Patent ID: 9037347
Filing Date: 2015-05-19
Classification: B60G,B62D,B62K

Abstract:
1. A vehicle characterized by comprising: a main body section having a wheel for travel; a cockpit section connected to the main body section; a steering section which includes a steering member operated by a driver, a wheel for steering, a steering shaft connecting the steering member and the wheel for steering and swingably supported by the cockpit section, and an acceleration operation member for accelerating the vehicle; a vehicle inclining apparatus which includes a vehicle inclining mechanism which inclines a predetermined inclination portion of the vehicle and an actuator for operating the vehicle inclining mechanism; a lateral acceleration detection section disposed at a predetermined location on the inclination portion and adapted to detect a lateral acceleration acting on the inclination portion; an inclination control processing section which generates a control value for inclination control for inclining the inclination portion, in accordance with the lateral acceleration detected by the lateral acceleration detection section; an inclination drive control processing section which drives the actuator on the basis of the control value for inclination control generated by the inclination control processing section; a travel control processing section which generates, on the basis of an amount of operation of the acceleration operation member by the driver, a control value for travel control for driving a drive section for travel for traveling the vehicle; and a travel drive control processing section which drives the drive section for travel on the basis of the control value for travel control generated by the travel control processing section, wherein the inclination control processing section includes: a centroid moving amount calculation processing section which calculates a moving amount of the centroid of the vehicle in a front-rear direction thereof, a maximum angular acceleration calculation processing section which calculates a maximum angular acceleration on the basis of the moving amount of the centroid of the vehicle in the front-rear direction thereof, and a first control value limiting processing section which limits a variation of the control value for inclination control on the basis of the maximum angular acceleration.