• 专利附录
  • 专利说明
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    • 专利摘要:
    The balance control device for a two-wheeled front rocking vehicle includes a controller (50) that performs a first rocking control (l1 to l4) that assists with a front two-wheel rocking vehicle (1) swing and a second rocking control (l5 to l7) which assists the front two-wheeled rocking vehicle (1) so that the front two-wheeled rocking vehicle (1) self-sustains in a balanced rocking position where a rocking moment The vehicle body is canceled in a lateral direction, where controller (50) is configured to switch the first balance control (l1 to l4) and the second balance control (l5 to l7) to the off state. , and is configured to operate the first balance control (l1 to l4) and the second balance control (l5 to l7) in combination.
    公开号:BR102017020274A2
    申请号:R102017020274-7
    申请日:2017-09-22
    公开日:2018-05-02
    发明作者:Iguchi Kazunari；Mori Yotaro；Uebayashi Yuichi；Miyagishi Shunichi；Kawakami Tomohiro；Kaneta Hiroyuki
    申请人:Honda Motor Co., Ltd.；
    IPC主号:
    专利说明:

    (54) Title: BALANCE CONTROL DEVICE FOR TWO FRONT WHEEL BALANCE VEHICLE (51) Int. Cl .: B60G 21/00 (30) Unionist Priority: 29/09/2016 JP 2016191046 (73) Holder (s) : HONDA MOTOR CO., LTD.
    (72) Inventor (s): KAZUNARI IGUCHI;
    YOTARO MORI; YUICHI UEBAYASHI; SHUNICHI MIYAGISHI; TOMOHIRO KAWAKAMI; HIROYUKI KANETA (74) Attorney (s): DANNEMANN, SIEMSEN, BIGLER & IPANEMA MOREIRA (57) Summary: The balance control device for a two-wheeled front swing vehicle includes a controller (50) that performs a first control of swing (LI to L4) which assists a swing of the front two-wheel rocker (1) and a second swing control (L5 to L7) that assists the front two-wheel rocker (1) so that the vehicle two-wheeled balance wheel (1) self-sustains in a balanced swing position where a vehicle body swing moment is canceled in a lateral direction, where the controller (50) is configured to switch the first swing control (LI to L4) and the second balance control (L5 to L7) to the OFF state, and is configured to operate the first balance control (LI to L4) and the second balance control (L5 to L7) in combination.
    1/35
    Descriptive Report of the Invention Patent for BALANCE CONTROL DEVICE FOR TWO FRONT WHEEL BALANCE VEHICLE.
    FUNDAMENTALS
    Field of the Invention [001] The present invention relates to a rocker control device for a rocker vehicle with two front wheels. Description of the Related Technique [002] In the related technique, in a balance control device for a rocking vehicle with two front wheels, a technology for performing swing assistance according to a vehicle speed is known (for example, Japanese Unexamined Patent Application, First Publication No. 2010143474).
    SUMMARY [003] Incidentally, in the related technique, a control performed according to the speed of the vehicle is prepared for only one type, it is not possible to choose a balance control corresponding to the driving condition.
    [004] An aspect of the present invention is provided to enable the selection of a desired balance control corresponding to the driving condition.
    [005] A balance control device for a two-wheeled front swing vehicle according to the present invention employs the following configurations.
    [006] A swing control device for a two-wheeled front swing vehicle in accordance with an aspect of the present invention is a swing control device for a two-wheeled front swing vehicle comprising a pair of left and front wheels right and configured to swing sideways Petition 870170071069, of 22/09/2017, pg. 80/128
    2/35 consists of a vehicle body, the swing control device for a two-wheeled front swing vehicle including a controller that performs a first swing control which assists with a swing of the two front-wheel swing vehicle and a second balance control that assists the front two-wheeled rocking vehicle so that the front two-wheeled rocking vehicle sustains itself in a balanced rocking position where a moment of rocking the vehicle body is canceled in a lateral direction, in that the controller is configured to switch the first balance control and the second balance control to the OFF state, and is configured to operate the first balance control and the second balance control in combination.
    [007] In accordance with this configuration mentioned above (1), it is possible to make the balance of the front two-wheeled rocking vehicle easier to be balanced when performing assistance in relation to the driving of the driver and to make the rocking vehicle of two front wheels easier to support yourself when watching in order to support yourself in the balanced swing position. In addition, it is possible to choose a desired balance control that corresponds to the driving condition, enabling the selection of different types of balance control.
    [008] In the aspect of (1) mentioned above, the first balance control can include a weight displacement assist control that detects a displacement of a driver's weight and assists the balance of the front two-wheeled balance vehicle in a direction of weight shift.
    [009] According to the aforementioned configuration of (2), as the balance of the front two-wheeled rocking vehicle is assisted and controlled according to the displacement of the driver's weight, it is possible to rock the two-wheeled rocking vehicle wheels
    Petition 870170071069, of 9/22/2017, p. 81/128
    3/35 front in an arbitrary direction according to the weight shift only.
    [0010] In the aspect of (1) or (2) mentioned above, the first balance control may include a double-acting shock absorber control that applies a resistive force in both directions as the vehicle's body falls. with respect to the swing of the two-wheeled front swing vehicle and in a direction in which the vehicle body rises with respect to the swing of the two-wheeled front swing vehicle.
    [0011] According to this configuration mentioned above (3), it is possible to avoid an excess in relation to the roll angle desired by the driver.
    [0012] In the aspect of any of the (1) to (3) mentioned above, the first balance control may include a single rollover damper control that applies a resistance force in only one direction in which the body of the vehicle falls in relation to the swing of the front two-wheeled swing vehicle.
    [0013] According to the aforementioned configuration of (4), by attenuating a rocking force only to swing in the direction of fall of the front two-wheeled rocking vehicle using the single-effect shock absorber control, the vehicle The two-wheeled front swing can be prevented from falling abruptly, and swinging in the direction that the vehicle body rises can be carried out smoothly. In addition, as a resistive force is generated simultaneously with the control of the double-acting scroll damper, a damper effect can be increased even further.
    [0014] In the aspect of any one of (1) to (4) mentioned above, the first balance control may include a weight displacement assist control that detects a displacementPetition 870170071069, of 22/09/2017, pg . 82/128
    4/35 weight of a driver and aids the swinging of the front two-wheeled rocking vehicle in a direction of the weight shift, and a steering roll assist control that aids the rocking of the front-wheeled rocking vehicle in a direction opposite to a direction direction of the driver.
    [0015] According to this aforementioned configuration of (5), since an assist force of the weight displacement scroll assist control is suppressed when the vehicle speed of the front two-wheeled rocking vehicle exceeds a speed the driver can tilt the vehicle body in an arbitrary direction during travel.
    [0016] In the aspect of the above-mentioned (5), the first balance control may include a double-effect rolling damper control that applies a resistive force in both directions in which the vehicle body falls in relation to the balance of the vehicle. rocking vehicle with two front wheels and a direction in which the vehicle body rises in relation to the swing of the vehicle swinging with two front wheels and the controller controls the double-acting roll damper so that an assisting force in controlling the double-acting scroll damper weakens when a vehicle speed of the front two-wheeled rocking vehicle exceeds a predetermined speed.
