angle ⁇ f and information related to the vehicle speed V as variables.
- the vehicle specifications of the vehicle / front and rear wheels of the two-wheeled vehicle 1, the weight / moment of inertia, the position of the center of gravity, the wheelbase, and the wheel diameter may be used.
- the self-sustaining control device 40 controls the driving force and the steering force by feeding back information related to the vehicle speed, information related to the lean angle, and information related to the steering angle based on the steering angle vehicle speed related information.
- the motorcycle 1 of the third embodiment has the following effects in addition to the effects of the motorcycle 1 of the first embodiment or the motorcycle 1 of the second embodiment.
- the self-sustaining control device 40 uses information related to the vehicle speed V, information related to the lean angle ⁇ , information related to the steering angle ⁇ f, and information related to the steering angle vehicle speed to move the two-wheeled vehicle 1 in the vehicle front-rear direction. And the movement of the two-wheeled vehicle 1 in the left-right direction of the vehicle can be coupled to control the driving force and the steering force.
- the motorcycle 1 of the third embodiment can be controlled by the self-sustaining control device 40 by fusing the non-traveling state and the low-speed traveling state.
- the motorcycle 1 according to the fourth embodiment of the present invention has the following configurations in addition to the configurations of any of the first to third embodiments.
- the information related to the steering angle ⁇ f includes at least one of the steering angle of the front wheel 2, the steering angular velocity of the front wheel 2, and the steering angular acceleration of the front wheel 2.
- Information related to the vehicle speed V includes at least the vehicle speed of the two-wheeled vehicle 1, the acceleration in the front-rear direction of the vehicle body frame 4, the rotational speed of the front wheels 2, the rotational acceleration of the front wheels 2, the rotational speed of the rear wheels 3, and the rotational acceleration of the rear wheels 3. Includes one.
- the information related to the lean angle ⁇ includes at least one of the lean angle of the vehicle body frame 4, the lean angular velocity of the vehicle body frame 4, and the lean angular acceleration of the vehicle body frame 4.
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Abstract
An independent control device 40 of a two-wheeled vehicle 1 is configured so as to carry out non-traveling/low speed traveling combined control, which controls the two-wheeled vehicle 1 in an independent state while not running and in an independent state while running at low speed, by controlling a drive force and a steering force using a driving force-imparting device 31 and a steering force applying device 32 on the basis of information related to a lean angle detected by a detection device for lean angle related information 51, information related to a steering angle detected by a detection device for steering angle related information 52, and information related to a vehicle speed detected by a detection device for vehicle speed related information 53. During non-running/low speed running combined control, when a vehicle frame 4 tilts to the right direction of the vehicle or to the left direction of the vehicle with respect to the vertical direction of the vehicle, the independent control device 40 controls the driving force and steering force by changing the steering angle while turning a front wheel 2 around a front vehicle axis, so that the ground contact position of the front wheel 2 moves to the right direction of the vehicle or to the left direction of the vehicle and the vehicle frame 4 returns to an upright position.
Description
本発明は、自立制御装置を有する二輪車(two-wheeled vehicle)に関する。
The present invention relates to a two-wheeled vehicle having a self-sustaining control device.
従来、車体を自立させるための制御を行う自立制御装置を有する二輪車がある。例えば、特許文献1は、二輪車が駐車状態のとき、車体リーン角と前輪操舵角を取得して前輪駆動トルクを算出して、前輪駆動トルクを前輪回転モータードライバーに出力することで、二輪車を自立させている。
Conventionally, there are two-wheeled vehicles having an independent control device that controls the vehicle body to be independent. For example, in Patent Document 1, when a two-wheeled vehicle is parked, the front-wheel drive torque is calculated by acquiring the vehicle body lean angle and the front-wheel steering angle, and the front-wheel drive torque is output to the front-wheel rotation motor driver to make the two-wheeled vehicle self-supporting. I'm letting you.
また、非特許文献1に、直進を仮定した走行中の二輪車の自立安定性について開示している。非特許文献1では、前後運動の運動方程式と横運動の運動方程式とに基づいて、二輪車の自律安定性を解析している。前後運動の運動方程式は、車重と車輪の慣性モーメントを用いて、車両に加わる駆動力および制動力と空気抵抗から車両の加速度を算出する。横運動の運動方程式は、車速、車両および前後輪の重量、慣性モーメント、重心位置、ホイールベース、キャスタ、トレール、クラウン半径、ニューマチックトレールを用いて、操舵角加速度、リーン角加速度を算出する。
Further, Non-Patent Document 1 discloses the self-sustaining stability of a two-wheeled vehicle in motion assuming straight running. In Non-Patent Document 1, the autonomous stability of a two-wheeled vehicle is analyzed based on the equation of motion of back-and-forth motion and the equation of motion of lateral motion. The equation of motion for back-and-forth motion uses the vehicle weight and the moment of inertia of the wheels to calculate the vehicle acceleration from the driving force, braking force, and air resistance applied to the vehicle. The equation of motion of lateral motion calculates steering angular acceleration and lean angular acceleration using vehicle speed, vehicle and front and rear wheel weight, moment of inertia, center of gravity position, wheel base, casters, trail, crown radius, and pneumatic trail.
また、非特許文献2に、走行中の二輪車の自立安定性について開示している。非特許文献2では、車速および旋回半径が一定の場合の二輪車の自立安定性を解析している。非特許文献2では、横方向の運動方程式とヨーイング方向の運動方程式とローリング方向の運動方程式に基づいて、二輪車の自立安定性を解析している。これらの運動方程式では、操舵角および車速から算出したロール角に基づいて、目標ロール角になるようにハンドル操舵の制御を行う。また、目標車速になるように後輪の駆動力をフィードバック制御する。
Further, Non-Patent Document 2 discloses the self-sustaining stability of a running motorcycle. Non-Patent Document 2 analyzes the self-sustaining stability of a two-wheeled vehicle when the vehicle speed and the turning radius are constant. In Non-Patent Document 2, the self-sustaining stability of a two-wheeled vehicle is analyzed based on the equation of motion in the lateral direction, the equation of motion in the yawing direction, and the equation of motion in the rolling direction. In these equations of motion, the steering wheel is controlled so as to reach the target roll angle based on the steering angle and the roll angle calculated from the vehicle speed. In addition, the driving force of the rear wheels is feedback-controlled so as to reach the target vehicle speed.
特許文献1は、二輪車が駐車状態のときに、前輪回転モータードライバーを制御することにより、二輪車を自立させるものであり、二輪車が低速度で走行している低速走行状態のときに二輪車を自立させるものではない。また、非特許文献1、2は、走行中の二輪車の自立安定性について解析しており、二輪車が走行していない非走行状態ときの自立安定性は対象としていない。
Patent Document 1 makes a two-wheeled vehicle self-sustaining by controlling a front wheel rotary motor driver when the two-wheeled vehicle is parked, and makes the two-wheeled vehicle self-sustaining when the two-wheeled vehicle is traveling at a low speed. It's not a thing. Further, Non-Patent Documents 1 and 2 analyze the self-sustaining stability of a running two-wheeled vehicle, and do not cover the self-sustaining stability when the two-wheeled vehicle is not running.
本発明は、非走行状態および低速走行状態を融合した制御を行うことができる自立制御装置を有する二輪車を提供することを目的とする。
An object of the present invention is to provide a two-wheeled vehicle having a self-sustaining control device capable of performing control in which a non-driving state and a low-speed running state are fused.
本発明の一実施形態に係る二輪車は、以下の構成を有する。
二輪車は、車体フレームと、前記車体フレームに対して操舵軸線回りに回転可能で且つフロント車軸線回りに回転可能に支持された1つの前輪と、前記車体フレームに対してリア車軸線回りに回転可能に支持された1つの後輪と、前記車体フレームの車両上下方向に対する車両左右方向の傾斜角であるリーン角に関連する情報を検出するリーン角関連情報検出装置と、前記前輪の前記操舵軸線回りの回転角度である操舵角に関連する情報を検出する操舵角関連情報検出装置と、前記車体フレームの車両前後方向の速度である車速に関連する情報を検出する車速関連情報検出装置と、前記前輪および前記後輪の少なくとも一方を前記フロント車軸線および前記リア車軸線の少なくとも一方の車軸線回りに正方向および逆方向に回転させる駆動力を、前記前輪および前記後輪の前記少なくとも一方に付与する駆動力付与装置と、前記前輪を前記操舵軸線回りに回転させる操舵力を、前記前輪に付与する操舵力付与装置と、前記駆動力付与装置の前記駆動力と前記操舵力付与装置の前記操舵力を制御して前記車体フレームを自立させるための制御を行う自立制御装置と、を備える二輪車であって、前記自立制御装置は、前記リーン角関連情報検出装置によって検出された前記リーン角に関連する情報と、前記操舵角関連情報検出装置によって検出された前記操舵角に関連する情報と、前記車速関連情報検出装置によって検出された前記車速に関連する情報とに基づいて、前記駆動力および前記操舵力を制御することで、前記二輪車を走行せずに自立する状態および前記二輪車を低速で走行しつつ自立する状態に制御する非走行低速走行融合制御を行うように構成され、前記非走行低速走行融合制御中、前記車体フレームが車両上下方向に対して車両右方向に傾斜した場合、前記操舵角を変化させつつ前記前輪を前記フロント車軸線回りに回転させることによって前記前輪の接地位置が車両右方向に移動して前記車体フレームが起き上がるように、前記駆動力と前記操舵力を制御し、前記非走行低速走行融合制御中、前記車体フレームが車両上下方向に対して車両左方向に傾斜した場合、前記操舵角を変化させつつ前記前輪を前記フロント車軸線回りに回転させることによって前記前輪の接地位置が車両左方向に移動して前記車体フレームが起き上がるように、前記駆動力と前記操舵力を制御する。 The two-wheeled vehicle according to the embodiment of the present invention has the following configurations.
The two-wheeled vehicle can rotate around the vehicle body frame, one front wheel that can rotate around the steering axis with respect to the vehicle body frame and is rotatably supported around the front axle line, and can rotate around the rear axle line with respect to the vehicle body frame. A lean angle-related information detection device that detects information related to a lean angle, which is an inclination angle in the vehicle left-right direction with respect to the vehicle vertical direction of the vehicle body frame, and a steering axis around the front wheel. A steering angle-related information detection device that detects information related to the steering angle, which is the rotation angle of the vehicle, a vehicle speed-related information detection device that detects information related to the vehicle speed, which is the speed of the vehicle body frame in the vehicle front-rear direction, and the front wheel. And the driving force for rotating at least one of the rear wheels in the forward and reverse directions around at least one of the front axle line and the rear axle line is applied to the at least one of the front wheel and the rear wheel. The driving force applying device, the steering force applying device for applying the steering force for rotating the front wheel around the steering axis to the front wheels, the driving force of the driving force applying device, and the steering force of the steering force applying device. A two-wheeled vehicle including a self-sustaining control device for controlling the vehicle body frame to be self-supporting, wherein the self-supporting control device is related to the lean angle detected by the lean angle-related information detection device. The driving force and the steering are based on the information, the information related to the steering angle detected by the steering angle-related information detection device, and the information related to the vehicle speed detected by the vehicle speed-related information detection device. By controlling the force, it is configured to perform non-running low-speed running fusion control that controls a state in which the two-wheeled vehicle stands on its own without running and a state in which the two-wheeled vehicle runs on its own at a low speed. When the vehicle body frame is tilted to the right of the vehicle with respect to the vertical direction of the vehicle during fusion control, the front wheels are rotated around the front axle line while changing the steering angle, so that the ground contact position of the front wheels is to the right of the vehicle. When the driving force and the steering force are controlled so as to move in the direction and the vehicle body frame rises, and the vehicle body frame is tilted to the left of the vehicle with respect to the vehicle vertical direction during the non-traveling low-speed running fusion control. By rotating the front wheels around the front axle line while changing the steering angle, the driving force and the steering force are applied so that the ground contact position of the front wheels moves to the left of the vehicle and the vehicle body frame rises. Control.
