LEANING VEHICLE

Abstract

A leaning vehicle including a vehicle body, front and rear wheels, a leaning mechanism that causes the vehicle body and the front and rear wheels to lean left or right when the leaning vehicle turns left or right, a lean actuator, a support stand, a detection device that detects a getting on intention input and or a getting off intention input, which respectively indicate that a rider of the leaning vehicle intends to get on and off the leaning vehicle, and a control device configured to control the lean actuator to thereby control a lean angle of the vehicle body while the vehicle body is in motion, based on a manipulation that the rider performs for turning in the left or right direction, and control the lean angle of the vehicle body while the leaning vehicle is not in motion, based on a detection result of the detection device.

Claims

1. A leaning vehicle comprising: a vehicle body; at least one front wheel and at least one rear wheel, which are supported by the vehicle body and include one front wheel and two rear wheels, or two front wheels and one or two rear wheels; a leaning mechanism that causes the vehicle body, the at least one front wheel, and the at least one rear wheel to lean in a left direction when the leaning vehicle turns in the left direction, and to lean in a right direction when the leaning vehicle turns in the right direction; a lean actuator connected to the leaning mechanism, the lean actuator being configured to impart a force to a leaning operation of the vehicle body, the at least one front wheel, and the at least one rear wheel; a support stand configured to maintain the vehicle body of the leaning vehicle at a predetermined lean angle when the leaning vehicle is not in motion; a detection device that detects a getting on intention input, which indicates that a rider of the leaning vehicle intends to get on the leaning vehicle, or a getting off intention input, which indicates that the rider intends to get off the leaning vehicle; and a control device configured to control the lean actuator to thereby control a lean angle of the vehicle body while the vehicle body is in motion, based on a manipulation that the rider performs for turning in the left direction or the right direction, and control the lean angle of the vehicle body while the leaning vehicle is not in motion, based on a detection result of the detection device, by before detecting the getting on intention input, maintaining the vehicle body at the predetermined lean angle upon detecting the getting on intention input, controlling the lean actuator, such that the lean angle of the vehicle body is controlled by the lean actuator, rather than by the support stand.

2. The leaning vehicle according to claim 1, wherein the detection device detects the getting on intention input or the getting off intention input from the rider, when the rider is away from the leaning vehicle.

3. The leaning vehicle according to claim 2, wherein the getting on intention input or the getting off intention input includes at least one of an image, a voice, a radio wave or a sound wave.

4. The leaning vehicle according to claim 3, wherein while the vehicle is not in motion, after the detection device detects the getting on intention input or the getting off intention input, the lean actuator controls the lean angle of the vehicle body, before the rider gets on or gets off the leaning vehicle or after the rider gets on or gets off the leaning vehicle.

5. The leaning vehicle according to claim 2, wherein while the vehicle is not in motion, after the detection device detects the getting on intention input or the getting off intention input, the lean actuator controls the lean angle of the vehicle body, before the rider gets on or gets off the leaning vehicle or after the rider gets on or gets off the leaning vehicle.

6. The leaning vehicle according to claim 1, further comprising an intention input device that receives the getting on intention input or the getting off intention input indicating an intention of the rider to get on or get off the leaning vehicle, the intention input device being disposed at a position to be manipulatable by the rider, wherein the detection device detects the getting on intention input or the getting off intention input that the rider enters to the intention input device.

7. The leaning vehicle according to claim 6, wherein while the vehicle is not in motion, after the detection device detects the getting on intention input or the getting off intention input, the lean actuator controls the lean angle of the vehicle body, before the rider gets on or gets off the leaning vehicle or after the rider gets on or gets off the leaning vehicle.

