Vehicle

• US 8,997,911 B2
• Filed: 07/26/2012
• Issued: 04/07/2015
• Est. Priority Date: 07/26/2011
• Status: Active Grant

• Current Assignee: Equos Research Co., Ltd. (Aisin Corp.)
• Original Assignee: Equos Research Co., Ltd. (Aisin Corp.)
• Inventors: Hayashi, Koki
• Primary Examiner(s): Rocca, Joseph
• Assistant Examiner(s): ARCE, MARLON ALEXANDER
• Application Number:
  US14/129,248
• Publication Number:
  US 20140124286A1
• Time in Patent Office: 985 Days
• Field of Search: 280/5.509, 280/5.508, 180/210, 180/211, 180/443
• US Class Current: 180/210
• CPC Class Codes: B60G 17/015 the regulating means comprising electric or electronic elements B60G17/002, B60G17/005 take precedence
• CPC Class Codes: B60G 2300/45 Rolling frame vehicles
• CPC Class Codes: B60G 9/02 the axle or housing being pivotally mounted on the vehicle , e.g. the pivotal axis being parallel to the longitudinal axis of the vehicle B60G9/003 takes precedence
• CPC Class Codes: B62D 9/02 combined with means for inwardly inclining vehicle body on bends
• CPC Class Codes: B62D 9/04 combined with means for inwardly inclining wheels on bends B62D9/02 takes precedence
• CPC Class Codes: B62K 5/025 power-driven
• CPC Class Codes: B62K 5/10 with means for inwardly inclining the vehicle body on bends

Abstract

A vehicle includes a vehicle body having a steering section and a main body section connected together; a steerable wheel which is rotatably mounted to the steering section and which steers the vehicle body; a non-steerable wheel which is rotatably mounted to the main body section; a steering apparatus for inputting a steering instruction information; an inclination actuator apparatus for inclining the steering section or the main body section in a turning direction; a steering actuator apparatus for varying a steering angle of the steerable wheel based on the steering instruction information inputted from the steering apparatus; and a control apparatus which controls the inclination actuator apparatus and the steering actuator apparatus. The control apparatus controls a center of gravity to move in a steering direction included in the steering instruction information at an initial steering stage so that an acceleration toward turning-locus inner side is generated.

Claims

1. A vehicle comprising:

a vehicle body which includes a steering section and a main body section connected together;

a steerable wheel which is rotatably mounted to the steering section and which steers the vehicle body;

a non-steerable wheel which is rotatably mounted to the main body section;

a steering apparatus for inputting a steering instruction information;

an inclination actuator apparatus for inclining the steering section or the main body section in a turning direction;

a steering actuator apparatus for varying a steering angle of the steerable wheel based on the steering instruction information inputted from the steering apparatus; and

a control apparatus which controls the inclination actuator apparatus and the steering actuator apparatus,

wherein the control apparatus controls a center of gravity of the vehicle to move in a steering direction included in the steering instruction information at an initial steering stage so that an acceleration toward turning-locus inner side is generated.

2. A vehicle according to claim 1, wherein the control apparatus has the center of gravity of the vehicle moved by controlling the steering actuator apparatus to vary the steering angle of the steerable wheel in direction opposite to the steering direction included in the steering instruction information at the initial steering stage.

3. A vehicle according to claim 2, wherein the control apparatus controls the steering actuator apparatus to vary the steering angle of the steerable wheel in direction opposite to the steering direction included in the steering instruction information only at the initial steering stage, by employing a derivative value of the steering angle included in the steering instruction information.

4. A vehicle according to claim 3, wherein the initial steering stage is a stage where a product of the derivative value and a second derivative value of the steering angle included in the steering instruction information is zero or plus.

5. A vehicle according to claim 2, wherein the control apparatus controls the steering actuator apparatus to vary the steering angle of the steerable wheel in direction opposite to the steering direction included in the steering instruction information only at the initial steering stage, by employing a first-order lag transfer function with a zero point.