FIELD OF THE INVENTION

The present invention generally pertains to a vehicle controlled by a driver, more specifically, a vehicle controlled according to an instantaneous position of a driver's body relative to the vehicle and relative position between vehicle's parts and according to a force applied to the vehicle, a driver and any part thereto.

BACKGROUND OF THE INVENTION

Drive-by-wire (DbW) technology in the automotive industry replaces the traditional mechanical and hydraulic control systems with electronic control systems using electromechanical actuators and human-machine interfaces such as pedal and steering wheel emulators. Hence, the traditional components such as the steering column, intermediate shafts, pumps, hoses, fluids, belts, coolers and brake boosters and master cylinders are eliminated from the vehicle.

DbW technology has been hailed for liberating engineers to redesign the cabin, as well as for decreasing the risk of steering column related collision injury. It additionally allows for the steering human interface to take on unorthodox shapes and delivery methods. Still, for the most part the current DbW systems retain the traditional hand controlled steering interface familiar from conventional land and aviation vehicles.

Hand based steering human interfaces, and especially DbW ones, offer intuitive ease of use, however they can be challenging to the maintenance of balance of the vehicle and are notorious for not providing sufficient steering feedback. Furthermore, the driving experience they provide is largely a seated stationary one that may detract from the challenge of the driving experience.

It is therefore a long felt need to provide a human interface for a DbW steering system that offers increased balance as well a real sense of feedback to driver. Moreover, such an interface answers the desire for a fuller, more challenging driving experience.

SUMMARY OF THE INVENTION

It is hence one object of the invention to disclose a vehicle controlled by a driver comprising: (a) a primary chassis supported by a road; (b) a secondary chassis movably linked to the primary chassis; and (c) at least one mechanism adapted for controlling movement of the vehicle.

It is a core purpose of the invention to provide the mechanism adapted to change at least one characteristic of vehicle movement and relative position of the primary and secondary chassis according to an instantaneous position of a body of the driver relative to the vehicle.

Another object of the invention is to disclose the vehicle further comprising means for sensing the position of the driver's body relative to the vehicle.

A further object of the invention is to disclose the computer means adapted for balancing said vehicle according to said force applied to said vehicle and said part thereof due to changes in vehicle movement.

A further object of the invention is to disclose the characteristic selected from the group consisting of driving direction, velocity, acceleration, deceleration and any combination thereof. A further object of the invention is to disclose the controlling mechanism further comprising a steering unit. The vehicle is adapted for manually controlled steering in a manner separate from angular and linear displacement of the second chassis relative to the primary chassis.

A further object of the invention is to disclose a linkage between said primary and secondary chassis configured for variable angular and linear lateral displacements therebetween.

A further object of the invention is to disclose a change in the instantaneous position of the driver body characterized by angular and lineal' displacements relative to the vehicle.

A further object of the invention is to disclose the secondary chassis adapted for compensating longitudinal and lateral road grade due to tilting thereof relative to the primary chassis.

A further object of the invention is to disclose the secondary chassis further comprising stabilizing means. The stabilizing means is adapted for stabilizing the secondary chassis in a predetermined position.

A further object of the invention is to disclose the stabilizing means comprising at least one element selected from the group consisting of a gyroscopic stabilizer, a lever retractable stabilizer, an electromagnetic stabilizer, a magnetic stabilizer, a spring-operated stabilizer, a compressed gas stabilizer, servomotor-operated stabilizer and any combination thereof.

A further object of the invention is to disclose the stabilizing means adapted to provide a calibrated stabilized position of the secondary chassis in response to a predetermined instantaneous position of the driver body.

A further object of the invention is to disclose the vehicle further comprising computer means preprogrammed to control the stabilizing means so that the calibrated stabilized position of the secondary chassis corresponds to the predetermined position of the driver body.

A further object of the invention is to disclose the vehicle further comprising sensing means adapted to detect a force applied to the vehicle, the driver and any part thereof.

A further object of the invention is to disclose the vehicle further comprising computer means preprogrammed to control the stabilizing means so that secondary chassis is stabilized in an optimal calibrated position relative to the primary chassis. The optimal calibrated position provides balancing the vehicle and gripping the road depending on the force applied to the vehicle and any part thereof.

A further object of the invention is to disclose the vehicle adapted for neutralizing forces caused by change in the characteristics of the vehicle movement.

