Patent Application
20250128782
This application claims priority to Japanese Patent Application No. 2023-179606 filed Oct. 18, 2023, the subject matter of which is incorporated herein by reference in entirety.
The present invention relates to a straddled vehicle.
A straddled vehicle described in JP 2013-60187 A includes a steering angle sensor, an actuator, and a control device. The steering angle sensor detects a steering angle. The actuator generates steering torque. On the basis of a result detected by the steering angle sensor, the control device controls the steering torque generated by the actuator.
In a conventional straddled vehicle, a control device controls steering torque on the basis of a steering angle. Therefore, it may be difficult to appropriately maintain a posture of the straddled vehicle.
The present invention has been made in view of such circumstances, and an object of the present invention is to provide control of a straddled vehicle advantageous for achieving an appropriate posture in a straddled vehicle.
In order to solve the above-described problem, the present invention has the following configurations.
That is, the present invention is a straddled vehicle including
The straddled vehicle includes the vehicle body frame, the steering device, the front wheel, the first detection unit, the posture detection unit, the restriction unit, and the control unit. The steering device is rotatably supported by a vehicle body frame. The front wheel is steered by the steering device. When the front wheel is steered by the steering device, the steering angle of the front wheel changes. The first detection unit detects at least one of steering angular velocity of the front wheel, acceleration of a steering angle at the front wheel, or steering torque at the front wheel. The posture detection unit detects a bank direction of the straddled vehicle. The restriction unit restricts a change in the steering angle of the front wheel. The control unit controls the restriction unit on the basis of a result detected by the first detection unit and a result detected by the posture detection unit.
Specifically, when a value detected by the first detection unit is equal to or greater than a predetermined value, the control unit causes the restriction unit to restrict the change in the steering angle of the front wheel in the bank direction. In other words, when the detected value reaches or exceeds the predetermined value, the restriction unit restricts the change in the steering angle of the front wheel in the bank direction. When the detected value reaches or exceeds the predetermined value, the restriction unit decreases the steering angular velocity of the front wheel in the bank direction. A period during which the detected value reaches or exceeds the predetermined value is not a long period. The period during which the detected value is equal to or greater than the predetermined value is short. Therefore, even if the detected value reaches or exceeds the predetermined value, it is advantageous for achieving an appropriate posture of the straddled vehicle.
In the above-described straddled vehicle,
According to the above-described configuration, the control unit causes the restriction unit to allow the change in the steering angle of the front wheel in a direction opposite to the bank direction. It is easy to decrease the bank angle by changing the steering angle of the front wheel in the direction opposite to the bank direction. By decreasing the bank angle, it is more advantageous for achieving an appropriate posture of the straddled vehicle.
In the above-described straddled vehicle,
According to the above-described configuration, when the value detected by the first detection unit is smaller than the predetermined value, the change in the steering angle of the front wheel is allowed. With this configuration, when the value detected by the first detection unit is smaller than the predetermined value, it is easy for a driver to quickly change the steering angle of the front wheel. Therefore, when the value detected by the first detection unit is smaller than the predetermined value, it is easy for the driver to steer the straddled vehicle.
In the above-described straddled vehicle,
According to the above-described configuration, when the straddled vehicle travels straight, the change in the steering angle of the front wheel is allowed even if the detected value is equal to or greater than the predetermined value. With this configuration, it is possible to provide the straddled vehicle having excellent operability when traveling straight. When the straddled vehicle turns on a curve, it is advantageous for achieving an appropriate posture of the straddled vehicle.
In the above-described straddled vehicle,
According to the above-described configuration, the control unit causes the restriction unit to allow the change in the steering angle of the front wheel in a direction opposite to the bank direction. With this configuration, it is more advantageous for achieving an appropriate posture of the straddled vehicle.
In the above-described straddled vehicle
According to the above-described configuration, a change in the steering angle of the front wheel is allowed or not allowed depending on whether or not the speed of the straddled vehicle is high. Specifically, when the speed of the straddled vehicle is low, it is easy for the driver to steer the straddled vehicle. When the speed of the straddled vehicle is high, it is advantageous for achieving an appropriate posture of the straddled vehicle. With this configuration, it is possible to provide the straddled vehicle advantageous for achieving an appropriate posture while minimizing restriction on the front wheel.
In the above-described straddled vehicle,
According to the above-described configuration, when the straddled vehicle turns on a curve, the predetermined value is greater than the upper limit value of the steering angular velocity of the front wheel with self-steering, greater than the upper limit value of the acceleration of the steering angle of the front wheel with self-steering, or greater than the upper limit value of the steering torque of the front wheel with self-steering. With this configuration, it is possible to provide the straddled vehicle advantageous for achieving an appropriate posture while reliably allowing the change in the steering angle of the front wheel by the self-steering.
In the above-described straddled vehicle,
According to the above-described configuration, the steering angular velocity of the front wheel with the self-steering, the acceleration of the steering angle of the front wheel with the self-steering, or the steering torque of the front wheel with the self-steering depends on the angular velocity of the bank angle of the straddled vehicle. Therefore, the steering angular velocity of the front wheel by the self-steering can be accurately decided.
In the above-described straddled vehicle,
According to the above-described configuration, when the angular velocity of the bank angle of the straddled vehicle is 50 deg/s, the control unit causes the restriction unit to restrict a change in the steering angle of the front wheel in the bank direction. With this configuration, it is possible to provide the straddled vehicle advantageous for achieving an appropriate posture.
In the above-described straddled vehicle,
According to the above-described configuration, when the angular velocity of the bank angle of the straddled vehicle is 10 deg/s, the predetermined value causes the restriction unit to allow a change in the steering angle of the front wheel in the bank direction. With this configuration, it is possible to provide the straddled vehicle advantageous for achieving an appropriate posture.
In the above-described straddled vehicle,
According to the above-described configuration, the first detection unit detects the steering angular velocity of the front wheel by detecting a relative rotation amount of the steering device with respect to the vehicle body frame. With this configuration, the steering angular velocity of the front wheel can be reliably detected.
In the above-described straddled vehicle,
According to the above-described configuration, the first detection unit is a torque sensor that detects twist of the steering device. According to such a configuration, the first detection unit can be configured with a small number of components.
In the above-described straddled vehicle,
According to the above-described configuration, the restriction unit restricts rotation of the steering device with respect to the vehicle body frame. With this configuration, it is easy for the restriction unit to restrict the change in the steering angle of the front wheel.
