COAXIAL TWO-WHEELED VEHICLE AND ITS CONTROL METHOD
First Claim
1. A coaxial two-wheeled vehicle comprising:
- a vehicle velocity detection unit that detects a vehicle velocity; and
a turning control unit that performs turning control so as to increase a turning radius as the vehicle velocity detected by the vehicle velocity detection unit increases, whereinthe coaxial two-wheeled vehicle moves with a rider riding thereon, andif the turning control unit determines that a brake control action is initiated during a turning movement, the turning control unit performs turning control so as to suppress a decrease of a turning radius.
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Abstract
To provide a coaxial two-wheeled vehicle capable of performing a turning movement with stability and its control method. A coaxial two-wheeled vehicle in accordance with the present invention includes drive means to drive two coaxially-arranged wheels, turning reference-input input means to input a turning reference input, and control means to control the drive means according to a turning gain based on a turning reference-input input by the turning reference-input input means to thereby perform a turning movement. The control means preferably brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward speed greater than or equal to a first speed, and sets the turning gain to a value greater than zero when a vehicle speed is substantially zero.
20 Citations
9 Claims
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1. A coaxial two-wheeled vehicle comprising:
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a vehicle velocity detection unit that detects a vehicle velocity; and a turning control unit that performs turning control so as to increase a turning radius as the vehicle velocity detected by the vehicle velocity detection unit increases, wherein the coaxial two-wheeled vehicle moves with a rider riding thereon, and if the turning control unit determines that a brake control action is initiated during a turning movement, the turning control unit performs turning control so as to suppress a decrease of a turning radius. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A control method for a coaxial two-wheeled vehicle comprising:
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detecting a vehicle velocity; and performing turning control so as to increase a turning radius as the detected vehicle velocity increases, wherein the coaxial two-wheeled vehicle moves with a rider riding thereon, and if it is determined that a brake control action is initiated during a turning movement, turning control to suppress a decrease of a turning radius is performed.
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Specification