To minimize the movement of a lean vehicle in a fore-and-aft direction in the event that a roll angle varies due to a disturbance, and enhance responsiveness in controlling a posture of the lean vehicle.SOLUTION: A controller 9 for a lean vehicle 1 implements posture control of controlling a drive torque and/or steering torque, which is applied by a torque application device 10, on the basis of a disturbance compensation target roll angle φf obtained by subtracting a variation Δφ in a roll angle φ due to a disturbance, which is estimated based on an estimated disturbance roll torque Ter about a roll axis Xr estimated to have been applied to a vehicle body frame 5 due to the disturbance in at least one of situations that the lean vehicle 1 is at a halt and that the lean vehicle 1 is traveling, and a gravity derived from a weight of the lean vehicle 1, from a target roll angle φg.SELECTED DRAWING: Figure 1

    【課題】外乱によるロール角の変化が生じた場合に、前後方向の移動を低減しつつ、リーン車両の姿勢の制御の応答性を高める。【解決手段】リーン車両1の制御装置9は、リーン車両1の停止状態およびリーン車両1の走行状態の少なくとも一方において、外乱により車体フレーム5に付与されたと推定されるロール軸Xr回りの推定外乱ロールトルクTerと、リーン車両1の重量による重力と、に基づいて推定される外乱によるロール角φの変化分Δφを、目標ロール角φgから引いた外乱補償目標ロール角φfに基づいて、トルク付与装置10から付与される駆動トルクおよび/または操舵トルクを制御する姿勢制御を実行する。【選択図】図1


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    Title :

    LEAN VEHICLE


    Additional title:

    リーン車両


    Contributors:

    Publication date :

    2024-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62K Fahrräder , CYCLES / B62J Fahrrad- oder Motorradsättel oder -sitze , CYCLE SADDLES OR SEATS



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