In the above-described straddled vehicle,
According to the above-described configuration, the restriction unit includes the braking mechanism. The braking mechanism applies braking force that brakes the rotation of the steering device with respect to the vehicle body frame. With this configuration, the restriction unit can actively stop the rotation of the steering device with respect to the vehicle body frame. Therefore, it is possible to provide the straddled vehicle that can more reliably restrict the change in the steering angle of the front wheel.
In the above-described straddled vehicle,
The restriction unit includes the steering damper. The steering damper includes the cylinder tube, the piston, the main shaft, and the damping force adjustment unit. The damping force adjustment unit can adjust the hydraulic pressure experienced by the piston, according to control by the restriction control unit. With this configuration, the restriction unit can be configured by using an existing component with high reliability.
The straddled vehicle of the present invention is advantageous for achieving an appropriate posture.
A detailed description will hereinafter be given of each embodiment of the present invention with consultation of drawings. A vehicle of the present invention is a straddled vehicle, and includes, for example, an internal combustion engine as power. A straddled vehicle according to each embodiment includes a vehicle body frame, a front wheel, and a rear wheel.
A detailed description will hereinafter be given of a first embodiment of the present invention with consultation of drawings. The vehicle of the first embodiment is an example of a straddled vehicle (on-road vehicle) including a front wheel and a rear wheel. As illustrated in
Note that the reference sign F in
A gyro sensor 70 illustrated in
The gyro sensor 70 is supported by the seat frame 64. The gyro sensor 70 is a triaxial sensor that detects how much the vehicle (vehicle body frame 60) is inclined in the front-rear direction, the up-down direction, and the width direction Y. The gyro sensor 70 can detect whether the two-wheel motor vehicle 1 is traveling on a curve or traveling straight. Furthermore, the gyro sensor 70 can detect in which direction the two-wheel motor vehicle 1 is banked. Similarly, the gyro sensor 70 can also detect an inclination angle of the two-wheel motor vehicle 1 that is banked. For example, the gyro sensor 70 detects a bank angle of the two-wheel motor vehicle 1. For example, the gyro sensor 70 detects a roll angle that indicates how much the two-wheel motor vehicle 1 is inclined with respect to an axis extending in the front-rear direction with reference to a horizontal plane.
A stem shaft 23 is a columnar member having one end fixed to the top bridge 21 and another end fixed to the bottom bridge 22. The stem shaft 23 is inserted through the head pipe 61 having a cylindrical shape, and links the steering device 19 and the vehicle body frame 60. The head pipe 61 is provided with a bearing 66 of the stem shaft 23, with which the head pipe 61 rotatably supports the stem shaft 23. The stem shaft 23 is parallel with the front forks 6 and is concentric with the rotation axis A1 of the steering device 19.
In this manner, according to the configuration of the present embodiment, the steering device 19 is configured by incorporating and integrating the handlebar 20, the handlebar mounts 31, the handlebar mount stay 25, the handlebar stem 24, the top bridge 21, the bottom bridge 22, the stem shaft 23, and the front forks 6. The steering device 19 is linked to the vehicle body frame 60 through the head pipe 61, and can rotate about the rotation axis A1 with respect to the vehicle body frame 60.
The motor 71 can rotate rightward and leftward, and an output shaft thereof is parallel with the stem shaft 23. The drive gear 71a is fixed to the output shaft of the motor 71 and meshes with the driven gear 23a. The driven gear 23a is fixed to the stem shaft 23. When the rotation of the steering device 19 is restricted by the restriction device 32, the motor 71 rotates in a direction against the rotation of the steering device 19. A coupling member 67 is a member that couples the head pipe 61 and a main body of the motor 71. Therefore, the main body of the motor 71 is supported by the vehicle body frame 60.
A steering angular velocity detection unit 82 corresponds to a first detection unit of the present invention. The steering angular velocity detection unit 82 is a sensor that detects steering angular velocity of the front wheel 3. The steering angular velocity detection unit 82 is configured to detect rotation of the steering device 19 with respect to the vehicle body frame 60. The steering angular velocity detection unit 82 can include, but not particularly limited to, for example, a rotary encoder that detects the steering angle of the front wheel 3 and a differential calculator that calculates the steering angular velocity on the basis of a temporal change in the steering angle. The steering angular velocity detection unit 82 detects the steering angular velocity of the front wheel 3 by detecting a rotation rate and rotation direction of the steering device 19 with respect to the vehicle body frame 60. The steering angular velocity of the front wheel in the present embodiment means a rotation rate of the front wheel 3 around the stem shaft 23. Normally, steering angular velocity of the steering device 19 coincides with the steering angular velocity of the front wheel. A steering direction of the front wheel 3 in the present embodiment means a direction in which the steering angle of the front wheel 3 changes. A steering direction of the front wheel 3 in the present embodiment means a rotation direction of the front wheel 3 around the stem shaft 23. Normally, a steering direction of the steering device 19 coincides with a steering direction of the front wheel. For example, the steering direction of the front wheel 3 is either right or left.
A restriction control unit 83 corresponds to a control unit of the present invention. The restriction control unit 83 can be implemented by, for example, a central processing unit (CPU). When the restriction control unit 83 restricts the change in the steering angle of the front wheel 3 through the motor 71, the restriction control unit 83 controls the motor 71 so as to input force, to the stem shaft 23, in a direction opposite to the steering direction of the front wheel 3. That is, when the motor 71 inputs force to the stem shaft 23, the force is applied to the steering device 19 integrated with the stem shaft 23. In this way, the change in the steering angle of the front wheel 3 is restricted. For example, “restricting the change in the steering angle of the front wheel 3” may mean completely stopping the change in the steering angle of the front wheel 3. Alternatively, “restricting the change in the steering angle of the front wheel 3” may mean reducing change in the steering angle of the front wheel 3. Specifically, the restriction control unit 83 may control the motor 71 so as to input, to the stem shaft 23, reaction force resisting the change in the steering angle of the front wheel 3. The reaction force is directed in a direction opposite to the steering direction of the front wheel 3. The reaction force may be sufficiently great to completely prevent the change in the steering angle of the front wheel 3. Alternatively, the reaction force may be relatively small, and the change in the steering angle of the front wheel 3 may not be completely forbidden. At this time, the restriction control unit 83 may control the motor 71 to input force in the opposite direction to the stem shaft 23 so as to completely prevent turning of the front wheel 3. Furthermore, the restriction control unit 83 may not completely forbid the turning of the front wheel 3, and for example, may control the motor 71 so that the turning of the front wheel 3 is gradually prevented as the front wheel 3 turns. Alternatively, the motor 71 may be controlled so that, as the front wheel 3 turns, the turning of the front wheel 3 is prevented with the same reaction force.