8. The leaning vehicle according to claim 1, wherein while the vehicle is not in motion, after the detection device detects the getting on intention input or the getting off intention input, the lean actuator controls the lean angle of the vehicle body, before the rider gets on or gets off the leaning vehicle or after the rider gets on or gets off the leaning vehicle.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0041] [FIG. 1] A diagram containing: a block diagram showing a configuration related to a getting on/getting off control in a leaning vehicle according to a first embodiment of the present teaching; and an illustrative diagram for illustrating the getting on/getting off control

[0042] [FIG. 2] A flowchart showing an example of the getting on/getting off control, which is executed by a control device included in the leaning vehicle shown in FIG. 1

[0043] [FIG. 3] A diagram containing: a block diagram showing a configuration related to a getting on/getting off control in a leaning vehicle according to a variation of the first embodiment of the present teaching; and an illustrative diagram for illustrating the getting on/getting off control

[0044] [FIG. 4] A diagram containing: a block diagram showing a configuration related to a getting on/getting off control in a leaning vehicle according to a second embodiment of the present teaching; and an illustrative diagram for illustrating the getting on/getting off control

[0045] [FIG. 5] A diagram containing: a block diagram showing a configuration related to a getting on/getting off control in a leaning vehicle according to a variation of the second embodiment of the present teaching; and an illustrative diagram for illustrating the getting on/getting off control

DESCRIPTION OF EMBODIMENTS

[0046] In the following, details of leaning vehicles according to some embodiments of the present teaching will be described with reference to the drawings. The embodiments described below are no more than examples. The present teaching should never be construed in a limited way based on the embodiments described below.

[0047] Referring to FIG. 1, a leaning vehicle 10 according to a first embodiment of the present teaching will be described. In this Description, various directions in relation to the leaning vehicle 10 are directions as viewed by a rider sitting on a seat of the leaning vehicle 10. In the leaning vehicle 10, a vehicle body 20 is capable of leaning in a left direction L or a right direction R. When the vehicle body 20 leans in the left direction L or the right direction R, an up-down (upward-downward) direction and a left-right direction of the vehicle body are not coincident with an up-down direction UD and a left-right direction LR of the vehicle. When the vehicle body 20 is upright, the up-down direction and the left-right direction of the vehicle body 20 are coincident with the up-down direction UD and the left-right direction LR of the vehicle.

[0048] The leaning vehicle 10 includes the vehicle body 20, two front wheels 30F, one rear wheel 30B, a leaning mechanism 40, a lean actuator 50, a detection device 60, and a control device 70. They will be described below.

[0049] The vehicle body 20 includes a vehicle body frame, for example. The two front wheels 30F are supported by the vehicle body 20 respectively. The two front wheels 30F are arranged side by side in the left-right direction LR of the vehicle. The two front wheels 30F are supported by the vehicle body 20 so as to be swingable about an axis extending in the up-down direction of the vehicle body. The rear wheel 30B is supported by the vehicle body 20.

[0050] When the leaning vehicle turns in the left direction L, the leaning mechanism 40 causes the vehicle body 20, the front wheels 30F, and the rear wheel 30B to lean in the left direction L. When the leaning vehicle turns in the right direction R, the leaning mechanism 40 causes the vehicle body 20, the front wheels 30F, and the rear wheel 30B to lean in the right direction R.

[0051] The lean actuator 50 is connected to the leaning mechanism 40. The lean actuator 50 is, for example, an electric motor having an output member capable of rotating in a clockwise and a counter-clockwise, the output member being mechanically connected to the leaning mechanism 40. The lean actuator 50 imparts a force to a leaning operation of the vehicle body 20, the two front wheels 30F, and the rear wheel 30B.

[0052] The detection device 60 detects a getting on/getting off intention input. The getting on/getting off intention input indicates an intention of the rider to get on or get off the leaning vehicle 10.

[0053] In an example shown in FIG. 1, in a case where the detection device 60 detects a getting on/getting off intention input indicating an intention of the rider to get on the vehicle, the detection is made while the potential rider is located away from the leaning vehicle 10. In the example shown in FIG. 1, in a case where the detection device 60 detects a getting on/getting off intention input indicating an intention of the rider to get off the vehicle, the detection is made while the rider is in contact with the leaning vehicle 10.

[0054] Based on the detection device 60 detecting the getting on/getting off intention input indicating the intention of the rider to get on or get off the vehicle, the control device 70 controls the lean actuator 50 so as to control a lean angle of the vehicle body 20 while the vehicle is not in motion.

