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1. 发明专利

JP2014091506A Steering assist device of vehicle 有权
标题翻译：车辆转向辅助装置
公开(公告)号：JP2014091506A
公开(公告)日：2014-05-19
申请号：JP2012245171
申请日：2012-11-07
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ARAKI MAKOTO , KOBAYASHI HIROETSU , TSUDA TAKESHI , NOSE TSUBASA
IPC分类号： B62K21/00 , B62J99/00
摘要： PROBLEM TO BE SOLVED: To provide a steering assist device of a vehicle which improves stability of the vehicle without inhibiting maneuverability of a driver without adding a sensor which detects steering.SOLUTION: A steering assist device 150 of a vehicle which is driven by body weight movement comprises: drive means 90 for adding driving force to assist means 18 for mechanically assisting a motion of the vehicle; and torque calculation means 300 for calculating assist torque as the driving force based on angular velocity detected by an angular velocity sensor 78, in which the torque calculation means 300 makes assist torque Tw small in comparison with the case that a car body rate showing a behavior of the vehicle based on the angular velocity is small when the car body rate is large.
摘要翻译：要解决的问题：提供一种车辆的转向辅助装置，其提高车辆的稳定性，而不会增加驾驶员的机动性，而不增加检测转向的传感器。解决方案：车辆的转向辅助装置150，其由体重驱动驱动装置90，用于将驱动力加到辅助装置18上，用于机械地协助车辆的运动; 以及扭矩计算装置300，用于计算作为基于角速度传感器78检测的角速度的驱动力的辅助转矩，其中与表示行为的车体速率相比，转矩计算装置300使辅助转矩Tw小当车体速率大时，基于角速度的车辆小。

2. 发明专利

JP2013237335A Inverted pendulum type vehicle 有权
标题翻译：逆变式车型
公开(公告)号：JP2013237335A
公开(公告)日：2013-11-28
申请号：JP2012111063
申请日：2012-05-14
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ARAKI MAKOTO , JOKURA SHINYA , TAKENAKA TORU
IPC分类号： B62K17/00 , B60L15/20 , B62J99/00 , B62K3/00
CPC分类号： B62K3/007 , B60B19/003 , B62K1/00 , B62K11/007 , B62K17/00 , Y02T10/7241 , Y02T10/7258
摘要： PROBLEM TO BE SOLVED: To provide an inverted pendulum type vehicle, in which the vehicle can be easily turned even while no steering operation is performed.SOLUTION: Not only when a predetermined steering operation is performed but also in an external force application state as a state where at least an external force for turning a vehicle 1 around a yaw axis is applied to the vehicle 1, a control device 21 of the vehicle 1 sets a target turning angular velocity to a nonzero value, and controls a first actuator device 8 and a second actuator device 17 so that a second moving operation part 4 has velocity different from that of a first moving operation part 3 in the crosswise direction.
摘要翻译：要解决的问题：提供一种倒立摆式车辆，其中在不进行转向操作的情况下车辆可以容易地转动。解决方案：不仅在执行预定的转向操作时，而且在外力施加状态下，作为将车辆1绕偏航轴转动的至少外力施加到车辆1的状态，车辆1的控制装置21将目标转弯角速度设定为非零值，并且控制第一致动器装置8和第二致动器装置17，使得第二移动操作部件4具有与横向上的第一移动操作部件3的速度不同的速度。

3. 发明专利

JP2011046342A Steering device of motorcycle 有权
标题翻译：转向装置的摩托车
公开(公告)号：JP2011046342A
公开(公告)日：2011-03-10
申请号：JP2009198133
申请日：2009-08-28
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： TAGAMI TAKUYA , HIKICHI TOICHIRO , KIYOTA SATORU , ARAKI MAKOTO
IPC分类号： B62K21/00 , B62J99/00 , B62K21/04
摘要： PROBLEM TO BE SOLVED: To provide a steering device of a motorcycle, capable of installing a steering ratio varying means and a steering power assist means densely near the front end of a body frame of the motorcycle.
SOLUTION: In the steering device 30 of the motorcycle, a front fork 4 is supported by a top bridge 16 and a bottom bridge 17 positioned below the top bridge 16 to enable rotary steering of the front fork 4 relative to the body frame 2. The steering device 30 of the motorcycle includes the steering ratio varying means S1 for optionally varying the ratio of a rotary angle of a steering bar 5 to a steering angle of a front wheel WF by a first motor M1, and the steering power assist means W1 for rotating the front fork 4 by imparting auxiliary force by means of a second motor M2 into operating force input to the steering bar 5. Both the means S1, W1 are disposed between the top bridge 16 and the bottom bridge 17. The first motor M1 and the second motor M2 are arranged on the inner side of the body than the outer wall of the body frame 2.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种摩托车的转向装置，其能够在摩托车的车体框架的前端附近安装转向比可变装置和转向动力辅助装置。解决方案：在摩托车的转向装置30中，前叉4由顶部桥16和位于顶部桥16下方的底部桥17支撑，以使前叉4相对于主体框架能够转动摩托车的转向装置30包括转向比改变装置S1，用于可选地改变转向杆5的旋转角度与第一电动机M1的前轮WF的转向角度的比率，以及转向助力用于通过借助于第二电动机M2将辅助力赋予到转向杆5的操作力来转动前叉4的装置W1。装置S1，W1均布置在顶部桥16和底部桥17之间。第一电机M1和第二电动机M2布置在主体的内侧上比主体框架2的外壁。版权所有：（C）2011，JPO＆INPIT

