Leaning vehicle

Patent metadata

Field	Value
Publication number	US-11014600-B2
Application number	US-201815984100-A
Country	US
Kind code	B2
Filing date	May 18, 2018
Priority date	Nov 20, 2015
Publication date	May 25, 2021
Grant date	May 25, 2021

Abstract

A leaning vehicle includes a body frame, a steered wheel and a non-steered wheel, a motor, a left-right-tilt-angle-detection-section, and a control device that controls the motor to apply a steering force to the steered wheel. The steering force steers the steered wheel to turn the leaning vehicle rightward in a case where the body frame tilts rightward, and steers the steered wheel to turn the leaning vehicle leftward in a case where the body frame tilts leftward. Alternatively, the steering force steers the steered wheel to turn the leaning vehicle leftward in the case where the body frame tilts rightward, and steers the steered wheel to turn the leaning vehicle rightward in the case where the body frame tilts leftward.

First claim

The invention claimed is:

1. A leaning vehicle comprising:
a body frame;
a steering shaft connected to the body frame rotatably about an intermediate steering axis extending in a top-bottom direction;
a first wheel connected to the steering shaft such that the first wheel orbits the intermediate steering axis as the steering shaft rotates about the intermediate steering axis relative to the body frame;
a second wheel located in a front-rear direction of the body frame relative to the first wheel, the second wheel configured to be incapable of being rotated about the intermediate steering axis together with the steering shaft;
a linkage mechanism that tilts the body frame leftward based on a first rotation of the steering shaft turning the leaning vehicle leftward in a left-right direction of the leaning vehicle, and that tilts the body frame rightward based on a second rotation of the steering shaft turning the leaning vehicle rightward in the left-right direction of the leaning vehicle;
a motor that applies a steering force to steer the first wheel based on a rotation of the steering shaft; a left-right-tilt-angle-detection-system that respectively detects a left-right tilt angle of the body frame in the left direction of the leaning vehicle and in the right direction of the leaning vehicle; and
a control circuit that
causes the motor to output the steering force to steer the first wheel in a direction that causes the leaning vehicle to turn rightward in a case where the body frame tilts rightward in accordance with the left-right tilt angle detected by the left-right-tilt-angle-detection-section, and causes the motor to output the steering force to steer the first wheel in a direction that causes the leaning vehicle to turn leftward in a case where the body frame tilts leftward in accordance with the left-right tilt angle detected by the left-right-tilt-angle-detection-section, or
causes the motor to output the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward in the case where the body frame tilts rightward in accordance with the left-right tilt angle detected by the left-right-tilt-angle-detection-section, and causes the motor to output the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn rightward in the case where the body frame tilts leftward in accordance with the left-right tilt angle detected by the left-right-tilt-angle-detection-section, wherein
the control circuit
changes a magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn rightward output from the motor in the case where the body frame tilts rightward in accordance with the left-right tilt angle detected by the left-right-tilt-angle-detection-section, and changes a magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward output from the motor in the case where the body frame tilts leftward in accordance with the left-right tilt angle detected by the left-right-tilt-angle-detection-section, or
changes the magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward output from the motor in the case where the body frame tilts rightward in accordance with the left-right tilt angle detected by the left-right-tilt-angle-detection-section, and changes the magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn rightward output from the motor in the case where the body frame tilts leftward in accordance with the left-right tilt angle detected by the left-right-tilt-angle-detection-section, and
the control circuit
limits a change rate of the magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn rightward output from the motor in the case where the body frame tilts rightward, and limits the change rate of the magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward output from the motor in the case where the body frame tilts leftward, or
limits the change rate of the magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward output from the motor in the case where the body frame tilts rightward, and limits the change rate of the magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn rightward output from the motor in the case where the body frame tilts leftward.

2. The leaning vehicle according to claim 1 , wherein the control circuit
changes, in accordance with a vehicle speed, the change rate of the magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn rightward output from the motor in the case where the body frame tilts rightward with respect to the tilt angle, and changes, in accordance with the vehicle speed, the change rate of the magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward output from the motor in the case where the body frame tilts leftward with respect to the tilt angle or
changes, in accordance with the vehicle speed, the change rate of the magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward output from the motor in the case where the body frame tilts rightward with respect to the tilt angle, and changes, in accordance with the vehicle speed, the change rate of the magnitude of the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn rightward output from the motor in the case where the body frame tilts leftward with respect to the tilt angle.

3. The leaning vehicle of claim 1 , wherein the control circuit
sets a range of the left-right tilt angle in outputting the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn rightward output from the motor in the case where the body frame tilts rightward, and sets the range of the left-right tilt angle in outputting the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward output from the motor in the case where the body frame tilts leftward,
or sets the range of the left-right tilt angle in outputting the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward output from the motor in the case where the body frame tilts rightward, and sets the range of the left-right tilt angle in outputting the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn rightward output from the motor in the case where the body frame tilts leftward.

4. The leaning vehicle of claim 1 , wherein the control circuit
changes, in accordance with a vehicle speed, a range of the left-right tilt angle in outputting the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn rightward output from the motor in the case where the body frame tilts rightward, and changes, in accordance with the vehicle speed, the range of the left-right tilt angle in outputting the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward output from the motor in the case where the body frame tilts leftward, or
changes, in accordance with the vehicle speed, the range of the left-right tilt angle in outputting the steering force to steer the first wheel in the direction that causes the leaning vehicle to turn leftward output from the motor in the case where the

Assignees

• Yamaha Motor Co Ltd

Inventors

• Hara Nobuo
• Fukuhara Yukihide
• Toyota Takeshi
• Nagata Tatsuya

Classifications

• B62D9/02

  combined with means for inwardly inclining vehicle body on bends · CPC title

• B60G17/0163

  the control involving steering geometry, e.g. four-wheel steering · CPC title

• B62J45/4151

  for sensing lateral inclination of the cycle · CPC title

• B60G2202/42

  Electric actuator · CPC title

• B60G2300/45

  Rolling frame vehicles · CPC title