Method for calculating staggering angle of vehicle e.g. motorcycle, involves relating staggering inertia and attenuation terms expressed by moment of inertia and rotational torque of vehicle chassis along staggering direction

摘要

The method involves detecting yaw rate around vertical axis of vehicle chassis and detecting staggering velocity around longitudinal axis of vehicle chassis. A motion equation relating moment due to weight of vehicle chassis and centrifugal energy on vehicle chassis is derived. The staggering inertia term expressed by moment of inertia of vehicle chassis, and staggering attenuation term expressed by rotational torque along staggering direction due to friction between tires of vehicle are related using predetermined conditional expression to calculate staggering angle.