The restriction control unit 83 is a control unit that causes the motor 71 to restrict the change in the steering angle of the front wheel 3 in the bank direction when the steering angular velocity detected by the steering angular velocity detection unit 82 is equal to or greater than a predetermined value. When a mean value of the steering angular velocity of the front wheel 3 during a predetermined period is equal to or greater than the predetermined value, the restriction control unit 83 determines that a detected value is greater than the predetermined value. The predetermined period is 0.1 seconds or less, or 0.2 seconds or less. The restriction control unit 83 causes the motor 71 to allow the change in the steering angle of the front wheel 3 when the steering angular velocity detected by the steering angular velocity detection unit 82 is smaller than the predetermined value. Furthermore, when the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value, the restriction control unit 83 allows the change in the steering angle of the front wheel 3 in the direction opposite to the bank direction. Therefore, the restriction control unit 83 operates on the basis of the steering angular velocity detection unit 82 and the gyro sensor 70. The steering angular velocity detection unit 82 is configured to detect steering angular velocity. The gyro sensor 70 is configured to detect a bank direction of the two-wheel motor vehicle 1. Hereinafter, the predetermined value of the steering angular velocity and the bank direction according to operation of the restriction control unit 83 will be described.
The predetermined value is a value that is referred to when the restriction control unit 83 decides whether or not to allow the change in the steering angle of the front wheel 3. That is, when the change in the steering angle is greater than the predetermined value, the restriction control unit 83 restricts the change in the steering angle of the front wheel 3 in the bank direction.
When the two-wheel motor vehicle 1 is about to curve, the driver banks the vehicle body. When the driver banks the vehicle body while traveling on a curve, angular velocity of a bank angle is generally 10 deg/s or less. When the bank angle changes, a steering angle of the steering device 19 changes by self-steering. Incidentally, the change in the steering angle by the self-steering increases as the angular velocity of the bank angle of the vehicle body increases. The steering angular velocity of the front wheel 3 with the self-steering depends on the angular velocity of the bank angle of the two-wheel motor vehicle 1.
Therefore, the predetermined value is set to a value greater than a general steering angular velocity of the steering device 19 when the two-wheel motor vehicle 1 travels. That is, the predetermined value is set to be greater than an upper limit value of the steering angular velocity of the front wheel 3 with the self-steering when the two-wheel motor vehicle 1 turns on the curve. Specifically, the predetermined value is greater than the steering angular velocity of the front wheel 3 with the self-steering when the angular velocity of the bank angle of the two-wheel motor vehicle 1 is 10 deg/s (10 degrees per second). Therefore, when the angular velocity of the bank angle of the two-wheel motor vehicle 1 is 10 deg/s, the restriction control unit 83 causes the restriction device 32 to allow a change in the steering angle of the front wheel 3. With this configuration, the two-wheel motor vehicle 1 can travel on a curve appropriately.
In a case of the present embodiment, the change in the steering angle of the front wheel 3 is smaller than the predetermined value when the driver simply banks the vehicle body to travel on a curve. For this reason, the change in the steering angle of the front wheel 3 is not restricted merely by the driver banking the vehicle body to travel on the curve. Specifically, the two-wheel motor vehicle 1 of the present embodiment allows a change in the steering angle of the front wheel 3 that is generated with the self-steering in which the angular velocity of the bank angle is at least 10 deg/s or less. Therefore, the two-wheel motor vehicle 1 of the present embodiment allows general banking while traveling on a curve. Accordingly, the driver can travel on the curve while appropriately banking the two-wheel motor vehicle 1.
Similarly, when the two-wheel motor vehicle 1 travels straight and the steering angular velocity detected by the steering angular velocity detection unit 82 is less than the predetermined value, the restriction control unit 83 causes the restriction device 32 to allow the change in the steering angle of the front wheel 3.
Meanwhile, when the two-wheel motor vehicle 1 is turning on the curve, the restriction control unit 83 may restrict the change in the steering angle of the front wheel 3. That is, the restriction control unit 83 restricts the change in the steering angle of the front wheel 3 when the two-wheel motor vehicle is quickly steered in a predetermined direction while turning on the curve. That is, when the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value, the restriction control unit 83 restricts the change in the steering angle of the front wheel 3 in the bank direction. Meanwhile, when the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value, the restriction control unit 83 allows the change in the steering angle of the front wheel 3 in the direction opposite to the bank direction.
While traveling on a curve, a skilled driver may quickly steer the two-wheel motor vehicle 1 in a direction opposite to a bank direction when, for example, gripping performance of the front wheel 3 is decreasing. With this operation, the bank angle is decreased, and a posture of the two-wheel motor vehicle 1 changes in a stable direction. Furthermore, with this operation, the driver can judge whether or not the front wheel 3 is gripping a road surface while traveling on a curve. The two-wheel motor vehicle 1 in the present embodiment allows quick steering in a direction opposite to the bank direction while traveling on a curve, and therefore the driver can perform this operation. A predetermined value is used to judge whether or not quick steering is performed on the steering device 19. Thus, when the two-wheel motor vehicle 1 is turning on a curve and the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value, the restriction control unit 83 causes the restriction device 32 to allow the change in the steering angle of the front wheel 3 in the direction opposite to the bank direction. Whether a rotation direction of the steering device 19 according to the change in the steering angle does not match the bank direction can be determined by comparing an output from the steering angular velocity detection unit 82 with an output from the gyro sensor 70. This is because the steering angular velocity detection unit 82 is configured to be able to detect the rotation rate and rotation direction of steering device 19.
Meanwhile, the driver does not intentionally steer quickly in the bank direction while traveling on a curve. This is because such operation makes a posture of the two-wheel motor vehicle 1 unstable. The two-wheel motor vehicle 1 in the present embodiment is configured such that quick steering in the bank direction is restricted. That is, when the two-wheel motor vehicle 1 is turning on a curve and the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value, the restriction control unit 83 causes the restriction device 32 to restrict the change in the steering angle of the front wheel 3 in the bank direction. Whether a rotation direction of the steering device 19 according to the change in the steering angle matches the bank direction can be determined by comparing an output from the steering angular velocity detection unit 82 with an output from the gyro sensor 70. This is because the steering angular velocity detection unit 82 is configured to be able to detect the rotation rate and rotation direction of steering device 19.
