Behavior controller, lean vehicle, and behavior control method
To obtain a behavior controller capable of improving general versatility of a behavior control system for a lean vehicle when compared to a conventional behavior control system. The behavior controller according to the present invention is a behavior controller that controls behavior of the lean vehicle, and includes: an acceleration information acquisition section that acquires acceleration information in a body up-down direction of the lean vehicle on the basis of output of at least one acceleration sensor; a vehicle velocity information acquisition section that acquires vehicle velocity information of the lean vehicle; and a first angular velocity information acquisition section that acquires first angular velocity information by using the acceleration information and the vehicle velocity information.
1 . A behavior controller ( 20 ) for controlling behavior of a lean vehicle ( 100 ), the behavior controller ( 20 ) comprising:
an acceleration information acquisition section ( 21 ) that acquires acceleration information in a body up-down direction of the lean vehicle ( 100 ) on a basis of output of at least one acceleration sensor;
a vehicle velocity information acquisition section ( 22 ) that acquires vehicle velocity information of the lean vehicle ( 100 );
a first angular velocity information acquisition section ( 23 ) that acquires first angular velocity information by using the acceleration information and the vehicle velocity information,
wherein the behavior controller is configured to control the behavior of the lean vehicle ( 100 ) not on the basis of an output of an angular velocity sensor.
2 . The behavior controller ( 20 ) according to claim 1 further comprising:
a second angular velocity information acquisition section ( 25 ) that acquires second angular velocity information on the basis of output of an angular velocity sensor ( 13 ); and
a comparison section ( 26 ) that compares the first angular velocity information with the second angular velocity information.
3 . The behavior controller ( 20 ) according to claim 2 configured to
use a comparison result between the first angular velocity information and the second angular velocity information by the comparison section ( 26 ) to control the behavior of the lean vehicle ( 100 ).
4 . The behavior controller ( 20 ) according to claim 2 further comprising:
a notification operation execution section ( 27 ) that outputs a signal for notification by a notification device ( 101 ) in the case where, in the comparison section ( 26 ), a difference between the first angular velocity information and the second angular velocity information becomes equal to or larger than a preset value.
5 . The behavior controller ( 20 ) according to claim 2 , wherein
the angular velocity sensor ( 13 ) is a pitch rate sensor that detects a pitch rate.
6 . The behavior controller ( 20 ) according to claim 5 configured to
control the behavior of the lean vehicle ( 100 ) not on the basis of output of an angular velocity sensor other than the pitch rate sensor.
7 . The behavior controller ( 20 ) according to claim 1 configured to
acquire the acceleration information on the basis of output of a single acceleration sensor ( 11 ).
8 . The behavior controller ( 20 ) according to claim 1 configured to
acquire the acceleration information on the basis of output of the two acceleration sensors ( 11 , 12 ) that detect acceleration information in different directions from each other.
9 . A lean vehicle ( 100 ) comprising:
the behavior controller ( 20 ) according to claim 1 .
10 . A behavior control method for controlling behavior of a lean vehicle ( 100 ), the behavior control method comprising:
an acceleration information acquisition step (S 2 ) of acquiring acceleration information in a body up-down direction of the lean vehicle ( 100 ) on a basis of output of at least one acceleration sensor;
a vehicle velocity information acquisition step (S 3 ) of acquiring vehicle velocity information of the lean vehicle ( 100 ); and
an angular velocity information acquisition step (S 4 ) of acquiring angular velocity information by using the acceleration information and the vehicle velocity information,
a vehicle behavior control step (S 5 ) of controlling, using the first angular velocity information of the first angular velocity information acquisition section ( 23 ), the behavior of the lean vehicle ( 100 ) not on the basis of an output of an angular velocity sensor.
11 . A behavior controller ( 20 ) for controlling behavior of a lean vehicle ( 100 ), the behavior controller ( 20 ) comprising:
an acceleration information acquisition section ( 21 ) that acquires acceleration information in a body up-down direction of the lean vehicle ( 100 ) on a basis of output of at least one acceleration sensor;
a vehicle velocity information acquisition section ( 22 ) that acquires vehicle velocity information of the lean vehicle ( 100 );
a first angular velocity information acquisition section ( 23 ) that acquires first angular velocity information by using the acceleration information and the vehicle velocity information;
a second angular velocity information acquisition section ( 25 ) that acquires second angular velocity information on the basis of output of an angular velocity sensor ( 13 );
a comparison section ( 26 ) that compares the first angular velocity information with the second angular velocity information; and
a notification operation execution section ( 27 ) that outputs a signal for notification by a notification device ( 101 ) in the case where, in the comparison section ( 26 ), a difference between the first angular velocity information and the second angular velocity information becomes equal to or larger than a preset value.