二輪車は、車体フレームと、前記車体フレームに対して操舵軸線回りに回転可能で且つフロント車軸線回りに回転可能に支持された1つの前輪と、前記車体フレームに対してリア車軸線回りに回転可能に支持された1つの後輪と、前記車体フレームの車両上下方向に対する車両左右方向の傾斜角であるリーン角に関連する情報を検出するリーン角関連情報検出装置と、前記前輪の前記操舵軸線回りの回転角度である操舵角に関連する情報を検出する操舵角関連情報検出装置と、前記車体フレームの車両前後方向の速度である車速に関連する情報を検出する車速関連情報検出装置と、前記前輪および前記後輪の少なくとも一方を前記フロント車軸線および前記リア車軸線の少なくとも一方の車軸線回りに正方向および逆方向に回転させる駆動力を、前記前輪および前記後輪の前記少なくとも一方に付与する駆動力付与装置と、前記前輪を前記操舵軸線回りに回転させる操舵力を、前記前輪に付与する操舵力付与装置と、前記駆動力付与装置の前記駆動力と前記操舵力付与装置の前記操舵力を制御して前記車体フレームを自立させるための制御を行う自立制御装置と、を備える二輪車であって、前記自立制御装置は、前記リーン角関連情報検出装置によって検出された前記リーン角に関連する情報と、前記操舵角関連情報検出装置によって検出された前記操舵角に関連する情報と、前記車速関連情報検出装置によって検出された前記車速に関連する情報とに基づいて、前記駆動力および前記操舵力を制御することで、前記二輪車を走行せずに自立する状態および前記二輪車を低速で走行しつつ自立する状態に制御する非走行低速走行融合制御を行うように構成され、前記非走行低速走行融合制御中、前記車体フレームが車両上下方向に対して車両右方向に傾斜した場合、前記操舵角を変化させつつ前記前輪を前記フロント車軸線回りに回転させることによって前記前輪の接地位置が車両右方向に移動して前記車体フレームが起き上がるように、前記駆動力と前記操舵力を制御し、前記非走行低速走行融合制御中、前記車体フレームが車両上下方向に対して車両左方向に傾斜した場合、前記操舵角を変化させつつ前記前輪を前記フロント車軸線回りに回転させることによって前記前輪の接地位置が車両左方向に移動して前記車体フレームが起き上がるように、前記駆動力と前記操舵力を制御する。 The two-wheeled vehicle according to the embodiment of the present invention has the following configurations.
The two-wheeled vehicle can rotate around the vehicle body frame, one front wheel that can rotate around the steering axis with respect to the vehicle body frame and is rotatably supported around the front axle line, and can rotate around the rear axle line with respect to the vehicle body frame. A lean angle-related information detection device that detects information related to a lean angle, which is an inclination angle in the vehicle left-right direction with respect to the vehicle vertical direction of the vehicle body frame, and a steering axis around the front wheel. A steering angle-related information detection device that detects information related to the steering angle, which is the rotation angle of the vehicle, a vehicle speed-related information detection device that detects information related to the vehicle speed, which is the speed of the vehicle body frame in the vehicle front-rear direction, and the front wheel. And the driving force for rotating at least one of the rear wheels in the forward and reverse directions around at least one of the front axle line and the rear axle line is applied to the at least one of the front wheel and the rear wheel. The driving force applying device, the steering force applying device for applying the steering force for rotating the front wheel around the steering axis to the front wheels, the driving force of the driving force applying device, and the steering force of the steering force applying device. A two-wheeled vehicle including a self-sustaining control device for controlling the vehicle body frame to be self-supporting, wherein the self-supporting control device is related to the lean angle detected by the lean angle-related information detection device. The driving force and the steering are based on the information, the information related to the steering angle detected by the steering angle-related information detection device, and the information related to the vehicle speed detected by the vehicle speed-related information detection device. By controlling the force, it is configured to perform non-running low-speed running fusion control that controls a state in which the two-wheeled vehicle stands on its own without running and a state in which the two-wheeled vehicle runs on its own at a low speed. When the vehicle body frame is tilted to the right of the vehicle with respect to the vertical direction of the vehicle during fusion control, the front wheels are rotated around the front axle line while changing the steering angle, so that the ground contact position of the front wheels is to the right of the vehicle. When the driving force and the steering force are controlled so as to move in the direction and the vehicle body frame rises, and the vehicle body frame is tilted to the left of the vehicle with respect to the vehicle vertical direction during the non-traveling low-speed running fusion control. By rotating the front wheels around the front axle line while changing the steering angle, the driving force and the steering force are applied so that the ground contact position of the front wheels moves to the left of the vehicle and the vehicle body frame rises. Control.
本願発明者らは、二輪車の車輪速(前輪または後輪の角速度)が車体フレームの速度に比例すると仮定すると、二輪車のヨーレート(遠心力)は、車速および操舵角に比例することを見出した。そして、本願発明者らは、二輪車の車体フレームが車両上下方向に対して車両右方向または車両左方向に傾斜した場合、駆動力と操舵力を制御することにより、ヨーレート(遠心力)を制御して、車体フレームを起き上がらせて、車体フレームのリーン角を0とすることができることを見出した。この構成によると、二輪車の自立制御装置は、車速、リーン角、操舵角に関連する情報を用いて、駆動力および操舵力を制御する。つまり、自立制御装置は、非走行低速走行融合制御中に、車体フレームが車両上下方向に対して車両右方向または車両左方向に傾斜した場合(リーン角が0ではない場合)、駆動力と操舵力を制御して車速および操舵角を変化させることにより、車速および操舵角に比例するヨーレート(遠心力)を制御する。そして、二輪車は、制御されたヨーレート(遠心力)により車体フレームを起き上がらせて、車体フレームのリーン角を0とすることができる。これにより、走行していない非走行状態および低速度で走行している低速走行状態の二輪車の自立を制御している。以上により、本発明の二輪車は、自立制御装置により、非走行状態および低速走行状態を融合した制御を行うことができる。
The inventors of the present application have found that the yaw rate (centrifugal force) of a two-wheeled vehicle is proportional to the vehicle speed and the steering angle, assuming that the wheel speed (angular velocity of the front wheel or the rear wheel) of the two-wheeled vehicle is proportional to the speed of the vehicle body frame. Then, the inventors of the present application control the yaw rate (centrifugal force) by controlling the driving force and the steering force when the body frame of the two-wheeled vehicle is tilted to the right of the vehicle or to the left of the vehicle with respect to the vertical direction of the vehicle. It was found that the lean angle of the car body frame can be set to 0 by raising the car body frame. According to this configuration, the motorcycle self-sustaining control device controls the driving force and the steering force by using the information related to the vehicle speed, the lean angle, and the steering angle. That is, the self-sustaining control device provides driving force and steering when the vehicle body frame is tilted to the right of the vehicle or to the left of the vehicle with respect to the vertical direction of the vehicle (when the lean angle is not 0) during the non-running low-speed running fusion control. By controlling the force to change the vehicle speed and steering angle, the yaw rate (centrifugal force) proportional to the vehicle speed and steering angle is controlled. Then, the two-wheeled vehicle can raise the vehicle body frame by a controlled yaw rate (centrifugal force) to set the lean angle of the vehicle body frame to zero. This controls the independence of the two-wheeled vehicle in the non-running state in which the motorcycle is not running and in the low-speed running state in which the motorcycle is running at a low speed. As described above, the two-wheeled vehicle of the present invention can be controlled by a self-sustaining control device in which a non-running state and a low-speed running state are fused.
本発明の一実施形態に係る二輪車は、以下の構成を有していても良い。
前記自立制御装置は、前記非走行低速走行融合制御により、前記二輪車を、低速で走行しつつ自立する状態から走行せずに自立する状態に変化させるように制御し、且つ、前記非走行低速走行融合制御により、前記二輪車を、走行せずに自立する状態から低速で走行しつつ自立する状態に変化させるように制御する。 The two-wheeled vehicle according to the embodiment of the present invention may have the following configurations.
The self-sustaining control device controls the two-wheeled vehicle to change from a state of being self-sustaining while traveling at a low speed to a state of being self-sustaining without traveling by the non-traveling low-speed traveling fusion control, and the non-traveling low-speed traveling. The fusion control controls the two-wheeled vehicle so as to change from a state of being independent without traveling to a state of being independent while traveling at a low speed.
前記自立制御装置は、前記非走行低速走行融合制御により、前記二輪車を、低速で走行しつつ自立する状態から走行せずに自立する状態に変化させるように制御し、且つ、前記非走行低速走行融合制御により、前記二輪車を、走行せずに自立する状態から低速で走行しつつ自立する状態に変化させるように制御する。 The two-wheeled vehicle according to the embodiment of the present invention may have the following configurations.
The self-sustaining control device controls the two-wheeled vehicle to change from a state of being self-sustaining while traveling at a low speed to a state of being self-sustaining without traveling by the non-traveling low-speed traveling fusion control, and the non-traveling low-speed traveling. The fusion control controls the two-wheeled vehicle so as to change from a state of being independent without traveling to a state of being independent while traveling at a low speed.
この構成によると、自立制御装置は、二輪車を、低速で走行しつつ自立する状態から走行せずに自立する状態に、および、走行せずに自立する状態から低速で走行しつつ自立する状態に、変化させるように、二輪車を制御することができる。以上により、本発明の二輪車は、自立制御装置により、非走行状態および低速走行状態を融合した制御を行うことができる。
According to this configuration, the self-sustaining control device changes the two-wheeled vehicle from a state of being self-supporting while traveling at a low speed to a state of being self-sustaining without traveling, and a state of being self-sustaining while traveling at a low speed from a state of being self-sustaining without traveling. The two-wheeled vehicle can be controlled to change. As described above, the two-wheeled vehicle of the present invention can be controlled by a self-sustaining control device in which a non-running state and a low-speed running state are fused.
本発明の一実施形態に係る二輪車は、以下の構成を有していても良い。
前記自立制御装置は、前記操舵角に関連する情報および前記車速に関連する情報を関連付けた操舵角車速関連情報を予め記憶し、前記非走行低速走行融合制御において、前記リーン角に関連する情報と、前記操舵角に関連する情報と、前記車速に関連する情報と、前記操舵角車速関連情報と、に基づいて、前記駆動力および前記操舵力を制御する。 The two-wheeled vehicle according to the embodiment of the present invention may have the following configurations.
The self-sustaining control device stores in advance information related to the steering angle and information related to the steering angle vehicle speed associated with the information related to the vehicle speed, and in the non-traveling low-speed traveling fusion control, with the information related to the lean angle. , The driving force and the steering force are controlled based on the information related to the steering angle, the information related to the vehicle speed, and the information related to the steering angle vehicle speed.