    [0017] According to this aforementioned configuration of (6), a driver can turn the vehicle in an arbitrary direction during travel, since the assisting force of the double-acting shock absorber control is suppressed when speed vehicle of the front two-wheeled rocking vehicle exceeds a predetermined speed.
    [0018] In the aspect of (5) or (6) mentioned above, when a vehicle speed of the front two-wheeled rocking vehicle
    Petition 870170071069, of 9/22/2017, p. 83/128
    5/35 exceeds a predetermined speed, the controller can control the weight shift scroll assist control so that an assist force is weakened in the weight shift scroll assist control and the direction scroll assist control. so that an assistance force is strengthened in steering wheel assistance control. [0019] In accordance with this aforementioned configuration of (7), by reinforcing the assistance force of the steering wheel assistance control when the vehicle speed of the front two-wheel rocker exceeds a predetermined speed, the assistance of Rolling the vehicle body can be performed by operating the steering handlebar driver.
    [0020] In the aspect of any of the (1) to (7) mentioned above, the second balance control may include a highly rigid self-support control that maintains a state in which the front two-wheeled balance vehicle is arranged in the balanced rocking position, and the controller controls the high rigidity self support control so that the high rigidity self support control is released when a vehicle speed of the front two-wheeled rocking vehicle exceeds a predetermined speed.
    [0021] According to the above mentioned configuration of (8), even though the driver has maintained the self-support state in the ON state, it is possible to maintain a driving state that can turn properly after the start of the displacement when releasing the high rigidity auto support when the vehicle speed of the front two-wheeled rocking vehicle exceeds a predetermined speed.
    [0022] In the aspect of (8) mentioned above, the controller can include a displacement cancellation control that maintains the torque of the high rigidity self-support control the moment it
    Petition 870170071069, of 9/22/2017, p. 84/128
    6/35 the high rigidity self support control is released.
    [0023] According to this aforementioned configuration of (9), when the balance lock is released, an abrupt variation in the rolling torque due to the release of the high rigidity self-support control can be suppressed by a cancellation effect. displacement that suppresses the swing of the front two-wheel rocker.
    [0024] In the aspect of (9) mentioned above, the controller can control the displacement cancellation control so that the displacement cancellation control weakens a balance restraining force according to an increase in vehicle speed.
    [0025] In accordance with this aforementioned configuration of (10), since rolling is allowed gradually as the vehicle speed increases, it is possible to perform a smooth transition to a rolling state while the variation during release of the swing lock is suppressed.
    [0026] In the aspect of any of the (8) to (10) mentioned above, the second balance control may include an auxiliary spring control of the self support that suppresses the balance of the front two-wheeled balance vehicle according to a decrease in vehicle speed during a deceleration before reaching high rigidity self-support control.
    [0027] In accordance with this aforementioned configuration of (11), a self-supporting property at a low speed can be improved while allowing the vehicle body to roll according to a decrease in vehicle speed and the vehicle's rocking speed. two front wheels can be smoothly guided for self support.
    [0028] In the aspect of (11) mentioned above, the controller can
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    7/35 control the self-supporting auxiliary spring control so that the self-supporting auxiliary spring control works simultaneously with the first balance control.
    [0029] According to the above mentioned configuration of (12), the balance assistance of the first balance control can also be performed in the auxiliary spring control of the self support.
    [0030] In the aspect of any of the (1) to (12) mentioned above, the balance control device for a front two-wheeled balance vehicle may further include a second balance control switch that switches the second balance control. balance to the ON or OFF state, where the second balance control switch can be operated by rotating a handlebar grip that the driver tightens.
    [0031] According to this aforementioned configuration of (13), since the handlebar grip is configured as an operating device for the second balance control switch, it is not necessary for the driver to change the hand position to operating the second balance control switch and therefore operation while driving is easy for the driver and it is possible for the driver to directly control the ON and OFF status of the second balance control based on the intention the driver.
    [0032] According to the aspects of the present invention, it is possible to select a desired balance control that corresponds to the driving condition in the balance control device for a two-wheeled front swing vehicle.
    BRIEF DESCRIPTION OF THE DRAWINGS [0033] Figure 1 is a left side view of a front two-wheeled rocking vehicle according to an embodiment of the present invention.
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    8/35 [0034] Figure 2 is a left side view of a front two-wheel suspension system of the front two-wheel rocker.
    [0035] Figure 3 is a view seen from an arrow III in Figure 2 (a front view from an axial direction of upper and lower balance axes).
    [0036] FIG 4 shows graphs showing the control of the vehicle's roll that swings with two front wheels, portion (a) shows the first balance control, and portions (b) to (d) show the second control of swing.
    [0037] Figure 5 is a view to describe a second swing control switch for the two-wheeled front swing vehicle.
    [0038] Figure 6 is a schematic diagram for the description of a control block for the rocking vehicle of two front wheels. DESCRIPTION OF THE MODALITIES [0039] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. In addition, the forward, backward, left, right, and so on directions described below are the same as the directions on a vehicle described below unless the context clearly indicates otherwise. In addition, at appropriate locations in the drawings used in the description below, an FR arrow showing a forward direction in relation to a vehicle, an LH arrow showing a left direction in relation to the vehicle and an UP arrow showing an upward direction with respect to the vehicle are provided.
    [0040] As shown in Figure 1 to Figure 3, a front two-wheeled rocking vehicle 1 according to one embodiment is configured as a vehicle to be mounted with two front wheels in which a pair of front left and front wheels ( roPetition 870170071069, of 9/22/2017, page 87/128
    9/35 of the steering) 2L and 2R are provided laterally symmetrically in a front section of a vehicle body, a single rear wheel (a drive wheel) 3 is provided in the center of a rear section of the vehicle body in a left / right direction, and the vehicle body can be rocked sideways (rolling motion). The front two-wheeled rocking vehicle 1 has a laterally symmetrical configuration unless the context clearly indicates otherwise. In the mode, a pair of left and right components is distinguished by adding the reference character L to the left component and the reference character R to the right component, and only the reference numbers from which L and R are removed can be indicated.
    [0041] A vehicle body structure 5 of the front two-wheeled rocking vehicle 1 includes a front suspension structure body 20 configured to support a front two-wheel suspension system 4 in a front end portion of the body structure of vehicle 5, the left and right main structures 13 which extend backwards and downwards from an upper body section of the front suspension structure 20 while branching left and right, the structures down left and right 14 that extend back and down from a lower body section of the front suspension structure 20 while branching left and right, left and right pivot structures 15 that extend downwardly from end portions rear of the main left and right frames 13 and a seat frame 16 that extends backwards and upwards from upper sections of the frames ras pivot left and right 15.
