To maintain stability of a vehicle body, improve turning performance, prevent an occupant from feeling discomfort, have good riding comfort, and achieve a stable traveling state, even in rapid deceleration during turning, by preventing great change in a reduction ratio of a steering angle of a steering wheel with respect to a steering angle instruction.
A vehicle includes: the vehicle body having a steering part and a body part connected with each other; a steerable wheel 12F steering the vehicle body; a non-steerable wheel 12R; a steering device 41a inputting the steering angle instruction; a link mechanism tilting the steering part 11 or the body part 20 in the turning direction; a tilting actuator device operating the link mechanism; and a steering actuator device 65 changing the steering angle of the steerable wheel based on the steering angle instruction. A change amount of a speed reduction ratio of the steering angle of the steerable wheel with respect to the steering angle instruction does not exceed a limit value of a link angular acceleration of the link mechanism.
HAYASHI KOKI
YAMAMOTO SHINJI
| JP2010263767A | 2010-11-18 | |||
| JP2011194953A | 2011-10-06 | |||
| JP2011073624A | 2011-04-14 |
| WO2010147100A1 | 2010-12-23 |
Mamoru Shimizu
Makoto Kawai