Vehicle

• US 8,050,820 B2
• Filed: 10/05/2006
• Issued: 11/01/2011
• Est. Priority Date: 10/07/2005
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Motozono, Yoshikazu, Yanaka, Akihiro, Honda, Yasukazu
• Primary Examiner(s): Ilan; Ruth
• Application Number:
  US12/089,476
• Publication Number:
  US 20080290618A1
• Time in Patent Office: 1,853 Days
• Field of Search: 701/37, 701/38, 280/124.103, 180/41, 180210-217
• US Class Current: 701/37
• CPC Class Codes: B60G 17/0161 mainly during straight-line motion B60G17/0164 takes precedence
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 21/007 means for adjusting the wheel inclination
• CPC Class Codes: B60G 2204/4232 Sliding mounts
• CPC Class Codes: B60G 2300/122 Trikes
• CPC Class Codes: B60G 2300/45 Rolling frame vehicles
• CPC Class Codes: B60G 2400/0521 Roll rate
• CPC Class Codes: B60G 2400/0522 Pitch rate
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/208 of wheel rotation
• CPC Class Codes: B60G 2400/252 vertical
• CPC Class Codes: B60G 2400/34 Accelerator pedal position
• CPC Class Codes: B60G 2400/39 Brake pedal position
• CPC Class Codes: B60G 2400/40 Steering conditions
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2600/20 Manual control or setting means
• CPC Class Codes: B60G 2800/91 Suspension Control
• CPC Class Codes: B60G 2800/92 ABS - Brake Control
• CPC Class Codes: B60G 2800/95 : Automatic Traction or Slip Control [ATC]
• CPC Class Codes: B60G 2800/96 : ASC - Assisted or power Steering control
• CPC Class Codes: B60G 3/01 : the wheel being mounted for sliding movement, e.g. in or on a vertical guide camber maintaining means B60G3/26
• CPC Class Codes: B60L 15/2036 : Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60W 10/04 : including control of propulsion units
• CPC Class Codes: B60W 10/18 : including control of braking systems
• CPC Class Codes: B60W 10/20 : including control of steering systems
• CPC Class Codes: B60W 10/22 : including control of suspension systems
• CPC Class Codes: B60W 2300/345 : Three wheelers not including single track vehicles
• CPC Class Codes: B60W 2300/367 : Tricycles
• CPC Class Codes: B60W 30/02 : Control of vehicle driving stability
• CPC Class Codes: B60W 40/11 : Pitch movement
• CPC Class Codes: B60W 40/112 : Roll movement
• CPC Class Codes: B60W 40/114 : Yaw movement
• CPC Class Codes: B62K 2204/00 : Adaptations for driving cycles by electric motor
• CPC Class Codes: B62K 5/10 : with means for inwardly inclining the vehicle body on bends
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

When a vehicle turns, a body and a left and a right wheel are inclined inward of a turning circle. Consequently forces are exerted to an operator in an up-down direction, which leads to reducing discomfort felt by the operator. In addition, since a gravity center of the vehicle is moved inward of the turning circle, a turning stability of the vehicle is improved.

Claims

1. A vehicle comprising:

a body;

at least a pair of wheels including a left wheel and a right wheel which are distant from each other in a widthwise direction of the body;

an up-down moving device which is provided between the body and each of the left wheel and the right wheel and which moves said each of the left wheel and the right wheel relative to the body in upward and downward directions;

a lateral-direction posture control device which controls, when the vehicle turns, the up-down moving device so that a position of the left wheel relative to the body and a position of the right wheel relative to the body differ from each other and accordingly the body and the left and right wheels are inclined, relative to a road surface, inward of a turning circle of the vehicle; and

a gravity-center-height-position-change restraining portion which restrains a change of a height position of a gravity center of the vehicle when a turning direction of the vehicle in a turning state is changed to a direction opposite to the turning direction, as compared with when the vehicle in a straight running state is changed to the turning state.

