Steering torque estimating device
A steering torque estimating device which estimates steering torque which is torque provided to a steering axis due to a vehicle body behavior, in a vehicle including a front wheel as a steered wheel, the vehicle being configured to turn in a bank state in which a vehicle body is tilted around a forward-rearward axis, includes a torque estimating section which estimates the steering torque based on a change over time of a bank angle and a rotational speed of the front wheel.
1. A steering torque estimating device which estimates steering torque which is torque provided to a steering axis due to a vehicle body behavior, in a vehicle including a front wheel as a steered wheel, the vehicle being configured to turn in a bank state in which a vehicle body is tilted around a forward-rearward axis, the steering torque estimating device comprising:
a torque estimating section which estimates the steering torque based on a change over time of a bank angle and a rotational speed of the front wheel.
2. The steering torque estimating device according to claim 1 ,
wherein the torque estimating section estimates the steering torque based on a braking force applied to the front wheel.
3. The steering torque estimating device according to claim 2 ,
wherein the torque estimating section estimates the steering torque based on a distance from a location at which a force applied to the front wheel is generated, to the steering axis, the distance being defined based on a bank angle.
4. The steering torque estimating device according to claim 1 ,
wherein the torque estimating section estimates the steering torque based on a front wheel vertical force which is a force applied in a vertical direction from a ground surface to the front wheel.
5. The steering torque estimating device according to claim 1 ,
wherein the torque estimating section estimates the steering torque based on a front wheel lateral force which is a force applied in a lateral direction from a ground surface to the front wheel.
6. The steering torque estimating device according to claim 1 ,
wherein the torque estimating section estimates the steering torque based on a slip angle which is a deviation angle of a direction of the front wheel with respect to a moving direction of the vehicle body.
7. A steering torque estimating device which estimates steering torque which is torque provided to a steering axis due to a vehicle body behavior, in a vehicle including a front wheel as a steered wheel, the vehicle being configured to turn in a bank state in which a vehicle body is tilted around a forward-rearward axis, the steering torque estimating device comprising:
a torque estimating section which estimates the steering torque based on a force applied from a ground surface to the front wheel, and a distance from a location at which the force applied to the front wheel is generated, to the steering axis, the distance being defined based on a bank angle.
8. A method of estimating steering torque which is torque provided to a steering axis due to a vehicle body behavior, in a vehicle including a front wheel as a steered wheel, the vehicle being configured to turn in a bank state in which a vehicle body is tilted around a forward-rearward axis, the method comprising:
estimating the steering torque based on a change over time of a bank angle around the forward-rearward axis and a rotational speed of the front wheel.
9. The method of estimating steering torque according to claim 8 , comprising:
estimating the steering torque based on a force applied from a ground surface to the front wheel, and a distance from a location at which the force applied to the front wheel is generated, to the steering axis, the distance being defined based on a bank angle.