A further object of the invention is to disclose the computer means adapted for balancing the vehicle according to the force applied to the vehicle and the part thereof due to angular rotation of the secondary chassis about a longitudinal axis thereof and lateral linear shift relative to the primary chassis.

A further object of the invention is to disclose the vehicle further comprising computer means preprogrammed to control the stabilizing means so that secondary chassis is stabilized in an optimal calibrated position relative to the primary chassis. The optimal calibrated position provides balancing the vehicle and gripping the road depending on the momentary position of the driver.

A further object of the invention is to disclose the linkage adapted for fixating the primary and secondary chassis in a predetermined relative position.

A further object of the invention is to disclose a vehicle controlled by a driver. The aforesaid vehicle comprises: (a) a primary chassis supported by a road; (b) a secondary chassis movably linked to the primary chassis; the secondary chassis is displaceable by the driver; and (c) at least one mechanism adapted for controlling movement of the vehicle.

It is a core purpose of the invention to provide the mechanism adapted to change at least one characteristic of vehicle movement according to an instantaneous relative position of the primary and secondary chassis.

A further object of the invention is to disclose a method of controlling a vehicle by a driver.

The aforesaid method comprises the steps of: (a) providing the vehicle comprising (i) a primary chassis supported by a road; (ii) a secondary chassis movably linked to the primary chassis; and (iii) at least one mechanism adapted for controlling movement of the vehicle; (b) controlling at least one characteristic of vehicle movement; and (c) controlling relative position of the primary and secondary chassis.

It is a core purpose of the invention to provide the steps of controlling vehicle movement and relative position of the primary and secondary chassis performed according to an instantaneous position of a body of the driver relative to the vehicle.

A further object of the invention is to disclose the step of sensing said position of the driver's body relative to the vehicle further comprises recognizing in real time road conditions selected from a group consisting of: condition of the terrain, erratic vehicle movement and loss of vehicle grip.

A further object of the invention is to disclose the method further comprising a step of sensing the position of the driver's body relative to the vehicle.

A further object of the invention is to disclose the step of controlling vehicle movement further comprises manually steering the vehicle in a manner separate from angular and linear displacement of the second chassis relative to the primary chassis.

A further object of the invention is to disclose the step of controlling relative position of the primary and secondary chassis performed by means varying angular and linear lateral displacements therebetween.

A further object of the invention is to disclose the steps of controlling vehicle movement and relative position of the primary and secondary chassis further comprising changing in the instantaneous position of the driver body. The instantaneous position is. characterized by angular and linear displacements relative to the vehicle.

A further object of the invention is to disclose the method further comprising a step of compensating longitudinal and lateral road grade due to tilting thereof relative to the primary chassis.

A further object of the invention is to disclose the method further comprising a step of stabilizing the secondary chassis in a predetermined position.

A further object of the invention is to disclose the step of stabilizing the secondary chassis performed by means of at least one element selected from the group consisting of a gyroscopic stabilizer, a lever retractable stabilizer, an electromagnetic stabilizer, a magnetic stabilizer, a spring-operated stabilizer, a compressed gas stabilizer, servomotor-operated stabilizer and any combination thereof.

A further object of the invention is to disclose the step of stabilizing said secondary chassis, so that a calibrated stabilized position of the secondary chassis is provided in response to a predetermined instantaneous position of the driver body. A further object of the invention is to disclose the method further comprising a step stabilizing the secondary chassis that is computer-assisted, so that the calibrated stabilized position of said secondary chassis corresponds to the predetermined position of the driver body.

A further object of the invention is to disclose the method further comprising a step of sensing a force applied to the vehicle, the driver and any part thereof.

A further object of the invention is to disclose the method further comprising said step of stabilizing secondary chassis that is computer-assisted so that secondary chassis is stabilized in an optimal calibrated position relative to the primary chassis. The optimal calibrated position provides balancing the vehicle and gripping the road depending on the force applied to the vehicle and any part thereof.

A further object of the invention is to disclose the method further comprising a step of neutralizing forces caused by change in the characteristics of the vehicle movement.

A further object of the invention is to disclose the step of controlling relative position of the primary and secondary chassis further comprising balancing the vehicle according to the force applied to the vehicle and the part thereof due to angular rotation of the secondary chassis about a longitudinal axis thereof and lateral linear shift relative to the primary chassis.

