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VEHICLE WITH LEAN CONTROL

  • US 20180265156A1
  • Filed: 05/18/2018
  • Published: 09/20/2018
  • Est. Priority Date: 11/20/2015
  • Status: Active Grant
First Claim
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1. A vehicle comprising:

  • a vehicle body frame configured to lean to a right of the vehicle when the vehicle turns right and lean to a left of the vehicle when the vehicle turns left;

    a right front wheel that is provided on a right of the vehicle body frame and that is able to turn about a right steering axis that extends in an up-and-down direction of the vehicle body frame;

    a left front wheel that is provided on a left of the vehicle body frame and that is able to turn about a left steering axis that extends in the up-and-down direction of the vehicle body frame;

    a link mechanism having a cross member that is supported to be able to turn about a link axis that extends in a front-and-rear direction of the vehicle body frame to change a relative position of the right front wheel and the left front wheel in the up-and-down direction of the vehicle body frame according to a degree to which the vehicle body frame leans;

    a steering effort transmission mechanism configured to transmit a first steering effort inputted into a steering effort input unit by a rider to the right front wheel and the left front wheel;

    a steering effort application device configured to apply a second steering effort to the steering effort transmission mechanism by a first actuator;

    a turning effort application device configured to apply a turning effort to the cross member of the link mechanism by a second actuator to turn the cross member relative to the vehicle body frame; and

    a control unit configured to control at least one of the steering effort application device and the turning effort application device to generate at least one of the second steering effort or the turning effort to suppress a behavior that increases a vertical angle, whereinthe control unit is adapted to determine an electric power steering system (EPS) command value and an electric power leaning system (EPL) command value according to a physical quantity that includes at least a vehicle speed and a vertical angle, the EPS command value determining a magnitude of output torque of the first actuator and the EPL command value determining a magnitude of output torque of the second actuator, and whereinwith the vertical angle being any other angle than 0 degrees and the physical quantity excluding the vehicle speed staying constant, the control unit increases a ratio a/b of the EPS command value “

    a”

    to the EPL command value “

    b”

    as the vehicle speed increases.

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