Automatic tilting vehicle

Abstract

An automatic tilting vehicle includes left and right wheels rotatably supported by carriers, a vehicle tilting device, and a control unit. The vehicle tilting device includes a swing member swinging about a swing axis, an actuator that swings the swing member, a pair of tie rods pivotally connected to the swing member and the carriers. The control unit controls the actuator so that the tilt angle of the vehicle conforms to a target tilt angle and determines that the vehicle tilting device is abnormal when a relationship between the swing angular velocity of the swing member and the tilt angular velocity of the vehicle deviates from an allowable range.

Claims

1. An automatic tilting vehicle comprising: a pair of laterally spaced wheels rotatably supported by corresponding carriers; a vehicle tilting device including: a swing member that swings about a swing axis extending in a longitudinal direction of the vehicle, an actuator that swings the swing member about the swing axis, and a pair of tie rods pivotally connected on both sides of the swing axis to the swing member and the carriers; and a control unit configured to: calculate a target tilt angle of the vehicle, tilt the vehicle by controlling the actuator such that a tilt angle of the vehicle conforms to the target tilt angle, determine a swing angular velocity of the swing member, which is a rate of change of an angle between the pair of tie rods and the swing member, and a tilt angular velocity of the vehicle, which is a rate of change of the tilt angle of the vehicle with respect to a vertical plane of the vehicle, and determine that the vehicle tilting device is abnormal when a ratio between the swing angular velocity of the swing member and the tilt angular velocity of the vehicle deviates from a preset allowable range.

2. The automatic tilting vehicle according to claim 1, wherein the control unit is configured to determine the ratio between the swing angular velocity of the swing member and the tilt angular velocity of the vehicle based on an index value of a difference between the swing angular velocity of the swing member and the tilt angular velocity of the vehicle.

3. The automatic tilting vehicle according to claim 1, wherein the control unit is configured to determine the ratio between the swing angular velocity of the swing member and the tilt angular velocity of the vehicle based on an index value of the ratio between the swing angular velocity of the swing member and the tilt angular velocity of the vehicle.

4. The automatic tilting vehicle according to claim 1, wherein the tilt angular velocity of the vehicle is detected by a gyro sensor.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a schematic rear view showing a first embodiment of an automatic tilting vehicle according to the present disclosure, taken along a vertical section at a front wheel position.

(2) FIG. 2 is a schematic plan view showing the first embodiment of the automatic tilting vehicle according to the present disclosure.

(3) FIG. 3 is a rear view showing the first embodiment at the time of left turning, cut along a vertical section at a front wheel position.

(4) FIG. 4 is a flowchart showing a vehicle tilt angle control routine according to the first embodiment.

(5) FIG. 5 is a flowchart showing an abnormality determination control routine of a vehicle tilting device in the first embodiment.

(6) FIG. 6 is a flowchart showing an abnormality determination control routine of a vehicle tilting device according to a second embodiment.

(7) FIG. 7 is a diagram showing a map for calculating a reference tilt angular velocity dre of the vehicle based on a swing angular velocity d of a swing member and an allowable range in the abnormality determination of the vehicle tilting device in the first embodiment.

(8) FIG. 8 is a view showing a state in which a left tie rod is bent and deformed by a left front wheel riding over a curb stone when the vehicle is traveling straight ahead with the vehicle tilting device being normal.

(9) FIG. 9 is a view showing a situation in which the vehicle travels straight in a state where a left tie rod is bent and deformed.

(10) FIG. 10 is a diagram showing an allowable range in the abnormality determination of a vehicle tilting device in the second embodiment.

DETAILED DESCRIPTION

(11) Several embodiments of the present disclosure will be described in detail with reference to the attached drawings.

First Embodiment

(12) In FIGS. 1 and 2, an automatic tilting vehicle 10 according to a first embodiment of the present disclosure is a three-wheeled vehicle that includes a pair of front wheels 12L and 12R which are non-steered driving wheels and a single rear wheel 14 which is a steering driven wheel. The front wheels 12L and 12R are spaced apart from each other in the lateral direction of the vehicle 10 and are rotatably supported by corresponding carriers 16L and 16R, respectively, about rotation axes (not shown). Although not shown in FIGS. 1 and 2, the rear wheel 14 is arranged to be steered by a steering mechanism according to an amount of operation of a steering wheel 15 by a driver. In FIGS. 1 and 3 and FIGS. 8 and 9 described later, the steering wheel 15 is shown in a position different from an actual position. The automatic tilting vehicle 10 further includes a vehicle tilting device 18 and an electronic control unit 20.

