Title:
DEVICE FOR OBTAINING LEANING VEHICLE ANGULAR VELOCITY AROUND AXIS IN DIRECTION PERPENDICULAR TO ROAD SURFACE
Document Type and Number:
WIPO Patent Application WO/2018/101210
Kind Code:
A1
Abstract:
Provided is a device for obtaining a leaning vehicle angular velocity around an axis in a direction perpendicular to a road surface, such that the angular velocity, of a leaning vehicle, around the axis in the direction perpendicular to a road surface can be easily obtained. A leaning vehicle (1) on a road surface (E) includes a vehicle body frame (4) inclined in the vehicle left-right direction, and a steering shaft (4b) for steering either a front wheel part (2) or a rear wheel part (3). A device (20) for obtaining a leaning vehicle angular velocity around an axis in a direction perpendicular to a road surface, can be mounted on the leaning vehicle (1), and includes a memory (27) and a processor (20a). The memory (27) stores in advance the relationship among: a steering angle which is a rotation angle about the rotation axis of the steering shaft (4b); the vehicle speed of the leaning vehicle (1); and an angular velocity ω around the axis in the direction perpendicular to the road surface. The processor (20a) executes: a steering angle obtaining process (S21) in which a steering angle signal is obtained; a vehicle speed obtaining process (S22) in which a vehicle speed signal is obtained; and a process (S23) for obtaining an angular velocity around an axis in a direction perpendicular to a road surface, in which the angular velocity ω around the axis in the direction perpendicular to the road surface is obtained from the steering angle signal and the vehicle speed signal on the basis of the relationship.
Inventors:
KATSUKI KENJI (JP)
Application Number:
PCT/JP2017/042431
Publication Date:
June 07, 2018
Filing Date:
November 27, 2017
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
International Classes:
G01P3/44; B62J99/00
Foreign References:
| JP2015077824A | 2015-04-23 | |||
| JP2015209106A | 2015-11-24 | |||
| US20070067085A1 | 2007-03-22 | |||
| JP2015077824A | 2015-04-23 |
Other References:
See also references of EP 3534162A4
Attorney, Agent or Firm:
KAJI, SUHARA & ASSOCIATES (JP)
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