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US 12,649,516 B2Granted
Steering control system for two-wheeled vehicle
AssigneeYamaha Hatsudoki Kabushiki Kaisha
InventorsTomoyuki Higashi, Mitsuharu Hasumi, Tatsuya Moriguchi
Life of this patent
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Abstract
A control device calculates assistive torque that is directed in a direction corresponding to a roll angular velocity detected by a sensor and has a magnitude corresponding to the roll angular velocity, and controls an actuator that applies the torque to a steering shaft based on the assistive torque. This allows appropriate torque to be applied to the steering shaft of a two-wheeled vehicle while avoiding problems specific to a torque sensor.
Claims13
A steering control system of a two-wheeled vehicle comprising:
- an actuator that applies torque to a steering shaft;
- a first sensor that detects a roll angular velocity of a vehicle body;
- a second sensor that detects a pedaling force;
- and
- a control device that determines whether the vehicle is in a pushing-walking state based on whether the pedaling force is applied to the pedal, and, when it is determined that the vehicle is not in the pushing-walking state, calculates assistive torque, which is directed in a direction corresponding to the detected roll angular velocity and has a magnitude corresponding to the roll angular velocity, and controls the actuator based on the assistive torque.
2 more elements
Dependencies are inferred from the claim text.