A further object of the invention is to disclose the step of controlling relative position of the primary and secondary chassis further comprising balancing the vehicle and gripping the road depending on the momentary position of the driver.

A further object of the invention is to disclose the step of controlling relative position of the primary and secondary chassis further comprising fixating the primary and secondary chassis in a predetermined relative position.

A further object of the invention is to disclose a method of controlling a vehicle by a driver.

The aforesaid method comprising the steps of: (a) providing a said vehicle comprising (i) a primary chassis supported by a road; (ii) a secondary chassis movably linked to the primary chassis; the secondary chassis is displaceable by the driver; and (iii) at least one mechanism adapted for controlling movement of the vehicle; (b) controlling at least one characteristic of vehicle movement.

It is a core purpose of the invention to provide the step of controlling vehicle movement is performed according to an instantaneous relative position of the primary and secondary chassis. A further object of the invention is to disclose a vehicle controlled by a driver. The aforesaid vehicle comprises: (a) a primary chassis supported by a road; (b) a secondary chassis movably linked to the primary chassis; and (c) at least one mechanism adapted for controlling movement of the vehicle.

It is a core purpose of the current invention is to provide the mechanism adapted to change at least one characteristic of vehicle movement and relative position of the primary and secondary chassis according to force(s) acting on said driver, said vehicle or part thereof. A further object of the invention is to disclose a method of controlling a vehicle by a driver The aforesaid method comprises the steps of: (a) providing said vehicle comprising (i) a primary chassis supported by a road; (ii) a secondary chassis movably linked to the primary chassis; and (iii) at least one mechanism adapted for controlling movement of the vehicle; (b) controlling at least one characteristic of vehicle movement; and (c) controlling relative position of said primary and secondary chassis.

It is a core purpose of the current invention is to provide the steps of controlling vehicle movement and relative position of said primary and secondary chassis performed according to a resultant force acting on said driver, said vehicle or part thereof.

BRIEF DESCRIPTION OF THE FIGURES

In order to better understand the invention and its implementation in practice, a plurality of embodiments will now be described, by way of non-limiting example only, with reference to the accompanying drawings, wherein .

FIG. 1 is a schematic cross-section view of the human interface for controlling the movement of virtual and actual bodies;

FIG. 2 is a schematic top view of the human interface for controlling the movement; FIG. 3 is a schematic front view of the human interface for controlling the movement on turn;

FIG. 4 is a schematic diagram of the forces applied to the human interface for controlling the movement on turn;

FIG. 5A is a schematic diagram of the forces applied to the untitled driver of the human interface for controlling the movement on turn; and

FIG. 5B is a schematic diagram of the forces applied to the tilted driver of the human interface for controlling the movement on turn. DETAILED DESCRIPTION OF THE PREFERRED EMBODIEMNTS

The following description is provided, alongside all chapters of the present invention, so as to enable any person skilled in the art to make use of said invention and set forth the best modes contemplated by the inventor of carrying out this invention. Various modifications, however, will remain apparent to those skilled in the art, since the generic principles of the present invention have been defined specifically to provide a human interface for controlling a Drive by Wire system.

The term "Drive-by- Wire (DbW)" refers hereinafter to a technology that replaces traditional mechanical and hydraulic control systems with electronic control systems using electromechanical actuators and human-machine interfaces such as pedal and steering wheel emulators.

The term "controlling" refers hereinafter to influencing the spatial direction or the velocity of a body.

The term "chassis" refers hereinafter to a primary platform, constructed in a manner selected from a group consisting of: continuous matter, interleaving matter, weaved material, composition of bars or pipes, or any combination thereof, to which a plurality of elements that comprise a moving body, such as a vehicle, are attached.

The term "movement" refers hereinafter to any shift in the virtual or actual position of a body or parts thereof, including spatial shift, direction shift, facing direction shift, and velocity change.

The term "calibration" refers hereinafter to any readjustments to the data obtained from sensors or detectors, including complete disregard, in order to into account environmental or other factors that would otherwise cause unintentional and undesired instructions to said controlling system.