That is, the predetermined value is set to a value smaller than the steering angular velocity of the steering device 19, the steering angular velocity being unlikely to be generated when the two-wheel motor vehicle 1 travels. For example, it is unlikely that the angular velocity of the bank angle of the two-wheel motor vehicle 1 reaches 50 deg/s when the two-wheel motor vehicle 1 travels. The predetermined value is smaller than the steering angular velocity of the front wheel 3 when the angular velocity of the bank angle of the two-wheel motor vehicle 1 is 50 deg/s with the self-steering. Therefore, for example, when the steering angle of the front wheel 3 changes at the steering angular velocity of the front wheel 3 with the self-steering when the angular velocity of the bank angle of the two-wheel motor vehicle 1 is 50 deg/s, the steering device 19 is restricted by the restriction device 32 on the rotation in the bank direction. When the angular velocity of the bank angle of the two-wheel motor vehicle 1 is 50 deg/s, the restriction control unit 83 causes the restriction device 32 to restrict a change in the steering angle of the front wheel 3 in the bank direction. With this configuration, the two-wheel motor vehicle 1 can travel on a curve appropriately. When the two-wheel motor vehicle 1 is about to curve, the driver banks the vehicle body. Then, the steering angle of the steering device 19 changes by self-steering. However, when a disturbance from a roadway is input to the front wheel 3 at this time, the steering angle of the front wheel 3 may be inclined to change in the bank direction at a speed higher than self-steering generated when the driver banks the vehicle body. In the two-wheel motor vehicle 1 of the present embodiment, when the steering angular velocity of the front wheel 3 reaches or exceeds a certain value, the change in the steering angle of the front wheel 3 in the bank direction is restricted by the restriction control unit 83. Therefore, the two-wheel motor vehicle 1 of the present embodiment allows general banking while traveling on a curve, but restricts a sudden change in the steering angle of the steering device 19 in the bank direction due to the disturbance input to the front wheel 3. Accordingly, the driver can travel on the curve while appropriately banking the two-wheel motor vehicle 1.
Therefore, the predetermined value is preferably equal to or more than the steering angular velocity of the front wheel 3 with the self-steering when the angular velocity of the bank angle of the two-wheel motor vehicle 1 is 10 deg/s.
Thus, when the front wheel 3 experiences a significant force from at least either the steering device 19 or a road surface in contact with the front wheel 3, the steering angle of the front wheel 3 changes at steering angular velocity greater than the predetermined value.
Note that when the two-wheel motor vehicle 1 is traveling at a low speed, a change in the steering angle of the front wheel 3 is allowed regardless of whether or not the steering angular velocity of the steering device 19 is equal to or greater than the predetermined value. This point will be described below.
A vehicle speed detection unit 81 in
The predetermined speed is preferably 40 km/h (40 kilometer per hour). That is, the restriction control unit 83 operates assuming that the vehicle speed is high when the speed of the two-wheel motor vehicle 1 is 40 km/h. Therefore, the predetermined speed may be, for example, 40 km/h. Furthermore, the predetermined speed may be a value less than 40 km/h, such as 35 km/h, for example.
Thus, when the vehicle speed detected by the vehicle speed detection unit 81 is high that is, for example, 40 km/h or more, and the value detected by the steering angular velocity detection unit 82 is equal to or greater than a predetermined value, the restriction control unit 83 causes the restriction device 32 to restrict the change in the steering angle of the front wheel 3 in the bank direction. Furthermore, it is assumed that the speed detected by the vehicle speed detection unit 81 is low that is, for example, less than 40 km/h, and the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value. At that time, the restriction control unit 83 causes the restriction device 32 to allow the change in the steering angle of the front wheel 3. Therefore, operation of the restriction control unit 83 using the above-described predetermined value is based on a premise that the vehicle speed is equal to or higher than the predetermined speed.
That is, when the speed detected by the vehicle speed detection unit 81 is 40 km/h or more, and the steering angular velocity detected by the steering angular velocity detection unit 82 is smaller than the predetermined value, the restriction control unit 83 causes the restriction device 32 to allow the change in the steering angle of the front wheel 3. Furthermore, it is assumed that the speed detected by the vehicle speed detection unit 81 is 40 km/h or more and the steering angular velocity detected by the steering angular velocity detection unit 82 is equal to or more than the predetermined value. At that time, the restriction control unit 83 causes the restriction device 32 to allow the change in the steering angle of the front wheel 3 in a direction opposite to the bank direction. Then, when the speed detected by the vehicle speed detection unit 81 is less than 40 km/h, and the steering angular velocity detected by the steering angular velocity detection unit 82 is smaller than the predetermined value, the restriction control unit 83 causes the restriction device 32 to allow the change in the steering angle of the front wheel 3.
Furthermore, when starting traveling of a stopped vehicle, the restriction control unit 83 controls the restriction device 32 on the basis of control for low-speed traveling.
Note that, during a period from the state illustrated
During the period from the state illustrated
Similarly, even if a force denoted by the arrow G1 in
Meanwhile, in a case where, while traveling on a curve, the skilled driver quickly steers the two-wheel motor vehicle 1 when gripping performance of the front wheel 3 is decreasing during, so that the steering angle of the front wheel 3 changes in a direction opposite to the bank direction, the restriction control unit 83 allows the change in the steering angle (refer to
Step S11: First, the engine 5 of the two-wheel motor vehicle 1 is started by the driver. Then, the restriction control unit 83 is also activated to start control operation. Then, the processing proceeds to Step S12.
Step S12: When activated, the restriction control unit 83 starts to control the motor 71 by control for low-speed traveling. Therefore, in this case, quick steering by the driver is allowed. The control for low-speed traveling is continued when the two-wheel motor vehicle 1 starts traveling.
Step S13: The restriction control unit 83 judges whether or not the engine 5 has stopped. “The engine 5 stops” means that traveling of the two-wheel motor vehicle 1 has ended. If the judgement is true, the processing ends. If the judgement is false, the processing proceeds to Step S14.
Step S14: The restriction control unit 83 judges whether or not the vehicle speed is 40 km/h or more. If the judgement is true, the processing proceeds to Step S15. If the judgement is false, the processing returns to Step S12.
Step S15: The restriction control unit 83 starts to control the motor 71 by control for high-speed traveling. Therefore, in this case, input of quick steering in the bank direction by the driver is restricted. Similarly, a sudden change in the steering angle of the front wheel 3 in the bank direction due to a disturbance is also restricted. Then, the processing proceeds to Step S16.