2. The vehicle according to claim 1, wherein the lateral-direction posture control device comprises an inclination-angle determining portion which determines an inclination angle defined as an angle of each of respective planes on which the left wheel and the right wheel rotate, relative to a normal line of the road surface, such that an absolute value of the inclination angle is greater when a centrifugal force exerted to the vehicle is great than when the centrifugal force is small.

3. The vehicle according to claim 1,

wherein the lateral-direction posture control device further comprises a relative-position control device which moves the left wheel and the right wheel relative to the body in the upward and downward directions, symmetrically with each other with respect to a neutral position, so as to incline the body and the left and right wheels with respect to a lateral direction, and

wherein the gravity-center-height-position-change restraining portion comprises a neutral-position changing portion which changes the neutral position such that a height position of the neutral position as measured from the road surface is more largely lowered when an absolute value of an inclination angle of the left and right wheels is small than when the absolute value of the inclination angle is great.

4. The vehicle according to claim 3, wherein the neutral-position changing portion comprises a neutral-position determining portion which determines the neutral position according to a speed of change of the turning direction of the vehicle.

5. The vehicle according to claim 1, further comprising a steering instructing member which is operable by an operator, wherein the gravity-center-height-position-change restraining portion operates when a speed of operation of the steering instructing member is not lower than a pre-set speed.

6. The vehicle according to claim 1,

wherein the up-down moving device comprises a left-side moving device and a right-side moving device which respectively move, in the upward and downward directions, the left wheel and the right wheel each relative to the body and parallel to each other, and

wherein the left-side moving device and the right-side moving device comprise respective guide members which extend parallel to each other.

7. The vehicle according to claim 1, further comprising:

at least one wheel which is attached to a portion of the body that is distant from the left and right wheels in a front-rear directions; and

a front-rear-direction posture control device which controls at least the up-down moving device to move the left and right wheels relative to the body in a same direction and thereby controls an inclination of the body relative to the road surface with respect to the front-rear direction,

wherein the front-rear-direction posture control device comprises an acceleration-deceleration-related front-rear-direction inclining portion which controls the up-down moving device to lower a front portion of the body relative to a rear portion thereof when the vehicle is accelerated by being driven and to lower the rear portion of the body relative to the front portion thereof when the vehicle is decelerated by being braked,

wherein the acceleration-deceleration-related front-rear-direction inclining portion comprises an inclination-angle determining portion which determines an inclination angle of the body with respect to the front-rear direction such that an absolute value of the inclination angle of the body is greater when an absolute value of a front-rear-direction acceleration of the vehicle is great than when the absolute value of the front-rear-direction acceleration is small.

8. The vehicle according to claim 7, wherein the front-rear-direction posture control device further comprises an inclination-angle restraining portion which determines the inclination angle of the body with respect to the front-rear direction such that the inclination angle of the body is smaller when at least one of braking and driving occurs to the vehicle in a turning state, than when at least one of braking and driving occurs to the vehicle in a straight running state.

9. A vehicle comprising:

a body;

at least a pair of wheels including a left wheel and a right wheel which are distant from each other in a widthwise direction of the body;

an up-down moving device which is provided between the body and each of the left wheel and the right wheel and which moves said each of the left wheel and the right wheel relative to the body in upward and downward directions;

a lateral-direction posture control device which controls, when the vehicle turns, the up-down moving device so that a position of the left wheel relative to the body and a position of the right wheel relative to the body differ from each other and accordingly the body and the left and right wheels are inclined, relative to a road surface, inward of a turning circle of the vehicle;

at least one steering wheel which is attached to a portion of the body that is located in front of the left and right wheels;

a steering device which steers said at least one steering wheel; and

a steering control device which controls the steering device and thereby controls steering of said at least one steering wheel;

a steering instructing member which is operable by an operator; and

a steering-instruction detecting device which detects an operation state of the steering instructing member,

wherein the steering control device comprises an operation-state-dependent steering control portion which controls the steering of said at least one steering wheel based on the operation state of the steering instructing member detected by the steering-instruction detecting device.

10. The vehicle according to claim 9, wherein the operation-state-dependent steering control portion comprises an opposite-direction steering portion which steers, when the operation state of the steering instructing member detected by the steering-instruction detecting device has changed, said at least one steering wheel in an opposite direction that is opposite to a steering direction corresponding to a direction of the change of the operation state.