Reference is made now to Fig. 1 illustrating a cross section view of human interface 10 for controlling a DbW system (not shown), in which the driver (not shown) seated on seat .12 places his feet within foot harnesses 18 embedded with mass shift sensors (not shown), said seat is interconnected to secondary chassis 16 which encloses primary chassis 22, thereby enabling the rotation of secondary chassis 16 by means of cogwheel mechanism 24 to counter imbalance of forces applied to the driver as the result of shifts in the direction of the vehicle.

Reference is made now to Fig. 2 schematically illustrating a top view of the present invention embodied in vehicle 30, in which secondary chassis 16 encloses primary chassis

22, thereby enabling the rotation of said secondary chassis to prevent the vehicle from overturning while keeping all tires and suspensions at an optimal working geometry relative to the surface. It should be emphasized that better vehicle behavior is due to better distribution of the load over suspensions and wheels, and a better driver's experience Reference is made now to Fig. 3 schematically illustrating a front view of a preferred embodiment 40 of the present invention, in which a set of sensors (not shown) sense a resultant force 100 acting upon driver 52 that combines centrifugal force 200 and gravity force 300, and said sensor triggers turning vehicle's wheels or the rotation or tilting of secondary chassis (56) in order to achieve optimal angle 54 between said resultant force and said gravity force, in order to achieve balancing said driver and traction of vehicle wheels 58 and balance of vehicle.

Reference is now made to Fig. 4, presenting forces applied to the vehicle on turn. The point S indicates a point of vehicle overturning. If a vehicle moves along a curve of a radius R, it and, specifically, its driver 52 will be applied by two forces: a centrifugal force F _Cf and gravity F _g ..

The condition of overturning around the point S can be formulated as rF _Cf since > rF _g cos or where r is a force arm defined as a distance between the points S and O (O is a center of mass), α is an angle between the force arm r and the ground surface. The moment of the force Fg is to be exceeded by the moment of the centrifugal force F _Cf . Formally, an overturning moment of the vehicle can be defined as M = M _c hassis + M _d ri _ver - Mdriver comprising components provided by the secondary chassis. It will be understood that Mchassis is constant. Thus, decreasing the overturning moment is provided by tilting the driver.

Reference is made now to Fig. 5 a and 5b schematically illustrating the forces applied to the driver 52 of conventional and proposed vehicles 30a and 30b, respectively) whilst performing a turning action at radius R.

The point O\ indicates a mass center of the driver 52. Angles β and fare angles between the force arm n and the ground surface, β > γ. Referring to Fig. 5a and 5b, tilting the driver body results in decreasing the moment created by the centrifugal force F _Cf because of the following inequation sin/? > sin/ (β > γ). On the contrary, the moment of the gravity force increases with decreasing the tilt angle (cos/? < cosy). Thus, the balance of the force moments applied to the driver 52 is shifted along the radius R. Comparing Figs 5a and 5b, we conclude that tilting driver 52 by means of secondary chassis (not shown), decreases the moment created by the centrifugal force F _c t, and increases the moment created by gravity force F _g, providing better stability of the vehicle 30b with tilted position of the driver 52 relative to the upright positioned driver 52 in the vehicle 30a.

Due to the tilting, of driver 52 by means of secondary chassis (not shown) the moment created by the centrifugal force F _Cf, is decreased and the moment created by gravity force F _g> is increased relative to an upright positioned driving position.

