Control system for leaning vehicle
View Patent ↗A method of operating a leaning vehicle is described. The method includes: determining a steering torque exerted on a steering assembly; determining a speed of travel of the vehicle; determining a leaning angle of a frame of the vehicle with respect to a reference angle; and exerting a leaning torque on the frame relative to a pivotable frame member about a pivot axis in a first direction using an actuator in response to a steering torque exerted on the steering assembly in a second direction opposite the first direction when a speed of travel of the vehicle is above a threshold speed, thereby causing the vehicle to turn in the first direction.
1. A method of operating a leaning vehicle, the vehicle comprising:
a frame having a front portion and a rear portion;
a pivotable frame member pivotally connected to the frame about a generally horizontal pivot axis, the frame being pivotable relative to the pivotable frame member between an upright position and a plurality of leaning positions;
a steering assembly supported by the frame for steering the vehicle; and
an actuator having a first portion connected to the frame and a second portion connected to the pivotable frame member, the actuator being operative to selectively pivot the frame with respect to the pivotable frame member about the pivot axis;
the method comprising:
determining a steering torque exerted on the steering assembly;
determining a speed of travel of the vehicle;
determining a leaning angle of the frame with respect to a reference angle; and
exerting a leaning torque on the frame relative to the pivotable frame member about the pivot axis in a first direction using the actuator in response to a steering torque exerted on the steering assembly in a second direction opposite the first direction when the speed of travel is above a threshold speed, thereby causing the vehicle to turn in the first direction.
2. The method of claim 1 , further comprising preventing the frame from pivoting about the pivot axis relative to the pivotable frame member when the speed of travel is zero.
3. The method of claim 1 , further comprising exerting a leaning torque in the direction opposite the leaning angle using the actuator when a reduction in the magnitude of at least one of the steering torque and the speed of travel is detected.
4. The method of claim 1 , wherein:
determining the leaning angle of the frame with respect to the reference angle comprises determining the leaning angle of the frame with respect to a vertical orientation.
5. The method of claim 1 , wherein:
determining the leaning angle of the frame with respect to the reference angle comprises determining the leaning angle of the frame with respect to the pivotable frame member.
6. The method of claim 1 , wherein:
determining the leaning angle of the frame with respect to the reference angle comprises determining a leaning angle of the frame with respect to a road surface.
7. The method of claim 1 , wherein the threshold speed is a first threshold speed; and
further comprising exerting the leaning torque using the actuator in a direction opposite the leaning angle at least when the speed of travel is below a second threshold speed, the second threshold speed being less than the first threshold speed.
8. The method of claim 7 , wherein:
when the speed of travel is below the second threshold speed, the leaning torque exerted by the actuator increases in magnitude as the speed of travel decreases.
9. The method of claim 7 , further comprising preventing the frame from pivoting about the pivot axis relative to the pivotable frame member when the speed of travel is zero.
10. The method of claim 7 , wherein the leaning torque is in the direction opposite the leaning angle when a reduction in the magnitude of at least one of the steering torque and the speed of travel is detected.
11. The method of claim 7 , wherein:
determining the leaning angle of the frame with respect to the reference angle comprises determining the leaning angle of the frame with respect to a vertical orientation.
12. The method of claim 7 , wherein:
determining the leaning angle of the frame with respect to the reference angle comprises determining the leaning angle of the frame with respect to the pivotable frame member.
13. The method of claim 7 , wherein:
determining the leaning angle of the frame with respect to the reference angle comprises determining a leaning angle of the frame with respect to a road surface.