11. The vehicle according to claim 10, wherein the opposite-direction steering portion comprises an opposite-direction-steering-angle determining portion which determines, according to at least a speed of the change of the operation state of the steering instructing member detected by the steering-instruction detecting device, a steering angle of said at least one steering wheel in the opposite direction.

12. The vehicle according to claim 11, wherein the opposite-direction-steering-angle determining portion determines the steering angle of said at least one steering wheel in the opposite direction, such that an absolute value of the steering angle is greater when a running speed of the vehicle is high than when the running speed is low.

13. The vehicle according to claim 10, wherein the opposite-direction steering portion comprises a normal-state opposite-direction steering portion which does not steer said at least one steering wheel in the opposite direction when the vehicle is in a roll-over state, and steers said at least one steering wheel in the opposite direction when the vehicle is not in the roll-over state.

14. The vehicle according to claim 9, wherein the steering control device further comprises a roll-over restraining portion which restrains a roll-over state of the vehicle by decreasing an absolute value of a steering angle of said at least one steering wheel.

15. The vehicle according to claim 14, wherein the steering control device further comprises a selecting portion which controls, when an angle of returning of said at least one steering wheel that corresponds to an amount of operation of the steering instructing member detected by the steering-instruction detecting device is smaller than an angle of returning of said at least one steering wheel by the roll-over restraining portion, the roll-over restraining portion to control the steering angle of said at least one steering wheel, and which does not control, when the angle of returning of said at least one steering wheel that corresponds to the amount of operation of the steering instructing member is greater than the angle of returning of said at least one steering wheel by the roll-over restraining portion, the roll-over restraining portion to control the steering angle of said at least one steering wheel.

16. The vehicle according to claim 9, wherein the steering control device further comprises a rotation-speed-difference control portion which controls, according to a turning state of the vehicle, a difference of respective rotation speeds of the left and right wheels.

17. The vehicle according to claim 9, wherein the steering control device further comprises an after-posture-control steering control portion which, after the lateral-direction posture control device has started a control to incline, according to the operation state of the steering instructing member, the body and the left and right wheels inward of the turning circle when the steering-instruction detecting device has detected the operation state of the steering instructing member caused by the operator, controls the steering device to steer said at least one steering wheel.

18. A vehicle comprising:

a body;

at least a pair of wheels including a left wheel and a right wheel which are distant from each other in a widthwise direction of the body;

an up-down moving device which is provided between the body and each of the left wheel and the right wheel and which moves said each of the left wheel and the right wheel relative to the body in upward and downward directions;

a lateral-direction posture control device which controls, when the vehicle turns, the up-down moving device so that a position of the left wheel relative to the body and a position of the right wheel relative to the body differ from each other and accordingly the body and the left and right wheels are inclined, relative to a road surface, inward of a turning circle of the vehicle;

at least one wheel which is attached to a portion of the body that is distant from the left and right wheels in a front-rear direction;

a front-rear-direction posture control device which controls at least the up-down moving device to move the left and right wheels relative to the body in a same direction, and thereby controls an inclination of the body relative to the road surface with respect to the front-rear direction;

a drive device which drives at least one driving wheel of a plurality of wheels comprising the left; and

right wheels and said at least one wheel;

a steering device which steers at least one steering wheel of the plurality of wheels;

a steering control device which controls the steering device based on an operation state of a steering instructing member; and

a posture-control-failure-related running-state control device which, when at least one of the lateral-direction posture control device and the front-rear-direction posture control device fails to control a corresponding one of a lateral-direction posture and a front-rear-direction posture of the vehicle to a desirable posture, decreases at least one of an absolute value of a steering angle of said at least one steering wheel and a front-rear-direction acceleration of the vehicle.

