Method of modeling two-wheeler stable travel control system, two-wheeler stable travel simulator, program, two-wheeler stable travel control system, and two-wheeler stable travel control device

A method of modeling a two-wheeler stable travel control system, comprising:

• a first step of acquiring a vehicle model obtained by modeling a two-wheeler into a model having a center of gravity of a front vehicle body, a center of gravity of a rear vehicle body, a center of gravity of a front tire including a front tire main body and a front suspension, and a center of gravity of a rear tire including a rear tire main body and a rear suspension;
• a second step of creating a linear equation of motion for the vehicle model on a condition that an action term indicating a sum of acting forces acting on the respective centers of gravity and an inertia term indicating a sum of inertial forces acting on the respective centers of gravity are balanced;
• a third step of converting the linear equation of motion into a state equation;
• a fourth step of acquiring, by analysis based on a root trajectory of the state equation, a feedback gain allowing stable travel of the vehicle model at a speed within a predetermined speed range;
• and
• a fifth step of creating a model of the two-wheeler stable travel control system that performs negative feedback control using the feedback gain obtained in the fourth step.