BEST MODE

An interface for controlling a DbW steering system that is activated by shifting one's mass from side to side. Motion detectors integrated in the driver's seat sense the shift of mass and translate it by means of an interconnected computer system to a conventional DbW steering system. Moreover, the seat is additionally fitted with a tilting system that may receive tilting instructions from a computerized system in order to compensate for forces applied to the driver and maintain their sense of balance and in order to improve vehicle road handling. EXAMPLE 1 - A vehicle with a steering device. A driver's seat, foot rest, handles, or any similar means (hereby 'a driver's harness') are located on a separated body connected to the vehicle's body through a joint. The driver's driving orders are passed to the vehicle by mechanical, electrical, electronics, electromagnetic or wireless means. The driver maintains the balance of the harness by moving his body. The driver uses stirring aids (such as a handlebar, stirring wheel, or similar means) to command the vehicle's movement. EXAMPLE 2 - In addition to Example 1 , a stabilizing aid is present to assist the driver in maintaining balance. This aid may be springs fixed to the driver's harness and the vehicle's body in a manner that support the driver's harness in its upright position. EXAMPLE 3 - In addition to Example 2, an accelerometer is embedded into the driver's harness, and adapted for sending signals to a computerized system which controls a motorized variable base. The springs are mounted to the variable base connected to the vehicle's body in a manner that allows each spring mount on the side of the vehicle's body to, independently of the other springs, change its distance to the driver's harness and by so apply force in a certain direction on the harness. The accelerometer signals are reset to the force applied when the harness is in its upright position while the vehicle is still and is placed on a horizontal surface (hereby 'reset point ¹ ). Once signals from the accelerometer indicate force is applied in a direction other than the reset point, the computerized system orders the motorized base to move in a manner that applies force to the harness countering said direction. EXAMPLE 4 - Alternatively to Example 3, in addition to Exaniple2, detectors are placed in the driver's harness, sending signals to a computerized system which controls a motorized variable base. The springs are mounted to the variable base connected to the vehicle's body in manner that allows each spring mount on the side of the vehicle's body to, independently of the other springs, change its distance to the driver's harness and by so apply force in a certain direction on the harness. The detectors detect the driver's body position. Once signals from the detectors indicate the driver moved in a direction other than the centered point, the computerized system orders the motorized base to move in a manner that applies force to the harness in said direction.

EXAMPLE 5 - In the embodiment described in Example 3, instead of springs, a rod is connected between driver's harness and the variable base. Once signals from the accelerometer indicate force is applied in a direction other than the reset point, the computerized system orders the motorized base to move in a manner that moves the harness countering said direction.

EXAMPLE 6 - In the embodiment described in Example 4, instead springs, a rod is connected between driver's harness and the variable base. Once signals from the detectors indicate the driver moved in a direction other than the centered point, the computerized system orders the motorized base to move in a manner that moves the harness in said direction.

EXAMPLE 7 - In the embodiment described in Example 1, an accelerometer is added to the driver's harness, sending signals to a computerized system which controls the movement (direction and speed) of the vehicle (Drive by Wire). The accelerometer signals are reset to the force applied when the harness is in its upright position while the vehicle is still and is placed on a horizontal surface (hereby 'reset point'). Once signals from the accelerometer indicate force is applied in a direction other than the reset point, the computerized system moves the vehicle in said direction. The system may decide on said speed based on said force.

EXAMPLE 8 - In the embodiment described in Example 7, the disclosed device includes the stabilizing aid depicted in Example 2.

EXAMPLE 9 - In the embodiment described in Example 1, the disclosed device includes the stabilizing aid depicted in Example 3. The detectors are placed in the driver's harness, sending signals to a computerized system which controls the movement (direction and speed) of the vehicle (Drive by Wire). The detectors detect the driver's body position. Once signals from the detectors indicate the driver moved in a direction other than the centered point, the computerized system moves the vehicle in said direction. The system may decide on said speed based on said force.

EXAMPLE 10 - In the embodiment described in Example 7, the disclosed device includes the stabilizing aid depicted in Example 4.

EXAMPLE 11 - In the embodiment described in Example 9, the disclosed device includes the stabilizing aid depicted in Example 5 instead of the one depicted in Example 3.

EXAMPLE 12 - In the embodiment described in Example 7, the disclosed device includes the stabilizing aid depicted in Example 6.

In accordance with one embodiment of the current invention, a vehicle controlled by a driver comprises: (a) a primary chassis supported by a road; (b) a secondary chassis movably linked to the primary chassis; and (c) at least one mechanism adapted for controlling movement of the vehicle.

It is a core feature of the current invention to provide the mechanism adapted to change at least one characteristic of vehicle movement and relative position of the primary and secondary chassis according to an instantaneous position of a body of the driver relative to the vehicle.

In accordance with another embodiment of the current invention, the vehicle further comprises means for sensing the position of the driver's body relative to the vehicle.

In accordance with a further embodiment of the current invention, the characteristic is selected from the group consisting of driving direction, velocity, acceleration, deceleration and any combination thereof.

In accordance with a further embodiment of the current invention, the controlling mechanism further comprises a steering unit. The vehicle is adapted for manually controlled steering in a manner separate from angular and linear displacement of the second chassis relative to the primary chassis.

In accordance with a further embodiment of the current invention, a linkage between said primary and secondary chassis is configured for variable angular and linear lateral displacements therebetween.