[0055] The leaning vehicle 10 further includes a device for maintaining a state of the vehicle body 20 while the vehicle is not in motion. To be specific, the leaning vehicle 10 further includes a device for keeping the vehicle body 20 leaning in the left direction L or the right direction R while the vehicle is not in motion. In the example shown in FIG. 1, the leaning vehicle 10 further includes a side stand 80. Changing the state of the side stand 80 from a retracted state to a usable state allows the side stand 80 to keep the vehicle body 20 leaning in the left direction L or the right direction R while the vehicle is not in motion. In the example shown in FIG. 1, the side stand 80 is disposed farther in the left direction than the center of the leaning vehicle 10 with respect to the left-right direction LR. The side stand 80, therefore, keeps the vehicle body 20 leaning in the left direction L while the vehicle is not in motion. The device for maintaining the state of the vehicle body 20 while the vehicle is not in motion may be a device for keeping the vehicle body 20 upright while the vehicle is not in motion.

[0056] In a case of controlling the lean actuator 50 so as to increase the lean angle of the vehicle body 20, the control device 70 leans the vehicle body 20 in one of the left direction L or the right direction R in which the side stand 80 is present relative to the center of the leaning vehicle 10 with respect to the left-right direction LR. In the example shown in FIG. 1, the side stand 80 is disposed farther in the left direction than the center of the leaning vehicle 10 with respect to the left-right direction LR. Thus, in the case of controlling the lean actuator 50 so as to increase the lean angle of the vehicle body 20, the control device 70 leans the vehicle body 20 in the left direction L.

[0057] Next, the getting on/getting off control, which is executed by the control device 70, will be described with reference to FIG. 2. First, in step S11, the control device 70 determines whether or not the leaning vehicle 10 is not in motion. The determination of whether or not the leaning vehicle 10 is not in motion may be made based on whether or not the leaning vehicle 10 has been started, or may be made by using a signal from a vehicle speed sensor that detects a vehicle speed of the leaning vehicle 10, for example. In a case where the determination is made based on whether or not the leaning vehicle 10 has been started, the leaning vehicle 10 is determined as being not in motion if the leaning vehicle 10 has not been started. If the leaning vehicle 10 is in motion (step S11: NO), the control device 70 terminates the getting on/getting off control.

[0058] If the leaning vehicle 10 is not in motion (step S11: YES), the control device 70 determines whether or not the detection device 60 has detected a getting on/getting off intention input (step S12). In the example shown in FIG. 1, a situation where the detection device 60 detects a getting on/getting off intention input indicating an intention of the rider to get on the vehicle occurs when, for example, the potential rider manipulates a smart key at a location apart from the leaning vehicle 10, and the control device 70 determines whether or not the detection device 60 has detected a signal from the smart key. A situation where the detection device 60 detects a getting on/getting off intention input indicating an intention of the rider to get off the vehicle occurs when, for example, the rider manipulates a smart key while being aboard the leaning vehicle 10, and the control device 70 determines whether or not the detection device 60 has detected a signal from the smart key. Here, it may also be possible that when the rider gets off the vehicle, the control device 70 determines whether or not the detection device 60 has detected a manipulation that the rider made on a device provided in the leaning vehicle 10. If the detection device 60 has not detected a getting on/getting off intention input (step S12: NO), the control device 70 terminates the getting on/getting off control.

[0059] If the detection device 60 has detected a getting on/getting off intention input (step S12: YES), the control device 70 brings the vehicle body 20 into a state that allows easy getting on or getting off (step S13). In the example shown in FIG. 1, if the detection device 60 detects a getting on/getting off intention input indicating an intention of the rider to get on the vehicle, the vehicle body 20, which is leaning while the vehicle is not in motion, is raised before the rider gets on the vehicle. If the detection device 60 detects a getting on/getting off intention input indicating an intention of the rider to get off the vehicle, the side stand 80 is shifted from the retracted state into the usable state, and the vehicle body 20 is leaned with the rider being aboard the vehicle. In other words, the vehicle body 20 is leaned before the rider gets off the vehicle. Then, the control device 70 terminates the getting on/getting off control.

