PROBLEM TO BE SOLVED: To estimate the height of the center of gravity of a vehicle in an automatically inclinable vehicle provided with a vehicle inclining device in a state where the vehicle is not running and enable a target inclination angle of the vehicle based on the estimated height of the center of gravity to be limited from the timing when the vehicle starts running.SOLUTION: An automatically inclinable vehicle including right and left front wheels and a rear wheel is configured such that a control unit controls a vehicle inclining device so that an inclination angle θ of the vehicle reaches a target inclination angle. In a state where the vehicle is not running, the control unit allows the vehicle inclining device to laterally swing and vibrate the vehicle (S60), estimates the height of the center of gravity (Hg) of the vehicle on the basis of the resonance period of vibration (S70, 80), and modifies the target inclination angle so that a vertical line passing through the center of gravity of the vehicle passes through a triangle range connecting ground contact points of the front wheels and a ground contact point of the rear wheel (S110).SELECTED DRAWING: Figure 4

    【課題】車両傾斜装置を備えた自動傾斜車両において、車両が走行していない状況において車両の重心の高さを推定し、推定された重心高さに基づく車両の目標傾斜角の制限を、車両の走行開始時から行い得るようにする。【解決手段】左右の前輪と、一つの後輪とを含み、制御装置は、車両の傾斜角θが目標傾斜角になるように車体傾斜装置を制御するよう構成された自動傾斜車両であって、制御装置は、車両が走行していないときに、車体傾斜装置によって車両を横方向へ揺動振動(S60)させ、振動の共振周期に基づいて車両の重心高さ(Hg)を推定し(S70、80)、また、車両の重心を通る垂線が前輪の接地点及び後輪の接地点を結ぶ三角形の範囲内を通るように、目標傾斜角を修正する(S110)。【選択図】図4


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    Title :

    AUTOMATICALLY INCLINABLE VEHICLE


    Additional title:

    自動傾斜車両


    Contributors:

    Publication date :

    2018-05-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62K Fahrräder , CYCLES / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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