4. 发明专利

JP2014198501A 倒立振子型車両有权
标题翻译：反转吊车
公开(公告)号：JP2014198501A
公开(公告)日：2014-10-23
申请号：JP2013074051
申请日：2013-03-29
申请人：本田技研工業株式会社 , Honda Motor Co Ltd
发明人： ARAKI MAKOTO , HASEGAWA MAKOTO , KOBASHI SHINICHIRO , JOKURA SHINYA
IPC分类号： B62K17/00 , B62K3/00
CPC分类号： G05D1/0268 , B60L3/00 , B60L2200/12 , B60L2200/16 , B60L2220/42 , B60L2240/20 , B60L2240/22 , B60L2260/34 , B62K1/00 , B62K11/007 , Y02T10/648
摘要：【課題】車両の操縦性や快適性をより高めることができる倒立振子型車両を提供する。【解決手段】アクチュエータ装置8により駆動される移動動作部3を有する倒立振子型車両1の制御装置21は、乗員搭乗部5に搭乗している乗員と車両1との全体重心の位置を、車両1の所定種類の状態から認識される乗員の重心の移動の要求方向に、バランス状態の位置からずらすようにアクチュエータ装置8を制御する。【選択図】図1
摘要翻译：要解决的问题：提供能够进一步提高车辆操纵性和舒适性的倒立摆车。解决方案：包括由致动器装置8驱动的移动操作单元3的倒立摆车辆1的控制器21控制致动器装置8偏离乘客登机部分5和车辆1的乘客整体重心的位置，从乘客登机部分5和车辆1的平面位置沿着请求移动从预定类型的车辆的状态识别的乘客的重心的方向 1。

5. 发明专利

JP2013256139A Inverted pendulum type vehicle 有权
标题翻译：逆变式车型
公开(公告)号：JP2013256139A
公开(公告)日：2013-12-26
申请号：JP2012125436
申请日：2012-05-31
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ARAKI MAKOTO , JOKURA SHINYA , TAKENAKA TORU
IPC分类号： B62K17/00 , B62J99/00 , B62K3/00 , G05D1/02
CPC分类号： B62K3/007 , B60B19/003 , B60B19/12 , B62H1/12 , B62K1/00 , B62K11/007
摘要： PROBLEM TO BE SOLVED: To provide an inverted pendulum type vehicle capable of learning maneuvering of the inverted pendulum type vehicle.SOLUTION: A vehicle 1 includes: a controller 21 that controls motors 8a, 8b, 17, and a cellular phone 27 that displays a center-of-gravity display point showing a center-of-gravity position and outputs a command for moving the vehicle 1. The controller 21 controls a first actuator and a second actuator to move the vehicle 1 in response to a command output from the cellular phone 27 and a tilting motion of an occupant riding section.
摘要翻译：要解决的问题：提供一种能够学习倒立摆式车辆的操纵的倒立摆式车辆。解决方案：车辆1包括：控制马达8a，8b，17的控制器21和显示显示重心位置的重心显示点，并输出用于移动车辆1的命令。控制器21控制第一致动器和第二致动器以响应于从蜂窝电话输出的命令来移动车辆1 电话27和乘员骑行部分的倾斜运动。