[0060] For example, it may also be possible that when the detection device 60 detects a getting on/getting off intention input indicating an intention of the rider to get on the vehicle, raising of the vehicle body 20 is preceded by confirmation of sitting-down of the rider with the vehicle body 20 leaning. The sitting-down of the rider is determined based on, for example, a signal from a sensor that detects whether or not the rider is seated on the seat of the leaning vehicle 10. For example, it may also be possible that when the detection device 60 detects a getting on/getting off intention input indicating an intention of the rider to get off the vehicle, leaning of the vehicle body 20 is preceded by confirmation of getting off of the rider with the vehicle body 20 raised (upright state). The getting off of the rider is determined based on, for example, a signal from a sensor that detects whether or not the rider is seated on the seat of the leaning vehicle 10.

[0061] In the leaning vehicle 10 having the above-described configuration, the lean angle of the vehicle body 20 can be controlled by the lean actuator 50 both while the vehicle is traveling and while the vehicle is not in motion. It therefore is not necessary that an actuator separate from the lean actuator 50 is used as an actuator for controlling the lean angle of the vehicle body 20 while the vehicle is not in motion. This eliminates the need to prepare a space for installation of the actuator. Consequently, the degree of freedom in design of the vehicle body 20 can be increased.

[0062] In the leaning vehicle 10, when the rider has an intention to get on or get off the vehicle, the lean actuator 50 controls the lean angle of the vehicle body 20 while the vehicle is not in motion. This allows the rider to get on or get off the vehicle with an increased ease, by using the lean actuator 50 included in the leaning vehicle 10.

[0063] In sum, in the leaning vehicle 10, the lean actuator 50, which is used to lean the vehicle body 20 while the vehicle is traveling, is also used to control the lean angle of the vehicle body 20 while the vehicle is not in motion. Accordingly, both the ease of getting on/getting off the leaning vehicle 10 in accordance with a getting on/getting off intention and the degree of freedom in design of the vehicle body 20 of the leaning vehicle 10 can be increased, without the need to separately provide another lean actuator.

[0064] (Variation of First Embodiment)

[0065] A leaning vehicle 101 according to a variation of the first embodiment of the present teaching will be described with reference to FIG. 3. The leaning vehicle 101 is different from the leaning vehicle 10 in that it further includes a getting on/getting off intention input device (i.e., an intention input device) 90. The getting on/getting off intention input device 90 is disposed at such a position that a rider can manipulate the getting on/getting off intention input device 90. The getting on/getting off intention input device 90 receives a getting on/getting off intention input indicating an intention of the rider to get on or get off the vehicle. A detection device 60 detects a getting on/getting off intention input that the rider enters to the getting on/getting off intention input device 90.

[0066] In an example shown in FIG. 3, before the rider gets on the vehicle, the rider enters a getting on/getting off intention input indicating an intention to get on the vehicle to the getting on/getting off intention input device 90, and after a vehicle body 20 is raised, the rider gets on the vehicle. Alternatively, in a case where the rider enters a getting on/getting off intention input indicating an intention to get on the vehicle to the getting on/getting off intention input device 90 before the rider gets on the vehicle, raising of the vehicle body 20 may be preceded by confirmation of sitting-down of the rider with the vehicle body 20 leaning, for example. In the example shown in FIG. 3, before the rider gets off the vehicle, the rider enters a getting on/getting off intention input indicating an intention to get off the vehicle to the getting on/getting off intention input device 90, and after the vehicle body 20 is leaned, the rider gets off the vehicle. Alternatively, in a case where the rider enters a getting on/getting off intention input indicating an intention to get off the vehicle to the getting on/getting off intention input device 90 before the rider gets off the vehicle, leaning of the vehicle body 20 may be preceded by confirmation of getting off of the rider with the vehicle body 20 raised (upright state), for example.

[0067] The leaning vehicle 101 having such a configuration can provide the same effects as those of the leaning vehicle 10.