前記自立制御装置は、前記操舵角に関連する情報および前記車速に関連する情報を関連付けた操舵角車速関連情報を予め記憶し、前記非走行低速走行融合制御において、前記リーン角に関連する情報と、前記操舵角に関連する情報と、前記車速に関連する情報と、前記操舵角車速関連情報と、に基づいて、前記駆動力および前記操舵力を制御する。 The two-wheeled vehicle according to the embodiment of the present invention may have the following configurations.
The self-sustaining control device stores in advance information related to the steering angle and information related to the steering angle vehicle speed associated with the information related to the vehicle speed, and in the non-traveling low-speed traveling fusion control, with the information related to the lean angle. , The driving force and the steering force are controlled based on the information related to the steering angle, the information related to the vehicle speed, and the information related to the steering angle vehicle speed.
この構成によると、自立制御装置は、車速に関連する情報、リーン角に関連する情報、操舵角に関連する情報に加えて、操舵角車速関連情報を用いることにより、二輪車の車両前後方向の運動と二輪車の車両左右方向の運動を連成して、駆動力および操舵力を制御することができる。操舵角に関連する情報および車速に関連する情報を関連付けた操舵角車速関連情報は、例えば、操舵角に関連する情報および車速に関連する情報を変数として最適化したゲインマップである。以上により、本発明の二輪車は、自立制御装置により、非走行状態および低速走行状態をより融合した制御を行うことができる。
According to this configuration, the self-sustaining control device uses information related to the vehicle speed, information related to the lean angle, information related to the steering angle, and information related to the steering angle vehicle speed to move the two-wheeled vehicle in the vehicle front-rear direction. It is possible to control the driving force and the steering force by superimposing the left-right movements of the two-wheeled vehicle and the vehicle. The steering angle vehicle speed-related information associated with the information related to the steering angle and the information related to the vehicle speed is, for example, a gain map optimized with information related to the steering angle and information related to the vehicle speed as variables. As described above, the two-wheeled vehicle of the present invention can be controlled by a self-sustaining control device in which a non-running state and a low-speed running state are more integrated.
本発明の一実施形態に係る二輪車は、以下の構成を有していても良い。
前記操舵角に関連する情報は、前記前輪の操舵角、前記前輪の操舵角速度、および前記前輪の操舵角加速度の少なくとも1つを含み、前記車速に関連する情報は、前記二輪車の車速、前記車体フレームの前後方向の加速度、前記前輪の回転速度、前記前輪の回転加速度、前記後輪の回転速度、および前記後輪の回転加速度の少なくとも1つを含み、前記リーン角に関連する情報は、前記車体フレームのリーン角、前記車体フレームのリーン角速度、および前記車体フレームのリーン角加速度の少なくとも1つを含む。 The two-wheeled vehicle according to the embodiment of the present invention may have the following configurations.
The information related to the steering angle includes at least one of the steering angle of the front wheel, the steering angular velocity of the front wheel, and the steering angular acceleration of the front wheel, and the information related to the vehicle speed includes the vehicle speed of the two-wheeled vehicle and the vehicle body. Information related to the lean angle includes at least one of the acceleration in the front-rear direction of the frame, the rotational speed of the front wheels, the rotational acceleration of the front wheels, the rotational speed of the rear wheels, and the rotational acceleration of the rear wheels. It includes at least one of the lean angle of the vehicle body frame, the lean angular velocity of the vehicle body frame, and the lean angular acceleration of the vehicle body frame.
前記操舵角に関連する情報は、前記前輪の操舵角、前記前輪の操舵角速度、および前記前輪の操舵角加速度の少なくとも1つを含み、前記車速に関連する情報は、前記二輪車の車速、前記車体フレームの前後方向の加速度、前記前輪の回転速度、前記前輪の回転加速度、前記後輪の回転速度、および前記後輪の回転加速度の少なくとも1つを含み、前記リーン角に関連する情報は、前記車体フレームのリーン角、前記車体フレームのリーン角速度、および前記車体フレームのリーン角加速度の少なくとも1つを含む。 The two-wheeled vehicle according to the embodiment of the present invention may have the following configurations.
The information related to the steering angle includes at least one of the steering angle of the front wheel, the steering angular velocity of the front wheel, and the steering angular acceleration of the front wheel, and the information related to the vehicle speed includes the vehicle speed of the two-wheeled vehicle and the vehicle body. Information related to the lean angle includes at least one of the acceleration in the front-rear direction of the frame, the rotational speed of the front wheels, the rotational acceleration of the front wheels, the rotational speed of the rear wheels, and the rotational acceleration of the rear wheels. It includes at least one of the lean angle of the vehicle body frame, the lean angular velocity of the vehicle body frame, and the lean angular acceleration of the vehicle body frame.
<二輪車>
本発明および実施の形態において、「二輪車」とは、車体フレームに支持された前輪および後輪を有し、右旋回時に車両右方向に傾斜し、左旋回時に車両左方向に傾斜する車両である。また、本発明および実施の形態における「二輪車」は、車体を自立させるための制御を行う自立制御装置を備える。本発明および実施の形態における「二輪車」は、ライダーが乗車していてもよいし、乗車していなくてもよい。なお、本発明および実施の形態における「二輪車」は、ライダーが操舵できるステアリングおよびライダーが後輪を回転できるペダルを有しても有さなくてもよい。 <Motorcycle>
In the present invention and the embodiment, the "motorcycle" is a vehicle having front wheels and rear wheels supported by a vehicle body frame, tilting to the right of the vehicle when turning right, and tilting to the left of the vehicle when turning left. be. Further, the "motorcycle" in the present invention and the embodiment includes a self-sustaining control device that controls the vehicle body to be self-supporting. The "motorcycle" in the present invention and the embodiment may or may not have a rider on board. The "motorcycle" in the present invention and the embodiment may or may not have a steering wheel that can be steered by the rider and a pedal that allows the rider to rotate the rear wheels.
本発明および実施の形態において、「二輪車」とは、車体フレームに支持された前輪および後輪を有し、右旋回時に車両右方向に傾斜し、左旋回時に車両左方向に傾斜する車両である。また、本発明および実施の形態における「二輪車」は、車体を自立させるための制御を行う自立制御装置を備える。本発明および実施の形態における「二輪車」は、ライダーが乗車していてもよいし、乗車していなくてもよい。なお、本発明および実施の形態における「二輪車」は、ライダーが操舵できるステアリングおよびライダーが後輪を回転できるペダルを有しても有さなくてもよい。 <Motorcycle>
In the present invention and the embodiment, the "motorcycle" is a vehicle having front wheels and rear wheels supported by a vehicle body frame, tilting to the right of the vehicle when turning right, and tilting to the left of the vehicle when turning left. be. Further, the "motorcycle" in the present invention and the embodiment includes a self-sustaining control device that controls the vehicle body to be self-supporting. The "motorcycle" in the present invention and the embodiment may or may not have a rider on board. The "motorcycle" in the present invention and the embodiment may or may not have a steering wheel that can be steered by the rider and a pedal that allows the rider to rotate the rear wheels.
<非走行低速走行融合制御>
本発明および実施の形態において、「二輪車を走行せずに自立する状態および二輪車が低速で走行しつつ自立する状態に制御する非走行低速走行融合制御を行うように構成される」自立制御装置とは、非走行低速走行融合制御によって二輪車が走行せずに自立する状態に制御することが可能で、且つ、非走行低速走行融合制御によって二輪車が低速で走行しつつ自立する状態に制御することが可能な自立制御装置を意味する。自立制御装置は、非走行低速走行融合制御により、二輪車を走行せずに自立する状態から低速で走行しつつ自立する状態に変化させることができる。また、自立制御装置は、非走行低速走行融合制御により、低速で走行しつつ自立する状態から二輪車を走行せずに自立する状態に変化させることができる。但し、非走行低速走行融合制御が行われたときに毎回、走行せずに自立する状態と低速で走行しつつ自立する状態の両方になるとは限らない。つまり、非走行低速走行融合制御が行われたときに、二輪車が走行せずに自立する状態に制御され、二輪車が低速で走行しつつ自立する状態に制御されない場合があってもよい。逆に、非走行低速走行融合制御が行われたときに、二輪車が低速で走行しつつ自立する状態に制御され、二輪車が走行せずに自立する状態に制御されない場合があってもよい。なお、本発明および実施の形態において、「低速」とは、例えば、時速10~20km/h以下の速度である。
本発明および実施の形態において、「二輪車が走行せずに自立する状態」とは、二輪車が車両前後方向にほとんど移動することなく自立する状態を意味する。「二輪車が走行せずに自立する状態」は、二輪車がわずかに車両前後方向に移動する状態を含んでもよい。「二輪車が走行せずに自立する状態」は、二輪車が車両前方向へのわずかな移動と車両後方向へのわずかな移動を交互に繰り返す状態を含んでもよい。
本発明および実施の形態において、「二輪車が自立する状態」とは、二輪車の車体が支えなしで自立する状態を意味する。
本発明および実施の形態において、非走行低速走行融合制御中、車体フレームが傾斜した場合、制御装置は、「操舵角を変化させつつ前輪がフロント車軸線回りに回転することによって前輪の接地位置が車両右方向(車両左方向)に移動して車体フレームが起き上がるように、駆動力と操舵力を制御する」場合がある。そのため、自立制御装置は、「前輪をフロント車軸線回りに回転させる」ように、前輪および後輪の少なくとも一方に付与される駆動力を制御する。但し、この場合、前輪に駆動力が付与されるように駆動力が制御されるとは限らない。後輪にのみ駆動力を付与して前輪を回転させてもよい。前輪と後輪の両方に駆動力を付与して前輪を回転させてもよい。 <Non-running low-speed running fusion control>
In the present invention and the embodiment, with the self-sustaining control device "configured to perform non-running low-speed running fusion control for controlling a state in which the motorcycle is self-sustaining without traveling and a state in which the motorcycle is self-sustaining while traveling at a low speed". Is capable of controlling the two-wheeled vehicle to stand on its own without running by the non-running low-speed running fusion control, and controlling the two-wheeled vehicle to stand on its own while running at low speed by the non-running low-speed running fusion control. It means a possible self-sustaining control device. The self-sustaining control device can be changed from a state in which the two-wheeled vehicle is self-sustaining without traveling to a state in which the motorcycle is self-sustaining while traveling at a low speed by the non-traveling low-speed traveling fusion control. In addition, the self-sustaining control device can be changed from a state of being self-sustaining while traveling at a low speed to a state of being self-sustaining without traveling a two-wheeled vehicle by non-traveling low-speed traveling fusion control. However, it is not always the case that each time the non-running low-speed running fusion control is performed, the state becomes independent without running and the state of becoming independent while running at low speed. That is, when the non-traveling low-speed traveling fusion control is performed, the two-wheeled vehicle may be controlled to be in a state of being independent without traveling, and the two-wheeled vehicle may not be controlled to be in a state of being independent while traveling at a low speed. On the contrary, when the non-traveling low-speed traveling fusion control is performed, the two-wheeled vehicle may be controlled to be in a state of being independent while traveling at a low speed, and may not be controlled to be in a state of being independent without traveling. In the present invention and the embodiment, the "low speed" is, for example, a speed of 10 to 20 km / h or less.