    [0042] An engine (an internal combustion engine) 6 that serves as the main propeller of the two-wheeled rocking vehicle diPetição 870170071069, from 22/09/2017, p. 88/128
    10/35 anteers 1 is mounted below the main structures 13. A rear wheel 3 driven by the force of the engine 6 is supported by the rear end portions of the swing arms 7. The front end portions of the swing arms 7 are held vertically and oscillating through the left and right pivot structures 15. A section of holding the knee 8 pressed between both knees of a motorcyclist (a driver) is arranged on the engine 6 and an occupant seat 9 is arranged behind the section of holding the knee 8. The knee-holding section 8 consists of an engine 6 fuel tank, an article storage box or the like.
    [0043] A front tube 12 through which a steering axle 12a is supported is installed in a rear section of the body of the front suspension structure 20. A bar-type steering handlebar 11 is connected to an upper end portion of the axle steering rod 12a projecting upwardly from the front tube 12. A lower support 12b to which a steering link mechanism 18 is connected is connected to a lower end portion of the steering shaft 12a projecting downwardly from of the front tube 12. The left and right front fork units 28 are connected to the steering connection mechanism 18 through the left and right rods 19L and 19R. Line C1 of the drawing represents a central axis (a steering axis) of the front tube 12 and the steering axis 12a.
    [0044] An upper swing axle 25 that passes through a lateral center of an integrated upper arm 24 in the two front wheel suspension system 4 is supported in the upper body section of the front suspension structure 20. A lower swing axle 27 which passes coaxially through the left and right inner extremity portions of the left and right lower arms 26L and 26R, which are separated on the left and right sides, in the suspension system of the two front wheels 4 is supported in the section 870170071069, of 22 / 09/2017, p. 89/128
    11/35 rear of the front suspension frame body 20. The upper and lower balance axles 25 and 27 are parallel to each other and inclined forward and upward.
    [0045] The upper arm 24 and the lower left and right arms 26 of the two front wheel suspension system 4 extend to the left and right in front of the front tube 12. The upper sections of the front fork units left and right 28L and 28R which independently suspend the left and right front wheels 2L and 2R are supported by the upper arm 24 and the left and right outer end portions of the left and right lower arms 26, so that they can be steered. The left and right front fork units 28L and 28R can be driven through left and right steering axles (king pin axes) 29L and 29R parallel to the front tube 12 and moved forward and out from the front tube 12 when seen in a side view of the vehicle. The reference characters C4L and C4R in the drawing represent central axes (master pin axes) of the left and right 29L and 29R direction axes.
    [0046] The two front wheel suspension system 4 can laterally swing a main body 1A of the vehicle body which includes the vehicle body structure 5, the engine 6, the rear wheel 3 and so on, while the front wheels left and right 2L and 2R remain in contact with the ground and can swing the left and right front fork units 28L and 28R sideways and the left and right front wheels 2L and 2R to match the side balance of the main body of the vehicle body 1A. Here, the front two-wheel suspension system 4 alternately vertically moves the left and right front fork units 28L and 28R and the left and right front wheels 2L and 2R relative to the main body of the vehicle body 1A. The CL line of the design REPETITION 870170071069, of 9/22/2017, p. 90/128
    12/35 presents a central lateral surface of the vehicle body.
    [0047] The left and right front fork units 28L and 28R constitute a leading link type front suspension that approaches laterally to the inner sides of the front, left and right wheels 2L and 2R. The left and right front fork units 28L and 28R include main fork bodies 31 which have upper sections supported by the upper arm 24 and left and right outer end portions of the left and right lower arms 26, front arms 32 which have end portions rear which are oscillably supported by lower end portions of the main fork bodies 31, damping units 33 configured to pass over the front arms 32, and the main fork bodies 31, the front wheel axles 34 installed integrally oscillating on the front end portions of the front arms 32, the caliper supports 35 oscillably supported by the front wheel axles 34 while supporting brake calipers 36 in front of the front wheel axles 34, and torque rods 37 configured to traverse over the caliper brackets 35 and the fork main bodies 31 above the axis of the front wheel 34.
    [0048] The axles of the master pin C4 of the left and right steering axles 29 are tilted to be arranged further back as they rise upwards in a vertical direction when viewed in a side view of the vehicle. In other words, the left and right kingpin axes C4L and C4R are inclined to be parallel to a steering axis C1. The left and right kingpin axes C4L and C4R extend in the vertical direction when viewed from a front view of the vehicle.
    [0049] An extension portion that extends downwards from the axis of the master pin C4 when seen in a side view of the vehicle 870170071069, of 22/09/2017, pg. 91/128
    13/35 lo reaches an intersection point T1 'in front of a ground contact point T1 of the front wheel 2 with respect to a road surface R and a predetermined amount of drag is generated. An inclined angle θ of the axis of the kingpin C4 in relation to the vertical direction when seen in a side view of the vehicle is a forward angle. The front wheel axle 34 is moved forward from the axle extension point of the kingpin C4 when viewed in a side view of the vehicle.
    [0050] The two-wheeled front swing vehicle 1 includes an actuator 41 configured to control the lateral swing (roll) of the vehicle body.
    [0051] The actuator 41 has a rotary drive shaft 42 parallel to the upper and lower swing axles 25 and 27 of the two front wheel suspension system 4. The actuator 41 fixes a housing that functions as a structure configured to receive and support the rotary drive shaft 42 on a portion of the body of the front suspension structure 20 above the upper swing axle 25. Actuator 41 is an electric motor or fluidic device configured to generate torque on the rotary drive shaft 42, and holds integrally a swing arm 43 on the rotary drive shaft 42. A portion of the upper arm 24 displaced from the upper swing shaft 25 towards one of the left and right sides is connected to the swing arm 43 through a link 44. upper and lower swing axes of link 44 and an area connecting the rotary drive shaft 42 and the upper swing axis 25 form a parallel link when viewed and In a side view of the vehicle, the upper arm 24 is swung according to a rotation angle of the rotary drive shaft 42 and thus the roll of the vehicle body is controlled.
    [0052] Then, the scroll control (balance control
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    14/35 side) of the front two-wheeled rocking vehicle 1 will be described. [0053] As shown in Figure 4, the control of the rollover of the front two-wheeled rocking vehicle 1 is generally classified as first swing control (auto support control OFF, part (a) of Figure 4) of assistance of a rollover operation of a driver and second balance control (auto support control ON, parts (b) to (d) of Figure 4) allowing the self support of a vehicle body without support from a driver during the stop.
    [0054] Referring to part (a) of Figure 4, the first balance control includes the L1 weight displacement scroll assist control and the L2 double-effect rolling buffer control performed during the stop and reducing a force of effect right after commencing displacement and L4 steering assistance assistance control and L3 single-effect rolling damper control that are not performed during the stop and increasing an effect force instead of a decrease in the effect force of the control L1 weight displacement scroll assist and L2 double-effect scroll damper control.
    [0055] The first balance control can be switched on / off by a first balance control switch (not shown) connected to a handlebar, vehicle body or the like, and it goes without saying that the shape of the switch is not limited .
