JP2009126295A - Two-wheeled vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a two-wheeled vehicle capable of controlling the posture of a vehicle body without deteriorating riding comfort.
A two-wheeled vehicle (1) includes a vehicle body (2) and two wheels (3) arranged coaxially on the left and right sides of the vehicle body (2). The center of gravity of the two-wheeled vehicle 1 is located below the center of the wheel 3. The vehicle body 2 is provided with a seat 8 on which the occupant A sits. The seat 8 can be moved in the front-rear direction of the vehicle body 2 on the rail 9 by the seat actuator 10. Vehicle height sensors 11 and 12 for detecting the inclination of the vehicle body 2 with respect to the road surface R are provided at the lower front end and the lower rear end of the vehicle body 2. The two-wheeled vehicle 1 performs a predetermined calculation process based on the detection values of the vehicle height sensors 11 and 12, and controls the seat actuator 10 according to the calculation result, whereby the position of the seat 8 and the vehicle center of gravity G ECU for controlling the position of the.
[Selection] Figure 2

Description

  The present invention relates to a two-wheeled vehicle including two wheels disposed on both left and right sides of a vehicle body.

In recent years, a two-wheeled vehicle with two wheels has been proposed in order to achieve miniaturization and simplification of the vehicle. In such a two-wheeled vehicle, it is necessary to perform posture control so that the vehicle body does not tilt more than necessary. As a technique for performing posture control of a vehicle body, for example, as described in Patent Document 1, there is a technique that automatically moves the center of gravity of a load to achieve a horizontal balance of the vehicle body.
JP 2006-123854 A

  However, when the technique described in Patent Document 1 is applied to a two-wheeled vehicle on which a person rides, it is necessary to stabilize the posture of the vehicle body with respect to the road surface while ensuring good riding comfort for the occupant.

  An object of the present invention is to provide a two-wheeled vehicle that can control the posture of a vehicle body without deteriorating the ride comfort.

  The present invention is a two-wheeled vehicle comprising a vehicle body and two wheels arranged coaxially on the left and right sides of the vehicle body, the vehicle center of gravity being positioned below the center of the wheel, Drive means for moving the structure originally attached to the vehicle body in the front-rear direction of the vehicle body, and control means for controlling the drive means so that the position of the center of gravity of the vehicle moves in the front-rear direction of the vehicle body. To do.

  In such a two-wheeled vehicle of the present invention, when the vehicle body tilts backward, the structure is moved forward of the vehicle body to move the position of the center of gravity of the vehicle forward of the vehicle body, and the vehicle body tilts forward. In such a case, the posture of the vehicle body is controlled so that the position of the center of gravity of the vehicle is moved to the rear of the vehicle body by moving the structure to the rear of the vehicle body. In this way, the occupant is not moved directly, but the structure that is originally attached to the vehicle body is moved, so that the ride comfort is prevented from deteriorating.

  Preferably, the structure originally attached to the vehicle body is a seat on which a human is seated. By adopting a configuration in which the seat is moved in the front-rear direction of the vehicle body in this way, the position of the center of gravity of the vehicle is increased in the front-rear direction of the vehicle body by the amount corresponding to the weight of the seat and the weight of the person sitting on the seat. Can be moved. Thereby, the position of the center of gravity of the vehicle can be moved without sufficiently increasing the amount of movement of the seat.

  Further, the present invention is a two-wheeled vehicle including a vehicle body and two wheels arranged coaxially on the left and right sides of the vehicle body, and configured so that the center of gravity of the vehicle is positioned below the center of the wheel. A driving means for moving the axle for attaching the wheel to the vehicle body in the longitudinal direction of the vehicle body; and a control means for controlling the driving means so that the relative position of the center of gravity of the vehicle with respect to the axle moves in the longitudinal direction of the vehicle body. To do.

  In such a two-wheeled vehicle of the present invention, when the vehicle body tilts backward, the axle is moved to the rear of the vehicle body so that the relative position of the vehicle center of gravity with respect to the axle is moved to the front of the vehicle body. When the vehicle is tilted, the posture of the vehicle body is controlled so that the relative position of the center of gravity of the vehicle with respect to the axle is moved to the rear of the vehicle body by moving the axle to the front of the vehicle body. Since the occupant is not moved directly in this way, but the axle for attaching the wheel to the vehicle body is moved, it is possible to prevent the ride comfort from being deteriorated.