(13) In the first embodiment, although not shown in FIGS. 1 and 2, the carriers 16L and 16R incorporate in-wheel motors as driving devices. The carriers 16L and 16R are supported so as to be vertically displaceable with respect to a vehicle body 22 by corresponding suspension arms such as leading arms and to restrict lateral displacement with respect to the vehicle body 22. The outputs of the in-wheel motors are controlled by the electronic control unit 20 according to an operation amount of an accelerator pedal (not shown) by the driver. Braking forces of the front wheels 12L, 12R and the rear wheel 14 are controlled by the electronic control unit 20 according to an amount of operation of a brake pedal (not shown) by the driver.

(14) The vehicle tilting device 18 includes a swing member 26 that swings about a swing axis 24 extending in the longitudinal direction of the vehicle, an actuator 28 that swings the swing member 26 about the swing axis 24, and a pair of tie rods 30L and 30R. The tie rods 30L and 30R extend substantially in the vertical direction on both lateral sides with respect to the swing axis 24 and are pivotally connected to the swing member 26 by joints 32L and 32R such as ball joints at the upper ends. Further, the tie rods 30L and 30R are pivotally connected to the corresponding carriers 16L and 16R by joints 34L and 34R such as ball joints at the lower ends, respectively.

(15) The swing member 26 has a boss portion 26B rotatably supported about the swing axis 24 and arm portions 26AL and 26AR integrally formed with the boss portion 26B and extending in opposite directions from the boss portion 26B. The upper ends of the tie rods 30L and 30R are pivotally connected to the distal ends of the arm portions 26AL and 26AR, respectively. Although not shown in FIGS. 1 and 2, a suspension spring and a shock absorber are interposed between the support member supporting the boss portion 26B and the actuator 28 and the vehicle body 22. The rear wheel 14 is suspended from the vehicle body 22 by a rear wheel suspension, not shown, including a suspension spring and a shock absorber. Therefore, the front wheels 12L, 12R and the rear wheel 14 can move upward and downward with respect to the vehicle body 22 together with the vehicle tilting device 18, and the relative vibration of them is attenuated by the shock absorber.

(16) The actuator 28 is a rotary type actuator and includes an electric motor 28M and a reduction gear device 28G. Rotational motion of a rotor of the electric motor 28M is decelerated by the reduction gear device 28G and is transmitted to the swing member 26. Note that the actuator 28 may be a reciprocating type actuator, and reciprocating motion of the actuator may be converted into a rotational motion by a motion converting mechanism and transmitted to the swing member 26.

(17) As shown in FIG. 3, when the swing member 26 swings about the swing axis 24, the tie rods 30L and 30R vertically move in mutually opposite directions, so that the front wheels 12L and 12R vertically move in mutually opposite directions with respect to the vehicle body 22, whereby the vehicle 10 is inclined in the lateral direction. A rate of change of a tilt angle of the vehicle (an angle formed by a center plane 36 in the vertical direction of the vehicle 10 with respect to the vertical direction 38), that is, a tilt angular velocity d of the vehicle is detected by a gyroscope 40. A signal indicating the tilt angular velocity d of the vehicle detected by the gyroscope 40 is input to the electronic control unit 20.

(18) The tilt angle becomes 0 when the swing angle of the swing member 26 is 0 and the center plane 36 coincides with the vertical direction 38 and assumes a positive value when the vehicle 10 is tilted so that the vehicle 10 is inclined to the left. The tilt angular velocity 8d assumes a positive value when the tilt angle of the vehicle 10 changes to the left. Further, since the tilt angle of the vehicle 10 is substantially the same as a roll angle , not shown, of the vehicle body 22, a roll angle of the vehicle body may be detected by a roll angle sensor, and a tilt angular velocity d may be calculated as a time change rate of the roll angle .