    [0056] The first balance control and the second balance control can be activated to operate in combination, and when the first balance control and the second balance control are linked together, in a predetermined speed range in which the control of the auxiliary spring of the self-supporting L5, each one of the L1 weight displacement scroll assist control, the L2 double-effect scroll damper control, the controPetition 870170071069, of 9/22/2017, p. 93/128
    15/35 l of L3 single-effect scroll damper and L4 steering scroll assist control also work the same way. In other words, the control of the auxiliary spring of the self-supporting L5 works simultaneously with the first balance control L1 to L4.
    [0057] Referring to Figure 4 (b), Figure 4 (d) and Figure 5, the second balance control is performed when a second balance control switch (an independent ON / OFF switch) ) 45 is turned on and when it has become a predetermined displacement state, such as a vehicle speed that is below a predetermined value. For example, when a throttle grip 11a is used as an operating part, the second balance control switch 45 of the mode is turned OFF from a fully closed position of the throttle grip 11a (a completely closed throttle position) ) towards an operating range in a throttle opening direction and is switched ON when overloaded further from the fully closed position in the throttle closing direction. That is, a butterfly is completely closed when the second balance control switch 45 is turned on. In other words, the second balance control switch 45 of the present embodiment is driven by an operation of rotating an acceleration handle 11a (handlebar handle) which the driver tightens.
    [0058] The second balance control includes the auxiliary spring control of the L5 self-support where the force of the effect is gradually increased as a vehicle speed is decreased from a point in time when the vehicle speed has reached a low speed (for example, 15 km / h) during deceleration when the second balance control switch 45 is switched on and a high rigidity L6 self-support control in which the effect force is increased to a predetermined value from a point in
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    16/35 time when the vehicle speed has reached an ultra-low speed (for example, 3 km / h) until the vehicle stops during deceleration when the second balance control switch 45 is switched on.
    [0059] The auxiliary spring control of the L5 self-support overlaps with the L4 direction scroll assistance control. In a speed range that exceeds a predetermined speed of the auxiliary spring control of the self-supporting L5, the directional rolling assistance control L4 is continued even when the second balance control switch 45 is turned on. Here, the L1 weight displacement scroll assist control, the L2 double-effect scroll buffer control and the L3 single-effect scroll buffer control are also continued.
    [0060] In the L6 high rigidity self-support control, several rolling moments applied to the vehicle body are suppressed by a control system. The high rigidity self-support control L6 maintains a state in which the front two-wheeled rocking vehicle 1 is arranged in the balanced rocking position. For this reason, when the highly rigid self-support is released, the various rolling moments cannot be suppressed simultaneously. Here, in the second balance control, the displacement cancellation control L7 (see part (c) of Figure 4) which stores a balance torque instruction value during the high rigidity self-support and which applies the same torque torque. swing at the time of release of the self support to gradually decrease the swing torque is performed.
    [0061] Referring to part (c) of Figure 4, the L7 offset cancellation control gradually reduces a swing restraint force as the vehicle speed increases and ends at a point in time, for example, when the vehicle
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    17/35 covered a predetermined distance (for example, 9 m) after the start of the control. The offset cancellation control L7 produces a value of 0 until a predetermined storage condition is entered.
    [0062] Here, the L6 high rigidity auto support control maintains the high rigidity auto support until the vehicle speed has reached a predetermined speed (for example, 3 km / h) even when the vehicle travels while the second balance control switch 45 is not turned off (line L6 'in the drawing) and releases the high rigidity auto support when the vehicle speed exceeds the predetermined speed. The L6 high rigidity self-support control is released when a vehicle speed of the front two-wheeled rocking vehicle exceeds a predetermined speed. Also at this time, the L7 offset cancellation control emits a stored value using the high rigidity self support release as a trigger (line L7 'in the drawing). In addition, when the previously stored value is lowered, a new value is not inserted until the next storage condition is met. The L7 travel cancellation control suppresses the swing of the front two-wheeled rocking vehicle 1 in time when the L6 high-rigid self-support control is released.
    [0063] Next, a control block of the front two-wheeled rocking vehicle 1 will be described.
    [0064] As shown in Figure 6, various information, such as a vehicle speed, on / off of the second balance control switch 45, a roll rate (an angular speed), a roll angle, a steering force and a steering angle are inserted into a balance control ECU 50. A weight-displacement scroll assistance controller 51, a controlPetition 870170071069, 9/22/2017, pg. 96/128
    18/35 dual-effect rolling damper pain 52, a steering-roll assist controller 54, a single-effect rolling damper controller 53, a self-supporting auxiliary spring controller 55, a self-supporting auxiliary spring controller high stiffness 56 and a travel cancellation controller 57 are installed in the balance control ECU 50.
    [0065] In the weight displacement 51 assistance controller, a state in which a weight displacement of a driver can be balanced during the stop, that is, a state in which the inclination of the vehicle body follows the displacement of the driver's weight is created and a transition from stopping to moving motion can be accomplished without stepping on the floor with one foot (the L1 weight displacement scroll assist control). The weight-displacement roll assist control (L1) detects a shift in the weight of a driver and assists the rocking of the front two-wheel rocker (1) in a direction of the displaced weight.
    [0066] In the L1 weight displacement assist control, a weight displacement amount (calculated by a swing torque, a roll rate, a roll angle, a steering angle and a vehicle speed) and a vehicle speed is input information. The swing torque is detected by, for example, a torque sensor installed in the vicinity of the upper and lower swing axles 25 and 27 in the front two-wheel suspension system 4, the roll rate and roll angle are detected by , for example, a gyro sensor installed on the vehicle body, the steering angle and steering force are detected by, for example, a steering angle sensor / steering force sensor installed in the vicinity of the steering axle 12a , and vehicle speed is detected by, for example, a vehicle sensor 870170071069, from 22/09/2017, pg. 97/128
    19/35 locomotive installed near the front wheel axle 34.
    [0067] In the L1 weight displacement rolling assist control, a swing torque in proportion to an estimated value of the rolling moment due to a weight displacement of a conductor is instructed. In fact, the weight displacement itself is not instructed, and a total value (an estimated amount of weight displacement and an estimated external force moment) of the moment applied to the vehicle body other than the balance unit is estimated and a value instruction (a weight displacement assist instruction value) of the balance torque is issued based on the estimated total value. The output value refers to a map on which the force of the effect is adjusted according to the vehicle speed. In the modality, each of the controllers has a similar map.