19. A vehicle comprising:

a body;

at least a pair of wheels including a left wheel and a right wheel which are distant from each other in a widthwise direction of the body;

an up-down moving device which is provided between the body and each of the left wheel and the right wheel and which moves said each of the left wheel and the right wheel relative to the body in upward and downward directions;

a lateral-direction posture control device which controls, when the vehicle turns, the up-down moving device so that a position of the left wheel relative to the body and a position of the right wheel relative to the body differ from each other and accordingly the body and the left and right wheels are inclined, relative to a road surface, inward of a turning circle of the vehicle;

at least one wheel which is attached to a portion of the body that is distant from the left and right wheels in a front-rear direction; and

a front-rear-direction posture control device which controls at least the up-down moving device to move the left and right wheels relative to the body in a same direction, and thereby controls an inclination of the body relative to the road surface with respect to the front-rear direction,

wherein the front-rear-direction posture control device comprises a turning-braking-related control portion which controls, when turning and braking occur to the vehicle, the up-down moving device according to a deceleration of the vehicle and thereby lowers a rear portion of the body relative to a front portion thereof, and

wherein the lateral-direction posture control device comprises a limit-using lateral-direction posture control portion which controls, when turning and braking occur to the vehicle, the up-down moving device to move the left and right wheels within respective limited movement ranges thereof, according to a centrifugal force exerted to the vehicle, and thereby inclines the body inward of the turning circle.

20. The vehicle according to claim 19, further comprising:

a steering device which steers said at least one wheel; and

a steering control device which controls the steering device and which comprises a steering restraining portion which, when the limit-using lateral-direction-posture control portion controls the up-down moving device while being limited by at least one of the limited movement ranges, controls the steering device such that an absolute value of a steering angle of said at least one wheel is smaller than an absolute value of a steering angle of said at least one wheel on an assumption that the limit-using lateral-direction-posture control portion controls the up-down moving device while being not limited by either of the respective limited movement ranges.

21. A vehicle comprising:

a body;

at least a pair of wheels including a left wheel and a right wheel which are distant from each other in a widthwise direction of the body;

an up-down moving device which is provided between the body and each of the left wheel and the right wheel and which moves said each of the left wheel and the right wheel relative to the body in upward and downward directions;

a lateral-direction posture control device which controls, when the vehicle turns, the up-down moving device so that a position of the left wheel relative to the body and a position of the right wheel relative to the body differ from each other and accordingly the body and the left and right wheels are inclined, relative to a road surface, inward of a turning circle of the vehicle;

at least one wheel which is attached to a portion of the body that is distant from the left and right wheels in a front-rear direction; and

a front-rear-direction posture control device which controls at least the up-down moving device to move the left and right wheels relative to the body in a same direction, and thereby controls an inclination of the body relative to the road surface with respect to the front-rear direction, wherein the lateral-direction posture control device comprises a turning-driving-related control portion which controls, when turning and driving occur to the vehicle, the up-down moving device according to a centrifugal force exerted to the vehicle and thereby inclines the body inward of the turning circle, and the front-rear-direction posture control device comprises a limit-using front-rear-direction-posture control portion which controls, when turning and driving occur to the vehicle, the up-down moving device to move the left and right wheels within respective limited movement ranges thereof, according to an acceleration of the vehicle, and thereby lowers a front portion of the body relative to a rear portion thereof.

22. The vehicle according to claim 21, further comprising:

a drive device which drives at least one driving wheel of a plurality of wheels comprising the left and right wheels and said at least one wheel; and

a driving control device which controls the drive device and which comprises an acceleration restraining portion which, when the limit-using front-rear-direction posture control portion controls the up-down moving device while being limited by at least one of the respective limited movement ranges, controls the drive device such that an acceleration of the vehicle is smaller than an acceleration of the vehicle when the limit-using front-rear-direction posture control portion controls the up-down moving device while being not limited by either of the respective limited movement ranges.