(19) A steering angle St equal to a rotation angle of the steering wheel 15 is detected by a steering angle sensor 42. A signal indicating a steering angle St detected by the steering angle sensor 42 and a signal indicating a vehicle speed V detected by a vehicle speed sensor 44 are input to the electronic control unit 20. A signal indicating a rotation angle m of the electric motor 28M detected by a rotation angle sensor 46 is also input to the electronic control unit 20. The rotation angle m becomes 0 when the swing angle of the swing member 26 is 0, and assumes a positive value when the swing member 26 swings so that the vehicle 10 is tilted to the left as viewed from the rear of the vehicle.

(20) The electronic control unit 20 calculates a target tilt angle t of the vehicle 10 in accordance with the flowchart shown in FIG. 4, and controls the rotation angle m of the electric motor 28 M of the actuator 28 so that the tilt angle of the vehicle conforms to the target tilt angle t. Therefore, the electronic control unit 20 functions as a control unit configured to tilt the vehicle 10 by controlling the swing angle of the swing member 26.

(21) The electronic control unit 20, according to the flow chart shown in FIG. 5, obtains a swing angular velocity d of the swing member 26 and a tilt angular velocity d of the vehicle 10, and calculates a reference tilt angular velocity dre as a tilt angular velocity d of the vehicle 10 corresponding to a swing angular velocity d when the vehicle tilting device 18 is normal. The reference tilt angular velocity dre is a value obtained by converting the swing angular velocity d of the swing member 26 into the tilt angular velocity of the vehicle 10. Further, when a difference ddre between the tilt angular velocity d and the reference tilt angular velocity dre deviates from a preset allowable range, the electronic control unit 20 determines that the vehicle tilting device 18 is abnormal, and activates an alarm device 48.

(22) In FIG. 1, the electronic control unit 20 and sensors such as the gyroscope 40 are shown outside the vehicle 10, but are mounted on the vehicle 10. The electronic control unit 20 may be a microcomputer having, for example, a CPU, a ROM, a RAM, and an input/output port device, which are connected to each other by a bi-directional common bus. The control programs corresponding to the flowcharts shown in FIGS. 4 and 5 are stored in the ROM, and the tilt angle and the like of the vehicle 10 are controlled by the CPU according to the control programs.

(23) Next, the tilt angle control routine of the vehicle according to the first embodiment will be described with reference to the flowchart shown in FIG. 4. The control according to the flowchart shown in FIG. 4 is repeatedly executed at predetermined time intervals when an ignition switch, not shown, is on.

(24) First, in step 10, a signal indicating a steering angle St detected by the steering angle sensor 42 and a signal indicating a vehicle speed V detected by the vehicle speed sensor 44 are read.

(25) In step 20, an estimated lateral acceleration Gyh of the vehicle 10 is calculated on the basis of the steering angle St and the vehicle speed V in a manner known in the art, and furthermore, a centrifugal force Fy acting at the center of gravity, not shown, of the vehicle is calculated as a product of the estimated lateral acceleration Gyh and a mass M of the vehicle.

(26) In step 30, a target tilt angle t of the vehicle is calculated that is required to tilt the vehicle 10 toward a turning inner side so that a resultant force of the centrifugal force Fy and the gravity acting at the center of gravity of the vehicle 10 acts toward a line connecting a midpoint of ground contact points of the front wheels 12L and 12R and a ground contact point of the rear wheel 14.

(27) In step 40, a signal indicating a tilt angular velocity d of the vehicle 10 detected by the gyroscope 40 is read, and a tilt angle of the vehicle 10 is calculated by integrating the tilt angular velocity d. When the gyroscope 40 outputs a signal indicating a tilt angle of the vehicle 10, an integration of a tilt angular velocity d is unnecessary.

(28) In step 50, it is determined whether an absolute value of a difference t between the tilt angle of the vehicle 10 and the target tilt angle t of the vehicle is smaller than a reference value 0 (a positive constant). When an affirmative determination is made, as it is not necessary to correct the tilt angle of the vehicle, the tilt angle control returns to step 10, and when a negative determination is made, the tilt angle control proceeds to step 60.

