Leaning-vehicle-steering-actuator controller and leaning vehicle
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United States of America Patent
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Jul 9, 2024
Grant Date -
Jun 17, 2021
app pub date -
Feb 26, 2021
filing date -
Aug 30, 2018
priority date (Note) -
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status (Latency Note)
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Abstract
A leaning vehicle including a vehicle body frame, at least one steerable wheel, a handlebar, of which the manipulation by a rider generates a steering torque, a steering actuator steering the at least one steerable wheel, a roll rate sensor detecting a roll rate of the vehicle body frame, and a steering actuator controller. The steering actuator controller includes a torque estimation section that receives an input to thereby generate an estimated value of the steering torque, and a current determination section that obtains a control current based on the estimated valued of the steering torque generated by the torque estimation section, and outputs the control current to the steering actuator to control the steering actuator. The input of the torque estimation section includes the roll rate obtained from the roll rate sensor, but is free from any value of the steering torque detected by a torque sensor.
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