Vehicle height adjusting device
Technology is provided that enables vehicle speed to be grasped more accurately utilized for adjusting vehicle height. A vehicle height adjusting device includes: a relative position changing device capable of changing relative positions of a vehicle body frame and a rear wheel of a vehicle; a vehicle speed grasping section configured to grasp vehicle speed, which is moving speed of the vehicle body frame; and a change-over valve control section configured to control the relative position changing device on the basis of the vehicle speed grasped by the vehicle speed grasping section and change the relative positions of the vehicle body frame and the rear wheel to adjust vehicle height, which is the height of the vehicle body frame. The vehicle speed grasping section grasps the vehicle speed on the basis of front wheel rotating speed, which is the rotating speed of a front wheel, and rear wheel rotating speed, which is the rotating speed of the rear wheel.
1. A vehicle height adjusting device for a two-wheeled vehicle comprising:
a changing unit capable of changing relative positions of a vehicle main body and a wheel of the two-wheeled vehicle;
a vehicle speed grasping unit for grasping vehicle speed, which is moving speed of the vehicle; and
a control unit for controlling the changing unit on the basis of the vehicle speed grasped by the vehicle speed grasping unit and changing the relative positions of the wheel and the vehicle main body to adjust vehicle height, which is height of the vehicle main body, wherein
in a case where a difference between front wheel rotating speed, which is rotating speed of a front wheel, and rear wheel rotating speed, which is rotating speed of a rear wheel, is within a range set in advance, the vehicle speed grasping unit grasps the vehicle speed with a normal method that grasps the vehicle speed on the basis of any one of the front wheel rotating speed, the rear wheel rotating speed, and an average value of the front wheel rotating speed and the rear wheel rotating speed,
in a case where the difference between the front wheel rotating speed and the rear wheel rotating speed is out of the range set in advance and the front wheel rotating speed is lower than the rear wheel rotating speed, and in a case where rear wheel rotational acceleration, which is rotational acceleration of the rear wheel, is equal to or higher than first reference acceleration set in advance or where rotating speed of an engine of the vehicle is equal to or higher than first reference rotating speed set in advance, the vehicle speed grasping unit grasps the vehicle speed on the basis of the front wheel rotating speed,
in the case where the difference between the front wheel rotating speed and the rear wheel rotating speed is out of the range set in advance and the front wheel rotating speed is lower than the rear wheel rotating speed, and in a case where the rear wheel rotational acceleration is lower than second reference acceleration set in advance and the front wheel rotating speed is lower than second reference rotating speed set in advance or where front wheel rotational acceleration, which is rotational acceleration of the front wheel, is minus and equal to or lower than third reference acceleration set in advance, the vehicle speed grasping unit grasps the vehicle speed on the basis of the rear wheel rotating speed,
in the case where the difference between the front wheel rotating speed and the rear wheel rotating speed is out of the range set in advance and the front wheel rotating speed is lower than the rear wheel rotating speed, and in a case where the rear wheel rotational acceleration is lower than the first reference acceleration, the rotating speed of the engine of the vehicle is lower than the first reference rotating speed, the front wheel rotational acceleration is higher than the third reference acceleration, and the rear wheel rotational acceleration is equal to or higher than the second reference acceleration and the front wheel rotating speed is equal to or higher than the second reference rotating speed, the vehicle speed grasping unit grasps the vehicle speed with the normal method,
in a case where the difference between the front wheel rotating speed and the rear wheel rotating speed is out of the range set in advance and the front wheel rotating speed is higher than the rear wheel rotating speed, and in a case where the rear wheel rotational acceleration is minus and equal to or lower than fourth reference acceleration set in advance or where the rotating speed of the engine of the vehicle is lower than third reference rotating speed set in advance, the vehicle speed grasping unit grasps the vehicle speed on the basis of the front wheel rotating speed, and
in the case where the difference between the front wheel rotating speed and the rear wheel rotating speed is out of the range set in advance and the front wheel rotating speed is higher than the rear wheel rotating speed, and in a case where the rear wheel rotational acceleration is higher than the fourth reference acceleration and the rotating speed of the engine of the vehicle is equal to or higher than the third reference rotating speed, the vehicle speed grasping unit grasps the vehicle speed with the normal method;
wherein the first reference acceleration, the second reference acceleration, the third reference acceleration, the fourth reference acceleration, the first reference rotating speed, the second reference rotating speed, and the third reference rotating speed are based on a vehicle type of the vehicle.