(29) In step 60, a target swing angle t of the swing member 26 is calculated that is necessary to render a difference t between the tilt angle of the vehicle 10 and the target tilt angle t of the vehicle to 0, and a target rotation angle mt of the electric motor 28 M of the actuator 28 is calculated that is necessary to achieve the target tilt angle t.

(30) In step 70, the electric motor 28M is controlled so that a rotation angle m of the electric motor 28M conforms to the target rotation angle mt, whereby the swing angle of the swing member 26 is controlled to the target swing angle t.

(31) As can be understood from the above description, in steps 10 to 30, a target tilt angle t of the vehicle for tilting the vehicle 10 to a turning inner side is calculated, and in step 40, a tilt angle of the vehicle 10 is calculated based on a tilt angular velocity d of the vehicle 10 detected by the gyroscope 40. Further, in steps 50 to 70, a swing angle of the swing member 26 is controlled so as to achieve the target swing angle t by controlling the electric motor 28M of the actuator 28 so that a magnitude of a difference t between the tilt angle of the vehicle 10 and the target tilt angle t is equal to or less than the reference value 0.

(32) Next, an abnormality determination control routine of the vehicle tilting device in the first embodiment will be described with reference to the flowchart shown in FIG. 5. The control according to the flowchart shown in FIG. 5 is also repeatedly executed at predetermined time intervals when the ignition switch, not shown, in the figure is on.

(33) First, in step 110, a signal indicating a rotation angle m of the electric motor 28M detected by the rotation angle sensor 46 is read.

(34) In step 120, a swing angle of the swing member 26 is calculated based on the rotation angle m of the electric motor 28M, and a swing angular velocity d of the swing member 26 is calculated based on the swing angle and a swing angle f of the previous cycle.

(35) In step 130, a signal indicating the tilt angular velocity d of the vehicle detected by the gyroscope 40 is read. When the gyroscope 40 outputs a signal indicating the tilt angle of the vehicle, a signal indicating the tilt angle of the vehicle is read, and a tilt angular velocity d of the vehicle may be calculated based on the tilt angle of the vehicle and a tilt angle f of the vehicle in the previous cycle.

(36) In step 140, a reference tilt angular velocity dre of the vehicle 10 is calculated by referring to the map indicated by the solid line in FIG. 7 based on the swing angular velocity d of the swing member 26.

(37) In step 150, it is determined whether a difference ddre between the tilt angular velocity d and the reference tilt angular velocity dre is greater than a preset first reference value 1 (a positive constant) or smaller than a preset second reference value 2 (a negative constant). The difference ddre is an index value of a difference between a swing angular velocity d of the swing member 26 and a tilt angular velocity d of the vehicle. When a negative determination is made, as the vehicle tilting device 18 is normal, the abnormality determination control returns to step 110, and when an affirmative determination is made, as the vehicle tilting device 18 is abnormal, the abnormality determination control proceeds to step 160. It is to be noted that an absolute value of the second reference value 2 and the first reference value 1 may be the same or different from each other.

(38) In step 160, it is determined that the vehicle tilting device 18 is abnormal, and the alarm device 48 is activated. The alarm issued by the alarm device 48 may be an alarm sound, an audible alarm such as an alarm message, an alarm lamp, a visual alarm such as an alarm indication to a monitor, a tactile warning such as a vibration of the steering wheel 15, or a combination thereof, for example.

(39) As understood from the above description, in steps 110 and 120, a swing angular velocity d of the swing member 26 is calculated, and in step 130, the tilt angular velocity d of the vehicle is read. In step 140, a reference tilt angular velocity dre of the vehicle 10 is calculated on the basis of the swing angular velocity d, and in step 150, based on a difference ddre between the tilt angular velocity d and the reference tilt angular velocity dre, it is determined whether or not the vehicle tilting device 18 is abnormal. Furthermore, when it is determined that the vehicle tilting device 18 is abnormal, in step 160, an alarm is issued to an occupant or occupants of the vehicle that the vehicle tilting device 18 is abnormal by activating the alarm device 48.