6. 发明专利

JP2014172586A Movable body 有权
标题翻译：可移动身体
公开(公告)号：JP2014172586A
公开(公告)日：2014-09-22
申请号：JP2013049718
申请日：2013-03-12
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： TAKENAKA TORU , AKIMOTO KAZUSHI , GOMI HIROSHI , YAMAMOTO YUSUKE , KUDO TAKASHI , ARAKI MAKOTO , TAKAHASHI YOSHIKI
IPC分类号： B62K21/22 , B62K21/00
CPC分类号： B62K21/10
摘要： PROBLEM TO BE SOLVED: To provide a movable body which improves the stability of the posture of a vehicle body when a vehicle is stopped and allows a driver to easily operate the posture of the vehicle body when the vehicle travels at a high speed.SOLUTION: A movable body 1A includes: a front wheel support mechanism 4 having a trail length variable mechanism 9; a steering actuator 8 which generates a driving force for steering a front wheel 3f; a trail length change actuator 15 which generates a driving force for changing a trail length of the front wheel 3f; and a control device 50. The control device 50 includes: steering control means which controls the steering actuator 8 so as to stabilize the posture of the vehicle body; and trail length control means which controls the trail length change actuator 15 according to an observed value of the vehicle speed.
摘要翻译：要解决的问题：提供一种移动体，其在车辆停止时提高车身姿势的稳定性，并且能够在车辆高速行驶时使驾驶员容易地操作车体的姿势。解决方案：移动体1A包括：前轮支撑机构4，其具有轨迹长度可变机构9; 产生用于转向前轮3f的驱动力的转向致动器8; 轨迹长度变化致动器15，其产生用于改变前轮3f的轨迹长度的驱动力; 和控制装置50.控制装置50包括：转向控制装置，其控制转向致动器8，以稳定车体的姿态; 以及跟踪长度控制装置，其根据车速的观测值来控制行程长度变更致动器15。

7. 发明专利

JP2013237324A Inverted pendulum type vehicle 有权
标题翻译：逆变式车型
公开(公告)号：JP2013237324A
公开(公告)日：2013-11-28
申请号：JP2012111049
申请日：2012-05-14
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： TAKENAKA TORU , JOKURA SHINYA , MURAKAMI HIDEO , ARAKI MAKOTO
IPC分类号： B62K17/00 , B62K1/00
CPC分类号： B62K1/00 , B62K11/007
摘要： PROBLEM TO BE SOLVED: To provide an inverted pendulum type vehicle that prevents a travel operation unit from running at a high velocity when not in contact with the ground.SOLUTION: A ground contact point velocity detection unit 22 calculates the acceleration ac of a ground contact point of a wheel by integrating a ground contact point horizontal acceleration ac being calculated by a ground contact point horizontal acceleration calculation unit 22a. A determination unit 23 calculates a ground contact point velocity Va. The determination unit 23 sets a velocity threshold value V_th on the basis of the velocity difference ΔV2 between the ground contact point velocity Va and a first desired velocity Vw1_cmd_xy. If the first desired velocity Vw1_cmd_xy reaches the velocity threshold value V_th or more, then the determination unit decides that the wheel of a first travel operation unit 3 is idling and restricts the setting of the first desired velocity Vw1_cmd_xy by a first control processing unit 24 to the velocity threshold value or less.
摘要翻译：要解决的问题：提供一种倒立摆式车辆，其防止行驶操作单元在与地面不接触时以高速行驶。解决方案：接地点速度检测单元22计算接地触点的加速度ac 通过集成由接地点水平加速度计算单元22a计算的地面接触点水平加速度交流，来确定轮的点。确定单元23计算接地点速度Va，确定单元23基于接地点速度Va和第一期望速度Vw1_cmd_xy之间的速度差Dgr; V2设定速度阈值V_th。如果第一期望速度Vw1_cmd_xy达到速度阈值V_th以上，则确定单元判定第一行驶操作单元3的车轮空转，并且通过第一控制处理单元24将第一期望速度Vw1_cmd_xy的设定限制为速度阈值或更小。

8. 发明专利

JP2012076502A Steering system of motorcycle, and motorcycle 有权
标题翻译：摩托车转向系统和摩托车
公开(公告)号：JP2012076502A
公开(公告)日：2012-04-19
申请号：JP2010221116
申请日：2010-09-30
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： TANI KAZUHIKO , ARAKI MAKOTO , TSUDA TAKESHI , NOSE TSUBASA
IPC分类号： B62K21/00 , B62J99/00
摘要： PROBLEM TO BE SOLVED: To provide a steering system of a motorcycle which enhances turning property of a motorcycle that turns by banking (inclining) a vehicle body.SOLUTION: When a motorcycle 10 running with tilt and brake operation is detected, a steering handle 18 is prevented from being turned further in a turning direction to maintain a bank angle of the vehicle body 11 by applying a steering assist force in a direction opposite to a turning direction of a steering handle 18. The turning property of the motorcycle 10 which frequently runs by banking the vehicle body 11 can be enhanced.
摘要翻译：要解决的问题：提供一种摩托车的转向系统，其提高通过银行（倾斜）车身而转动的摩托车的转向性。解决方案：当检测到具有倾斜和制动操作的摩托车10时，防止转向手柄18在转向方向上进一步转动，以通过在车身11中施加转向辅助力来保持车身11的倾斜角度方向与转向手柄18的转动方向相反。可以提高通过银行车身11频繁行驶的摩托车10的转向性能。版权所有（C）2012，JPO＆INPIT

