| 主权项 |
1. A motorized tricycle comprising:
a frame; two front wheels operably coupled to the frame; one rear wheel operably coupled to the frame; a suspension system operably coupled to one or both front wheels, the suspension system including a lean actuator in which one end of the lean actuator is connected to the frame, the lean actuator being configured to tilt the frame of the motorized tricycle; a plurality of inertial measurement unit sensors, one of which is operably coupled to the frame near a center of gravity of the motorized tricycle, each of the plurality of inertial measurement unit sensors perform measurement of acceleration in three axes, angular rate in three axes, and measures magnetic field in at least one axis; a lean mechanism controller that is operably coupled to the lean actuator of the suspension system, the lean mechanism controller including a sensor layer that is operably coupled to the plurality of inertial measurement unit sensors, a verification layer that is operably coupled to the sensor layer and that includes a component that determines accuracy of data from the sensor layer by comparing redundant measurements from the sensor layer; and an active system that is operably coupled to the lean mechanism controller that operates in two modes:
a first mode being an autonomous mode in which the active system includes a first component that generates a signal to tilt the motorized tricycle in response to lateral forces so that a resultant force acts through the center of gravity of the motorized tricycle in line with a central axis of the motorized tricycle that simulates intuitive motorcycle rider's actions, the signal being generated from the plurality of inertial measurement unit sensors, the signal being generated independent of steering inputs, and a second component that is coupled to the first component that sends the signal to the lean mechanism controller, the lateral forces including turning forces and effects of wind or unlevel terrain, the active system also including a third component that is coupled to the first component and that determines magnetic heading, road incline and smoothness, braking and acceleration forces, aerodynamic forces, skid and hydroplaning from data from the plurality of inertial measurement unit sensors, anda second mode being an interactive mode in which the active system includes a fourth component that detects a lean of a body of a human and a fifth component that generates a signal to tilt the motorized tricycle in response to lateral forces so that a resultant force acts through the center of gravity of the motorized tricycle in line with a central axis of the motorized tricycle that simulates intuitive motorcycle rider's actions, the signal being generated from the signal that is indicative of interaction with the human and from data from the plurality of inertial measurement unit sensors and the plurality of inertial measurement unit sensors, and the second component that is coupled to the fifth component that sends the signal to the lean mechanism controller. |
