Two-wheeled vehicle overturn prevention method and device
There is provided a two-wheeled vehicle overturn prevention method, wherein maximum allowable lean angles corresponding to vehicle body velocities are preset in relation to lean angles of a vehicle body, and in a case where an actual lean angle of the vehicle body exceeds a maximum allowable lean angle corresponding to an actual vehicle body velocity of the vehicle body or in a case where an estimated lean angle of the vehicle body after a predetermined amount of time exceeds or looks to exceed a maximum allowable lean angle corresponding to an estimated vehicle body velocity, the two-wheeled vehicle overturn prevention method is adapted to accelerate the vehicle body or keep the vehicle body from decelerating.
1. A two-wheeled vehicle overturn prevention method, comprising
presetting maximum allowable lean angles corresponding to vehicle body velocities in relation to lean angles of a vehicle body,
estimating an estimated lean angle, which is a lean angle of the vehicle body after a predetermined amount of time, on the basis of a temporal change in an actual lean angle of the vehicle body,
estimating an estimated vehicle body velocity, which is a vehicle body velocity of the vehicle body after the predetermined amount of time, on the basis of a temporal change in an actual vehicle body velocity of the vehicle body, and
in a case where the estimated lean angle exceeds the maximum allowable lean angle corresponding to the estimated vehicle body velocity, accelerating the vehicle body or keep the vehicle.
2. The two-wheeled vehicle overturn prevention method according to claim 1 , wherein
in a case where the estimated lean angle exceeds the maximum allowable lean angle corresponding to the estimated vehicle body velocity, an engine drive addition quantity is calculated so as to minimize the difference between a vehicle body velocity corresponding to the estimated lean angle serving as a maximum allowable lean angle and the estimated vehicle body velocity.
3. The two-wheeled vehicle overturn prevention method according to claim 2 , wherein the drive addition quantity is calculated by PID control.
4. The two-wheeled vehicle overturn prevention method according to claim 2 , wherein
a maximum value of the drive addition quantity is preset, and
in a case where the drive addition quantity that has been calculated has maintained the maximum value over a predetermined amount of time, the drive addition quantity is changed to zero.
5. The two-wheeled vehicle overturn prevention method according to claim 1 , wherein the method is executed only in a predetermined vehicle body velocity region.
6. The two-wheeled vehicle overturn prevention method according to claim 1 , wherein
an actual lean angle of the vehicle body is calculated on the basis of an output value of a lean angle sensor, and
the lean angle sensor is at least one of a lateral acceleration sensor, a vertical acceleration sensor, a yaw rate sensor, and a roll rate sensor.
7. A two-wheeled vehicle overturn prevention method, comprising
presetting maximum allowable lean angles corresponding to vehicle body velocities in relation to lean angles of a vehicle body, and
in a case where an actual lean angle of the vehicle body exceeds the maximum allowable lean angle corresponding to an actual vehicle body velocity of the vehicle body, accelerating the vehicle body.
8. The two-wheeled vehicle overturn prevention method according to claim 7 , wherein
in a case where an actual lean angle of the vehicle body exceeds the maximum allowable lean angle corresponding to an actual vehicle body velocity of the vehicle body, an engine drive addition quantity is calculated so as to minimize the difference between a vehicle body velocity corresponding to the actual lean angle serving as a maximum allowable lean angle and the actual vehicle body velocity.
9. The two-wheeled vehicle overturn prevention method according to claim 8 , wherein the drive addition quantity is calculated by PID control.
10. The two-wheeled vehicle overturn prevention method according to claim 8 , wherein
a maximum value of the drive addition quantity is preset, and
in a case where the drive addition quantity that has been calculated has maintained the maximum value over a predetermined amount of time, the drive addition quantity is changed to zero.
11. The two-wheeled vehicle overturn prevention method according to claim 7 , wherein the method is executed only in a predetermined vehicle body velocity region.
12. The two-wheeled vehicle overturn prevention method according to claim 7 , wherein
an actual lean angle of the vehicle body is calculated on the basis of an output value of a lean angle sensor, and
the lean angle sensor is at least one of a lateral acceleration sensor, a vertical acceleration sensor, a yaw rate sensor, and a roll rate sensor.
13. A two-wheeled vehicle overturn prevention device comprising:
a vehicle velocity sensor that detects a vehicle body velocity;
a lean angle sensor for detecting a lean angle of a vehicle body;
lean angle calculating means that calculates a lean angle of the vehicle body on the basis of an output value of the lean angle sensor;
instability judging means that judges traveling instability of the vehicle body on the basis of the vehicle body velocity and the lean angle;
drive addition quantity calculating means that calculates an engine drive addition quantity in a case where it has been judged by the instability judging means that the vehicle body is unstable; and
drive force increase instructing means that outputs a drive addition quantity to an engine ECU,
wherein maximum allowable lean angles corresponding to vehicle body velocities are preset in relation to lean angles of the vehicle body.
14. The two-wheeled vehicle overturn prevention device according to claim 13 , further comprising
vehicle body velocity storing means that stores an output value of the vehicle velocity sensor,
lean angle storing means that stores an output value of the lean angle calculating means,
vehicle body velocity estimating means that calculates an estimated vehicle body velocity, which is a vehicle body velocity of the vehicle body after a predetermined amount of time, on the basis of a temporal change in an output value of the vehicle velocity sensor, and
lean angle estimating means that calculates an estimated lean angle, which is a lean angle of the vehicle body after a predetermined amount of time, on the basis of a temporal change in an output value of the lean angle calculating means,
wherein the instability judging means judges traveling instability of the vehicle body on the basis of the estimated vehicle body velocity and the estimated lean angle.
15. The two-wheeled vehicle overturn prevention device according to claim 14 , wherein
the instability judging means judges traveling instability of the vehicle body on the basis of the estimated vehicle body velocity, the estimated lean angle, and the maximum allowable lean angle.
16. The two-wheeled vehicle overturn prevention device according to claim 15 , wherein
the drive addition quantity calculating means calculates an engine drive addition quantity so as to minimize the difference between a vehicle body velocity corresponding to the estimated lean angle serving as a maximum allowable lean angle and the estimated vehicle body velocity.
17. The two-wheeled vehicle overturn prevention device according to claim 13 , wherein
the instability judging means judges traveling instability of the vehicle body on the basis of the vehicle body velocity, the lean angle that has been calculated, and the maximum allowable lean angle.
18. The two-wheeled vehicle overturn prevention device according to claim 7 , wherein
the drive addition quantity calculating means calculates an engine drive addition quantity so as to minimize the difference between a vehicle body velocity corresponding to the calculated lean angle serving as a maximum allowable lean angle and the vehicle body velocity that has been detected.
19. The two-wheeled vehicle overturn prevention device according to claim 13 , wherein the drive addition quantity calculating means calculates a drive addition quantity by PID control.
20. The two-wheeled vehicle overturn prevention device according to claim 13 , wherein
the two-wheeled vehicle overturn prevention device further comprises drive force increase limiting means which, in a case where the drive addition quantity that has been calculated has maintained the maximum value over a predetermined amount of time, changes the drive addition quantity to zero.
21. The two-wheeled vehicle overturn prevention device according to claim 13 , wherein the two-wheeled vehicle overturn prevention device acts only in a predetermined vehicle body velocity region.
22. The two-wheeled vehicle overturn prevention device according to claim 13 , wherein the lean angle sensor is at least one of a lateral acceleration sensor, a vertical acceleration sensor, a yaw rate sensor, and a roll rate sensor.