In accordance with a further embodiment of the current invention, a change in the instantaneous position of the driver body is characterized by angular and linear displacements relative to the vehicle.

In accordance with a further embodiment of the current invention, the secondary chassis is adapted for compensating longitudinal and lateral road grade due to tilting thereof relative to the primary chassis. In accordance with a further embodiment of the current invention, the secondary chassis further comprises stabilizing means. The stabilizing means is adapted for stabilizing the secondary chassis in a predetermined position.

In accordance with a further embodiment of the current invention, the stabilizing means comprises at least one element selected from the group consisting of a gyroscopic stabilizer, a lever retractable stabilizer, an electromagnetic stabilizer, a magnetic stabilizer, a spring- operated stabilizer, a compressed gas stabilizer,, servomotor-operated stabilizer and any combination thereof.

In accordance with a further embodiment of the current invention, the stabilizing means is adapted to provide a calibrated stabilized position of the secondary chassis in response to a predetermined instantaneous position of the driver body.

In accordance with a further embodiment of the current invention, the vehicle further comprises computer means preprogrammed to control the stabilizing means so that the calibrated stabilized position of the secondary chassis corresponds to the predetermined position of the driver body.

In accordance with a further embodiment of the current invention, the vehicle further comprises sensing means adapted to detect a force applied to the vehicle, the driver and any part thereof.

In accordance with a further embodiment of the current invention, the vehicle further comprises computer means preprogrammed to control the stabilizing means so that secondary chassis is stabilized in an optimal calibrated position relative to the primary chassis. The optimal calibrated position provides balancing the vehicle and gripping the road depending on the force applied to the vehicle and any part thereof.

In accordance with a further embodiment of the current invention, the vehicle is adapted for neutralizing forces caused by change in the characteristics of the vehicle movement. In accordance with a further embodiment of the current invention, the computer means is adapted for balancing the vehicle according to the force applied to the vehicle and the part thereof due to angular rotation of the secondary chassis about a longitudinal axis thereof and lateral linear shift relative to the primary chassis.

In accordance with a further embodiment of the current invention, the vehicle further comprises computer means preprogrammed to control the stabilizing means so that secondary chassis is stabilized in an optimal calibrated position relative to the primary chassis. The optimal calibrated position provides balancing the vehicle and gripping the road depending on the momentary position of the driver. In accordance with a further embodiment of the current invention, the linkage is adapted for fixating the primary and secondary chassis in a predetermined relative position.

In accordance with a further embodiment of the current invention, a vehicle controlled by a driver is disclosed. The aforesaid vehicle comprises: (a) a primary chassis supported by a road; (b) a secondary chassis movably linked to the primary chassis; the secondary chassis is displaceable by the driver; and (c) at least one mechanism adapted for controlling movement of the vehicle.

It is a core feature of the current invention to provide the mechanism adapted to change at least one characteristic of vehicle movement according to a instantaneous relative position of the primary and secondary chassis.

In accordance with a further embodiment of the current invention, a method of controlling a vehicle by a driver is disclosed. The aforesaid method comprises the steps of: (a) providing the vehicle comprising (i) a primary chassis supported by a road; (ii) a secondary chassis movably linked to the primary chassis; and (iii) at least one mechanism adapted for controlling movement of the vehicle; (b) controlling at least one characteristic of vehicle movement; and (c) controlling relative position of the primary and secondary chassis.

It is a core feature of the invention to provide the steps of controlling vehicle movement and relative position of the primary and secondary chassis performed according to an instantaneous position of a body of the driver relative to the vehicle.

In accordance with a further embodiment of the current invention, the method further comprises a step of sensing the position of the driver's body relative to the vehicle.

In accordance with a further embodiment of the current invention, the step of controlling vehicle movement further comprises manually steering the vehicle in a manner separate from angular and linear displacement of the second chassis relative to the primary chassis.

In accordance with a further embodiment of the current invention, the step of controlling relative position of the primary and secondary chassis is performed by means varying angular and linear lateral displacements therebetween.

In accordance with a further embodiment of the current invention, the steps of controlling vehicle movement and relative position of the primary and secondary chassis further comprise changing in the instantaneous position of the driver body. The instantaneous position is characterized by angular and linear displacements relative to the vehicle.