    [0068] Furthermore, taking into account a rolling angle in relation to a swing reference position, when a swing torque instruction value is a value that indicates a swing torque output towards a side on which the vehicle body is tilted towards the ground, a rocking torque instruction value is set to zero. That is, the rocking torque is only emitted to one side when the vehicle body is lifted, and the roll to the side where the vehicle body is tilted towards the ground is not assisted. Specifically, when the vehicle body oscillates to the right from the swing reference position and the weight shift is directed to the right or when the vehicle body oscillates to the left from the swing reference position and displacement weight is shifted to the left, the value of the balance torque instruction is set to zero. Since the torque towards the side where the vehicle body is tilted in
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    20/35 direction to the ground is set to zero, even when the entry of a torque towards the side where the vehicle body is tilted towards the ground is caused due to a reaction in relation to the weight displacement in order to raise the vehicle body, the influence of a vehicle body lifting operation is suppressed. [0069] An assisting force from the first swing control is not applied in a direction in which the vehicle body is tilted towards the ground from the swing reference position and is applied only in a direction in which the body of the vehicle is lifted towards the reference position. The swing reference position is a swing position in which a vertical axis (an axis in the vertical direction) coincides with the lateral central surface of the CL vehicle body during the stop and is a swing position in which an inclined axis is tilted. with respect to the vertical axis at a predetermined angle in the direction of the direction coincides with the lateral central surface of the CL vehicle body when the vehicle moves with a steering angle (during curves). The swing reference position during rotation is determined based on a swing reference position map in which a steering angle and vehicle speed are used as parameters. The balance reference position is a balanced balance position in which the balance moments of the vehicle body are canceled in the lateral direction.
    [0070] For example, when a steering angle to the left is applied, the front wheels 2L and 2R are tilted to the left from the setting of the lead angle and drag amount, and the vehicle body and driver they will begin to move to the left in relation to the points of contact with the ground T1L and T1R of the front wheels 2L and 2R. In this regard, the driver will naturally move to the right to balance himself in a state
    Petition 870170071069, of 9/22/2017, p. 99/128
    21/35 self support. As long as a self-supporting swing angle obtained as a result of this driver movement is a swing reference angle, in mode, a swing angle less than the balance reference angle is configured as a dead zone for service assistance control. weight displacement scroll L1.
    [0071] In the L1 weight displacement scroll assistance control, there is a case where the reaction may be delayed. In addition, since the balance torque instruction increases after the conductor's weight shift has ended, there is a case where the reaction may be delayed after the operation. In addition, since the torque is simply applied to the vehicle body roll, it is necessary to provide an element configured to stop the roll after the roll begins to progress. For these reasons, it is preferable to use the L1 weight displacement scroll assist control in conjunction with the L2 double-effect scroll damper control. [0072] In the double-effect scroll buffer controller 52, the displacement stability is increased by improving the scroll stability (the double-effect scroll buffer control L2). In the L2 double-acting shock absorber control, the rate of roll and vehicle speed are input information. In L2 double-acting shock absorber control, as a swing torque (a damping torque) of reverse polarity is instructed in proportion to the roll rate, a viscous friction behavior is reproduced. The double-acting shock absorber control L2 applies a resistive force in both directions in which the vehicle body falls in relation to the swing of the front two-wheeled rocking vehicle 1 and a direction in which the vehicle body rises in with respect to the balance of the front two-wheeled rocking vehicle 1.
    Petition 870170071069, of 9/22/2017, p. 100/128
    22/35 [0073] In the single-effect shock absorber controller 53, movement from side to side is reduced, making the vehicle's body tilt smooth during, especially, low-speed turning (control L3 single effect scroll damper). In the L3 single-effect shock absorber control, the roll rate, roll angle, vehicle speed and steering angle are input information. In the L3 single effect scroll damper control, like the L2 double effect scroll damper control, as a swing torque (a damping torque) of reverse polarity is instructed in proportion to the roll rate, a frictional behavior viscous is reproduced. In the L3 single-effect shock absorber control, torque that resists against the side on which the vehicle body is tilted towards the ground is generated, but a control that interferes with the side on which the vehicle body is raised does not is performed. The L3 single-effect shock absorber control applies a resistive force in only one direction in which the vehicle body falls in relation to the swing of the front two-wheeled vehicle 1.
    [0074] For example, when the vehicle is moving in a right tilt state, the angular speed of the vehicle body is to the right and, when the vehicle is moving in a left tilt state, the speed angle of the vehicle body is to the left. Consequently, a switching circuit sw3 determines whether the angular velocity of the vehicle body is to the right or to the left.
    [0075] On the steering wheel assistance controller 54, a rolling reaction in relation to the steering (a rolling reaction in a direction opposite to the driving direction) is created by a motor torque (the rolling assistance assistance control). direction L4). ConPetition 870170071069, of 9/22/2017, p. 101/128
    23/35 steering wheel assistance trolley L4 assists the rocking of the front two-wheeled rocking vehicle 1 in a direction opposite to the driving direction of the driver. For this reason, the ability to control the roll can be maintained up to a low speed range in which normally an opposite direction becomes ineffective, and it is possible to keep the vehicle body swaying under the control of a driver. However, since a driver's discomfort is increased when the steering wheel assistance control L4 is performed at a vehicle speed equal to zero, the weight shift scroll assistance is performed when the vehicle speed is approximately zero instead of the steering scroll assistance.
    [0076] In the steering assistance assistance control L4, the steering force and the steering angle are input information.
    [0077] In steering assistance assistance L4, a swing torque in a direction opposite to the direction of the steering force (a left rolling torque when a steering force is in a right direction and a rolling torque right when a steering force is in a left direction) is instructed in proportion to the steering force. The instruction value is increased or decreased according to the steering angle, a proportional coefficient is decreased in the proximity of displacement in a straight line, and a proportional coefficient is increased as the steering angle is increased.
    [0078] The second balance control switch 45 transmits a balance intention from a conductor to a control system. That is, when the auto support is released with only conditions such as vehicle speed or similar, the balance of the driver may not be in due time. In this regard, by having the driver indicate the intention of the driver through the second switchPetition 870170071069, of 22/09/2017, p. 102/128
    24/35 balance control pain 45, it is possible to make the driver prepare to balance and suppress the delay to start the balance.
    [0079] Furthermore, since the second balance control switch 45 has the throttle grip 11a which serves as an operational part, it is not necessary for a driver to change the hand position for handling, and the vehicle can start immediately after the release of the auto support. In addition, the driver's intention to self-support can be transmitted to the control system in a series of OFF throttle operations during the stop. In addition, operations while driving are also easy, and the ON / OFF of the second balance control can be directly controlled according to the driver's intention.
    [0080] In the self-supporting auxiliary spring controller 55, the vehicle body is guided to a stopped vertical state (a stopped state in the vertical direction) in preparation for self-support during the stop while allowing the roll at a low speed before the stop (the L5 self-supporting auxiliary spring control). The auxiliary spring control of the L5 self-support suppresses the swing of the front two-wheeled rocker vehicle 1 according to a decrease in vehicle speed during a deceleration before reaching the L6 high-rigidity self-support control. In the auxiliary spring control of the L5 self-support, the roll angle and vehicle speed are input information. In the control of the auxiliary spring of the L5 self-support, a swing torque with an inverse polarity in proportion to the roll angle is instructed. In addition, the auxiliary spring control of the L5 self-support works when the second balance control switch 45 is switched on.
