Title:
LEANING VEHICLE
Document Type and Number:
WIPO Patent Application WO/2024/048533
Kind Code:
A1
Abstract:
Provided is a leaning vehicle that can control the pose of the vehicle body so as to enable turning at low speed and small radius, both when running autonomously without being operated by a rider and when running by being operated by the rider. A control device (9) for a leaning vehicle (1) controls a steering torque application device (12) so that a steering torque is applied to at least one front wheel (3) so as to increase the response of a change in a leaning angle (φ) with respect to a steering angle (δ), the steering torque comprising a steering command torque to which a friction cancellation torque is added. The steering command torque is based on first leaning angle information detected by a leaning angle-related information detection device (6), first steering angle information detected by a steering angle-related information detection device (7), and first wheel speed information detected by a wheel speed-related information detection device (8). The friction cancellation torque is for cancelling a friction torque generated due to friction between the at least one front wheel (3) and the travelling surface.
Inventors:
KOZU DAISUKE (JP)
HARA SUSUMU (JP)
HARA SUSUMU (JP)
Application Number:
PCT/JP2023/031027
Publication Date:
March 07, 2024
Filing Date:
August 28, 2023
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
International Classes:
B62K21/00; B60W40/068; B60W40/112
Domestic Patent References:
| WO2022059116A1 | 2022-03-24 | |||
| WO2014054697A1 | 2014-04-10 | |||
| WO2019004312A1 | 2019-01-03 | |||
| WO2022131345A1 | 2022-06-23 | |||
| WO2020188595A1 | 2020-09-24 |
Foreign References:
| JP2021054328A | 2021-04-08 |
Attorney, Agent or Firm:
ATEN IP ATTORNEYS (JP)
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