Automatic tilting vehicle
Automatic tilting vehicle is provided that includes left and right front wheels supported by knuckles, a rear wheel steered by a steering actuator, a vehicle tilting device, and a control unit. The control unit calculates a target tilt angle of the vehicle and a target steered angle of the rear wheel based on a steering angle and a vehicle speed, controls the vehicle tilting device so that a tilt angle of the vehicle becomes the target tilt angle, and controls the steering actuator so that a steered angle of the rear wheel becomes the target steered angle. When the vehicle is turning and decelerating, a steered angle of the rear wheel is controlled not to be the target steered angle but to zero, and a tilt angle of the vehicle is reduced by a gyro moment of the rear wheel.
1. An automatic tilting vehicle which includes a pair of laterally spaced front wheels, a rear wheel configured to be steered by a steering actuator, a vehicle tilting device, and a control unit; each front wheel is rotatably supported by a corresponding knuckle; the vehicle tilting device includes a swing member that swings about a swing axis extending in the longitudinal direction of the vehicle, a tilt actuator that swings the swing member about the swing axis, and a pair of tie rods pivotally attached to the swing member at upper end pivoting portions on both lateral sides of the vehicle and coupled to corresponding knuckles at lower end coupling portions; the tilt actuator is coupled to a vehicle body via a suspension spring; the control unit is configured to calculate a target steered angle of the rear wheel based on a steering operation amount of a driver and a vehicle speed and to control the steering actuator so that a steered angle of the rear wheel becomes the target steered angle; further, the control unit is configured to calculate a target lateral acceleration of the vehicle based on a steering operation amount of the driver and a vehicle speed, to calculate a target tilt angle of the vehicle based on the target lateral acceleration of the vehicle, and to tilt the vehicle to a turning inner side by controlling the tilt actuator such that a tilt angle of the vehicle becomes the target tilt angle, wherein
the control unit is configured to control the steering actuator such that when it is determined that the vehicle is turning and a ground load of the rear wheel is decreased due to deceleration of the vehicle, a steered angle of the rear wheel becomes smaller than the target steered angle.
2. The automatic tilting vehicle according to claim 1 , wherein the control unit is configured to control the steering actuator so that, when a deceleration of the vehicle becomes equal to or higher than a first reference value, a steered angle of the rear wheel becomes smaller than the target steered angle until a deceleration of the vehicle becomes less than a second reference value smaller than the first reference value.
3. The automatic tilting vehicle according to claim 1 , wherein the steering actuator is an electric actuator, and the control unit is configured to determine that a ground load of the rear wheel has decreased when a control current supplied to the steering actuator is equal to or less than a reference current determined based on the target steered angle and a vehicle speed.
4. The automatic tilting vehicle according to claim 1 , wherein the control unit is configured to control the steering actuator so that a steered angle of the rear wheel becomes zero when it is determined that the vehicle is turning and a ground load of the rear wheel is decreased due to deceleration of the vehicle.
5. The automatic tilting vehicle according to claim 2 , wherein the control unit is configured to control the steering actuator so that a steered angle of the rear wheel becomes zero when it is determined that the vehicle is turning and a ground load of the rear wheel is decreased due to deceleration of the vehicle.
6. The automatic tilting vehicle according to claim 3 , wherein the control unit is configured to control the steering actuator so that a steered angle of the rear wheel becomes zero when it is determined that the vehicle is turning and a ground load of the rear wheel is decreased due to deceleration of the vehicle.