    [0081] In the high rigidity self-support controller 56, a need for a driver to support the body of the vehicle during paPetition 870170071069, from 22/09/2017, pg. 103/128
    25/35 rada is eliminated (the L6 high rigid self-support control). In the L6 high-rigid self-support control, the roll angle, roll rate and vehicle speed are input information. In the L6 high-rigidity self-support control, regardless of a center of gravity of the vehicle body and the driver, a balance torque is instructed in such a way that a geometric center of the vehicle body is arranged on a vertical axis. The L6 high rigidity self-support control is positioning control with a positioning circuit (roll angle) and a speed circuit (roll rate) and has the same effect as a combination of a rigid roll damper and a rigid scroll spring.
    [0082] In the travel cancellation controller 57, the balance torque instruction value, the roll rate and the vehicle speed are input information. In the L7 offset cancellation control, in a state where the second balance control switch 45 is turned on, the roll rate is approximately zero and a vehicle speed of zero continues for 0.5 seconds or more, the circuit switching is closed and the memory update with respect to a capture of a balance torque instruction value is initiated. When the second balance control switch 45 is turned off, the memory update is canceled and the stored instruction value is added to the instructed torque. The value of the stored instruction is decreased along with, for example, the vehicle travel and is made zero after a predetermined distance has been traveled (about 9 m). In addition, when the second balance control switch 45 is turned off, a displacement (slope) value is set to 0 and added to the instructed torque.
    [0083] The stored torque torque instruction value includes all influences related to the rolling moment, such coPetition 870170071069, of 09/22/2017, p. 104/128
    26/35 mo a gradient of scale at that moment, a shift of the swing torque, a stepping state of the driver using a foot, a driver's center of gravity, a steering angle (a position of contact with the ground), and so on.
    [0084] Next, the operations will be described.
    [0085] When only the first balance control switch is turned on, while the L1 weight shift scroll assist control and the L2 double-effect scroll damper control reduce the force of the effect right after the start of the shift, the L1 weight shift scroll assist control maintains the effect continuing during low speed travel. Consequently, even when the vehicle body is tilted and the driver uses a foot while traveling at low speed, lifting the vehicle body by the driver with the use of the foot can be assisted by the L1 weight displacement assist control. The L1 weight displacement scroll assist control is continued up to approximately 10 km / h, the L3 single effect scroll absorber control is continued up to approximately 15 km / h, and the L2 double effect scroll absorber control. is continued until approximately 20 km / h. That is, the L1 weight displacement roll assist control, the L3 single-effect roll damper control and the L2 double-effect roll damper control weaken each of the assist forces when the speed of a vehicle from the front two-wheeled rocking vehicle 1 exceeds its predetermined speeds.
    [0086] In addition, after the vehicle has started moving, the L4 steering assistance control increases the effect force of the vehicle in order to replace the L1 weight-changing assistance assistance control or similar. Consequently it is possible 870170071069, of 9/22/2017, p. 105/128
    27/35 speed to make the vehicle body sway under the control of the driver, while maintaining the ability to control the roll obtained by the steering.
    [0087] In the intermediate speed range of approximately 30 to 50 km / h, the steering wheel assistance control L4 gradually reduces its effect force according to an increase in vehicle speed, and the force of the effect is set to 0 at approximately 50 km / h. That is, when the speed of a vehicle in the front two-wheeled rocking vehicle 1 exceeds a predetermined speed, the steering wheel assistance control L4 reinforces the assistance force.
    [0088] In addition, in the vehicle speed range where the L6 high-rigidity self-support control and the L5 self-support auxiliary spring control are not started, there is no difference if the second balance control switch 45 is in the ON or OFF state and it is possible to roll the vehicle body even when the second balance control switch 45 is turned on. [0089] However, when the throttle is completely closed and the second balance control switch 45 is turned on, the auxiliary spring control of the L5 self-support is started from a point of time when the vehicle speed reaches the range of low speed (about 15 km / h or less). The auxiliary spring control of the L5 self-support gradually increases the effect force (swing restraint force) from the low speed range to the ultra low speed range (about 3 km / h or less). Consequently, movement from side to side at a low speed can be reduced during deceleration while allowing the vehicle's body to oscillate, and it is possible to establish both self-support during the stop and the control capability similar to a two-vehicle. wheels.
    Petition 870170071069, of 9/22/2017, p. 106/128
    28/35 [0090] When reaching the ultra low speed range, the L6 high rigidity self-support control starts instead of the auxiliary spring control of the L5 self-support. Consequently, the vehicle can be self-supported before stopping. Therefore, since the high rigidity self-support control L6 is continued with the auxiliary spring control of the self-support L5, it is possible to easily and safely stop the front two-wheeled rocking vehicle 1 in a self-supporting state .
    [0091] Furthermore, during the restart from the high rigidity auto support, even when several rolling moments (due to a load, luggage or similar) are applied to the vehicle body, since the swing torque during the High rigidity self support is maintained by the L7 offset cancellation control, it is possible to reduce the movement from side to side during the release of the self support.
    [0092] As described above, the balance control device for the front two-wheeled balance vehicle 1 according to the modality includes the controller (circuit) configured to perform the first balance control L1 to L4 that assists the balance of the two-wheeled front swing vehicle 1 and a second swing control L5 to L7 that assists the two-wheeled front swing vehicle 1 so that the two-wheeled front swing vehicle 1 self-sustains itself in the balanced swing position where one swing moment of the vehicle body is canceled in a lateral direction, where controller 50 is configured to switch the first swing control L1 to L4 and the second swing control L5 to L7 to the OFF state, and is configured to operate the first balance control L1 to L4 and the second balance control L5 to L7 in combination.
    [0093] According to this configuration, according to the conduction of the
    Petition 870170071069, of 9/22/2017, p. 107/128
    29/35 driver is assisted, the balance of the front two-wheeled rocker vehicle 1 is easily balanced, and as the self-support in the balanced rocker position is assisted, the self-supported state of the front two-wheeled rocker vehicle 1 can be easily obtained. Thus, as different types of balance control are switched, the desired balance control can be selected to match the driving circumstances.
    [0094] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the modality, the first balance control includes the L1 weight displacement roll assist control that detects a displacement of the weight of a driver and aids the rocking of the front two-wheel rocker (1) in one direction of the displaced weight.
    [0095] According to this configuration, since the swinging of the front two-wheeled rocker vehicle 1 is assisted and controlled according to the displacement of the driver's weight, it is possible to swing the front two-wheeled rocker vehicle 1 in one direction arbitrary according to the weight shift only.
    [0096] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the modality, the first balance control includes the L2 double-effect shock absorber control that applies a resistance force in both directions in which the vehicle body falls with respect to the swing of the front two-wheeled rocking vehicle 1 and one direction in which the vehicle body rises in relation to the swing of the front two-wheeled rocking vehicle 1.
    [0097] According to this configuration, an excess in relation to the roll angle desired by the driver can be avoided.
    [0098] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to fashionPetition 870170071069, of 9/22/2017, p. 108/128
    30/35 lity, the first balance control includes the L3 single-effect shock absorber control that applies a resistive force in only one direction in which the vehicle body falls from the balance of the front two-wheeled rocking vehicle 1.