In the present invention and the embodiment, the "state in which the two-wheeled vehicle stands on its own without traveling" means a state in which the two-wheeled vehicle stands on its own with almost no movement in the front-rear direction of the vehicle. The "state in which the two-wheeled vehicle stands on its own without traveling" may include a state in which the two-wheeled vehicle slightly moves in the front-rear direction of the vehicle. The "state in which the two-wheeled vehicle stands on its own without traveling" may include a state in which the two-wheeled vehicle alternately repeats a slight movement in the front direction of the vehicle and a slight movement in the rear direction of the vehicle.
In the present invention and the embodiment, the "state in which the two-wheeled vehicle is self-supporting" means a state in which the vehicle body of the two-wheeled vehicle is self-supporting without support.
In the present invention and the embodiment, when the vehicle body frame is tilted during the non-traveling low-speed traveling fusion control, the control device states that "the front wheels rotate around the front axle line while changing the steering angle, so that the ground contact position of the front wheels is changed. The driving force and steering force are controlled so that the vehicle body frame moves to the right of the vehicle (to the left of the vehicle) and rises. " Therefore, the self-sustaining control device controls the driving force applied to at least one of the front wheels and the rear wheels so as to "rotate the front wheels around the front axle line". However, in this case, the driving force is not always controlled so that the driving force is applied to the front wheels. The driving force may be applied only to the rear wheels to rotate the front wheels. Driving force may be applied to both the front wheels and the rear wheels to rotate the front wheels.
本発明および実施の形態において、「二輪車を走行せずに自立する状態および二輪車が低速で走行しつつ自立する状態に制御する非走行低速走行融合制御を行うように構成される」自立制御装置とは、非走行低速走行融合制御によって二輪車が走行せずに自立する状態に制御することが可能で、且つ、非走行低速走行融合制御によって二輪車が低速で走行しつつ自立する状態に制御することが可能な自立制御装置を意味する。自立制御装置は、非走行低速走行融合制御により、二輪車を走行せずに自立する状態から低速で走行しつつ自立する状態に変化させることができる。また、自立制御装置は、非走行低速走行融合制御により、低速で走行しつつ自立する状態から二輪車を走行せずに自立する状態に変化させることができる。但し、非走行低速走行融合制御が行われたときに毎回、走行せずに自立する状態と低速で走行しつつ自立する状態の両方になるとは限らない。つまり、非走行低速走行融合制御が行われたときに、二輪車が走行せずに自立する状態に制御され、二輪車が低速で走行しつつ自立する状態に制御されない場合があってもよい。逆に、非走行低速走行融合制御が行われたときに、二輪車が低速で走行しつつ自立する状態に制御され、二輪車が走行せずに自立する状態に制御されない場合があってもよい。なお、本発明および実施の形態において、「低速」とは、例えば、時速10~20km/h以下の速度である。
本発明および実施の形態において、「二輪車が走行せずに自立する状態」とは、二輪車が車両前後方向にほとんど移動することなく自立する状態を意味する。「二輪車が走行せずに自立する状態」は、二輪車がわずかに車両前後方向に移動する状態を含んでもよい。「二輪車が走行せずに自立する状態」は、二輪車が車両前方向へのわずかな移動と車両後方向へのわずかな移動を交互に繰り返す状態を含んでもよい。
本発明および実施の形態において、「二輪車が自立する状態」とは、二輪車の車体が支えなしで自立する状態を意味する。
本発明および実施の形態において、非走行低速走行融合制御中、車体フレームが傾斜した場合、制御装置は、「操舵角を変化させつつ前輪がフロント車軸線回りに回転することによって前輪の接地位置が車両右方向(車両左方向)に移動して車体フレームが起き上がるように、駆動力と操舵力を制御する」場合がある。そのため、自立制御装置は、「前輪をフロント車軸線回りに回転させる」ように、前輪および後輪の少なくとも一方に付与される駆動力を制御する。但し、この場合、前輪に駆動力が付与されるように駆動力が制御されるとは限らない。後輪にのみ駆動力を付与して前輪を回転させてもよい。前輪と後輪の両方に駆動力を付与して前輪を回転させてもよい。 <Non-running low-speed running fusion control>
In the present invention and the embodiment, with the self-sustaining control device "configured to perform non-running low-speed running fusion control for controlling a state in which the motorcycle is self-sustaining without traveling and a state in which the motorcycle is self-sustaining while traveling at a low speed". Is capable of controlling the two-wheeled vehicle to stand on its own without running by the non-running low-speed running fusion control, and controlling the two-wheeled vehicle to stand on its own while running at low speed by the non-running low-speed running fusion control. It means a possible self-sustaining control device. The self-sustaining control device can be changed from a state in which the two-wheeled vehicle is self-sustaining without traveling to a state in which the motorcycle is self-sustaining while traveling at a low speed by the non-traveling low-speed traveling fusion control. In addition, the self-sustaining control device can be changed from a state of being self-sustaining while traveling at a low speed to a state of being self-sustaining without traveling a two-wheeled vehicle by non-traveling low-speed traveling fusion control. However, it is not always the case that each time the non-running low-speed running fusion control is performed, the state becomes independent without running and the state of becoming independent while running at low speed. That is, when the non-traveling low-speed traveling fusion control is performed, the two-wheeled vehicle may be controlled to be in a state of being independent without traveling, and the two-wheeled vehicle may not be controlled to be in a state of being independent while traveling at a low speed. On the contrary, when the non-traveling low-speed traveling fusion control is performed, the two-wheeled vehicle may be controlled to be in a state of being independent while traveling at a low speed, and may not be controlled to be in a state of being independent without traveling. In the present invention and the embodiment, the "low speed" is, for example, a speed of 10 to 20 km / h or less.
In the present invention and the embodiment, the "state in which the two-wheeled vehicle stands on its own without traveling" means a state in which the two-wheeled vehicle stands on its own with almost no movement in the front-rear direction of the vehicle. The "state in which the two-wheeled vehicle stands on its own without traveling" may include a state in which the two-wheeled vehicle slightly moves in the front-rear direction of the vehicle. The "state in which the two-wheeled vehicle stands on its own without traveling" may include a state in which the two-wheeled vehicle alternately repeats a slight movement in the front direction of the vehicle and a slight movement in the rear direction of the vehicle.
In the present invention and the embodiment, the "state in which the two-wheeled vehicle is self-supporting" means a state in which the vehicle body of the two-wheeled vehicle is self-supporting without support.
In the present invention and the embodiment, when the vehicle body frame is tilted during the non-traveling low-speed traveling fusion control, the control device states that "the front wheels rotate around the front axle line while changing the steering angle, so that the ground contact position of the front wheels is changed. The driving force and steering force are controlled so that the vehicle body frame moves to the right of the vehicle (to the left of the vehicle) and rises. " Therefore, the self-sustaining control device controls the driving force applied to at least one of the front wheels and the rear wheels so as to "rotate the front wheels around the front axle line". However, in this case, the driving force is not always controlled so that the driving force is applied to the front wheels. The driving force may be applied only to the rear wheels to rotate the front wheels. Driving force may be applied to both the front wheels and the rear wheels to rotate the front wheels.
<駆動力付与装置>
本発明および実施の形態において、「前輪および後輪の少なくとも一方に駆動力を付与する」駆動力付与装置は、前輪のみに駆動力を付与するように構成されていてもよく、後輪のみに駆動力を付与するように構成されていてもよく、前輪と後輪の両方に駆動力を付与するように構成されていてもよい。駆動力付与装置が前輪と後輪の両方に駆動力を付与するように構成されている場合、非走行低速走行融合制御中、必ずしも、駆動力付与装置によって前輪および後輪の両方に駆動力が付与されなくてもよい。前輪および後輪の両方に駆動力が付与される場合と、前輪または後輪のみに駆動力が付与される場合があってもよい。前輪および後輪の両方に駆動力が付与されずに、前輪にのみ駆動力が付与される場合と、後輪のみに駆動力が付与される場合があってもよい。
本発明および実施の形態において、「正方向および逆方向に回転させる駆動力を付与する」駆動力付与装置は、正方向に回転させる駆動力と、逆方向に回転させる駆動力のどちらも付与可能な駆動力付与装置を意味する。 <Driving force applying device>
In the present invention and the embodiment, the driving force applying device "to apply the driving force to at least one of the front wheels and the rear wheels" may be configured to apply the driving force only to the front wheels, or only to the rear wheels. It may be configured to apply a driving force, or may be configured to apply a driving force to both the front wheels and the rear wheels. When the driving force applying device is configured to apply the driving force to both the front wheels and the rear wheels, the driving force is not necessarily applied to both the front wheels and the rear wheels by the driving force applying device during the non-driving low-speed running fusion control. It does not have to be granted. The driving force may be applied to both the front wheels and the rear wheels, or the driving force may be applied only to the front wheels or the rear wheels. The driving force may be applied only to the front wheels without applying the driving force to both the front wheels and the rear wheels, or the driving force may be applied only to the rear wheels.
In the present invention and the embodiment, the driving force applying device "to apply the driving force to rotate in the forward direction and the reverse direction" can apply both the driving force to rotate in the forward direction and the driving force to rotate in the reverse direction. Means a drive force applying device.
本発明および実施の形態において、「前輪および後輪の少なくとも一方に駆動力を付与する」駆動力付与装置は、前輪のみに駆動力を付与するように構成されていてもよく、後輪のみに駆動力を付与するように構成されていてもよく、前輪と後輪の両方に駆動力を付与するように構成されていてもよい。駆動力付与装置が前輪と後輪の両方に駆動力を付与するように構成されている場合、非走行低速走行融合制御中、必ずしも、駆動力付与装置によって前輪および後輪の両方に駆動力が付与されなくてもよい。前輪および後輪の両方に駆動力が付与される場合と、前輪または後輪のみに駆動力が付与される場合があってもよい。前輪および後輪の両方に駆動力が付与されずに、前輪にのみ駆動力が付与される場合と、後輪のみに駆動力が付与される場合があってもよい。
本発明および実施の形態において、「正方向および逆方向に回転させる駆動力を付与する」駆動力付与装置は、正方向に回転させる駆動力と、逆方向に回転させる駆動力のどちらも付与可能な駆動力付与装置を意味する。 <Driving force applying device>
In the present invention and the embodiment, the driving force applying device "to apply the driving force to at least one of the front wheels and the rear wheels" may be configured to apply the driving force only to the front wheels, or only to the rear wheels. It may be configured to apply a driving force, or may be configured to apply a driving force to both the front wheels and the rear wheels. When the driving force applying device is configured to apply the driving force to both the front wheels and the rear wheels, the driving force is not necessarily applied to both the front wheels and the rear wheels by the driving force applying device during the non-driving low-speed running fusion control. It does not have to be granted. The driving force may be applied to both the front wheels and the rear wheels, or the driving force may be applied only to the front wheels or the rear wheels. The driving force may be applied only to the front wheels without applying the driving force to both the front wheels and the rear wheels, or the driving force may be applied only to the rear wheels.
In the present invention and the embodiment, the driving force applying device "to apply the driving force to rotate in the forward direction and the reverse direction" can apply both the driving force to rotate in the forward direction and the driving force to rotate in the reverse direction. Means a drive force applying device.