  Preferably, the vehicle further includes an inclination detection unit that detects an inclination of the vehicle body with respect to the road surface, and the control unit controls the drive unit based on the inclination of the vehicle body with respect to the road surface detected by the inclination detection unit. In this case, the posture control of the vehicle body is automatically performed by detecting the inclination of the vehicle body with respect to the road surface and moving the vehicle center of gravity or the axle in the longitudinal direction of the vehicle body so that the vehicle body inclination becomes, for example, a predetermined value or less. And it can be done easily.

  According to the two-wheeled vehicle of the present invention, the posture of the vehicle body can be stabilized without deteriorating the ride comfort.

  Hereinafter, a preferred embodiment of a two-wheeled vehicle according to the present invention will be described in detail with reference to the drawings.

  First, a first embodiment of a two-wheeled vehicle according to the present invention will be described with reference to FIGS. FIG. 1 is a schematic side view showing a two-wheeled vehicle of the present embodiment. FIG. 2 is a schematic cross-sectional view of the two-wheeled vehicle shown in FIG. 1 as viewed from the side, and FIG. 3 is a schematic cross-sectional view of the two-wheeled vehicle shown in FIG.

  In each figure, a two-wheeled vehicle 1 according to the present embodiment includes a vehicle body 2 and two wheels 3A and 3B that are coaxially arranged on the left and right sides of the vehicle body 2 and are rotatably attached to the vehicle body 2 via axles. (Hereinafter, sometimes collectively referred to as wheels 3). The two-wheeled vehicle 1 is configured such that the center of gravity G of the vehicle when the person A rides is located below the center S of the wheels 3A and 3B. In order to raise the center S of the wheels 3A, 3B above the vehicle center of gravity G, the sizes of the wheels 3A, 3B are sufficiently larger than the vehicle body 2.

  The vehicle body 2 includes drive motors 5A and 5B that rotate and drive wheels 3A and 3B via drive chains 4A and 4B, brakes 6A and 6B that brake the wheels 3A and 3B, respectively (see FIG. 4), and a battery 7 And are installed. In order to lower the vehicle center of gravity G of the two-wheeled vehicle 1 as much as possible, drive systems such as drive motors 5A and 5B, brakes 6A and 6B, and a battery 7 are housed under the floor 2a of the vehicle body 2.

  On the floor 2 a of the vehicle body 2, a seat 8 on which an occupant A sits is installed via a pair of rails 9. The seat 8 is movable in the front-rear direction of the vehicle body 2 along each rail 9 by a seat actuator 10 (for example, an electric motor). For example, when the seat actuator 10 is driven, the seat 8 moves on each rail 9 in a state where gears (not shown) provided on the seat 8 and each rail 9 are engaged with each other.

  The vehicle body 2 is provided with an accelerator operation unit (for example, an accelerator pedal), a brake operation unit (for example, a brake pedal), a steering operation unit (for example, a steering wheel), etc. It has been.

  A front vehicle height sensor 11 that detects the height position of the front end portion of the vehicle body 2 relative to the road surface R (the distance between the front end portion of the vehicle body 2 and the road surface R) is provided at the lower front end of the vehicle body 2. A rear vehicle height sensor 12 that detects a height position of the rear end portion of the vehicle body 2 with respect to the road surface R (a distance between the rear end portion of the vehicle body 2 and the road surface R) is provided at the lower end portion. These vehicle height sensors 11 and 12 constitute an inclination detection means for detecting the inclination of the vehicle body 2 with respect to the road surface R.

  Further, the bottom surface 2b of the vehicle body 2 is distanced from the ground R toward the front end and the rear end of the vehicle body 2 from the mounting positions of the wheels 3A and 3B so that it is difficult to contact the road surface R when the vehicle body 2 is inclined. The taper shape is such that (high) becomes long.