    [0099] According to this configuration, when attenuating a rocking force only to swing in the direction of fall of the front two-wheeled rocker 1 using the L3 single-effect shock absorber control, the two-wheeled rocker front wheels 1 can be prevented from falling abruptly, and swinging in the direction in which the vehicle's body rises can be carried out smoothly. In addition, as a resistive force is generated simultaneously with the control of the L2 double-effect scroll damper, a damper effect can be increased even further.
    [00100] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the modality, the first balance control includes the L1 weight displacement roll assist control that detects the displacement of the driver weight and aids the swinging of the front two-wheeled rocking vehicle 1 in one direction of the displaced weight, and a steering wheel assist control L4 that aids the rocking of the front two-wheeled rocking vehicle 1 in the opposite direction to a sense of direction of the driver.
    [00101] According to this configuration, once an assist force of the L1 weight displacement roll assist control is suppressed when the vehicle speed of the front two-wheeled rocking vehicle exceeds a predetermined speed, the driver can swing the vehicle body in an arbitrary direction during travel.
    [00102] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the fashionPetition 870170071069, of 22/09/2017, p. 109/128
    31/35 lity, the first balance control includes the control of the L2 double-effect rolling damper which applies a resistive force in both directions in which the vehicle body falls with respect to the balance of the front two-wheeled rocking vehicle 1 and a direction in which the vehicle body rises in relation to the swing of the front two-wheeled rocking vehicle 1, and controller 50 controls the double-acting, shock-absorbing control L2 so that an assisting force in the control of double-acting scroll damper L2 is weakened when a vehicle speed of the front two-wheeled rocking vehicle 1 exceeds a predetermined speed.
    [00103] According to this configuration, a driver can oscillate the vehicle in an arbitrary direction during travel, since the assist force of the control of the L2 double-effect shock absorber is suppressed when the vehicle speed of the vehicle front two-wheel balance exceeds a predetermined speed.
    [00104] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the mode, when the vehicle speed of the front two-wheeled rocking vehicle 1 exceeds the predetermined speed, the controller 50 controls the L1 weight displacement scroll assist control so that an assist force is weakened in the L1 weight displacement scroll assist control and the L4 direction scroll assist control so that an assist force is strengthened in the steering assistance control of steering direction L4.
    [00105] According to this modality, when reinforcing the assistance force of the steering wheel assistance control L4 when the vehicle speed of the front two-wheeled rocking vehicle pPetition 870170071069, of 09/22/2017, p. 110/128
    32/35 ras exceeds a predetermined speed, the oscillation assistance of the vehicle body can be carried out by operating the steering handlebar driver.
    [00106] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the modality, the second balance control includes the high rigidity self-support control L6 which maintains a state in which the front two-wheeled rocking vehicle 1 is arranged in the balanced rocking position, and controller 50 controls the L6 high-rigid self-support control so that the L6 high-rigid self-support control is released when the vehicle's vehicle speed balance of two front wheels exceeds a predetermined speed.
    [00107] According to this configuration, even if the driver has maintained the self-support state in the ON state, it is possible to maintain a driving state that can oscillate appropriately after the start of travel, by releasing the high self-support. stiffness when the vehicle speed of the front two-wheeled rocking vehicle exceeds the predetermined speed.
    [00108] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the modality, controller 50 includes the L7 offset cancellation control that maintains a high self-support control torque L6 stiffness at the time when the L6 high stiffness self-support control is released.
    [00109] According to this configuration, when the balance lock is released, an abrupt variation in the rolling torque due to the release of the high rigidity self-support control L6 can be suppressed by a displacement canceling effect that suppresses the balance of the front two-wheeled rocking vehicle 1.
    [00110] Furthermore, in the balance control device for the
    Petition 870170071069, of 9/22/2017, p. 111/128
    33/35 front two-wheeled rocking vehicle 1 according to the modality, controller 50 performs the L7 offset cancellation control in either case where the L6 high-rigid self-support control is released by an operation of OFF (second) of the second balance control switch and a case in which the L6 high rigid self-support control is released when the vehicle speed of the front two-wheeled rocking vehicle exceeds the predetermined speed.
    [00111] According to this configuration, even when the balance lock is released in any case of OFF of the second balance control switch and a case of the vehicle speed of the front two-wheeled rocking vehicle exceeding a speed predetermined, since the displacement cancellation control L7 which suppresses the swing of the front two-wheeled rocking vehicle 1 operates, it is possible to suppress the variation in the roll restriction due to the release of the balance block.
    [00112] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the modality, controller 50 controls the L7 travel cancellation control so that the L7 travel cancellation control weakens a restraining force according to an increase in vehicle speed.
    [00113] According to this configuration, since rolling is allowed gradually according to the increase in vehicle speed, it is possible to perform a smooth transition to a rolling state while the variation during the release of the swing lock is suppressed .
    [00114] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the fashionPetition 870170071069, of 09/22/2017, p. 112/128
    34/35 lity, the second balance control includes the auxiliary spring control of the L5 self-support which suppresses the balance of the front two-wheeled balance vehicle 1 according to a decrease in vehicle speed during deceleration before reaching control of the L6 high rigidity self support.
    [00115] According to this configuration, a self-supporting property at low speed can be improved while allowing the vehicle body to roll according to a decrease in vehicle speed and the front two-wheel rocker can be guided smoothly for self support.
    [00116] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the mode, controller 50 controls the auxiliary spring control of the L5 self-support so that the auxiliary spring control of auto support L5 works simultaneously with the first balance control.
    [00117] According to this configuration, the balance assistance from the first balance control can also be performed in the L5 self-supporting auxiliary spring control.
    [00118] In addition, in the balance control device for the front two-wheeled rocking vehicle 1 according to the modality, the balance control device for a front two-wheeled rocking vehicle 1 also includes a second balance control 45 that switches the second balance control to the ON or OFF state, where the second balance control switch 45 is operated by a rotary operation of an accelerator handle 11a that the driver tightens .
    [00119] According to this configuration, since the throttle grip 11a is configured as an operating device for the second balance control switch 45, it is not necessary for the driver to change the hand position to operate the second commutation 870170071069, of 09/22/2017, p. 113/128
    35/35 balance control controller and therefore operation while driving is easy for the driver and it is possible for the driver to directly control the ON and OFF status of the second balance control based on the intention the driver.
    [00120] Furthermore, the present invention is not limited to the modality and, for example, the front two-wheeled rocking vehicle is not limited to a three-wheeled vehicle that has two front wheels and a single rear wheel and also includes a four-wheeled vehicle having two front wheels and two rear wheels. Although the travel cancellation control maintains a swing restraint force until it reaches a predetermined distance covered after the start of the control, the swing restraint force can be maintained until the vehicle speed exceeds a predetermined value. Likewise, the self-supporting auxiliary spring control can be configured to weaken the swing restraint force according to the vehicle's speed instead of a distance traveled. [00121] Although the preferred embodiments of the invention have been described and illustrated above, it should be understood that they are exemplary of the invention and should not be considered limiting. Additions, omissions, substitutions and other modifications can be made without departing from the scope of the present invention. Consequently, the invention is not to be considered as limited by the foregoing description, and is limited only by the scope of the appended claims.