<車速関連情報検出装置>
本発明および実施の形態において、車速関連情報検出装置が検出する「車速に関連する情報」は、車速、車体フレームの前後方向の加速度、前輪の回転速度、前輪の回転加速度、後輪の回転速度、および後輪の回転加速度の少なくとも1つを含む。 <Vehicle speed related information detection device>
In the present invention and the embodiment, the "information related to the vehicle speed" detected by the vehicle speed-related information detection device includes the vehicle speed, the acceleration in the front-rear direction of the vehicle body frame, the rotation speed of the front wheels, the rotation acceleration of the front wheels, and the rotation speed of the rear wheels. , And at least one of the rotational accelerations of the rear wheels.
本発明および実施の形態において、車速関連情報検出装置が検出する「車速に関連する情報」は、車速、車体フレームの前後方向の加速度、前輪の回転速度、前輪の回転加速度、後輪の回転速度、および後輪の回転加速度の少なくとも1つを含む。 <Vehicle speed related information detection device>
In the present invention and the embodiment, the "information related to the vehicle speed" detected by the vehicle speed-related information detection device includes the vehicle speed, the acceleration in the front-rear direction of the vehicle body frame, the rotation speed of the front wheels, the rotation acceleration of the front wheels, and the rotation speed of the rear wheels. , And at least one of the rotational accelerations of the rear wheels.
<回転>
本発明および実施の形態における「回転」は、360°以上の回転に限定されない。本発明および実施の形態における回転は、360°未満の回転も含む。 <Rotation>
"Rotation" in the present invention and embodiments is not limited to rotation of 360 ° or more. Rotations in the present invention and embodiments also include rotations of less than 360 °.
本発明および実施の形態における「回転」は、360°以上の回転に限定されない。本発明および実施の形態における回転は、360°未満の回転も含む。 <Rotation>
"Rotation" in the present invention and embodiments is not limited to rotation of 360 ° or more. Rotations in the present invention and embodiments also include rotations of less than 360 °.
<Aに基づいて制御する>
なお、本発明および実施の形態における「Aに基づいて制御する」とは、制御に使用される情報がAだけに限定されない。「Aに基づいて制御する」とは、A以外の情報を含み、AとA以外の情報に基づいて制御する」場合を含む。 <Control based on A>
In addition, "control based on A" in the present invention and the embodiment is not limited to A as the information used for control. The "control based on A" includes the case of including information other than A and controlling based on A and information other than A.
なお、本発明および実施の形態における「Aに基づいて制御する」とは、制御に使用される情報がAだけに限定されない。「Aに基づいて制御する」とは、A以外の情報を含み、AとA以外の情報に基づいて制御する」場合を含む。 <Control based on A>
In addition, "control based on A" in the present invention and the embodiment is not limited to A as the information used for control. The "control based on A" includes the case of including information other than A and controlling based on A and information other than A.
<その他>
なお、本発明および実施の形態における「複数の選択肢のうちの少なくとも1つ(一方)」とは、複数の選択肢から考えられる全ての組み合わせを含む。複数の選択肢のうちの少なくとも1つ(一方)とは、複数の選択肢のいずれか1つであっても良く、複数の選択肢の全てであっても良い。例えば、AとBとCの少なくとも1つとは、Aのみであっても良く、Bのみであっても良く、Cのみであっても良く、AとBであっても良く、AとCであっても良く、BとCであっても良く、AとBとCであっても良い。 <Others>
In addition, "at least one (one) of a plurality of options" in this invention and an embodiment includes all combinations considered from a plurality of options. At least one (one) of the plurality of options may be any one of the plurality of options, or may be all of the plurality of options. For example, at least one of A, B, and C may be only A, may be only B, may be only C, may be A and B, and may be A and C. It may be, B and C, or A, B and C.
なお、本発明および実施の形態における「複数の選択肢のうちの少なくとも1つ(一方)」とは、複数の選択肢から考えられる全ての組み合わせを含む。複数の選択肢のうちの少なくとも1つ(一方)とは、複数の選択肢のいずれか1つであっても良く、複数の選択肢の全てであっても良い。例えば、AとBとCの少なくとも1つとは、Aのみであっても良く、Bのみであっても良く、Cのみであっても良く、AとBであっても良く、AとCであっても良く、BとCであっても良く、AとBとCであっても良い。 <Others>
In addition, "at least one (one) of a plurality of options" in this invention and an embodiment includes all combinations considered from a plurality of options. At least one (one) of the plurality of options may be any one of the plurality of options, or may be all of the plurality of options. For example, at least one of A, B, and C may be only A, may be only B, may be only C, may be A and B, and may be A and C. It may be, B and C, or A, B and C.
特許請求の範囲において、ある構成要素の数を明確に特定しておらず、英語に翻訳された場合に単数で表示される場合、本発明は、この構成要素を、複数有しても良い。また本発明は、この構成要素を1つだけ有しても良い。
In the scope of claims, if the number of certain components is not clearly specified and is displayed in the singular when translated into English, the present invention may have a plurality of these components. Further, the present invention may have only one of these components.
なお、本発明および実施の形態において「含む(including)、有する(comprising)、備える(having)およびこれらの派生語」は、列挙されたアイテム及びその等価物に加えて追加的アイテムをも包含することが意図されて用いられている。
It should be noted that in the present invention and embodiments, "including, comprising, having and derivatives thereof" includes additional items in addition to the listed items and their equivalents. Is intended and used.
なお、本発明および実施の形態において「取り付けられた(mounted)、接続された(connected)、結合された(coupled)、支持された(supported)という用語」は、広義に用いられている。具体的には、直接的な取付、接続、結合、支持だけでなく、間接的な取付、接続、結合および支持も含む。さらに、接続された(connected)および結合された(coupled)は、物理的又は機械的な接続/結合に限られない。それらは、直接的なまたは間接的な電気的接続/結合も含む。
It should be noted that the terms "mounted, connected, coupled, supported" are used in a broad sense in the present invention and embodiments. Specifically, it includes not only direct mounting, connection, coupling and support, but also indirect mounting, connection, coupling and support. Moreover, connected and coupled are not limited to physical or mechanical connections / couplings. They also include direct or indirect electrical connections / couplings.
他に定義されない限り、本明細書および請求範囲で使用される全ての用語(技術用語および科学用語を含む)は、本発明が属する当業者によって一般的に理解されるのと同じ意味を有する。一般的に使用される辞書に定義された用語のような用語は、関連する技術および本開示の文脈における意味と一致する意味を有すると解釈されるべきであり、理想化されたまたは過度に形式的な意味で解釈されることはない。
Unless otherwise defined, all terms used herein and in the claims (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. Terms such as those defined in commonly used dictionaries should be construed to have a meaning consistent with the meaning in the context of the relevant technology and the present disclosure, and are idealized or over-formed. It is not interpreted in a specific sense.
なお、本発明および実施の形態において「好ましい」という用語は非排他的なものである。「好ましい」は、「好ましいがこれに限定されるものではない」ということを意味する。本明細書において、「好ましい」と記載された構成は、少なくとも、請求項1の構成により得られる上記効果を奏する。また、本明細書において、「しても良い」という用語は非排他的なものである。「しても良い」は、「しても良いがこれに限定されるものではない」という意味である。本明細書において、「しても良い」と記載された構成は、少なくとも、請求項1の構成により得られる上記効果を奏する。
Note that the term "preferable" in the present invention and embodiments is non-exclusive. "Preferable" means "preferable, but not limited to". In the present specification, the configuration described as "preferable" exhibits at least the above-mentioned effect obtained by the configuration of claim 1. Further, in the present specification, the term "may" is non-exclusive. "May" means "may be, but is not limited to". In the present specification, the configuration described as "may" exerts at least the above-mentioned effect obtained by the configuration of claim 1.
なお、本発明および実施の形態においては、上述した好ましい構成を互いに組み合わせることを制限しない。本発明の実施形態を詳細に説明する前に、本発明は、以下の説明に記載されたまたは図面に図示された構成要素の構成および配置の詳細に制限されないことが理解されるべきである。本発明は、後述する実施形態以外の実施形態でも可能である。本発明は、後述する実施形態に様々な変更を加えた実施形態でも可能である。また、本発明は、後述する実施形態および変更例を適宜組み合わせて実施することができる。
It should be noted that the present invention and the embodiments do not limit the combination of the above-mentioned preferable configurations with each other. Prior to discussing embodiments of the invention in detail, it should be understood that the invention is not limited to the details of component configuration and arrangement described in the following description or illustrated in the drawings. The present invention is also possible in embodiments other than the embodiments described later. The present invention can also be an embodiment in which various modifications are made to the embodiment described later. In addition, the present invention can be carried out by appropriately combining embodiments and modifications described later.
本発明の二輪車は、二輪車が有する自立制御装置により、非走行状態および低速走行状態を融合した制御を行うことができる。
The two-wheeled vehicle of the present invention can perform control in which a non-driving state and a low-speed running state are fused by the self-sustaining control device of the two-wheeled vehicle.
[方向の定義]
図の中において、Uは二輪車の車両上方向、Dは二輪車の車両下方向、Lは二輪車の車両左方向、Rは二輪車の車両右方向、Fは二輪車の車両前方向、Reは二輪車の車両後方向を示す。 [Definition of direction]
In the figure, U is the vehicle upward direction of the two-wheeled vehicle, D is the vehicle downward direction of the two-wheeled vehicle, L is the vehicle left direction of the two-wheeled vehicle, R is the vehicle right direction of the two-wheeled vehicle, F is the vehicle forward direction of the two-wheeled vehicle, and Re is the vehicle of the two-wheeled vehicle. Indicates the backward direction.
図の中において、Uは二輪車の車両上方向、Dは二輪車の車両下方向、Lは二輪車の車両左方向、Rは二輪車の車両右方向、Fは二輪車の車両前方向、Reは二輪車の車両後方向を示す。 [Definition of direction]
In the figure, U is the vehicle upward direction of the two-wheeled vehicle, D is the vehicle downward direction of the two-wheeled vehicle, L is the vehicle left direction of the two-wheeled vehicle, R is the vehicle right direction of the two-wheeled vehicle, F is the vehicle forward direction of the two-wheeled vehicle, and Re is the vehicle of the two-wheeled vehicle. Indicates the backward direction.
[第1実施形態]
以下、本発明の第1実施形態の二輪車について図1~図7を参照しつつ説明する。
図1に示すように、二輪車1は、1つの前輪2と、1つの後輪3と、車体フレーム4を有する。前輪2は、車体フレーム4に対して操舵軸5の軸線(以下、「操舵軸線」と略する)回りに回転可能に支持される。前輪2は、車体フレーム4に対してフロント車軸2aの軸線(以下、「フロント車軸線」と略する)回りに回転可能に支持される。後輪3は、車体フレーム4に対してリア車軸3aの軸線(以下、「リア車軸線」と略する)回りに回転可能に支持される。 [First Embodiment]
Hereinafter, the two-wheeled vehicle according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 7.
As shown in FIG. 1, themotorcycle 1 has one front wheel 2, one rear wheel 3, and a vehicle body frame 4. The front wheels 2 are rotatably supported around the axis of the steering shaft 5 (hereinafter, abbreviated as "steering axis") with respect to the vehicle body frame 4. The front wheel 2 is rotatably supported with respect to the vehicle body frame 4 around the axis of the front axle 2a (hereinafter, abbreviated as "front axle line"). The rear wheel 3 is rotatably supported around the axis of the rear axle 3a (hereinafter, abbreviated as "rear axle line") with respect to the vehicle body frame 4.