  FIG. 4 is a block diagram showing a control system of the two-wheeled vehicle 1. In the figure, the two-wheeled vehicle 1 further includes an accelerator opening sensor 13, a brake sensor 14, a steering angle sensor 15, and an ECU (Electronic Control Unit) 16 mounted on the vehicle body 2.

  The accelerator opening sensor 13 is a sensor that detects an operation amount (accelerator opening) of the accelerator operation unit. The brake sensor 14 is a sensor that detects an operation amount of the brake operation unit. The steering angle sensor 15 is a sensor that detects an operation amount of the steering operation unit.

  The ECU 16 includes a drive control unit 17, a braking control unit 18, and a seat position control unit 19.

  The drive control unit 17 obtains motor torque to be applied to the drive motors 5A and 5B based on the output signal of the accelerator opening sensor 13 (accelerator opening signal) and the output signal of the steering angle sensor 15 (steering angle signal). The drive motors 5A and 5B are controlled according to the motor torque. At this time, the distribution of the motor torque to be given to the drive motors 5A and 5B is determined from the steering angle signal.

  The brake control unit 18 controls the brakes 6A and 6B according to the output signal (brake signal) of the brake sensor 14.

  The seat position control unit 19 performs predetermined calculation processing based on the output signals of the vehicle height sensors 11 and 12, and controls the position of the seat 8 by controlling the seat actuator 10 according to the calculation result. The attitude of the wheeled vehicle 1 (vehicle center of gravity position) is controlled.

  The concept of performing attitude control of such a two-wheeled vehicle 1 will be described. In the following description, the friction generated in each part is omitted.

  FIG. 5 shows the balance of forces when the two-wheeled vehicle 1 is stopped on a flat road. FIG. 5A shows the force applied to the wheel 3, and FIG. 5B shows the force applied to the vehicle body 2. In FIG. 5, gravity Fa is applied to the center of gravity G of the two-wheeled vehicle 1, and a reaction force Fb against the gravity Fa is applied to the wheel center S. Then, a reaction force Fb ′ against the force Fb is applied to the wheel center S, and a reaction force Fc against the force Fb ′ is applied to the ground contact point of the wheel 3. At this time, since the center of gravity G of the vehicle is located directly below the axle (wheel center S), any force is applied on the same vertical line, so that no moment is generated and each force is balanced.

  FIG. 6 shows the balance of forces when the two-wheeled vehicle 1 is accelerating on a flat road. FIG. 6A shows the force applied to the wheel 3, and FIG. 6B shows the force applied to the vehicle body 2. In FIG. 6, when the two-wheeled vehicle 1 is accelerated, a backward inertial force is applied to the two-wheeled vehicle 1. For this reason, the force Fa applied to the vehicle center of gravity G is a resultant force of gravity and inertial force, and is inclined from the vertical line. The reaction forces Fb, Fb ', and Fc generated therefrom are naturally determined from the balance of forces. Here, the motor torque M of the drive motor for acceleration must be balanced with the moment generated by the forces Fb ′ and Fc at the wheel 3 and the moment generated by the forces Fa and Fb at the vehicle body 2. This is established when the vehicle center of gravity G is positioned so that the force Fa is directed to the ground point of the wheel 3. For this reason, the vehicle body 2 is inclined backward, and depending on the degree, contact between the vehicle body 2 and the ground R occurs.

  Therefore, at the time of such acceleration, as shown in FIG. 7, the posture is controlled so that the vehicle body 2 tilts forward and becomes substantially horizontal with respect to the road surface R by moving the vehicle center of gravity G to the front of the vehicle body 2. There is a need to.

  In a state where the two-wheeled vehicle 1 is decelerated on a flat road, the vehicle body 2 tilts forward, contrary to the time of acceleration, although not shown. For this reason, it is necessary to perform posture control so that the vehicle body 2 tilts backward by moving the vehicle center of gravity G to the rear of the vehicle body 2.