(40) <Operation when the Vehicle Tilting Device 18 is Normal>

(41) When the vehicle 10 turns to the left in a situation where the vehicle tilting device 18 is normal, as shown in FIG. 3, the swing member 26 is swung in the clockwise direction relative to the vehicle body 22 as viewed from the rear of the vehicle. Therefore, the left front wheel 12L is moved upward relative to the vehicle body 22 and the right front wheel 12R is moved downward relative to the vehicle body 22, whereby the vehicle 10 is tilted to the left as viewed from the rear of the vehicle. In the case where the vehicle 10 turns to the right, although not shown in the figure, the swing member 26 is swung in the counterclockwise direction relative to the vehicle body 22 as viewed from the rear of the vehicle, whereby the vehicle 10 is tilted to the right.

(42) Even when the vehicle 10 turns in any direction, a target tilt angle t of the vehicle is calculated based on a steering angle St and a vehicle speed V as described above. Further, a swing angle of the swing member 26 is controlled by controlling the electric motor 28 M of the actuator 28 so that a magnitude of a difference t between the tilt angle of the vehicle 10 and the target tilt angle t is equal to or smaller than the reference value 0. Therefore, it is possible to tilt the vehicle 10 toward inside of a turn so that a resultant force of the centrifugal force FY and gravity acting at the center of gravity of the vehicle 10 acts in a predetermined direction.

(43) When the vehicle tilting device 18 is normal, the tilt angular velocity d of the vehicle 10 changes in accordance with a change in a swing angular velocity d of the swing member 26 along a straight line (that shows the reference tilt angular velocity dre of the vehicle 10) shown by the solid line in FIG. 7. The swing angle of the swing member 26 is controlled so that a magnitude of the difference t is equal to or less than the reference value 0 as described above. Therefore, if the amount of bending deformation of the tie rods 30L and 30R is within a predetermined allowable range, the tilt angular velocity d of the vehicle 10 changes within an allowable range indicated by hatching in FIG. 7 with respect to a change of the swing angular velocity d of the swing member 26.

(44) <Operation when the Vehicle Tilting Device 18 is Abnormal>

(45) As shown in FIG. 8, it is assumed that the left front wheel 12L rides on a curb stone 50 when the vehicle 10 is traveling straight in a state where the vehicle tilting device 18 is normal, whereby a push-up load acts on the left front wheel 12L and the tie rod 30L is bent and deformed by buckling. Since the steering wheel 15 is in the straight traveling position and the swing angle of the swing member 26 is controlled to be 0, a distance between a pivot point of the joint 32L and a pivot point of the joint 34L becomes smaller than the distance when the tie rod 30L is normal.

(46) As shown in FIG. 9, when the vehicle 10 travels straight in a state in which the tie rod 30L is bent and deformed, as the steering wheel 15 is in the straight traveling position, the swing member 26 is swung counterclockwise as viewed from the rear of the vehicle so that the vehicle 10 does not incline. Therefore, angles of line segments connecting the pivot points of the joints 32L and 32R and the pivot points of the joints 34L and 34R, respectively, to line segments connecting the swing axis 24 and the pivot points of the joints 32L and 32R are different from the angles when the tie rod 30L is normal. Furthermore, a radius of a locus drawn by the pivot point of the joint 34L when the pivot point rotates around the pivot point of the joint 32L as the swing member 26 swings is smaller than the radius when the tie rod 30L is normal.

(47) Therefore, the efficiency with which the swing motion of the swing member 26 is converted into mutually opposite displacements of the front wheels 12L and 12R relative to the vehicle body 22 via the tie rods 30L and 30R is different from the efficiency when the tie rods 30L and 30R are normal. Therefore, the relationship between the swing angle of the swing member 26 and the tilt angle of the vehicle 10 is different from the relationship when the vehicle tilt device 18 is normal, and the relationship between the swing angular velocity d of the swing member 26 and the tilt angular velocity 6d of the vehicle 10 Is also different from the relationship when the vehicle tilt device 18 is normal. Further, a degree of difference between the above two respective relationships increases as a degree of deformation of the tie rods 30L or 30R increases.