以下、本発明の第1実施形態の二輪車について図1~図7を参照しつつ説明する。
図1に示すように、二輪車1は、1つの前輪2と、1つの後輪3と、車体フレーム4を有する。前輪2は、車体フレーム4に対して操舵軸5の軸線(以下、「操舵軸線」と略する)回りに回転可能に支持される。前輪2は、車体フレーム4に対してフロント車軸2aの軸線(以下、「フロント車軸線」と略する)回りに回転可能に支持される。後輪3は、車体フレーム4に対してリア車軸3aの軸線(以下、「リア車軸線」と略する)回りに回転可能に支持される。 [First Embodiment]
Hereinafter, the two-wheeled vehicle according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 7.
As shown in FIG. 1, the
二輪車1は、リーン角関連情報検出装置51と、操舵角関連情報検出装置52と、車速関連情報検出装置53とを有する。リーン角関連情報検出装置51は、車体フレーム4の車両上下方向に対する車両左右方向の傾斜角であるリーン角Φ(図2参照)に関連する情報を検出する。操舵角関連情報検出装置52は、前輪2の操舵軸線回りの回転角度である操舵角δf(図3参照)に関連する情報を検出する。車速関連情報検出装置53は、車体フレームの車両前後方向の速度である車速V(図3参照)に関連する情報を検出する。
The motorcycle 1 has a lean angle-related information detection device 51, a steering angle-related information detection device 52, and a vehicle speed-related information detection device 53. The lean angle-related information detection device 51 detects information related to the lean angle Φ (see FIG. 2), which is the inclination angle of the vehicle body frame 4 in the vehicle left-right direction with respect to the vehicle vertical direction. The steering angle-related information detection device 52 detects information related to the steering angle δf (see FIG. 3), which is the rotation angle of the front wheel 2 around the steering axis. The vehicle speed-related information detection device 53 detects information related to the vehicle speed V (see FIG. 3), which is the speed of the vehicle body frame in the vehicle front-rear direction.
二輪車1は、駆動力付与装置31と、操舵力付与装置32と、自立制御装置40とを有する。駆動力付与装置31は、前輪2および後輪3の少なくとも一方をフロント車軸線およびリア車軸線の少なくとも一方の車軸線回りに正方向および逆方向に回転させる駆動力を、前輪2および後輪3の少なくとも一方に付与する。駆動力付与装置31は、例えばフロント車軸2aおよびリア車軸3aの少なくとも一方に設けられ、前輪2および後輪3の少なくとも一方を車軸線回りに正方向および逆方向に回転させる駆動用モータである。操舵力付与装置32は、前輪2を操舵軸線回りに回転させる操舵力を、前輪2に付与する。操舵力付与装置32は、例えば二輪車1の操舵軸5に設けられ、操舵軸5を回転させることにより、前輪2を操舵軸線回りに回転させる操舵用モータである。
The motorcycle 1 has a driving force applying device 31, a steering force applying device 32, and an independent control device 40. The driving force applying device 31 applies a driving force for rotating at least one of the front wheels 2 and the rear wheels 3 in the forward and reverse directions around at least one of the front axle lines and the rear axle lines, the front wheels 2 and the rear wheels 3. Grant to at least one of. The driving force applying device 31 is, for example, a driving motor provided on at least one of the front axle 2a and the rear axle 3a and rotating at least one of the front wheels 2 and the rear wheels 3 in the forward and reverse directions around the axle line. The steering force applying device 32 applies a steering force that rotates the front wheels 2 around the steering axis to the front wheels 2. The steering force applying device 32 is, for example, a steering motor provided on the steering shaft 5 of the motorcycle 1 and rotating the front wheels 2 around the steering axis by rotating the steering shaft 5.
図4に示すように、自立制御装置40は、駆動力付与装置31の駆動力と操舵力付与装置32の操舵力を制御して車体フレーム4を自立させるための制御を行う。自立制御装置40は、リーン角に関連する情報と、操舵角に関連する情報と、車速に関連する情報とに基づいて、駆動力および操舵力を制御することで、非走行低速走行融合制御を行うように構成される。リーン角に関連する情報は、リーン角関連情報検出装置51によって検出された車体フレーム4の車両上下方向に対する車両左右方向の傾斜角であるリーン角Φ(図2参照)に関連する情報である。操舵角に関連する情報は、操舵角関連情報検出装置52によって検出された前輪2の操舵軸線回りの回転角度である操舵角δf(図3参照)に関連する情報である。車速に関連する情報は、車速関連情報検出装置53によって検出された車体フレームの車両前後方向の速度である車速V(図3参照)に関連する情報である。非走行低速走行融合制御は、二輪車1を走行せずに自立する状態および二輪車1を低速で走行しつつ自立する状態に制御する制御である。
As shown in FIG. 4, the self-supporting control device 40 controls the driving force of the driving force applying device 31 and the steering force of the steering force applying device 32 to control the vehicle body frame 4 to stand on its own. The self-sustaining control device 40 controls the driving force and the steering force based on the information related to the lean angle, the information related to the steering angle, and the information related to the vehicle speed, thereby performing non-traveling low-speed traveling fusion control. Configured to do. The information related to the lean angle is information related to the lean angle Φ (see FIG. 2), which is the tilt angle of the vehicle body frame 4 in the vehicle vertical direction with respect to the vehicle vertical direction detected by the lean angle related information detecting device 51. The information related to the steering angle is information related to the steering angle δf (see FIG. 3), which is the rotation angle around the steering axis of the front wheel 2 detected by the steering angle-related information detecting device 52. The information related to the vehicle speed is information related to the vehicle speed V (see FIG. 3), which is the speed of the vehicle body frame in the vehicle front-rear direction detected by the vehicle speed-related information detection device 53. The non-traveling low-speed traveling fusion control is a control for controlling the two-wheeled vehicle 1 to be self-sustaining without traveling and the two-wheeled vehicle 1 to be self-sustaining while traveling at a low speed.
ここで、図5に示すように、二輪車1の車輪速(前輪2または後輪3の角速度)が車体フレーム4の速度Vに比例すると仮定すると、図3に示すように、二輪車1のヨーレート(遠心力)は、車速Vおよび操舵角δfに比例する。つまり、自立制御装置40は、非走行低速走行融合制御中に、車体フレーム4が車両上下方向に対して車両右方向または車両左方向にリーン角Φだけ傾斜した場合、駆動力と操舵力を制御して車速Vおよび操舵角δfを変化させることにより、車速Vおよび操舵角δfに比例するヨーレート(遠心力)を制御する。そして、二輪車1は、制御されたヨーレート(遠心力)により車体フレーム4を起き上がらせて、車体フレーム4のリーン角Φを0とすることができる。
Here, assuming that the wheel speed of the two-wheeled vehicle 1 (angular velocity of the front wheel 2 or the rear wheel 3) is proportional to the speed V of the vehicle body frame 4, as shown in FIG. 5, the yaw rate of the two-wheeled vehicle 1 (as shown in FIG. 3) Centrifugal force) is proportional to the vehicle speed V and the steering angle δf. That is, the self-sustaining control device 40 controls the driving force and the steering force when the vehicle body frame 4 is tilted to the right of the vehicle or to the left of the vehicle by a lean angle Φ with respect to the vehicle vertical direction during the non-traveling low-speed traveling fusion control. By changing the vehicle speed V and the steering angle δf, the yaw rate (centrifugal force) proportional to the vehicle speed V and the steering angle δf is controlled. Then, the motorcycle 1 can raise the vehicle body frame 4 by the controlled yaw rate (centrifugal force) so that the lean angle Φ of the vehicle body frame 4 is 0.
なお、上述の通り、二輪車1のヨーレート(遠心力)は、車速Vおよび操舵角δfに比例する。そのため、自立制御装置40は、非走行低速走行融合制御中に、車体フレーム4が車両上下方向に対して車両右方向または車両左方向にリーン角Φだけ傾斜した場合、二輪車1が静止状態または極低速で走行しているような車速Vが小さい状態であるほど操舵角δfが大きくなるように制御することが好ましい。また、自立制御装置40は、非走行低速走行融合制御中に、車体フレーム4が車両上下方向に対して車両右方向または車両左方向にリーン角Φだけ傾斜した場合、二輪車1が低速で走行しているような操舵角δfが小さい状態であるほど車速Vが大きくなるように制御することが好ましい。
As described above, the yaw rate (centrifugal force) of the motorcycle 1 is proportional to the vehicle speed V and the steering angle δf. Therefore, in the self-sustaining control device 40, when the vehicle body frame 4 is tilted by the lean angle Φ to the vehicle right direction or the vehicle left direction with respect to the vehicle vertical direction during the non-traveling low-speed traveling fusion control, the two-wheeled vehicle 1 is in a stationary state or a pole. It is preferable to control so that the steering angle δf becomes larger as the vehicle speed V is smaller, such as when traveling at a low speed. Further, in the self-sustaining control device 40, when the vehicle body frame 4 is tilted to the right of the vehicle or to the left of the vehicle by a lean angle Φ with respect to the vertical direction of the vehicle during the non-traveling low-speed traveling fusion control, the two-wheeled vehicle 1 travels at a low speed. It is preferable to control the vehicle speed V so that the smaller the steering angle δf is, the larger the vehicle speed V is.
図6および図7に基づいて、自立制御装置40の非走行低速走行融合制御について説明する。図6(a)、(b)および図7(a)、(b)は、二輪車1が静止状態または極低速で走行している状態における自立制御装置40の非走行低速走行融合制御を示している。図6(c)および図7(c)は、二輪車1が低速走行状態における自立制御装置40の非走行低速走行融合制御を示している。
The non-running low-speed running fusion control of the self-sustaining control device 40 will be described with reference to FIGS. 6 and 7. 6 (a) and 6 (b) and 7 (a) and 7 (b) show the non-traveling low-speed traveling fusion control of the self-sustaining control device 40 in a state where the motorcycle 1 is stationary or traveling at an extremely low speed. There is. 6 (c) and 7 (c) show the non-traveling low-speed traveling fusion control of the self-sustaining control device 40 in the low-speed traveling state of the motorcycle 1.