Step S16: The restriction control unit 83 judges whether or not the vehicle speed is less than 40 km/h. If the judgement is true, the processing returns to Step S12, and the control for low-speed traveling is started again. If the judgement is false, the processing returns to Step S16.
As described above, according to the present invention, it is advantageous for stabilizing the posture of the two-wheel motor vehicle 1 even if there is an input of a disturbance to the front wheel 3.
According to the two-wheel motor vehicle 1 of the present invention, the change in the steering angle of the steering device 19 based on a disturbance as illustrated in
The two-wheel motor vehicle 1 includes the vehicle body frame 60, the steering device 19, the front wheel 3, the steering angular velocity detection unit 82, the gyro sensor 70, the restriction device 32, and the restriction control unit 83. The steering device 19 is rotatably supported by the vehicle body frame 60. The front wheel 3 is steered by the steering device 19. When the front wheel 3 is steered by the steering device 19, the steering angle of the front wheel 3 changes. The steering angular velocity detection unit 82 detects the steering angular velocity of the front wheel 3. The gyro sensor 70 detects a bank direction of the two-wheel motor vehicle 1. The restriction device 32 restricts a change in the steering angle of the front wheel 3. The restriction control unit 83 controls the restriction device 32 on the basis of a result detected by the steering angular velocity detection unit 82 and a result detected by the gyro sensor 70.
Specifically, when the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value, the restriction control unit 83 causes the restriction device 32 to restrict the change in the steering angle of the front wheel 3 in the bank direction. In other words, when the detected value reaches or exceeds the predetermined value, the restriction device 32 restricts the change in the steering angle of the front wheel 3 in the bank direction. When the detected value reaches or exceeds the predetermined value, the restriction device 32 decreases the steering angular velocity of the front wheel 3 in the bank direction. A period during which the detected value reaches or exceeds the predetermined value is not a long period. The period during which the detected value is equal to or greater than the predetermined value is short. Therefore, with the configuration according to the first embodiment, it is advantageous for achieving an appropriate posture of the two-wheel motor vehicle 1 even if the detected value reaches or exceeds the predetermined value.
According to the above-described configuration, the restriction control unit 83 causes the restriction device 32 to allow the change in the steering angle of the front wheel 3 in a direction opposite to the bank direction. It is easy to decrease the bank angle by changing the steering angle of the front wheel 3 in the direction opposite to the bank direction. By decreasing the bank angle, it is more advantageous for achieving an appropriate posture of the two-wheel motor vehicle 1.
According to the above-described configuration, when the value detected by the steering angular velocity detection unit 82 is smaller than the predetermined value, the change in the steering angle of the front wheel 3 is allowed. With this configuration, when the value detected by the steering angular velocity detection unit 82 is smaller than the predetermined value, it is easy for the driver to quickly change the steering angle of the front wheel 3. Therefore, when the value detected by the steering angular velocity detection unit 82 is smaller than the predetermined value, it is easy for the driver to steer the two-wheel motor vehicle 1.
According to the above-described configuration, when the two-wheel motor vehicle 1 travels straight, the change in the steering angle of the front wheel 3 is allowed even if the detected value is equal to or greater than the predetermined value. With this configuration, it is possible to provide the two-wheel motor vehicle 1 having excellent operability when traveling straight.
According to the above-described configuration, when the two-wheel motor vehicle 1 is turning on a curve and the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value, the restriction control unit 83 causes the restriction device 32 to restrict the change in the steering angle of the front wheel 3 in the bank direction. With this configuration, it is advantageous for achieving an appropriate posture of the two-wheel motor vehicle 1 when the two-wheel motor vehicle 1 turns on a curve.
According to the above-described configuration, when the two-wheel motor vehicle 1 is turning on a curve and the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value, the restriction control unit 83 causes the restriction device 32 to allow the change in the steering angle of the front wheel 3 in the direction opposite to the bank direction. With this configuration, it is more advantageous for achieving an appropriate posture of the two-wheel motor vehicle 1.
According to the above-described configuration, the change in the steering angle of the front wheel 3 is allowed or not allowed depending on whether or not the speed of the two-wheel motor vehicle 1 is high. With this configuration, it is possible to provide the two-wheel motor vehicle 1 advantageous for achieving an appropriate posture while minimizing restriction on the front wheel 3.
Specifically, according to the above-described configuration, the two-wheel motor vehicle 1 includes a speed detection unit 82.
When the speed detected by the speed detection unit 82 is low, and the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value, the restriction control unit 83 causes the restriction device 32 to allow the change in the steering angle of the front wheel 3. Therefore, when the speed of the straddled vehicle is low, it is easy for the driver to steer the straddled vehicle.
When the speed detected by the speed detection unit 82 is high, and the value detected by the steering angular velocity detection unit 82 is equal to or greater than the predetermined value, the restriction control unit 83 causes the restriction device 32 to restrict the change in the steering angle of the front wheel 3 in the bank direction. Therefore, when the speed of the straddled vehicle is high, it is advantageous for achieving an appropriate posture of the two-wheel motor vehicle 1.
According to the above-described configuration, the predetermined value is greater than an upper limit value of the steering angular velocity of the front wheel 3 when the two-wheel motor vehicle 1 turns on the curve with the self-steering. With this configuration, it is possible to provide the two-wheel motor vehicle 1 advantageous for achieving an appropriate posture while reliably allowing the change in the steering angle of the front wheel 3 by the self-steering.
According to the above-described configuration, the steering angular velocity of the front wheel 3 with the self-steering depends on the angular velocity of the bank angle of the two-wheel motor vehicle 1. Therefore, the steering angular velocity of the front wheel 3 by the self-steering can be accurately decided.
According to the above-described configuration, when the angular velocity of the bank angle of the two-wheel motor vehicle 1 is 50 deg/s, the restriction control unit 83 causes the restriction device 32 to restrict a change in the steering angle of the front wheel 3 in the bank direction. With this configuration, it is possible to provide the two-wheel motor vehicle 1 advantageous for achieving an appropriate posture.
According to the above-described configuration, when the angular velocity of the bank angle of the two-wheel motor vehicle 1 is 10 deg/s, the predetermined value causes the restriction device 32 to allow a change in the steering angle of the front wheel 3 in the bank direction. With this configuration, it is possible to provide the two-wheel motor vehicle 1 advantageous for achieving an appropriate posture.
According to the above-described configuration, the steering angular velocity detection unit 82 detects the steering angular velocity of the front wheel 3 by detecting a relative rotation amount of the steering device 19 with respect to the vehicle body frame 60. With this configuration, the steering angular velocity of the front wheel 3 can be reliably detected. Moreover, the acceleration of the steering angle of the front wheel 3 can be reliably detected.
