Automatic tilting vehicle
An automatic tilting vehicle is provided that includes left and right front wheels supported by knuckles, a steerable rear wheel, a vehicle tilting device, and a control unit. The vehicle tilting device includes a swing member, a tilt actuator for swing the swing member, and a pair of tie rods pivotally attached to the swing member and the knuckles. The control unit calculates a target lateral acceleration of the vehicle, estimates a lateral acceleration of the vehicle caused by the gyro moments of the wheels and calculates a target tilt angle of the vehicle based on a sum of the target lateral acceleration and the lateral acceleration caused by the gyro moments.
1. An automatic tilting vehicle comprising:
a pair of laterally spaced front wheels,
at least one steerable rear wheel,
a vehicle tilting device,
and a control unit;
the pair of front wheels are rotatably supported by corresponding knuckles;
the vehicle tilting device includes a swing member swinging about a swing axis extending in the longitudinal direction of the vehicle, a tilt actuator for swinging the swing member about the swing axis, and a pair of tie rods that are pivotally attached to the swing member at upper end pivotal attachment portions on both lateral sides of the swing axis and pivotally attached to corresponding knuckles at lower end pivotal attachment portions;
the tilt actuator is connected to a vehicle body via a suspension spring;
the control unit is configured to calculate a target tilt angle of the vehicle for tilting the vehicle to the inner side of a turn and to control the tilt actuator so that a tilt angle of the vehicle conforms to the target tilt angle, wherein
the control unit is configured to calculate a target lateral acceleration of the vehicle based on an amount of steering operation of a driver and a vehicle speed, to calculate gyro moments at least of the pair of front wheels based on wheel speeds and a yaw rate of the vehicle, to estimate a lateral acceleration of the vehicle caused by the gyro moments, and to calculate the target tilt angle of the vehicle based on a sum of the target lateral acceleration and the lateral acceleration caused by the gyro moments.
2. The automatic tilting vehicle according to claim 1 , wherein the control unit is configured to calculate the gyro moments based on at least wheel speeds of the pair of front wheels, the yaw rate of the vehicle, and the tilt angle of the vehicle.
3. The automatic tilting vehicle according to claim 2 , further comprising a setting device that is configured to be operated by at least one occupant, which includes the driver, to set whether to limit the target tilt angle of the vehicle to a predetermined allowable maximum tilt angle or less and the control unit is configured to limit the target tilt angle to the allowable maximum tilt angle when a magnitude of the target tilt angle exceeds the allowable maximum tilt angle in a situation where the setting device limits the magnitude of the target tilt angle.
4. The automatic tilting vehicle according to claim 3 , wherein the control unit is configured to perform low pass filter processing on any one of the wheel speeds, the gyro moments, and the lateral acceleration of the vehicle caused by the gyro moments in a situation where the setting device sets to limit the magnitude of the target tilt angle.
5. The automatic tilting vehicle according to claim 4 , wherein the control unit is configured to perform low pass filter processing on any one of the wheel speeds, the gyro moments, and the lateral acceleration of the vehicle caused by the gyro moments even in a situation where the setting device does not set to limit the magnitude of the target tilt angle, and a cutoff frequency of the low-pass filter process in the situation where the setting device sets to limit the magnitude of the target tilt angle is set to a value lower than the cutoff frequency of the low pass filter process in the situation where the setting device does not set to limit the magnitude of the target tilt angle.
6. The automatic tilting vehicle according to claim 1 , further comprising a setting device that is configured to be operated by at least one occupant, which includes the driver, to set whether to limit the target tilt angle of the vehicle to a predetermined allowable maximum tilt angle or less and the control unit is configured to limit the target tilt angle to the allowable maximum tilt angle when a magnitude of the target tilt angle exceeds the allowable maximum tilt angle in a situation where the setting device limits the magnitude of the target tilt angle.
7. The automatic tilting vehicle according to claim 6 , wherein the control unit is configured to perform low pass filter processing on any one of the wheel speeds, the gyro moments, and the lateral acceleration of the vehicle caused by the gyro moments in a situation where the setting device sets to limit the magnitude of the target tilt angle.
8. The automatic tilting vehicle according to claim 7 , wherein the control unit is configured to perform low pass filter processing on any one of the wheel speeds, the gyro moments, and the lateral acceleration of the vehicle caused by the gyro moments even in a situation where the setting device does not set to limit the magnitude of the target tilt angle, and a cutoff frequency of the low-pass filter process in the situation where the setting device sets to limit the magnitude of the target tilt angle is set to a value lower than the cutoff frequency of the low pass filter process in the situation where the setting device does not set to limit the magnitude of the target tilt angle.