(48) When an amount of bending deformation of the tie rod 30L or 30R deviates from a preset allowable range, the tilt angular velocity d of the vehicle 10 changes outside the allowable range shown by hatching in FIG. 7 in accordance with the change of the swing angular velocity d of the swing member 26. Therefore, it can be determined whether or not the vehicle tilting device 18 is abnormal by determining whether or not the relationship between the swing angular velocity d of the swing member 26 and the tilt angular velocity d of the vehicle 10 is out of the allowable range indicated by hatching in FIG. 7.

(49) According to the first embodiment, in step 140, a reference tilt angular velocity dre of the vehicle 10 is calculated based on the swing angular velocity d. In step 150, it is determined whether or not a difference ddre between the tilt angular velocity d and the reference tilt angular velocity dre is greater than the preset first reference value 1 or smaller than the preset second reference value 2. When an affirmative determination is made, it is determined in step 160 that the vehicle tilting device 18 is abnormal, and the warning device 48 is activated.

(50) Therefore, according to the first embodiment, when an abnormality such as bending deformation equal to or more than a preset reference value is generated in the tie rod 30L or 30R, it is determined that an index value of a difference between the swing angular velocity d of the swing member 26 and the tilt angular velocity d of the vehicle 10 deviates from a preset allowable range. Therefore, it can be determined that the vehicle tilting device 18 is abnormal, and the activation of the alarm device 48 allows an occupant or occupants of the vehicle to recognize that the vehicle tilting device 18 is abnormal.

(51) In particular, according to the first embodiment, based on a difference ddre between the tilt angular velocity d and the reference tilt angular velocity dre, and accordingly, based on an index value of a difference between the swing angular velocity d and the tilt angular velocity d, a determination is made as to whether or not the vehicle tilting device 18 is abnormal. Therefore, an erroneous determination can be avoided that may occur when the abnormality determination of the vehicle tilting device 18 is performed based on the relationship between the swing angle and the tilt angle . That is, it can be avoided that the vehicle tilting device 18 is determined to be abnormal due to a cant of a road surface despite that the vehicle tilting device 18 is in fact normal.

(52) It is to be noted that representing a coefficient for converting the tilt angular velocity d of the vehicle 10 into the swing angular velocity d of the swing member 26 as Ka, it may be determined whether or not the vehicle tilting device 18 is abnormal based on an index value of a difference dKad or Kadd (a first modification example). Similarly, representing a coefficient for converting the swing angular velocity d into the tilt angular velocity d of the vehicle 10 as Kb, it may be determined whether or not the vehicle tilting device 18 is abnormal based on an index value of a difference Kbdd or dKbd (a second modification example).

Second Embodiment

(53) FIG. 6 is a flowchart showing an abnormality determination control routine of the vehicle tilting device in the second embodiment of the automatic tilting vehicle 10 according to the present disclosure. In FIG. 6, the same step numbers as those shown in FIG. 5 are assigned to the same steps as those shown in FIG. 5.

(54) The structure of the automatic tilting vehicle 10 according to the second embodiment is the same as that of the automatic tilting vehicle 10 according to the above-described first embodiment. However, in the ROM of the microcomputer of the electronic control unit 20, control programs corresponding to the flowcharts shown in FIGS. 4 and 6 are stored. The tilt angle control of the vehicle in the second embodiment is executed in accordance with the flowchart shown in FIG. 4 as in the first embodiment. Furthermore, as can be understood from the comparison between FIG. 6 and FIG. 5, the abnormality determination control of the vehicle tilting device in the second embodiment is the same as that of the first embodiment except that steps 145 and 155 are executed instead of steps 140 and 150.

(55) In step 145, it is determined whether or not an absolute value of the swing angular velocity d of the swing member 26 is less than a reference value d0 (a positive constant). When an affirmative determination is made, the abnormality determination control returns to step 110, and when a negative determination is made, the abnormality determination control proceeds to step 155.

(56) In step 155, it is determined whether or not a ratio d/d of the tilt angular velocity d to the swing angular velocity d is larger than a preset first reference value R1 (a positive constant) or smaller than a second reference value R2 (a positive constant smaller than R1). The ratio d/d is an index value of a ratio between the swing angular velocity d of the swing member 26 and the tilt angular velocity d of the vehicle. When a negative determination is made, as the vehicle tilting device 18 is normal, the abnormality determination control returns to step 110, and when an affirmative determination is made, as the vehicle tilting device 18 is abnormal, the abnormality determination control proceeds to step 160.