  FIG. 8 shows the balance of force when the two-wheeled vehicle 1 is traveling uphill. FIG. 8A shows the force applied to the wheel 3, and FIG. 8B shows the force applied to the vehicle body 2. In FIG. 8, when traveling on an uphill road, it can be explained in the same way as during acceleration shown in FIG. In this case, the motor torque M of the drive motor is generated so that the two-wheeled vehicle 1 does not roll over even when the two-wheeled vehicle 1 is stopped on the uphill road. Similarly to the above, the motor torque M needs to be balanced with the moment generated by the forces Fb ′ and Fc in the wheel 3 and the moment generated by the forces Fa and Fb in the vehicle body 2. For this reason, the center of gravity G of the vehicle must be positioned so that the force Fa is directed to the ground contact point of the wheel 3. Accordingly, in this case as well, the vehicle body 2 tilts backward as in acceleration.

  Therefore, as shown in FIG. 9, the posture is controlled so that the vehicle body 2 is tilted forward and substantially horizontal with respect to the road surface R by moving the vehicle center of gravity G to the front of the vehicle body 2 as in acceleration. There is a need.

  In a state where the two-wheeled vehicle 1 is traveling on a downhill, although not shown, the vehicle body 2 is tilted forward as opposed to when climbing uphill. For this reason, it is necessary to perform posture control so that the vehicle body 2 tilts backward by moving the vehicle center of gravity G to the rear of the vehicle body 2.

FIG. 10 is a flowchart showing a procedure of control processing executed by the sheet position control unit 19 based on the above concept. In the figure, first calculates the difference between the vehicle height limit H ₀ of the detection value H ₁ is preset front vehicle height sensor 11, the difference between them to determine whether a 0 or less (steps S101).

When the difference between the detected value H ₁ of the front vehicle height sensor 11 and the vehicle height limit value H ₀ is 0 or less, a proportional constant is added to the difference in order to increase the distance between the front end of the vehicle body 2 and the road surface R. The sheet movement amount ΔL is calculated by multiplying k (step S102). Then, the seat actuator 10 is controlled to move the seat 8 to the rear of the vehicle body 2 by the seat movement amount ΔL (step S103). As a result, the center of gravity G of the two-wheeled vehicle 1 moves to the rear of the vehicle body 2, so that the vehicle body 2 is tilted rearward and the posture of the vehicle body 2 is corrected in the horizontal direction.

When the difference between the detection value H ₁ and the vehicle height limit H ₀ of the front vehicle height sensor 11 in step S101 is determined not at most 0, the detected value of H ₂ rear vehicle height sensor 12 and subsequently calculating a difference between the vehicle height limit H _0, the difference between them to determine whether a 0 or less (Step S104).

When the difference between the detection value H ₂ and vehicle height limit value H ₀ of the rear vehicle height sensor 12 is 0 or less, in order to increase the distance between the rear end portion and the road surface R of the vehicle body 2, proportional to the difference constant The sheet movement amount ΔL is calculated by multiplying k (step S105). Then, the seat actuator 10 is controlled to move the seat 8 forward of the vehicle body 2 by the amount of seat movement ΔL (step S106). As a result, the center of gravity G of the two-wheeled vehicle 1 moves in front of the vehicle body 2, so that the vehicle body 2 tilts forward and the posture of the vehicle body 2 is corrected in the horizontal direction.

When the difference between the detection value H ₂ and vehicle height limit value H ₀ of the rear vehicle height sensor 12 in step S104 is determined not at most 0, the distance between the front and rear ends and the road surface R of the vehicle body 2 Since there is room, the present process is terminated without moving the sheet 8.

  In the above, the seat actuator 10 constitutes drive means for moving the structure 8 that is originally attached to the vehicle body 2 in the front-rear direction of the vehicle body 2. The seat position control unit 19 of the ECU 16 constitutes a control unit that controls the driving unit 10 so that the position of the vehicle gravity center G moves in the front-rear direction of the vehicle body 2.