Second Embodiment

[0068] A leaning vehicle 10A according to a second embodiment of the present teaching will be described with reference to FIG. 4. The leaning vehicle 10A is different from the leaning vehicle 10 in that it includes a roof 22. The roof 22 is at least partially disposed above a rider who is aboard the leaning vehicle 10A.

[0069] In the leaning vehicle 10A having the roof 22, it is difficult to get on or get off the vehicle while a vehicle body 20 is leaning. In the leaning vehicle 10A, therefore, to allow the rider to easily get on the vehicle, a control device 70 controls a lean actuator 50 such that the vehicle body 20, which is leaning while the vehicle is not in motion, is raised. In the leaning vehicle 10A, moreover, to allow the rider to easily get off the vehicle, the control device 70 controls the lean actuator 50 such that after the rider gets off the vehicle with the vehicle body 20 raised, the vehicle body 20 leans and then the vehicle body 20 is kept leaning.

[0070] The leaning vehicle 10A having such a configuration can provide the same effects as those of the leaning vehicle 10.

[0071] (Variation of Second Embodiment)

[0072] A leaning vehicle 10A1 according to a variation of the second embodiment of the present teaching will be described with reference to FIG. 5. The leaning vehicle 10A1 is different from the leaning vehicle 10A in that it includes a door 24. The door 24 is opened or closed when a rider of the leaning vehicle 10A1 gets on or gets off the vehicle.

[0073] The leaning vehicle 10A1 having such a configuration can provide the same effects as those of the leaning vehicle 10A.

Other Embodiments

[0074] The embodiments and variations, of which at least either one of description or illustration has been given herein, are for ease of understanding the present disclosure, and not for limiting the concept of the present disclosure. The foregoing embodiments and variations may be altered and/or adapted without departing from the spirit of the present disclosure. The spirit encompasses equivalent elements, modifications, omissions, combinations (for example, a combination of a feature of any embodiment and a feature of any variation), adaptations and/or alterations as would be appreciated by those skilled in the art based on the embodiments disclosed herein. The limitations in Claims are to be interpreted broadly based on the language employed in Claims and not limited to embodiments and variations described herein or during the prosecution of the present application. The embodiments and variations are to be construed as non-exclusive. For example, in this Description, the terms “preferably”, “may”, and “possible” are non-exclusive and mean “preferably, but not limited to”, “may, but not limited to”, and “possibly, but not limited to”, respectively.

[0075] For example, in the first embodiment and the variation of the first embodiment, getting on or off the vehicle while the vehicle body 20 is leaning may sometimes be easier for the rider. In such a case, the vehicle body 20 is leaned at a time of getting on or getting off.

[0076] For example, in a case where the leaning vehicle 10A1 according to the variation of the second embodiment is not in motion on a slope with the up-down direction of the vehicle body 20 being coincident with the vertical direction, the door 24 may sometimes interfere with the slope when the door 24 is opened. In such a case, leaning of the vehicle body 20 may be controlled such that the interference of the door 24 with the slope can be suppressed.

[0077] For example, an aspect in which the lean actuator controls the lean angle of the vehicle body while the vehicle is not in motion encompasses an aspect in which the lean angle of the vehicle body remains unchanged before and after the detection device detects a getting on/getting off intention input. For example, a configuration may be possible in which before detection of a getting on intention input as the getting on/getting off intention input indicating an intention of the rider to get on the vehicle, the vehicle body is maintained at a predetermined lean angle with a support stand or the like, and after the detection of the getting on intention input, the support stand ceases to function, and is replaced by the lean actuator maintaining the state of the lean angle of the vehicle body as it has been.

REFERENCE SIGNS LIST

[0078] 10 leaning vehicle

[0079] 20 vehicle body

[0080] 22 roof

[0081] 24 door

[0082] 30F front wheel

[0083] 30B rear wheel

[0084] 40 leaning mechanism

[0085] 50 lean actuator

[0086] 60 detection device

[0087] 70 control device

[0088] 90 getting on/getting off intention input device