(57) Assuming the ratio of the tilt angular velocity d of the vehicle 10 to the swing angular velocity d when the vehicle tilt device 18 is normal is R0 (a positive constant equal to dre/d), and R1 and R2 are positive constants, the reference values R1 and R2 may be R0+R1 and R0R2, respectively. In this case, R1 and R2 may be different values or may be the same values.

(58) As understood from the above description, in steps 110 and 120, a swing angular velocity d of the swing member 26 is calculated, and in step 130, a tilt angular velocity d of the vehicle is read. In step 155, based on an index value d/d of a ratio between the swing angular velocity d and the tilt angular velocity d, it is determined whether or not the vehicle tilting device 18 is abnormal. Furthermore, when it is determined that the vehicle tilting device 18 is abnormal, an alarm is issued to an occupant or occupants of the vehicle that the vehicle tilting device 18 is abnormal by activating the alarm device 48 in step 160.

(59) <Operation when the Vehicle Tilting Device 18 is Normal>

(60) When the vehicle 10 turns in a situation where the vehicle tilting device 18 is normal, the swing member 26 is swung in the same manner as in the first embodiment, whereby the vehicle 10 is tilted inward in the turn.

(61) When the vehicle 10 turns, a target tilt angle t of the vehicle is calculated based on a steering angle St and a vehicle speed V as in the first embodiment. Further, a swing angle of the swing member 26 is controlled by controlling the electric motor 28M of the actuator 28 so that a ratio d/d between the tilt angle of the vehicle 10 and the target tilt angle t is not more than the first reference value R1 and not less than the second reference value R2. Therefore, it is possible to tilt the vehicle 10 toward the inside of the turn so that the resultant force of a centrifugal force Fy and the gravity acting at the center of gravity of the vehicle 10 acts in a predetermined direction.

(62) When the vehicle tilting device 18 is normal, the tilt angular velocity d of the vehicle 10 changes in accordance with a change in a swing angular velocity d of the swing member 26 along a straight line (that shows the reference tilt angular velocity dre of the vehicle 10) shown by a solid line in FIG. 10. The swing angle of the swing member 26 is controlled so that the ratio d/d is equal to or smaller than the first reference value R1 and equal to or larger than the second reference value R2 as described above. Therefore, if an amount of bending deformation of the tie rods 30L and 30R is within the preset allowable range, the tilt angular velocity d of the vehicle 10 changes within the allowable range that is indicated by hatching in FIG. 10 with respect to a change in the swing angular velocity d of the swing member 26.

(63) <Operation when the Vehicle Tilting Device 18 is Abnormal>

(64) As described above, when the tie rod 30L or 30R undergoes bending deformation equal to or greater than the reference value, the relationship between the tilt angular velocity d of the vehicle 10 and the swing angular velocity d of the swing member 26 is different from the relationship when the vehicle tilting device 18 is normal. Further, a degree of the difference between the relationships increases as a degree of deformation of the tie rods 30L or 30R increases.

(65) When an amount of bending deformation of the tie rod 30L or 30R deviates from a preset allowable range, the tilt angular velocity d of the vehicle 10 changes outside the allowable range shown by hatching in FIG. 10 in accordance with a change in the swing angular velocity d of the swing member 26. Therefore, it can be determined whether or not the vehicle tilting device 18 is abnormal by determining whether or not the relationship between the swing angular velocity d of the swing member 26 and the tilt angular velocity d of the vehicle 10 is out of the allowable range indicated by hatching in FIG. 10.

(66) According to the second embodiment, in step 155, it is determined whether or not a ratio d/d of the tilt angular velocity d to the swing angular velocity d is larger than the preset first reference value R1 or smaller than the preset second reference value R2. When an affirmative determination is made, it is determined in step 160 that the vehicle tilting device 18 is abnormal, and the warning device 48 is activated.