  As described above, in the two-wheeled vehicle 1 of the present embodiment, when the vehicle body 2 is tilted rearward, the vehicle center of gravity G is moved forward by controlling the seat actuator 10 so that the seat 8 moves forward. When the vehicle body 2 tilts forward, the vehicle center of gravity G is moved rearward by controlling the seat actuator 10 so that the seat 8 moves rearward. Thus, the posture of the two-wheeled vehicle 1 is maintained substantially horizontal with respect to the ground. Since the vehicle center of gravity G is moved in the front-rear direction by moving the seat 8 in the front-rear direction in this way, the posture of the two-wheeled vehicle 1 can be stabilized without deteriorating the ride comfort for the occupant. Further, since the vehicle center of gravity G itself of the two-wheeled vehicle 1 is moved in the front-rear direction, the posture control of the two-wheeled vehicle 1 can be performed with a simple structure.

  At this time, since a person is seated on the seat 8, when the seat 8 moves, the center of gravity G of the vehicle does not move by the weight of the seat 8, but the sum of the weight of the seat 8 and the weight of the passenger sitting on the seat 8 The vehicle center of gravity G moves by the amount. Therefore, the movement range of the vehicle center of gravity G can be widened.

  In the above-described embodiment, the seat 8 is moved in the front-rear direction. However, the configuration is not particularly limited, and the structure is inherently attached to the vehicle body 2 such as the battery 7 and the drive motors 5A and 5B. You may make it move the vehicle gravity center G to the front-back direction by moving an object to the front-back direction.

  A second embodiment of the two-wheeled vehicle according to the present invention will be described with reference to FIGS. In the figure, the same or equivalent elements as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  This embodiment does not move the center of gravity G of the two-wheeled vehicle in the longitudinal direction of the vehicle body 2 as in the first embodiment, but moves the axle for attaching the wheels 3A and 3B to the vehicle body 2 in the longitudinal direction of the vehicle body 2. It is to let you. That is, the case where the vehicle center of gravity G is moved in the longitudinal direction of the vehicle body 2 as shown in FIG. 11A and the case where the axle J is moved in the longitudinal direction of the vehicle body 2 as shown in FIG. Then, if the movement range Δ is the same, a similar posture change (vertical change) of the vehicle body 2 is obtained, and the relative position between the axle J (wheel center S) and the vehicle center of gravity G changes by the same amount. Both can be said to be equivalent.

  FIG. 12 is a schematic cross-sectional view of the two-wheeled vehicle of the present embodiment as viewed from the lateral direction, and FIG. 13 is a schematic cross-sectional view of the two-wheeled vehicle illustrated in FIG. 12 as viewed from the front. In each figure, the two-wheeled vehicle 31 of the present embodiment is replaced with an axle moving mechanism 32 as shown in FIG. 14 (not shown in FIGS. 12 and 13) instead of the seat actuator 10 as shown in FIGS. have. The axle moving mechanism 32 is provided on the suspension of the two-wheeled vehicle 31. FIG. 14 is a schematic view of the axle moving mechanism 32 as viewed from above the vehicle.

  The axle movement mechanism 32 includes an axle support member 33 that supports an axle J (see FIG. 11) via a bearing (not shown), two links 34 and 35 that support the axle support member 33 on the vehicle body 2, and have.

  The link 34 extends in the width direction of the vehicle body 2, and couples the axle support member 33 and the vehicle body 2 with a degree of freedom of displacement via a joint 36. The link 35 extends in the front-rear direction of the vehicle body 2, and connects the axle support member 33 and the vehicle body 2 via a joint 37 with a degree of freedom of displacement. The link 35 is provided with an axle actuator 38 that moves the axle support member 33 in the front-rear direction. That is, the link 35 is configured as a link with an actuator. As the axle actuator 38, for example, a hydraulic cylinder or the like is used. The axle support member 33 is supported in the vertical direction on the vehicle body 2 by a spring mechanism with a damper (not shown).

  FIG. 15 is a block diagram showing a control system of the two-wheeled vehicle 31. In the same figure, ECU16 has the axle position control part 39 instead of the seat position control part 19 shown in FIG. The axle position control unit 39 performs a predetermined calculation process based on the output signals of the vehicle height sensors 11 and 12, and controls the position of the axle J by controlling the axle actuator 38 according to the calculation result. The attitude of the wheeled vehicle 31 is controlled.

  The procedure of the control process executed by the axle position control unit 39 is shown in FIG. The procedures S101, S102, S104, and S105 are the same as the processing shown in FIG.