    Petition 870170071069, of 9/22/2017, p. 114/128
    1/4
    权利要求:
    Claims (13)
    [1]
    1. Swing control device for a two-wheel front swing vehicle (1) that has a pair of left and right front wheels (2L, 2R) and configured to laterally swing a vehicle body, the swing control device for a front two-wheeled rocking vehicle comprising:
    a controller (50) that performs a first balance control (L1 to L4) that assists a balance of the front two-wheeled balance vehicle (1) and a second balance control (L5 to L7) that assists the balance vehicle two front wheels (1) so that the front two-wheeled rocking vehicle (1) self-sustains in a balanced rocking position where a moment of rocking the vehicle body is canceled in a lateral direction, characterized by the fact that the controller (50) is configured to switch the first balance control (L1 to L4) and the second balance control (L5 to L7) to the OFF state and is configured to operate the first balance control (L1 to L4) and the second balance control (L5 to L7) in combination.
    [2]
    2. Swing control device for a two-wheel front swing vehicle according to claim 1, characterized by the fact that the first swing control (L1 to L4) includes a weight displacement rolling assist control ( L1) which detects a weight shift by a driver and assists the rocking of the front two-wheeled rocking vehicle (1) in a shifted weight direction.
    [3]
    3. Swing control device for a two-wheeled front swing vehicle according to claim 1 or 2, characterized by the fact that the first swing control (L1 to L4) includes a double-acting roll damper control (L2) that applies a resistance force in both directions where the
    Petition 870170071069, of 9/22/2017, p. 115/128
    2/4 vehicle body falls in relation to the swing of the front two-wheel rocker (1) and a direction in which the vehicle body rises in relation to the swing of the front two-wheel rocker (1).
    [4]
    4. Swing control device for a two-wheeled front swing vehicle according to any one of claims 1 to 3, characterized by the fact that the first swing control (L1 to L4) includes a roller damper control of unique effect (L3) that applies a resistance force in only one direction in which the vehicle body falls in relation to the balance of the two-wheeled front-wheel vehicle (1).
    [5]
    5. Swing control device for a two-wheel front swing vehicle according to any one of claims 1 to 4, characterized in that the first swing control (L1a L4) includes a displacement roll assist control weight (L1) that detects a shift in the driver's weight and assists the rocking of the front two-wheeled rocking vehicle (1) in a displaced weight direction, and a steering roll assist control (L4) that assists the rocking the front two-wheeled rocking vehicle (1) in a direction opposite to a direction of direction of the driver.
    [6]
    6. Swing control device for a two-wheeled front swing vehicle according to claim 5, characterized by the fact that the first swing control (L1a L4) includes a double-acting (L2) rolling damper control which applies a resistive force in both directions in which the vehicle body falls with respect to the swing of the front two-wheeled rocking vehicle (1) and a direction in which the vehicle body rises in relation to the rocking vehicle's swing two front wheels (1), and
    Petition 870170071069, of 9/22/2017, p. 116/128
    3/4 the controller (50) controls the double-acting (D2) roll-damper control so that an assisting force in the double-acting (D2) roll-damper control is weakened when a vehicle speed of balance of two front wheels (1) exceeds a predetermined speed.
    [7]
    7. Swing control device for a front two-wheeled rocking vehicle according to claim 5 or 6, characterized in that when a vehicle speed of the front two-wheeled rocking vehicle (1) exceeds a speed The controller (50) controls the weight-displacement scroll assist control (L1) so that an assist force is weakened in the weight-displacement scroll assist control (L1) and in the scroll assist control. steering (L4) so that an assistance force is strengthened in the steering wheel assistance control (L4).
    [8]
    8. Swing control device for a two-wheel front swing vehicle according to any one of claims 1 to 7, characterized by the fact that the second swing control (L5 to L7) includes a high support self-control rigidity (L6) which maintains a state in which the front two-wheeled rocking vehicle (1) is arranged in the balanced rocking position, and the controller (50) controls the high rigidity self-support control (L6) so that the high rigidity self-support control (L6) is released when a vehicle speed of the front two-wheeled rocking vehicle exceeds a predetermined speed.
    [9]
    9. Swing control device for a two-wheeled front swing vehicle according to claim 8, characterized by the fact that the controller (50) includes displacement cancellation control (L7) that suppresses the swing of the vehicle from two front wheel balance (1) at the moment when the control
    Petition 870170071069, of 9/22/2017, p. 117/128
    4/4 high rigidity self support (L6) is released.
    [10]
    10. Swing control device for a two-wheel front swing vehicle according to claim 9, characterized by the fact that the controller (50) controls the displacement cancellation control (L7) so that the cancellation control displacement (L7) weakens a swing restraining force according to an increase in vehicle speed.
    [11]
    11. Swing control device for a two-wheel front swing vehicle according to any one of claims 8 to 10, characterized in that the second swing control (L5 to L7) includes an auxiliary auto spring control bracket (L5) that suppresses the swing of the two-wheeled front swing vehicle (1) according to a decrease in the speed of a vehicle during deceleration before reaching the control of the high rigidity auto support (L6).
    [12]
    12. Swing control device for a two-wheel front swing vehicle according to claim 11, characterized in that the controller (50) controls the self-supporting auxiliary spring control (L5) so that the control self-supporting auxiliary spring (L5) works simultaneously with the first balance control (L1 to L4).
    [13]
    13. Swing control device for a two-wheeled front swing vehicle according to any one of claims 1 to 12, characterized in that it additionally comprises:
    a second balance control switch (45) that switches the second balance control (L5 to L7) to the ON (OFF) or OFF (OFF) state, where the second balance control switch (45) is operated by a rotation operation of a handlebar handle (11a) that the driver tightens.
    Petition 870170071069, of 9/22/2017, p. 118/128
    1/6
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    Petition 870170071069, of 9/22/2017, p. 119/128
    2/6
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    US10632812B2|2020-04-28|
    EP3301000A1|2018-04-04|
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    法律状态:
    2018-05-02| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2021-08-10| B08F| Application dismissed because of non-payment of annual fees [chapter 8.6 patent gazette]|Free format text: REFERENTE A 4A ANUIDADE. |
    2021-11-30| B08K| Patent lapsed as no evidence of payment of the annual fee has been furnished to inpi [chapter 8.11 patent gazette]|Free format text: EM VIRTUDE DO ARQUIVAMENTO PUBLICADO NA RPI 2640 DE 10-08-2021 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDO O ARQUIVAMENTO DO PEDIDO DE PATENTE, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013. |
    优先权:
    申请号 | 申请日 | 专利标题
    JP2016-191046|2016-09-29|
    JP2016191046A|JP6393932B2|2016-09-29|2016-09-29|Swing control device for front two-wheel swing vehicle|
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