According to the above-described configuration, the restriction device 32 restricts rotation of the steering device 19 with respect to the vehicle body frame 60. With this configuration, it is easy for the restriction device 32 to restrict the change in the steering angle of the front wheel 3.
According to the above-described configuration, the restriction device 32 includes the motor 71, the drive gear 71a, and the driven gear 23a. The motor 71, the drive gear 71a, and the driven gear 23a apply braking force for braking the rotation of the steering device 19 with respect to the vehicle body frame 60. With this configuration, the restriction device 32 can actively stop the rotation of the steering device 19 with respect to the vehicle body frame 60. Therefore, it is possible to provide the two-wheel motor vehicle 1 that can more reliably restrict the change in the steering angle of the front wheel 3.
Next, a configuration of a two-wheel motor vehicle 1 according to a second embodiment will be described. As illustrated in
In the present embodiment, the steering angular velocity detection unit 82, the restriction device 32 (the motor 71, the drive gear 71a, and the driven gear 23a), and the coupling member 67 that are described in the first embodiment are not necessarily required.
In other configurations, the steering device 19 of the present embodiment and each member around the steering device 19 are similar to the configuration according to the first embodiment.
A bracket 73a is a member that couples the front forks 6 and the steering damper 73. A main body (cylinder tube) of the steering damper 73 is supported by the front forks 6.
A clevis 68 is a plate-shaped member provided on a top tube 62 of the vehicle body frame 60. The clevis 68 is configured to support a rod of the steering damper 73. Thus, the steering damper 73 is provided so as to bridge the vehicle body frame 60 and the steering device 19 so that the rotation of the steering device 19 with respect to the vehicle body frame 60 can be restricted. Thus, the steering damper 73 is coupled to the steering device 19 and the vehicle body frame 60.
When the steering damper 73 extends, the steering angle of the steering device 19 changes to right with respect to the vehicle body frame 60. When the steering damper 73 extends, the steering angle of the front wheel 3 changes to the right. When the steering damper 73 contracts, the steering angle of the steering device 19 changes to the left with respect to the vehicle body frame 60. When the steering damper 73 contracts, the steering angle of the front wheel 3 changes to the left.
The main tube 200 corresponds to a cylinder tube of the present invention. The main tube 200 has a cylindrical shape. The first sub tube 210 has a cylindrical shape. The second sub tube 220 has a cylindrical shape. The main tube 200 and the first sub tube 210 are parallel with each other. The main tube 200 and the second sub tube 220 are parallel with each other. Both ends of the main tube 200 are closed, and an inside of the main tube 200 is filled with hydraulic oil. Both ends of the first sub tube 210 are closed, and an inside of the first sub tube 210 is filled with hydraulic oil. Both ends of the second sub tube 220 are closed, and an inside of the second sub tube 220 is filled with hydraulic oil. The main tube 200 has a first chamber 201 and a second chamber 202 for storing hydraulic oil. The main tube 200 is coupled to the steering device 19 via the bracket 73a.
The piston 204 is installed inside the main tube 200. A piston 204 is a member that divides an inside of the main tube 200 into the first chamber 201 and the second chamber 202, and can move in the main tube 200 in an extending direction of the main tube 200. Accordingly, sizes of the first chamber 201 and the second chamber 202 change. Therefore, the main tube 200 includes the first chamber 201 and the second chamber 202 partitioned by the piston 204. The piston 204 is configured to move by hydraulic pressure in the main tube 200.
A main shaft 207 is a member coupled to the piston 204, and is a member passing through the first chamber 201 and penetrating a closed end of the main tube 200. Furthermore, the main shaft 207 passes through the second chamber 202 from the piston 204 and penetrates the closed end of the main tube 200. Therefore, the main shaft 207 is configured to protrude from both ends of the main tube 200. One end of the main shaft 207 is connected to a clevis 68 provided on a vehicle body frame 60. The main shaft 207 has a rod end 190 connected to the clevis 68. A pin 191 is inserted into a through hole of the rod end 190 and a through hole of the clevis 68. The rod end 190, the clevis 68, and the pin 191 constitute a rotatable joint. The main shaft 207 is integrated with the piston 204, and at least a tip end thereof protrudes from one end of the main tube 200. The main shaft 207 is coupled to the vehicle body frame 60 via the clevis 68.
The first sub tube 210 has a third chamber 213 and a fourth chamber 214 for holding hydraulic oil. The third chamber 213 and the fourth chamber 214 are continuous via an electromagnetic valve 230. The electromagnetic valve 230 has a solenoid 231 and a wall portion 217. The wall portion 217 is provided for the purpose of narrowing an inner diameter of the first sub tube 210. The wall portion 217 has a cylindrical shape as a whole, and the hydraulic oil can pass through a hollow inside the wall portion 217.
The solenoid 231 has a valve body 231a capable of closing the hollow in the wall portion 217, and has a configuration capable of adjusting passing of the hydraulic oil by the valve body 231a protruding and retracting with respect to the hollow of the wall portion 217. A restriction control unit 83 controls the solenoid 231 to cause the valve body 231a to protrude and retract.
Internal spaces of the main tube 200 and the first sub tube 210 communicate with each other at two points. That is, a first passage 215 that communicates the first chamber 201 and the third chamber 213 is provided between the main tube 200 and the first sub tube 210. Furthermore, a second passage 216 that communicates the second chamber 202 and the fourth chamber 214 is provided between the main tube 200 and the first sub tube 210. The first passage 215, the third chamber 213, the fourth chamber 214, and the second passage 216 constitute a first path through which the hydraulic oil passes. The first path forbids the hydraulic oil from flowing from the first chamber 201 to the second chamber 202 and allows the hydraulic oil to flow from the second chamber 202 to the first chamber 201.
The first path does not always allow the hydraulic oil to flow from the second chamber 202 to the first chamber 201. The electromagnetic valve 230 opens and closes the first path. When the electromagnetic valve 230 is closed, the first path forbids the hydraulic oil from flowing from the second chamber 202 to the first chamber 201. When the electromagnetic valve 230 is open, the first path allows the hydraulic oil from flowing from the second chamber 202 to the first chamber 201. Meanwhile, the first path always forbids the hydraulic oil from flowing from the first chamber 201 to the second chamber 202. Regardless of whether the electromagnetic valve 230 is open or closed, the first path forbids the hydraulic oil from flowing from the first chamber 201 to the second chamber 202. This is because a check valve 250 is provided in the first path.