In accordance with a further embodiment of the current invention, the method further comprises a step of compensating longitudinal and lateral road grade due to tilting thereof relative to the primary chassis. In accordance with a further embodiment of the current invention, the method, further comprises a step of stabilizing the secondary chassis in a predetermined position.

In accordance with a further embodiment of the current invention, the step of stabilizing the secondary chassis is performed by means of at least one element selected from the group consisting of a gyroscopic stabilizer, a lever retractable stabilizer, an electromagnetic stabilizer, a magnetic stabilizer, a spring-operated stabilizer, a compressed gas stabilizer,, servomotor-operated stabilizer and any combination thereof.

In accordance with a further embodiment of the current invention, at the step of stabilizing said secondary chassis, a calibrated stabilized position of the secondary chassis is provided in response to a predetermined instantaneous position of the driver body.

In accordance with a further embodiment of the current invention, the method further comprises a step stabilizing the secondary chassis that is computer-assisted, so that the calibrated stabilized position of said secondary chassis corresponds to the predetermined position of the driver body.

In accordance with a further embodiment of the current invention, the method further comprises a step of sensing a force applied to the vehicle, the driver and any part thereof.

In accordance with a further embodiment of the current invention, the method further comprises said step of stabilizing secondary chassis that is computer-assisted so that secondary chassis is stabilized in an optimal calibrated position relative to the primary chassis. The optimal calibrated position provides balancing the vehicle and gripping the road depending on the force applied to the vehicle and any part thereof.

In accordance with a further embodiment of the current invention, the method further comprises a step of neutralizing forces caused by change in the characteristics of the vehicle movement.

In accordance with a further embodiment of the current invention, the step of controlling relative position of the primary and secondary chassis further comprises balancing the vehicle according to the force applied to the vehicle and the part thereof due to angular rotation of the secondary chassis about a longitudinal axis thereof and lateral linear shift relative to the primary chassis.

In accordance with a further embodiment of the current invention, the computer means is adapted for changing the vehicle movement according to the force applied to the vehicle and the part thereof due to angular rotation of the secondary chassis about a longitudinal axis thereof and lateral linear shift relative to the primary chassis. In accordance with a further embodiment of the current invention, the computer means is adapted for balancing the vehicle according to the force applied to the vehicle and the part thereof due to changes in the vehicle movement.

In accordance with a further embodiment of the current invention, the step of controlling relative position of the primary and secondary chassis further comprises balancing the vehicle and gripping the road depending on the momentary position of the driver.

In accordance with a further embodiment of the current invention, the step of controlling relative position of the primary and secondary chassis further comprises fixating the primary and secondary chassis in a predetermined relative position.

In accordance with a further embodiment of the current invention, a method of controlling a vehicle is disclosed by a driver. The aforesaid method comprising the steps of: (a) providing a said vehicle comprising (i) a primary chassis supported by a road; (ii) a secondary chassis movably linked to the primary chassis; the secondary chassis is displaceable by the driver; and (iii) at least one mechanism adapted for controlling movement of the vehicle; (b) controlling at least one characteristic of vehicle movement.

It is a core feature of the current invention to provide the step of controlling vehicle movement is performed according to an instantaneous relative position of the primary and secondary chassis.

In accordance with a further embodiment of the current invention, a vehicle controlled by a driver is disclosed. The aforesaid vehicle comprises: (a) a primary chassis supported by a road; (b) a secondary chassis movably linked to the primary chassis; and (c) at least one mechanism adapted for controlling movement of the vehicle.

It is a core feature of the current invention to provide the mechanism adapted to change at least one characteristic of vehicle movement and relative position of the primary and secondary chassis according to force(s) acting on said driver, said vehicle or part thereof.

In accordance with a further embodiment of the current invention, a method of controlling a vehicle by a driver is disclosed. The aforesaid method comprises the steps of: (a) providing said vehicle comprising (i) a primary chassis supported by a road; (ii) a secondary chassis movably linked to the primary chassis; and (iii) at least one mechanism adapted for controlling movement of the vehicle; (b) controlling at least one characteristic of vehicle movement; and (c) controlling relative position of said primary and secondary chassis.

It is a core feature of the current invention to provide the steps of controlling vehicle movement and relative position of said primary and secondary chassis performed according to according to force(s) acting on said driver, said vehicle or part thereof.