Automatic tilting vehicle

Patent metadata

Field	Value
Publication number	US-11124178-B2
Application number	US-201916390723-A
Country	US
Kind code	B2
Filing date	Apr 22, 2019
Priority date	Apr 23, 2018
Publication date	Sep 21, 2021
Grant date	Sep 21, 2021

Abstract

An automatic tilting vehicle includes a pair of wheels that are non-steering driving wheels, a braking/driving device, a vehicle tilting device, and a control device, and the control unit calculates a target tilt angle of the vehicle for tilting the vehicle turning inward and controls the vehicle tilting device so that a tilt angle of the vehicle becomes the target tilt angle. The control unit calculates target braking/driving forces of the pair of wheels based on a braking/driving operation of a driver, corrects the target braking/driving forces so that a difference between vertical forces acting on the wheels caused by the braking/driving forces of the pair of wheels is reduced, and controls the braking/driving device such that braking/driving forces of the pair of wheels becomes the corrected target braking/driving forces.

First claim

What is claimed is:

1. An automatic tilting vehicle that includes a pair of wheels that are non-steering driving wheels laterally spaced, a braking/driving device for applying braking/driving forces to the pair of wheels, a vehicle tilting device that is configured to tilt the vehicle by displacing the pair of wheels in the vertical direction opposite to each other with respect to a vehicle body, and a control unit for controlling the braking/driving device and the vehicle tilting device, wherein
the control unit is configured to decreasingly correct a target braking/driving force of a turning outer wheel of the pair of wheels and increasingly correct a target braking/driving force of a turning inner wheel of the pair of wheels so that a difference in vertical forces acting on the pair of wheels due to the braking/driving forces of the pair of wheels is reduced, and to calculate a reduction correction amount of the target braking/driving force of the turning outer wheel and an increase correction amount of the target braking/driving force of the turning inner wheel based on the tilt angle of the vehicle so that magnitudes of the target braking/driving force correction amounts increase as a tilt angle of the vehicle increases.

2. The automatic tilting vehicle according to claim 1 , wherein the magnitude of the reduction correction amount of the target braking/driving force of the turning outer wheel and the magnitude of the increase correction amount of the target braking/driving force of the turning inner wheel are the same.

3. The automatic tilting vehicle according to claim 1 , wherein the vehicle has at least one steering wheel spaced in the front-rear direction with respect to the pair of wheels, and the control unit is configured to calculate a target steered angle of the steered wheel based on a steering operation of a driver, correct the target steered angle so as to cancel at least a part of a yaw moment caused by the correction of the braking/driving forces of the pair of wheels, and control a steered angle of the steered wheels based on the corrected target steered angle.

4. The automatic tilting vehicle according to claim 3 , wherein a magnitude of the correction amount of the target steered angle is variably set according to a vehicle speed so as to decrease as the vehicle speed increases.

Assignees

• Toyota Motor Co Ltd

Inventors

• Ishino Takahito

Classifications

• B60W10/184

  with wheel brakes · CPC title

• B60W2720/406

  between left and right wheel · CPC title

• B60T2260/09

  Complex systems; Conjoint control of two or more vehicle active control systems · CPC title

• B60W10/04

  including control of propulsion units · CPC title

• B62D9/002

  combined with means for differentially distributing power on the deflectable wheels during cornering · CPC title