The steering damper 73 includes the check valve 250 provided in the first path. The check valve 250 allows the hydraulic oil from flowing from the second chamber 202 to the first chamber 201 and forbids the hydraulic oil to flow from the first chamber 201 to the second chamber 202. The check valve 250 is provided between the third chamber 213 and the electromagnetic valve 230. The check valve 250 allows the hydraulic oil to pass from the fourth chamber 214 to the third chamber 213. The check valve 250 forbids the hydraulic oil to pass from the third chamber 213 to the fourth chamber 214.
The second sub tube 220 has a fifth chamber 225 and a sixth chamber 226 for holding the hydraulic oil. The fifth chamber 225 and the sixth chamber 226 are continuous via an electromagnetic valve 240. The electromagnetic valve 240 has a solenoid 241 and a wall portion 227. The wall portion 227 is provided for the purpose of narrowing an inner diameter of the second sub tube 220. The wall portion 227 has a cylindrical shape as a whole, and the hydraulic oil can pass through a hollow inside the wall portion 227.
The solenoid 241 has a valve body 241a capable of closing the hollow in the wall portion 227, and has a configuration capable of adjusting passing of the hydraulic oil by the valve body 241a protruding and retracting with respect to the hollow of the wall portion 227. The restriction control unit 83 controls the solenoid 241 to cause the valve body 241a to protrude and retract.
Internal spaces of the main tube 200 and the second sub tube 220 communicate with each other at two points. That is, a third passage 223 that communicates the first chamber 201 and the fifth chamber 225 is provided between the main tube 200 and the second sub tube 220. Furthermore, a fourth passage 224 that communicates the second chamber 202 and the sixth chamber 226 is provided between the main tube 200 and the second sub tube 220. The third passage 223, the fifth chamber 225, the sixth chamber 226, and the fourth passage 224 constitute a second path through which the hydraulic oil passes. The second path allows the hydraulic oil from flowing from the first chamber 201 to the second chamber 202 and forbids the hydraulic oil to flow from the second chamber 202 to the first chamber 201.
The second path does not always allow the hydraulic oil to flow from the first chamber 201 to the second chamber 202. The electromagnetic valve 240 opens and closes the second path. When the electromagnetic valve 240 is closed, the second path forbids the hydraulic oil from flowing from the first chamber 201 to the second chamber 202. When the electromagnetic valve 240 is open, the second path allows the hydraulic oil from flowing from the first chamber 201 to the second chamber 202. Meanwhile, the second path always forbids the hydraulic oil from flowing from the second chamber 202 to the first chamber 201. Regardless of whether the electromagnetic valve 240 is open or closed, the second path forbids the hydraulic oil from flowing from the second chamber 202 to the first chamber 201. This is because a check valve 260 is provided in the second path.
The steering damper 73 includes the check valve 260 provided in the second path. The check valve 260 forbids the hydraulic oil from flowing from the second chamber 202 to the first chamber 201 and allows the hydraulic oil to flow from the first chamber 201 to the second chamber 202. The check valve 260 is provided between the fifth chamber 225 and the electromagnetic valve 240. The check valve 260 allows the hydraulic oil to pass from the fifth chamber 225 to the sixth chamber 226. The check valve 260 forbids the hydraulic oil to pass from the sixth chamber 226 to the fifth chamber 225.
According to
In the case in
Expansion of the second chamber 202 is forbidden, and contraction of the first chamber 201 is forbidden. Movement of the piston 204 and the main shaft 207 in an opposite direction with respect to the main tube 200 is forbidden. Retraction of the main shaft 207 into the main tube 200 is forbidden. Contraction of the steering damper 73 is forbidden.
Furthermore, as illustrated in
According to
In the case in
Expansion of the first chamber 201 is forbidden, and contraction of the second chamber 202 is forbidden. Movement of the piston 204 and the main shaft 207 in the one direction with respect to the main tube 200 is forbidden. Protrusion of the main shaft 207 from the main tube 200 is forbidden. Extension of the steering damper 73 is forbidden.
If such two types of control are used selectively, the steering damper 73 restricts a change in the steering angle of the front wheel 3 in a bank direction and allows the change in the steering angle of the front wheel 3 in a direction opposite to the bank direction.
For example, when the change in the steering angle of the front wheel 3 to the right is restricted and the change in the steering angle of the front wheel 3 to the left is allowed, the steering damper 73 is controlled as illustrated in
Note that the valve body 241a in a half-open state can inhibit rightward rotation of the steering device 19. When the valve body 241a is slightly opened, slight passage of the hydraulic oil is allowed. The hydraulic oil at this time can flow from the first chamber 201 toward the second chamber 202, but a flow rate thereof is lower than a flow rate when the valve body 241a is open. Therefore, the piston 204 and the main shaft 207 can only move slowly in one direction K1. When rotating to the right, the steering device 19 experiences a reaction force from the steering damper 73. Rotational force of the rightward rotation of the steering device 19 at this time is not completely erased, but is weakened by the steering damper 73. As a result, steering angular velocity of the front wheel 3 to the right decreases. Meanwhile, because the valve body 231a is open, leftward rotation of the steering device 19 is not restricted by the steering damper 73.
Furthermore, for example, when the change in the steering angle of the front wheel 3 to the left is restricted and the change in the steering angle of the front wheel 3 to the right is allowed, the steering damper 73 is controlled as illustrated in
Note that the valve body 231a in a half-open state can inhibit leftward rotation of the steering device 19. When the valve body 231a is slightly opened, slight passage of the hydraulic oil is allowed. The hydraulic oil at this time can flow from the second chamber 202 toward the first chamber 201, but a flow rate thereof is lower than a flow rate when the valve body 231a is open. Therefore, the piston 204 and the main shaft 207 can only move slowly in an opposite direction K2. When rotating to the left, the steering device 19 experiences a reaction force from the steering damper 73. Rotational force of the leftward rotation of the steering device 19 at this time is not completely erased, but is weakened by the steering damper 73. As a result, steering angular velocity of the front wheel 3 to the left decreases. Meanwhile, because the valve body 241a is open, rightward rotation of the steering device 19 is not restricted by the steering damper 73.