When the difference between the detection value H ₁ and vehicle height limit value H ₀ of the front vehicle height sensor 11 is determined to be smaller than or equal to 0 in step S101, only the sheet movement amount ΔL amount calculated in step S102 axle J The axle actuator 38 is controlled so that (see FIG. 11) is moved forward of the vehicle body 2 (step S111).

  Accordingly, when the two-wheeled vehicle 31 decelerates or travels downhill, the axle J moves to the front of the vehicle body 2 when the vehicle body 2 tilts forward. For this reason, since the relative position of the vehicle center of gravity G with respect to the axle J moves to the rear of the vehicle body 2, the vehicle body 2 tilts rearward and the posture of the vehicle body 2 is corrected in the horizontal direction.

When the difference between the detection value H ₂ and vehicle height limit value H ₀ of the rear vehicle height sensor 12 is determined to be 0 or less in step S104, the sheet movement amount ΔL amount corresponding axle J calculated in Step S105 The axle actuator 38 is controlled to move to the rear of the vehicle body 2 (step S112).

  Therefore, when the two-wheeled vehicle 31 accelerates or travels uphill, the axle J moves to the rear of the vehicle body 2 when the vehicle body 2 is tilted rearward. For this reason, since the relative position of the vehicle center of gravity G with respect to the axle J moves to the front of the vehicle body 2, the vehicle body 2 tilts forward and the posture of the vehicle body 2 is corrected in the horizontal direction.

The difference between the detection value H ₁ and vehicle height limit value H ₀ of the front vehicle height sensor 11 in step S101 it is determined that there is not at most 0, further detection value H ₂ and vehicle height limit of the rear vehicle height sensor 12 in step S104 When it is determined that the difference from the value H ₀ is not less than or equal to 0, this process is performed without moving the axle J because the distance between the front and rear ends of the vehicle body 2 and the road surface R has a margin. finish.

  In the above, the axle movement mechanism 32 including the axle actuator 38 constitutes drive means for moving the axle J, which attaches the wheels 3A and 3B to the vehicle body 2, in the longitudinal direction of the vehicle body 2. The axle position control unit 39 of the ECU 16 constitutes control means for controlling the driving means 32 so that the relative position of the vehicle center of gravity G with respect to the axle J moves in the front-rear direction of the vehicle body 2.

  As described above, according to the present embodiment, when the vehicle body 2 is tilted backward, the axle actuator 38 is controlled so that the axle J moves backward, so that the relative position of the vehicle center of gravity G with respect to the axle J is set to the front. When the vehicle body 2 tilts forward, the axle actuator 38 is controlled so that the axle J moves forward, so that the relative position of the vehicle center of gravity G with respect to the axle J is moved backward. The posture of the two-wheeled vehicle 31 is maintained substantially horizontal with respect to the ground R. Thereby, the attitude | position of the two-wheeled motor vehicle 31 can be stabilized, without deteriorating riding comfort for a passenger | crew.

  Further, since the axle J is moved in the front-rear direction, the total weight of the vehicle body 2 is effective in changing the relative position between the axle J and the vehicle center of gravity G. Therefore, as compared with the case where the seat 8 is moved to move the vehicle center of gravity G itself, if the movement amount of the axle J is the same as the movement amount of the seat 8, the seat 8 is moved when the axle J is moved. The relative position of the center of gravity G of the vehicle with respect to the axle J can be moved more than when it is set. As a result, the attitude control of the two-wheeled vehicle can be performed more effectively.

  The present invention is not limited to the above embodiment. For example, the above embodiment is a two-wheeled vehicle for single passengers, but it goes without saying that the present invention can also be applied to a two-wheeled vehicle for multiple passengers.

  Moreover, although the said embodiment controls the attitude | position of a vehicle based on the detected value of the vehicle height sensor (distance sensor) 11 and 12, if it detects the inclination of the vehicle body 2 with respect to the road surface R, a vehicle Sensors other than the high sensor may be used. In the above-described embodiment, the position of the seat 8 is controlled based on the detection values of the vehicle height sensors 11 and 12, but the vehicle posture may be controlled by limiting the driving torque.

