Wheelie controller and control method thereof
AssigneeRobert Bosch GmbH
InventorYoshihide Igari
Life of this patent
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Abstract
A wheelie controller and a control method thereof or preventing a reduction of acceleration that is more than necessary and reducing a shock during a contact of a front wheel with the ground when a wheelie state is terminated. The wheelie controller for controlling a wheelie of a vehicle body computes a target trajectory, which is a target of a parameter and is used to control the wheelie state of the vehicle body, in accordance with the parameter that is related to pitch of the vehicle body and controls an increase/reduction of the pitch of the vehicle body so as to bring the parameter close to the target trajectory.
Claims20
A wheelie controller for controlling a wheelie of a vehicle, the wheelie controller configured to:
- compute a target output value of a motor of the vehicle so as to cause the wheelie of the vehicle;
- control a torque output of the motor so as to bring it close to the target output value to initiate the wheelie from a non-wheelie state;
- compute a target trajectory, which is a target of a parameter and to control a wheelie state of the vehicle, in accordance with the parameter that is related to a pitch of the vehicle;
- and
- continue to control, from a time at which the wheelie is initiated such that a front wheel of the vehicle comes off a road surface to a time at which a rider operates an accelerator of the vehicle for deceleration, an increase/reduction of the pitch of the vehicle so as to bring the parameter close to the target trajectory and to maintain the wheelie state.
A control method of a wheelie controller for controlling a wheelie of a vehicle, the method comprising:
- computing a target output value of a motor of the vehicle so as to cause the wheelie of the vehicle;
- control a torque output of the motor so as to bring it close to the target output value to initiate the wheelie from a non-wheelie state;
- computing a target trajectory, which is a target of a parameter and control a wheelie state of the vehicle, in accordance with the parameter that is related to pitch of the vehicle;
- and
- continuing to control, from a time at which the wheelie is initiated such that a front wheel comes off a road surface to a time at which a rider operates an accelerator of the vehicle for deceleration, an increase/reduction of the pitch of the vehicle so as to bring the parameter close to the target trajectory and to maintain the wheelie.
Dependencies are inferred from the claim text.