| 摘要 |
PURPOSE:To accurately identiy whether or not a handlebar is turned owing to hand-free riding by detecting steering torque which is applied to the handlebar, finding the handlebar turning angle according to the detection result, and controlling the attitude of the vehicle body. CONSTITUTION:A minicomputer 40 uses a steering force detected by a handlebar torque sensor 23 as a steering input, finds the handlebar turning angle of a madel two-wheeler according to the detection result of the steering torque applied to the handlebar, and controls the attitude of the vehicle body. Namely, when the attitude control by the steering torque detection, the rider rides on the vehicle body in a hand-free state and then '0' kg.m steering torque is detected so the input of no steering torque by the rider is identified. Consequelty, hand-free riding can accurately be simulated. |