  Furthermore, in the above embodiment, the braking control unit 18 of the ECU 16 performs wheel braking control in accordance with the brake signal, but the motor regenerative braking may be performed by the drive control unit 17 of the ECU 16.

1 is a schematic side view showing a first embodiment of a two-wheeled vehicle according to the present invention. It is the schematic sectional drawing which looked at the two-wheeled motor vehicle shown in FIG. 1 from the horizontal direction. It is the schematic sectional drawing which looked at the two-wheeled vehicle shown in Drawing 1 from the front. FIG. 2 is a block diagram showing a control system of the two-wheeled vehicle shown in FIG. 1. It is a conceptual diagram which shows the balance of force when the two-wheeled motor vehicle shown in FIG. 1 has stopped on the flat road. It is a conceptual diagram which shows balance of force when the two-wheeled motor vehicle shown in FIG. 1 is accelerating on a flat road. It is a conceptual diagram which shows a mode that the attitude | position of a vehicle body is controlled at the time of acceleration of the two-wheeled motor vehicle shown in FIG. It is a conceptual diagram which shows balance of force when the two-wheeled motor vehicle shown in FIG. 1 is traveling uphill. It is a conceptual diagram which shows a mode that the attitude | position of a vehicle body is controlled at the time of climbing of the two-wheeled motor vehicle shown in FIG. 5 is a flowchart showing a procedure of control processing executed by a sheet position control unit shown in FIG. It is a conceptual diagram which compares and shows the case where a vehicle gravity center is moved, and the case where an axle shaft is moved. It is the schematic sectional drawing which looked at 2nd Embodiment of the two-wheeled motor vehicle concerning this invention from the horizontal direction. FIG. 13 is a schematic cross-sectional view of the two-wheeled vehicle shown in FIG. 12 as viewed from the front. FIG. 12 is a diagram schematically showing an axle movement mechanism that moves the axle shown in FIG. 11. FIG. 14 is a block diagram showing a control system of the two-wheeled vehicle shown in FIGS. 12 and 13. It is a flowchart which shows the procedure of the control processing performed by the axle position control part shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Two-wheeled motor vehicle, 2 ... Vehicle body, 3 ... Wheel, 3A, 3B ... Wheel, 8 ... Seat (structure), 10 ... Seat actuator (drive means), 11 ... Front vehicle height sensor (tilt detection means), DESCRIPTION OF SYMBOLS 12 ... Rear vehicle height sensor (tilt detection means), 16 ... ECU, 19 ... Seat position control part (control means), 31 ... Two-wheeled vehicle, 32 ... Axle moving mechanism (drive means), 38 ... Axle actuator, 39 ... Axle position control unit (control means), G ... vehicle center of gravity, S ... wheel center, J ... axle.

Claims (4)

A two-wheeled vehicle comprising a vehicle body and two wheels disposed coaxially on the left and right sides of the vehicle body, the vehicle center of gravity being configured to be positioned below the center of the wheel,
Driving means for moving a structure originally attached to the vehicle body in the front-rear direction of the vehicle body;
A two-wheeled vehicle comprising: control means for controlling the drive means so that the position of the center of gravity of the vehicle moves in the front-rear direction of the vehicle body.   The two-wheeled vehicle according to claim 1, wherein the structure originally attached to the vehicle body is a seat on which a human is seated. A two-wheeled vehicle comprising a vehicle body and two wheels disposed coaxially on the left and right sides of the vehicle body, the vehicle center of gravity being configured to be positioned below the center of the wheel,
Driving means for moving an axle for attaching the wheel to the vehicle body in a longitudinal direction of the vehicle body;
A two-wheeled vehicle comprising: control means for controlling the drive means so that a relative position of the center of gravity of the vehicle with respect to the axle moves in a longitudinal direction of the vehicle body. An inclination detecting means for detecting the inclination of the vehicle body with respect to the road surface;
The two-wheeled vehicle according to any one of claims 1 to 3, wherein the control unit controls the driving unit based on an inclination of the vehicle body with respect to the road surface detected by the inclination detection unit.

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