図6(a)~(c)に示すように、自立制御装置40は、非走行低速走行融合制御中、車体フレーム4が車両上下方向に対して車両右方向にリーン角Φだけ傾斜した場合、操舵角δfを変化させつつ前輪2をフロント車軸線回りに回転させることによって、速度Vで前輪2の接地位置が車両右方向に移動して車体フレーム4が起き上がるように、駆動力と操舵力を制御する。具体的には、図6(a)、(c)に示すように、自立制御装置40は、非走行低速走行融合制御中、車体フレーム4が車両上下方向に対して車両右方向にリーン角Φだけ傾斜した場合、操舵角δfを車両右方向に変化させつつ、速度Vで前輪2をフロント車軸線回りに正回転させるように、駆動力と操舵力を制御する。または、図6(b)に示すように、自立制御装置40は、非走行低速走行融合制御中、車体フレーム4が車両上下方向に対して車両右方向にリーン角Φだけ傾斜した場合、操舵角δfを車両左方向に変化させつつ、速度Vで前輪2をフロント車軸線回りに逆回転させるように、駆動力と操舵力を制御する。なお、図6(a)、(b)の二輪車1が静止状態における自立制御装置40の非走行低速走行融合制御では、車体フレーム4が起き上がった状態において、操舵角δfを維持しつつ前輪2をフロント車軸線回りに正回転と逆回転を交互にさせるように、駆動力と操舵力を制御してもよい。
As shown in FIGS. 6A to 6C, when the self-supporting control device 40 is tilted by the lean angle Φ to the right of the vehicle with respect to the vertical direction of the vehicle during the non-traveling low-speed running fusion control, the self-sustaining control device 40 is used. By rotating the front wheel 2 around the front axle line while changing the steering angle δf, the driving force and the steering force are increased so that the ground contact position of the front wheel 2 moves to the right of the vehicle at a speed V and the vehicle body frame 4 rises. Control. Specifically, as shown in FIGS. 6A and 6C, the self-supporting control device 40 has a lean angle Φ in the vehicle body frame 4 in the vehicle right direction with respect to the vehicle vertical direction during non-travel low-speed travel fusion control. When only tilted, the driving force and the steering force are controlled so that the front wheel 2 rotates positively around the front axle line at the speed V while changing the steering angle δf to the right of the vehicle. Alternatively, as shown in FIG. 6B, the self-sustaining control device 40 has a steering angle when the vehicle body frame 4 is tilted by a lean angle Φ to the right of the vehicle with respect to the vertical direction of the vehicle during non-traveling low-speed running fusion control. While changing δf to the left of the vehicle, the driving force and steering force are controlled so that the front wheels 2 rotate in the reverse direction around the front axle line at a speed V. In the non-traveling low-speed traveling fusion control of the self-sustaining control device 40 when the two-wheeled vehicle 1 in FIGS. 6A and 6B is stationary, the front wheels 2 are operated while maintaining the steering angle δf when the vehicle body frame 4 is raised. The driving force and the steering force may be controlled so as to alternate between forward rotation and reverse rotation around the front axle line.
図7(a)~(c)に示すように、自立制御装置40は、非走行低速走行融合制御中、車体フレーム4が車両上下方向に対して車両左方向にリーン角Φだけ傾斜した場合、操舵角δfを変化させつつ前輪2をフロント車軸線回りに回転させることによって、速度Vで前輪2の接地位置が車両左方向に移動して車体フレーム4が起き上がるように、駆動力と操舵力を制御する。具体的には、図7(a)、(c)に示すように、自立制御装置40は、非走行低速走行融合制御中、車体フレーム4が車両上下方向に対して車両左方向にリーン角Φだけ傾斜した場合、操舵角δfを車両左方向に変化させつつ、速度Vで前輪2をフロント車軸線回りに正回転させるように、駆動力と操舵力を制御する。または、図7(b)に示すように、自立制御装置40は、非走行低速走行融合制御中、車体フレーム4が車両上下方向に対して車両左方向にリーン角Φだけ傾斜した場合、操舵角δfを車両右方向に変化させつつ、速度Vで前輪2をフロント車軸線回りに逆回転させるように、駆動力と操舵力を制御する。なお、図7(a)、(b)の二輪車1が静止状態における自立制御装置40の非走行低速走行融合制御では、車体フレーム4が起き上がった状態において、操舵角δfを維持しつつ前輪2をフロント車軸線回りに正回転と逆回転を交互にさせるように、駆動力と操舵力を制御してもよい。
As shown in FIGS. 7A to 7C, when the self-supporting control device 40 is tilted by a lean angle Φ to the left of the vehicle with respect to the vertical direction of the vehicle during non-traveling low-speed running fusion control, the self-sustaining control device 40 is used. By rotating the front wheel 2 around the front axle line while changing the steering angle δf, the driving force and the steering force are increased so that the ground contact position of the front wheel 2 moves to the left of the vehicle at a speed V and the vehicle body frame 4 rises. Control. Specifically, as shown in FIGS. 7A and 7C, the self-supporting control device 40 has a lean angle Φ in the vehicle body frame 4 in the vehicle left direction with respect to the vehicle vertical direction during non-travel low-speed travel fusion control. When only tilted, the driving force and the steering force are controlled so that the front wheel 2 rotates positively around the front axle line at the speed V while changing the steering angle δf to the left of the vehicle. Alternatively, as shown in FIG. 7B, the self-sustaining control device 40 has a steering angle when the vehicle body frame 4 is tilted by a lean angle Φ to the left of the vehicle with respect to the vertical direction of the vehicle during non-traveling low-speed running fusion control. While changing δf to the right of the vehicle, the driving force and steering force are controlled so that the front wheels 2 rotate in the reverse direction around the front axle line at a speed V. In the non-traveling low-speed traveling fusion control of the self-sustaining control device 40 when the two-wheeled vehicle 1 in FIGS. 7A and 7B is stationary, the front wheels 2 are operated while maintaining the steering angle δf when the vehicle body frame 4 is raised. The driving force and the steering force may be controlled so as to alternate between forward rotation and reverse rotation around the front axle line.
第1実施形態の二輪車1は、以下の効果を有する。
The motorcycle 1 of the first embodiment has the following effects.
二輪車1の自立制御装置40は、車速、リーン角、操舵角に関連する情報を用いて、駆動力および操舵力を制御する。つまり、自立制御装置40は、非走行低速走行融合制御中に、車体フレーム4が車両上下方向に対して車両右方向または車両左方向に傾斜した場合(リーン角が0ではない場合)、駆動力と操舵力を制御して車速Vおよび操舵角δfを変化させることにより、車速Vおよび操舵角δfに比例するヨーレート(遠心力)を制御する。そして、二輪車1は、制御されたヨーレート(遠心力)により車体フレーム4が起き上がらせて、車体フレーム4のリーン角を0とすることができる。これにより、走行していない非走行状態および低速度で走行している低速走行状態の二輪車1の自立を制御している。以上により、第1実施形態の二輪車1は、自立制御装置40により、非走行状態および低速走行状態を融合した制御を行うことができる。
The self-sustaining control device 40 of the motorcycle 1 controls the driving force and the steering force by using the information related to the vehicle speed, the lean angle, and the steering angle. That is, the self-sustaining control device 40 has a driving force when the vehicle body frame 4 is tilted to the right of the vehicle or to the left of the vehicle with respect to the vertical direction of the vehicle (when the lean angle is not 0) during the non-traveling low-speed traveling fusion control. And by controlling the steering force to change the vehicle speed V and the steering angle δf, the yaw rate (centrifugal force) proportional to the vehicle speed V and the steering angle δf is controlled. Then, in the motorcycle 1, the vehicle body frame 4 can be raised by the controlled yaw rate (centrifugal force), and the lean angle of the vehicle body frame 4 can be set to 0. As a result, the independence of the two-wheeled vehicle 1 in the non-traveling state in which the motorcycle is not traveling and in the low-speed traveling state in which the motorcycle is traveling at a low speed is controlled. As described above, the motorcycle 1 of the first embodiment can be controlled by the self-sustaining control device 40 by fusing the non-traveling state and the low-speed traveling state.
<第2実施形態>
以下、本発明の第2実施形態の二輪車1について、説明する。第2実施形態の二輪車1は、第1実施形態の構成に加えて、以下の構成を備える。 <Second Embodiment>
Hereinafter, themotorcycle 1 according to the second embodiment of the present invention will be described. The motorcycle 1 of the second embodiment has the following configurations in addition to the configurations of the first embodiment.
以下、本発明の第2実施形態の二輪車1について、説明する。第2実施形態の二輪車1は、第1実施形態の構成に加えて、以下の構成を備える。 <Second Embodiment>
Hereinafter, the
自立制御装置40は、非走行低速走行融合制御により、二輪車1を、低速で走行しつつ自立する状態から走行せずに自立する状態に変化させるように制御する。そして、自立制御装置40は、非走行低速走行融合制御により、二輪車1を、走行せずに自立する状態から低速で走行しつつ自立する状態に変化させるように制御する。
The self-sustaining control device 40 controls the two-wheeled vehicle 1 to change from a self-sustaining state while traveling at a low speed to a self-sustaining state without traveling by non-traveling low-speed traveling fusion control. Then, the self-sustaining control device 40 controls the two-wheeled vehicle 1 to change from a state of being self-sustaining without traveling to a state of being self-sustaining while traveling at a low speed by non-traveling low-speed traveling fusion control.
第2実施形態の二輪車1は、第1実施形態の二輪車1の効果に加えて、以下の効果を奏する。
The motorcycle 1 of the second embodiment has the following effects in addition to the effects of the motorcycle 1 of the first embodiment.
自立制御装置40は、二輪車1を、低速で走行しつつ自立する状態から走行せずに自立する状態に、および、走行せずに自立する状態から低速で走行しつつ自立する状態に、変化させるように、二輪車1を制御することができる。以上により、第2実施形態の二輪車1は、自立制御装置40により、非走行状態および低速走行状態を融合した制御を行うことができる。
The self-sustaining control device 40 changes the two-wheeled vehicle 1 from a state of being self-supporting while traveling at a low speed to a state of being self-sustaining without traveling, and from a state of being self-sustaining without traveling to a state of being self-sustaining while traveling at a low speed. As such, the motorcycle 1 can be controlled. As described above, the motorcycle 1 of the second embodiment can be controlled by the self-sustaining control device 40 by fusing the non-traveling state and the low-speed traveling state.
<第3実施形態>
以下、本発明の第3実施形態の二輪車1について、説明する。第3実施形態の二輪車1は、第1実施形態の構成または第2実施形態の構成に加えて、以下の構成を備える。 <Third Embodiment>
Hereinafter, themotorcycle 1 according to the third embodiment of the present invention will be described. The motorcycle 1 of the third embodiment has the following configurations in addition to the configuration of the first embodiment or the configuration of the second embodiment.
以下、本発明の第3実施形態の二輪車1について、説明する。第3実施形態の二輪車1は、第1実施形態の構成または第2実施形態の構成に加えて、以下の構成を備える。 <Third Embodiment>
Hereinafter, the
自立制御装置40は、操舵角δfに関連する情報および車速Vに関連する情報を関連付けた操舵角車速関連情報を予め記憶する。自立制御装置40は、非走行低速走行融合制御において、リーン角Φに関連する情報と、操舵角δfに関連する情報と、車速Vに関連する情報と、操舵角車速関連情報と、に基づいて、駆動力および操舵力を制御する。操舵角車速関連情報は、例えば、操舵角δfに関連する情報および車速Vに関連する情報を変数として最適化したゲインマップである。なお、ゲインマップの作成にあたり、二輪車1の車両・前後輪の重量・慣性モーメント、重心位置、ホイールベース、車輪径の車両諸元を用いてよい。自立制御装置40は、操舵角車速関連情報に基づいて、車速に関連する情報、リーン角に関連する情報、操舵角に関連する情報をフィードバックして、駆動力および操舵力を制御する。
The self-sustaining control device 40 stores in advance information related to the steering angle vehicle speed and information related to the steering angle δf and information related to the vehicle speed V. The self-sustaining control device 40 is based on information related to the lean angle Φ, information related to the steering angle δf, information related to the vehicle speed V, and information related to the steering angle vehicle speed in the non-traveling low-speed traveling fusion control. , Controls driving force and steering force. The steering angle vehicle speed-related information is, for example, a gain map optimized with information related to the steering angle δf and information related to the vehicle speed V as variables. In creating the gain map, the vehicle specifications of the vehicle / front and rear wheels of the two-wheeled vehicle 1, the weight / moment of inertia, the position of the center of gravity, the wheelbase, and the wheel diameter may be used. The self-sustaining control device 40 controls the driving force and the steering force by feeding back information related to the vehicle speed, information related to the lean angle, and information related to the steering angle based on the steering angle vehicle speed related information.
