Vehicle
A vehicle including a steering part disposed above a front wheel, a connecting part connecting a first member supporting the front wheel with a second member supporting a rear wheel in a swingable manner in a left-right direction, an input part inputting a travel command including an acceleration command, a microprocessor configured to perform controlling a traveling actuator, a steering angle detection part detecting a steering angle in the left-right direction of the steering part, and a swing angle detection part detecting a swing angle in the left-right direction of the first member. The microprocessor is configured to perform the controlling including controlling the traveling actuator in accordance with the steering angle and the swing angle so as to generate a driving force smaller than a driving force in accordance with the acceleration command.
1 . A vehicle, comprising:
a front wheel and a rear wheel;
a steering part disposed above the front wheel;
a placement part on which feet of an occupant are placed;
a first member configured to support the front wheel to be rotatable and steerable by the steering part;
a second member disposed behind the first member to support the rear wheel to be rotatable;
a connecting part configured to connect the first member with the second member so that the first member is swingable in a left-right direction about an axial line extending in a front-rear direction;
a traveling actuator configured to drive at least one of the front wheel and the rear wheel;
an input part configured to input a travel command including an acceleration command;
an electronic control unit including a microprocessor and a memory connected to the microprocessor;
a steering angle detection part configured to detect a steering angle in the left-right direction of the steering part;
a swing angle detection part configured to detect a swing angle in the left-right direction of the first member relative to the second member; and
a vehicle speed detection part configured to detect a vehicle speed, wherein
the microprocessor is configured to perform
controlling the traveling actuator so as to generate a driving force in accordance with the travel command input by the input part, and
the controlling including controlling the traveling actuator in accordance with the steering angle detected by the steering angle detection part, the swing angle detected by the swing angle detection part, and the vehicle speed detected by the vehicle speed detection part so as to generate a driving force smaller than the driving force in accordance with the acceleration command input by the input part, and the microprocessor is configured to further perform
the controlling including calculating a first correction coefficient in a range larger than 0 and equal to or smaller than 1 in accordance with the steering angle and the swing angle, calculating a second correction coefficient in a range equal to or larger than 0 and equal to or smaller than 1 in accordance with the vehicle speed, and calculating a correction coefficient for the acceleration command based on the first correction coefficient and the second correction coefficient.
2 . The vehicle according to claim 1 , wherein
the microprocessor is configured to perform
the controlling including controlling the traveling actuator so that the driving force corresponding to the acceleration command when a steering direction of the steering part and a swing direction of the first member specified by detection values of the steering angle detection part and the swing angle detection part are not identical is smaller than the driving force corresponding to the acceleration command when the steering direction and the swing direction are identical.
3 . The vehicle according to claim 2 , wherein
the microprocessor is configured to perform
the controlling including increasing a decrease ratio of the driving force corresponding to the acceleration command, as the steering angle detected by the steering angle detection part increases.
4 . The vehicle according to claim 1 , wherein
the microprocessor is configured to perform
the controlling including increasing a decrease ratio of the driving force corresponding to the acceleration command, as the vehicle speed detected by the vehicle speed detection part decreases.
5 . The vehicle according to claim 1 , wherein
the swing angle detection part is configured to detect a swing angle from a reference line extending in a gravity direction.
6 . The vehicle according to claim 1 , further comprising
a biasing part configured to apply a turning force about the axial line to the first member so as to suppress a swing of the first member in the left-right direction, wherein
the biasing part includes a damper, and
the damper includes a shaft member, a block member fixed to the shaft member, a plurality of elastic members disposed so as to face a plurality of concave surfaces provided at the block member, and a case member disposed around the plurality of elastic members to restrict movements of the plurality of elastic members.
7 . A vehicle, comprising:
a front wheel and a rear wheel;
a steering part disposed above the front wheel;
a placement part on which feet of an occupant are placed;
a first member configured to support the front wheel to be rotatable and steerable by the steering part;
a second member disposed behind the first member to support the rear wheel to be rotatable;
a connecting part configured to connect the first member with the second member so that the first member is swingable in a left-right direction about an axial line extending in a front-rear direction;
a traveling actuator configured to drive at least one of the front wheel and the rear wheel;
an input part configured to input a travel command including an acceleration command;
an electronic control unit including a microprocessor and a memory connected to the microprocessor;
a steering angle detection part configured to detect a steering angle in the left-right direction of the steering part;
a swing angle detection part configured to detect a swing angle in the left-right direction of the first member relative to the second member; and
a biasing part configured to apply a turning force about the axial line to the first member so as to suppress a swing of the first member in the left-right direction, wherein
the microprocessor is configured to perform
controlling the traveling actuator so as to generate a driving force in accordance with the travel command input by the input part, and
the controlling including controlling the traveling actuator in accordance with the steering angle detected by the steering angle detection part and the swing angle detected by the swing angle detection part so as to generate a driving force smaller than the driving force in accordance with the acceleration command input by the input part, the biasing part includes a damper, and
the damper includes a shaft member, a block member fixed to the shaft member, a plurality of elastic members disposed so as to face a plurality of concave surfaces provided at the block member, and a case member disposed around the plurality of elastic members to restrict movements of the plurality of elastic members.
8 . The vehicle according to claim 7 , wherein
the microprocessor is configured to perform
the controlling including controlling the traveling actuator so that the driving force corresponding to the acceleration command when a steering direction of the steering part and a swing direction of the first member specified by detection values of the steering angle detection part and the swing angle detection part are not identical is smaller than the driving force corresponding to the acceleration command when the steering direction and the swing direction are identical.
9 . The vehicle according to claim 7 , wherein
the microprocessor is configured to perform
the controlling including increasing a decrease ratio of the driving force corresponding to the acceleration command, as the steering angle detected by the steering angle detection part increases.
10 . The vehicle according to claim 7 , further comprising
a vehicle speed detection part configured to detect a vehicle speed, wherein
the microprocessor is configured to perform
the controlling including further controlling the traveling actuator in accordance with the vehicle speed detected by the vehicle speed detection part so as to generate the driving force smaller than the driving force in accordance with the acceleration command input by the input part.
11 . The vehicle according to claim 10 , wherein
the microprocessor is configured to perform
the controlling including increasing a decrease ratio of the driving force corresponding to the acceleration command, as the vehicle speed detected by the vehicle speed detection part decreases.
12 . The vehicle according to claim 7 , wherein
the swing angle detection part is configured to detect a swing angle from a reference line extending in a gravity direction.
13 . The vehicle according to claim 10 , wherein
the microprocessor is configured to perform
the controlling including calculating a first correction coefficient in a range larger than 0 and equal to or smaller than 1 in accordance with the steering angle and the swing angle, calculating a second correction coefficient in a range equal to or larger than 0 and equal to or smaller than 1 in accordance with the vehicle speed, and calculating a correction coefficient for the acceleration command based on the first correction coefficient and the second correction coefficient.