Vehicle
A vehicle small in width and capable of ensuring both driving stability and drivability includes: a vehicle body with two or more wheels including steered wheels (right front wheel, left front wheel) for steering; an inclination angle detection part that detects the inclination angle of the vehicle body about a roll axis thereof; and a torque applying part (turning mechanism) that applies a steering torque to the steered wheels in accordance with an inclination angular velocity or an inclination angular acceleration of the vehicle body calculated from the inclination angle.
1. A vehicle comprising:
a vehicle body provided with three or more wheels, including a pair of steered wheels that are spaced apart from each other in the width direction
an input member that inputs a turning direction and a steering member that steers the steered wheels,
an inclination angle detection part that detects an inclination angle of the vehicle body about a roll axis thereof; and
a torque applying part that applies a steering torque to the steered wheel wheels in accordance with an inclination angular velocity or an inclination angular acceleration of the vehicle body calculated from the inclination angle, wherein
the torque applying part adjusts a steering angle direction of the steered wheels and/or a steering operation speed in accordance with the inclination angular velocity of the vehicle body,
the torque applying part applies a steering torque in a same direction as the direction of the inclination angular velocity of the vehicle body,
the input member and the steering member are mechanically completely separated from each other.
2. The vehicle according to claim 1 , wherein
the torque applying part applies a steering torque in the same direction as the direction of the inclination angular velocity when the inclination angular velocity of the vehicle body is lower than a predetermined value and applies a steering torque in the direction opposite to the direction of the inclination angular velocity when the inclination angular velocity of the vehicle body is equal to or higher than the predetermined value.
3. The vehicle according to claim 1 , wherein
the torque applying part includes an elastic member that expands/contracts in accordance with inclination of the vehicle body.
4. The vehicle according to claim 3 , wherein
the inclination angle detection part is a first elastic member that expands/contracts in accordance with the inclination angle of the vehicle body, and
the torque applying part has a second elastic member that operates in conjunction with the first elastic member to apply a steering torque to the steered wheels.
5. The vehicle according to claim 4 , wherein
the first and second elastic members are a same member.
6. The vehicle according to claim 1 , comprising:
a pair of suspension poles that house a pair of suspension arms that suspend a-the pair of steered wheels;
a pair of horizontal links that form a parallel link together with the pair of suspension poles; and
a tie rod that equalizes the steering angles of the pair of steered wheels, wherein
the torque applying part includes a damper having one end connected to the tie rod through a damper link and the other end connected to the vehicle body.
7. The vehicle according to claim 1 , comprising:
a pair of suspension poles that house a pair of suspension arms that suspend a-the pair of steered wheels;
a pair of horizontal links that form a parallel link together with the pair of suspension poles; and
a tie rod that equalizes the steering angles of the pair of steered wheels, wherein
the torque applying part includes:
a first damper having one end connected to the tie rod through a damper link and the other end connected to the vehicle body;
a second damper having one end connected to at least one of the pair of horizontal links and the other end connected to the vehicle body; and
a pair of circulation tubes that circulate fluid in the first damper and fluid in the second damper.
8. The vehicle according to claim 7 , wherein
characteristics of a resistance generated in accordance with a piston moving speed of the first damper and characteristics of a resistance generated in accordance with a piston moving speed of the second damper differ from each other.
9. The vehicle according to claim 1 , wherein
an input member that inputs a turning direction and a steering member that steers the steered wheels are mechanically semi-connected.
10. The vehicle according to claim 1 , comprising a control part that issues a control command to the torque applying part, wherein
the control part issues a control command to the torque applying part so as to adjust a steering angle direction of the steered wheels and/or a steering operation speed in accordance with the inclination angular velocity of the vehicle body.
11. The vehicle according to claim 10 , wherein
the torque applying part performs the adjustment when an actual inclination angle is far from a target inclination angle and does not perform the adjustment or reduce the adjustment when the actual inclination angle is close to the target inclination angle.