The restriction control unit 83 is configured to control the electromagnetic valve 230 and the electromagnetic valve 240. The electromagnetic valve 230 and the electromagnetic valve 240 correspond to a damping force adjustment unit of the present invention. The electromagnetic valve 230 and the electromagnetic valve 240 can adjust the hydraulic pressure experienced by the piston 204, according to control by a restriction control unit 83. The electromagnetic valve 230 is configured to open and close the first path. The electromagnetic valve 240 is configured to open and close the second path. At a time point when the steering angular velocity of the front wheel 3 in the bank direction reaches or exceeds equal to or greater than a predetermined value, the restriction control unit 83 closes the electromagnetic valve 230 or the electromagnetic valve 240 to make it difficult for the piston 204 to move in the one direction K1 or the opposite direction K2. Therefore, in this case, quick steering by the driver is restricted. Similarly, a sudden change in the steering angle of the front wheel 3 due to a disturbance is also restricted. When a predetermined time elapses after the electromagnetic valve 230 or the electromagnetic valve 240 is closed, the electromagnetic valve 230 and the electromagnetic valve 240 are opened, and the steering damper 73 releases the restriction on the change in the steering angle of the front wheel 3. As a result, quick steering is allowed again.
As described above, when stopping the change in the steering angle of the front wheel 3 in the bank direction, the restriction control unit 83 controls the electromagnetic valve 230 and the electromagnetic valve 240 to close one of the second path and the first path. When allowing the change in the steering angle of the front wheel 3 in a direction opposite to the bank direction, the restriction control unit 83 controls the electromagnetic valve 230 and the electromagnetic valve 240 to open another of the second path and the first path.
Operation of the steering damper 73 can be described with reference to the flowchart described with reference to
Step S11: First, the engine 5 of the two-wheel motor vehicle 1 is started by the driver. Then, the restriction control unit 83 is also activated to start control operation. Then, the processing proceeds to Step S12.
Step S12: When activated, the restriction control unit 83 starts to control the electromagnetic valve 230 and the electromagnetic valve 240 under control for low-speed traveling. Both the electromagnetic valve 230 and the electromagnetic valve 240 are opened, and the piston 204 easily moves. Therefore, in this case, quick steering by the driver is allowed. The control for low-speed traveling is continued when the two-wheel motor vehicle 1 starts traveling.
Step S13: The restriction control unit 83 judges whether or not the engine 5 has stopped. If the judgement is true, the processing ends. If the judgement is false, the processing proceeds to Step S14.
Step S14: The restriction control unit 83 judges whether or not the vehicle speed is 40 km/h or more. If the judgement is true, the processing proceeds to Step S15. If the judgement is false, the processing returns to Step S12.
Step S15: The restriction control unit 83 starts to control the electromagnetic valve 230 and the electromagnetic valve 240 under control for high-speed traveling. The restriction control unit 83 starts opening and closing of the electromagnetic valves 230, 240 as necessary from this time point. Then, the processing proceeds to Step S16.
Step S16: The restriction control unit 83 judges whether or not the vehicle speed is less than 40 km/h. If the judgement is true, the processing returns to Step S12, and the control for low-speed traveling is started again. If the judgement is false, the processing returns to Step S16.
The above-described configuration includes the steering damper 73. The steering damper 73 includes the main tube 200, the piston 204, the main shaft 207, the electromagnetic valve 230, and the electromagnetic valve 240. The electromagnetic valve 230 and the electromagnetic valve 240 can adjust the hydraulic pressure experienced by the piston 204, according to control by the restriction control unit 83. With this configuration, the restriction unit can be configured by using an existing component with high reliability.
The present invention is not limited to the above-described configuration, and modifications can be made as follows.
In the above-described embodiment, the change in the steering angle of the front wheel 3 is detected by the steering angular velocity detection unit 82, but the present invention is not limited to this configuration. As illustrated in
In Modification 1, the predetermined value is greater than an upper limit value of the acceleration of the steering angle at the front wheel 3 when the two-wheel motor vehicle 1 turns a curve with the self-steering. When a mean value of the acceleration of the steering angle of the front wheel 3 during the predetermined period is equal to or greater than the predetermined value, the restriction control unit 83 determines that the detected value is greater than the predetermined value. The predetermined period is 0.1 seconds or less, or 0.2 seconds or less.
Also in Modification 1, a period during which the detected value reaches or exceeds the predetermined value is not a long period. The period during which the detected value is equal to or greater than the predetermined value is short. Therefore, with the configuration according to Modification 1, it is advantageous for achieving an appropriate posture of the two-wheel motor vehicle 1 even if the detected value reaches or exceeds the predetermined value.
In the above-described embodiment, the change in the steering angle of the front wheel 3 is detected by the steering angular velocity detection unit 82, but the present invention is not limited to this configuration. As illustrated in
According to the configuration of Modification 2, the steering device 19 includes the front forks 6, the handlebar stem 24, and the handlebar 20. The torque sensor 85 detects torque around the handlebar stem 24, the torque being applied to the handlebar stem 24.
In Modification 2, the predetermined value is greater than an upper limit value of the steering torque at the front wheel 3 when the two-wheel motor vehicle 1 turns a curve with the self-steering. When a mean value of the steering torque of the front wheel 3 during a predetermined period is equal to or greater than the predetermined value, the restriction control unit 83 determines that a detected value is greater than the predetermined value. The predetermined period is 0.1 seconds or less, or 0.2 seconds or less.
Also in Modification 2, a period during which the detected value reaches or exceeds the predetermined value is not a long period. The period during which the detected value is equal to or greater than the predetermined value is short. Therefore, according to Modification 2, it is advantageous for achieving an appropriate posture of the two-wheel motor vehicle 1 even if the detected value reaches or exceeds the predetermined value.
The first detection unit is a torque sensor that detects twist of the steering device. According to such a configuration, the first detection unit can be configured with a small number of components.
The torque sensor 85 reliably detects a change in a relative position between the front forks 6 and the handlebar 20 with twist of the handlebar stem 24. Therefore, the torque sensor 85 can reliably detect torque input to the steering device 19.
The restriction device 32 includes the motor 71 in the first embodiment described above, but the present invention is not limited to this configuration. As illustrated in
In the second embodiment described above, the main tube 200 is coupled to the steering device 19, and the main shaft 207 is coupled to the vehicle body frame 60. However, the couplings among the steering damper 73, the steering device 19, and the vehicle body frame 60 are not limited thereto. For example, the main tube 200 may be coupled to the vehicle body frame 60, and the main shaft 207 may be coupled to the steering device 19.
The present invention relates to the two-wheel motor vehicle 1, but the present invention is not limited to this configuration. The present invention can also be applied to other straddled vehicles. For example, there is one rear wheel 4. The number of the rear wheel 4 is not limited thereto. There may be two rear wheel 4.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2023-179606 | Oct 2023 | JP | national |