第3実施形態の二輪車1は、第1実施形態の二輪車1または第2実施形態の二輪車1の効果に加えて、以下の効果を奏する。
The motorcycle 1 of the third embodiment has the following effects in addition to the effects of the motorcycle 1 of the first embodiment or the motorcycle 1 of the second embodiment.
自立制御装置40は、車速Vに関連する情報、リーン角Φに関連する情報、操舵角δfに関連する情報に加えて、操舵角車速関連情報を用いることにより、二輪車1の車両前後方向の運動と二輪車1の車両左右方向の運動を連成して、駆動力および操舵力を制御することができる。以上により、第3実施形態の二輪車1は、自立制御装置40により、非走行状態および低速走行状態を融合した制御を行うことができる。
The self-sustaining control device 40 uses information related to the vehicle speed V, information related to the lean angle Φ, information related to the steering angle δf, and information related to the steering angle vehicle speed to move the two-wheeled vehicle 1 in the vehicle front-rear direction. And the movement of the two-wheeled vehicle 1 in the left-right direction of the vehicle can be coupled to control the driving force and the steering force. As described above, the motorcycle 1 of the third embodiment can be controlled by the self-sustaining control device 40 by fusing the non-traveling state and the low-speed traveling state.
<第4実施形態>
以下、本発明の第4実施形態の二輪車1について、説明する。第4実施形態の二輪車1は、第1実施形態~第3実施形態のいずれかの構成に加えて、以下の構成を備える。 <Fourth Embodiment>
Hereinafter, themotorcycle 1 according to the fourth embodiment of the present invention will be described. The motorcycle 1 of the fourth embodiment has the following configurations in addition to the configurations of any of the first to third embodiments.
以下、本発明の第4実施形態の二輪車1について、説明する。第4実施形態の二輪車1は、第1実施形態~第3実施形態のいずれかの構成に加えて、以下の構成を備える。 <Fourth Embodiment>
Hereinafter, the
操舵角δfに関連する情報は、前輪2の操舵角、前輪2の操舵角速度、および前輪2の操舵角加速度の少なくとも1つを含む。
The information related to the steering angle δf includes at least one of the steering angle of the front wheel 2, the steering angular velocity of the front wheel 2, and the steering angular acceleration of the front wheel 2.
車速Vに関連する情報は、二輪車1の車速、車体フレーム4の前後方向の加速度、前輪2の回転速度、前輪2の回転加速度、後輪3の回転速度、および後輪3の回転加速度の少なくとも1つを含む。
Information related to the vehicle speed V includes at least the vehicle speed of the two-wheeled vehicle 1, the acceleration in the front-rear direction of the vehicle body frame 4, the rotational speed of the front wheels 2, the rotational acceleration of the front wheels 2, the rotational speed of the rear wheels 3, and the rotational acceleration of the rear wheels 3. Includes one.
リーン角Φに関連する情報は、車体フレーム4のリーン角、車体フレーム4のリーン角速度、および車体フレーム4のリーン角加速度の少なくとも1つを含む。
The information related to the lean angle Φ includes at least one of the lean angle of the vehicle body frame 4, the lean angular velocity of the vehicle body frame 4, and the lean angular acceleration of the vehicle body frame 4.
1:二輪車、2:前輪、3:後輪、4:車体フレーム、31:駆動力付与装置、32:操舵力付与装置、40:自立制御装置、51:リーン角関連情報検出装置、52:操舵角関連情報検出装置、53:車速関連情報検出装置
1: Motorcycle, 2: Front wheel, 3: Rear wheel, 4: Body frame, 31: Driving force application device, 32: Steering force application device, 40: Self-sustaining control device, 51: Lean angle related information detection device, 52: Steering Corner related information detection device, 53: Vehicle speed related information detection device
Claims (4)
- 車体フレームと、
前記車体フレームに対して操舵軸線回りに回転可能で且つフロント車軸線回りに回転可能に支持された1つの前輪と、
前記車体フレームに対してリア車軸線回りに回転可能に支持された1つの後輪と、
前記車体フレームの車両上下方向に対する車両左右方向の傾斜角であるリーン角に関連する情報を検出するリーン角関連情報検出装置と、
前記前輪の前記操舵軸線回りの回転角度である操舵角に関連する情報を検出する操舵角関連情報検出装置と、
前記車体フレームの車両前後方向の速度である車速に関連する情報を検出する車速関連情報検出装置と、
前記前輪および前記後輪の少なくとも一方を前記フロント車軸線および前記リア車軸線の少なくとも一方の車軸線回りに正方向および逆方向に回転させる駆動力を、前記前輪および前記後輪の前記少なくとも一方に付与する駆動力付与装置と、
前記前輪を前記操舵軸線回りに回転させる操舵力を、前記前輪に付与する操舵力付与装置と、
前記駆動力付与装置の前記駆動力と前記操舵力付与装置の前記操舵力を制御して前記車体フレームを自立させるための制御を行う自立制御装置と、
を備える二輪車であって、
前記自立制御装置は、前記リーン角関連情報検出装置によって検出された前記リーン角に関連する情報と、前記操舵角関連情報検出装置によって検出された前記操舵角に関連する情報と、前記車速関連情報検出装置によって検出された前記車速に関連する情報とに基づいて、前記駆動力および前記操舵力を制御することで、前記二輪車を走行せずに自立する状態および前記二輪車を低速で走行しつつ自立する状態に制御する非走行低速走行融合制御を行うように構成され、
前記非走行低速走行融合制御中、前記車体フレームが車両上下方向に対して車両右方向に傾斜した場合、前記操舵角を変化させつつ前記前輪を前記フロント車軸線回りに回転させることによって前記前輪の接地位置が車両右方向に移動して前記車体フレームが起き上がるように、前記駆動力と前記操舵力を制御し、
前記非走行低速走行融合制御中、前記車体フレームが車両上下方向に対して車両左方向に傾斜した場合、前記操舵角を変化させつつ前記前輪を前記フロント車軸線回りに回転させることによって前記前輪の接地位置が車両左方向に移動して前記車体フレームが起き上がるように、前記駆動力と前記操舵力を制御することを特徴とする二輪車。 Body frame and
One front wheel that is rotatably supported around the steering axis and rotatably around the front axle with respect to the vehicle body frame.
One rear wheel rotatably supported around the rear axle with respect to the vehicle body frame,
A lean angle-related information detection device that detects information related to a lean angle, which is an inclination angle in the vehicle left-right direction with respect to the vehicle vertical direction of the vehicle body frame.
A steering angle-related information detection device that detects information related to a steering angle, which is a rotation angle of the front wheel around the steering axis, and a steering angle-related information detection device.
A vehicle speed-related information detection device that detects information related to vehicle speed, which is the speed of the vehicle body frame in the front-rear direction of the vehicle, and
A driving force that rotates at least one of the front wheel and the rear wheel in the forward and reverse directions around at least one of the front axle line and the rear axle line is applied to the at least one of the front wheel and the rear wheel. The driving force applying device and the driving force applying device
A steering force applying device that applies a steering force that rotates the front wheels around the steering axis to the front wheels.
A self-sustaining control device that controls the driving force of the driving force applying device and the steering force of the steering force applying device to make the vehicle body frame self-supporting.
It is a two-wheeled vehicle equipped with
The self-sustaining control device includes information related to the lean angle detected by the lean angle-related information detection device, information related to the steering angle detected by the steering angle-related information detection device, and vehicle speed-related information. By controlling the driving force and the steering force based on the information related to the vehicle speed detected by the detection device, the two-wheeled vehicle is self-supporting without traveling and the two-wheeled vehicle is self-sustaining while traveling at a low speed. It is configured to perform non-running low-speed running fusion control that controls the state of driving.
When the vehicle body frame is tilted to the right of the vehicle with respect to the vertical direction of the vehicle during the non-traveling low-speed traveling fusion control, the front wheels are rotated around the front axle line while changing the steering angle of the front wheels. The driving force and the steering force are controlled so that the ground contact position moves to the right of the vehicle and the vehicle body frame rises.
When the vehicle body frame is tilted to the left of the vehicle with respect to the vertical direction of the vehicle during the non-traveling low-speed traveling fusion control, the front wheels are rotated around the front axle line while changing the steering angle of the front wheels. A two-wheeled vehicle characterized in that the driving force and the steering force are controlled so that the ground contact position moves to the left of the vehicle and the vehicle body frame rises. - 前記自立制御装置は、
前記非走行低速走行融合制御により、前記二輪車を、低速で走行しつつ自立する状態から走行せずに自立する状態に変化させるように制御し、且つ、
前記非走行低速走行融合制御により、前記二輪車を、走行せずに自立する状態から低速で走行しつつ自立する状態に変化させるように制御することを特徴とする請求項1に記載の二輪車。 The self-sustaining control device is
The non-traveling low-speed traveling fusion control controls the two-wheeled vehicle to change from a state of being independent while traveling at a low speed to a state of being independent without traveling, and
The two-wheeled vehicle according to claim 1, wherein the two-wheeled vehicle is controlled to change from a state of being independent without traveling to a state of being independent while traveling at a low speed by the non-traveling low-speed traveling fusion control. - 前記自立制御装置は、
前記操舵角に関連する情報および前記車速に関連する情報を関連付けた操舵角車速関連情報を予め記憶し、
前記非走行低速走行融合制御において、前記リーン角に関連する情報と、前記操舵角に関連する情報と、前記車速に関連する情報と、前記操舵角車速関連情報と、に基づいて、前記駆動力および前記操舵力を制御することを特徴とする請求項1または2に記載の二輪車。 The self-sustaining control device is
Information related to the steering angle and information related to the steering angle vehicle speed associated with the information related to the vehicle speed are stored in advance.
In the non-traveling low-speed traveling fusion control, the driving force is based on the information related to the lean angle, the information related to the steering angle, the information related to the vehicle speed, and the information related to the steering angle vehicle speed. The two-wheeled vehicle according to claim 1 or 2, wherein the steering force is controlled. - 前記操舵角に関連する情報は、前記前輪の操舵角、前記前輪の操舵角速度、および前記前輪の操舵角加速度の少なくとも1つを含み、
前記車速に関連する情報は、前記二輪車の車速、前記車体フレームの前後方向の加速度、前記前輪の回転速度、前記前輪の回転加速度、前記後輪の回転速度、および前記後輪の回転加速度の少なくとも1つを含み、
前記リーン角に関連する情報は、前記車体フレームのリーン角、前記車体フレームのリーン角速度、および前記車体フレームのリーン角加速度の少なくとも1つを含むことを特徴とする請求項1~3のいずれかに記載の二輪車。 The information related to the steering angle includes at least one of the steering angle of the front wheel, the steering angular velocity of the front wheel, and the steering angular acceleration of the front wheel.
Information related to the vehicle speed includes at least the vehicle speed of the two-wheeled vehicle, the acceleration in the front-rear direction of the vehicle body frame, the rotational speed of the front wheels, the rotational acceleration of the front wheels, the rotational speed of the rear wheels, and the rotational acceleration of the rear wheels. Including one
One of claims 1 to 3, wherein the information related to the lean angle includes at least one of the lean angle of the vehicle body frame, the lean angular velocity of the vehicle body frame, and the lean angular acceleration of the vehicle body frame. Two-wheeled vehicle described in.
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