Title:
TILTING VEHICLE
Document Type and Number:
WIPO Patent Application WO/2023/120575
Kind Code:
A1
Abstract:
Provided is a tilting vehicle (1) comprising: vehicle wheels including front steering wheels (11) and a rear wheel (12); a tilt actuator (120) that changes the tilt angle of a vehicle body; a steering actuator (110) that changes the steering angle of the front steering wheels (11); a control device (100) that controls the tilt actuator (120) and the steering actuator (110); and a braking device (80) that controls the braking force on the basis of the slipping degree of the vehicle wheels (11, 12) and a reference slipping degree. As concerns a turning state in which the tilt angle of the vehicle body formed between the ground surface and a perpendicular axis perpendicular to the ground surface is an angle formed between the perpendicular axis and the resultant force of the gravitational force and a centrifugal force in a direction other than turning, if said turning state is defined as a balanced turning state, the control device (100) controls the tilt actuator (120) and the steering actuator (110) so as to arrive at an unbalanced turning state in which lateral acceleration greater than the lateral acceleration in the balanced turning state is generated, and controls the braking device (80) in accordance with the reference slipping degree obtained by taking lateral acceleration into account.
Inventors:
IWAKANE HIROKI (JP)
Application Number:
PCT/JP2022/047110
Publication Date:
June 29, 2023
Filing Date:
December 21, 2022
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
International Classes:
B62K5/10
Foreign References:
| JP6666995B2 | 2020-03-18 | |||
| JP2010012903A | 2010-01-21 | |||
| JP2019177794A | 2019-10-17 | |||
| CN110386216A | 2019-10-29 |
Attorney, Agent or Firm:
NAKATSUJI, Shiro et al. (JP)
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