(67) Therefore, according to the second embodiment, when an abnormality such as a bending deformation equal to or more than a preset reference value is generated in the tie rod 30L or 30R, a ratio between the swing angular velocity d of the swing member 26 and the tilt angular velocity d of the vehicle 10 deviates from the preset allowable range. Therefore, it can be determined that the vehicle tilting device 18 is abnormal, and the activation of the alarm device 48 allows an occupant or occupants of the vehicle to recognize that the vehicle tilting device 18 is abnormal.

(68) In particular, according to the second embodiment, it is determined whether or not the vehicle tilting device 18 is abnormal based on a ratio d/d of the tilt angular velocity d to the swing angular velocity d. Therefore, an erroneous determination can be avoided that may occur when the abnormality determination of the vehicle tilting device 18 is performed based on the relationship between the swing angle and the tilt angle . That is, it can be avoided that the vehicle tilting device 18 is determined to be abnormal due to a cant of a road surface despite that the vehicle tilting device 18 is in fact normal.

(69) Further, according to the second embodiment, when an absolute value of the swing angular velocity d of the swing member 26 is less than the reference value d0, it is not determined whether or not the vehicle tilting device 18 is normal. Therefore, it is possible to prevent a ratio d/d from being calculated when the swing angular velocity d of the swing member 26 is 0, and it is possible to prevent the vehicle tilting device 18 from being determined to be abnormal due to a detection error of the swing angular velocity d and/or the tilt angle of the vehicle 10 despite that the vehicle tilting device 18 is in fact normal.

(70) Furthermore, according to the second embodiment, the calculations of the reference tilt angular velocity dre and the reference values R1 and R2 in the first embodiment are unnecessary, and the correction coefficient Ka or Kb in the first or second modification example is unnecessary to be calculated. Therefore, as compared to the first embodiment and the modifications thereof, a calculation load of the electronic control unit 20 can be reduced.

(71) Although the present disclosure has been described in detail with reference to specific embodiments, it will be apparent to those skilled in the art that the present disclosure is not limited to the above-described embodiments, and various other embodiments are possible within the scope of the present disclosure.

(72) For example, in the first embodiment described above, it is determined whether or not the vehicle tilting device 18 is abnormal based on a difference ddre between the tilt angular velocity d and the reference tilt angular velocity dre. However, it may be determined whether or not the vehicle tilting device 18 is abnormal based on a difference dred between the reference tilt angular velocity dre and the tilt angular velocity d.

(73) In the second embodiment described above, it is determined whether or not the vehicle tilting device 18 is abnormal based on a ratio d/d of the tilt angular velocity d to the swing angular velocity d. However, it may be determined whether or not the vehicle tilting device 18 is abnormal based on a ratio d/d of the swing angular velocity d to the tilt angular velocity d.

(74) In addition, in the first and second embodiments, when an affirmative determination is made in steps 150 and 155, respectively, it is determined that the vehicle tilting device 18 is abnormal, and the warning device 48 is activated. However, it may be determined that the vehicle tilting device 18 is abnormal and the alarm device 48 is activated when the affirmative determination is made a predetermined number of times in steps 150 and 155.

(75) In the first embodiment, the first reference value 1 is a positive constant and the second reference value 2 is a negative constant. However, at least one of the first reference value 1 and the second reference value 2 may be variably set according to the swing angular velocity d.

(76) Similarly, in the second embodiment, the first reference value R1 and the second reference value R2 are positive constants. However, at least one of the first reference value R1 and the second reference value R2 may be variably set according to the swing angular velocity d.

(77) In the first embodiment, it is determined whether or not the vehicle tilting device 18 is abnormal based on an index value of a difference between the tilt angular velocity d and the swing angular velocity d. However, it may be determined whether or not the vehicle tilting device 18 is abnormal based on an index value of a difference dddd or dddd between a change rate dd of the tilt angular velocity d and a change rate dd of the swing angular velocity d.

(78) Similarly, in the second embodiment, it is determined whether or not the vehicle tilting device 18 is abnormal based on an index value d/d of a ratio of the swing angular velocity d and the tilt angular velocity d. However, it may be determined whether or not the tilting device 18 is abnormal based on a ratio dd/dd of a change rate dd of the tilt angular velocity d to a change rate dd of the swing angular velocity d or a ratio dd/dd of a change rate dd of the swing angular velocity d to a change rate dd of the tilt angular velocity d.