23. A vehicle comprising:

a body;

at least a pair of wheels including a left wheel and a right wheel which are distant from each other in a widthwise direction of the body;

an up-down moving device which is provided between the body and each of the left wheel and the right wheel and which moves said each of the left wheel and the right wheel relative to the body in upward and downward directions;

a lateral-direction posture control device which controls, when the vehicle turns, the up-down moving device so that a position of the left wheel relative to the body and a position of the right wheel relative to the body differ from each other and accordingly the body and the left and right wheels are inclined, relative to a road surface, inward of a turning circle of the vehicle;

at least one steering wheel which is attached to a portion of the body that is located in front of the left and right wheels;

a steering device which steers said at least one steering wheel; and

a steering control device which controls the steering device and thereby controls steering of said at least one steering wheel,

wherein the steering control device comprises a steering restraining portion which, when the lateral-direction posture control portion cannot control, according to a centrifugal force exerted to the vehicle, the up-down moving device to move the left and right wheels relative to the body in the upward and downward directions, controls the steering device such that an absolute value of a steering angle of said at least one steering wheel is smaller than an absolute value of a steering angle of said at least one steering wheel when the lateral-direction-posture control portion can control the up-down moving device according to the centrifugal force.

24. A vehicle comprising:

a body;

at least a pair of wheels including a left wheel and a right wheel which are distant from each other in a widthwise direction of the body;

an up-down moving device which is provided between the body and each of the left wheel and the right wheel and which moves said each of the left wheel and the right wheel relative to the body in upward and downward directions;

a lateral-direction posture control device which controls, when the vehicle turns, the up-down moving device so that a position of the left wheel relative to the body and a position of the right wheel relative to the body differ from each other and accordingly the body and the left and right wheels are inclined, relative to a road surface, inward of a turning circle of the vehicle;

at least one wheel which is attached to a portion of the body that is distant from the left and right wheels in a front-rear direction;

a front-rear-direction posture control device which controls at least the up-down moving device to move the left and right wheels relative to the body in a same direction and thereby controls an inclination of the body relative to the road surface with respect to the front-rear direction;

an obtaining device which obtains at least one of an angle of inclination of the body with respect to the front-rear direction and an angular speed of the inclination of the body;

a drive device which drives at least one driving wheel of a plurality of wheels comprising the left and right wheels and said at least one wheel; and

a driving control device which controls the drive device and which comprises an acceleration restraining portion which, when the front-rear-direction posture control portion cannot control, according to a front-rear-direction acceleration of the vehicle, a front-rear-direction posture of the vehicle, controls the drive device based on said at least one of the angle of inclination of the body with respect to the front-rear direction and the angular speed of the inclination of the body, and thereby restrains the acceleration of the vehicle.

25. A vehicle comprising:

a body;

at least a pair of wheels including a left wheel and a right wheel which are distant from each other in a widthwise direction of the body;

an up-down moving device which is provided between the body and each of the left wheel and the right wheel and which moves said each of the left wheel and the right wheel relative to the body in upward and downward directions;

a lateral-direction posture control device which controls, when the vehicle turns, the up-down moving device so that a position of the left wheel relative to the body and a position of the right wheel relative to the body differ from each other and accordingly the body and the left and right wheels are inclined, relative to a road surface, inward of a turning circle of the vehicle;

at least one wheel which is attached to a portion of the body that is distant from the left and right wheels in a front-rear direction; and

a front-rear-direction posture control device which controls at least the up-down moving device to move the left and right wheels relative to the body in a same direction and thereby controls an inclination of the body relative to the road surface with respect to the front-rear direction,

wherein the front-rear-direction posture control device comprises an acceleration-deceleration-related front-rear-direction inclining portion which controls the up-down moving device to lower a front portion of the body relative to a rear portion thereof when the vehicle is accelerated by being driven and to lower the rear portion of the body relative to the front portion thereof when the vehicle is decelerated by being braked,

wherein the acceleration-deceleration-related front-rear-direction inclining portion comprises an inclination-angle determining portion which determines an inclination angle of the body with respect to the front-rear direction such that an absolute value of the inclination angle of the body is greater when an absolute value of a front-rear-direction acceleration of the vehicle is great than when the absolute value of the front-rear-direction acceleration is small, and

wherein the front-rear-direction posture control device further comprises an inclination-angle restraining portion which determines the inclination angle of the body with respect to the front-rear direction such that the inclination angle of the body is smaller when at least one of braking and driving occurs to the vehicle in a turning state, than when at least one of braking and driving occurs to the vehicle in a straight running state.