Automatic tilting vehicle
An automatic tilting vehicle comprises left and right front wheels and a rear wheel. A control unit controls a vehicle tilting device so that the tilt angle of the vehicle becomes the target tilt angle. The control device is configured to swingingly vibrates the vehicle in the lateral direction by tilting the vehicle by the vehicle tilting device, to estimate a height of the center of gravity of the vehicle based on a resonance period of swinging vibration of the vehicle, and to correct the target tilt angle such that a perpendicular passing through the estimated center of gravity passes within a range of a triangle formed by connecting grounding points of the left and right front wheels and a grounding point of the rear wheel.
1. An automatic tilting vehicle that comprises
left and right front wheels,
a rear wheel,
a vehicle body,
a vehicle tilting device that is configured to tilt the automatic tilting vehicle in a lateral direction,
a detection device that detects a tilt angle of the automatic tilting vehicle and
a control device configured to control the vehicle tilting device;
wherein
the left and right front wheels and the vehicle tilting device are suspended from the vehicle body by one front wheel suspension and the ar wheel is suspended from the vehicle body by a rear wheel suspension;
the control device is configured to calculate a target tilt angle of the automatic tilting vehicle to a turning inner side so that a resultant force of gravity and a centrifugal force acting on a center of gravity when turning is directed to a predetermined position between grounding points of the left and right front wheels as seen in a longitudinal direction of the automatic tilting vehicle and to control the vehicle tilting device so that the tilt angle of the automatic tilting vehicle conforms to the target tilt angle;
the control device is configured to tilt the automatic tilting vehicle in the lateral direction by the vehicle tilting device, to swingingly vibrate the automatic tilting vehicle in the lateral direction by tilting the automatic tilting vehicle by the vehicle tilting device and releasing the tilting of the automatic tilting vehicle when the automatic tilting vehicle is not traveling, to obtain a resonance period of swinging vibration of the automatic tilting vehicle based on a change in the tilt angle of the automatic tilting vehicle detected by the detection device, and to estimate a height of the center of gravity of the automatic tilting vehicle based on the resonance period; and
the control device is configured to correct the target tilt angle such that a perpendicular passing through the estimated height of the center of gravity passes within a range of a triangle formed by connecting grounding points of the left and right front wheels and a grounding point of the rear wheel when the perpendicular passes outside the range of the triangle.
2. The automatic tilting vehicle according to claim 1 , wherein the control device is configured to calculate, based on the resonance period, a spring constant of a swing vibration model of the automatic tilting vehicle in which a weight is fixed to an upper end of a cantilever fixed at a lower end, and to estimate the height of the center of gravity of the automatic tilting vehicle based on the calculated spring constant.