US Patent No. 9,126,649

MOBILE VEHICLE


Patent No. 9,126,649
Issue Date September 08, 2015
Title Mobile Vehicle
Inventorship Toru Takenaka, Wako (JP)
Hiroshi Gomi, Wako (JP)
Kazushi Akimoto, Wako (JP)
Hiroyuki Makino, Wako (JP)
Yoichi Nishimura, Wako (JP)
Taihei Setoguchi, Wako (JP)
Naoyuki Saito, Wako (JP)
Kenji Muto, Wako (JP)
Keisuke Koitabashi, Wako (JP)
Shunichi Nakabayashi, Wako (JP)
Assignee HONDA MOTOR CO., LTD., Tokyo (JP)

Claim of US Patent No. 9,126,649

1. A mobile vehicle having a vehicle body and a front wheel and a rear wheel arranged spaced apart from each other in a longitudinal
direction of the vehicle body,
one of the front wheel and the rear wheel being a steering control wheel which can be steered about a steering axis tilted
backward,

the mobile vehicle comprising:
a steering actuator which generates a driving force for steering the steering control wheel; and
a control device which controls the steering actuator so as to stabilize a posture of the vehicle body in accordance with
at least an observed value of an inclination angle in a roll direction of the vehicle body, wherein

in the case where a state in which the front wheel and the rear wheel of the mobile vehicle are both stationary in an upright
posture in contact with a ground surface and axle centerlines of the front wheel and the rear wheel extend in parallel with
each other in a direction orthogonal to the longitudinal direction of the vehicle body is defined as a basic posture state
and in the case where a radius of curvature of a transverse cross-sectional shape of the steering control wheel at a ground
contact point of the steering control wheel in the basic posture state of the mobile vehicle is denoted as Rs,

the height a, from the ground surface, of a point of intersection of the steering axis of the steering control wheel and a
virtual straight line connecting the ground contact point of the steering control wheel and the center of axle of the steering
control wheel in the basic posture state is controlled to be not higher than the radius of curvature Rs.