OVERTURN PREVENTION CONTROLLER FOR TWO-WHEELED VEHICLE

摘要

[Object] To provide an overturn prevention control device for a two-wheel vehicle, the overturn prevention control device enabling the two-wheel vehicle to perform stable autonomous traveling using a relatively simple control loop cvcn when a zero-set error or offset noise is present. [Solving Means] An overturn prevention control device for a two-wheel vehicle having a vehicle body A, a front wheel 2, an actuator 7 that steers the front wheel, a rear wheel 3, and a rear-wheel driving portion 4 includes an angular velocity sensor 8 and control means 12 for outputting a steering angle command signal ´ r for controlling the actuator 7. The angular velocity sensor 8 has a detection axis 8a, is mounted on the vehicle body such that the detection axis 8a is downwardly inclined at a predetermined angle relative to a forward direction of the vehicle body, and detects an angular velocity É about the detection axis. The angular velocity É detected by the angular velocity sensor 8 contains an angular velocity É 1 in a lateral direction of inclination and an angular velocity É 2 in an azimuthal direction. The zero-set error and offset noise are incorporated into the azimuth angle command. Thus, the two-wheel vehicle can be prevented from overturning.