9. 发明专利

JP2012076490A Steering system for saddle-riding type vehicle, and motorcycle equipped with the same 有权
标题翻译：用于踩踏式车辆的转向系统，以及配备其的摩托车
公开(公告)号：JP2012076490A
公开(公告)日：2012-04-19
申请号：JP2010220992
申请日：2010-09-30
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ARAKI MAKOTO , KOBAYASHI HIROETSU , TSUDA TAKESHI , NOSE TSUBASA
IPC分类号： B62K21/00
摘要： PROBLEM TO BE SOLVED: To provide a steering system for a saddle-riding type vehicle that achieves appropriate auxiliary force (steering auxiliary force) with respect to operation of a steering handle in a stop state of a saddle-riding type vehicle.SOLUTION: The steering system for a saddle-riding type vehicle has the following configuration. An auxiliary-force control part is configured to set auxiliary force, generated by an electric motor, of a power assist part that applies the auxiliary force to operating force imparted to a steering handle 18. In a low vehicle speed region of a saddle-riding type vehicle, the auxiliary-force control part sets the auxiliary force so as to include the maximum value of the auxiliary force. In a high vehicle speed region higher than the low vehicle speed region, the auxiliary-force control part sets the auxiliary force so as to include the minimum value of the auxiliary force. In a halt state, the auxiliary-force control part sets an intermediate value between the maximum value of the auxiliary force and the minimum value of the auxiliary force. Consequently, it is possible to impart appropriate auxiliary force in the halt state of the saddle-riding type vehicle.
摘要翻译：要解决的问题：提供一种骑乘式车辆的转向系统，其在骑乘式车辆的停止状态下相对于操舵手的操作实现适当的辅助力（转向辅助力）。
解决方案：鞍式车辆的转向系统具有以下构造。辅助力控制部被配置为将由辅助力产生的辅助力设定在对辅助力施加到转向手柄18的作用力的动力辅助部上。在鞍骑的低车速区域辅助力控制部将辅助力设定为包括辅助力的最大值。在高于低车速区域的高车速区域中，辅助力控制部分将辅助力设定为包括辅助力的最小值。在停止状态下，辅助力控制部设定辅助力的最大值和辅助力的最小值之间的中间值。因此，能够在骑乘式车辆的停止状态下赋予适当的辅助力。版权所有（C）2012，JPO＆INPIT

10. 发明专利

JP2009179241A Vehicle steering system 有权
标题翻译：车辆转向系统
公开(公告)号：JP2009179241A
公开(公告)日：2009-08-13
申请号：JP2008021575
申请日：2008-01-31
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： HIKICHI TOICHIRO , KIYOTA SATORU , TAGAMI TAKUYA , ARAKI MAKOTO
IPC分类号： B62K21/00
CPC分类号： B62K21/00 , B62K19/30 , B62K2207/02
摘要： PROBLEM TO BE SOLVED: To provide a vehicle steering system having a vehicle steering mechanism disposed efficiently.
SOLUTION: The steering system includes a steering unit (32) adapted to convert an operation input to an input shaft (33) into an optional amount of rotation and/or an optional turning force and output them/it from an output shaft (34), a steering handlebar (15) coupled to the input shaft (33), a support bracket (4a) coupled to the output shaft (34) and supporting a front wheel (WF) of a vehicle, and a storage case (31) storing the steering unit (32), the storage case (31) mounted on a front end of a vehicle body frame (2) of a motorcycle (1) integrally therewith. The steering unit (32) includes a variable ratio steering mechanism (32b) adapted to convert an input steering angle into an optional output steering angle and transmit it to the front wheel (WF), and a power assist mechanism (32a) adapted to supply an optional supplementary force to an input operation. The storage case (31) and the vehicle body frame (2) are formed of the same material and welded to each other, or formed of different materials and fixed to each other with bolts.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种具有有效布置的车辆转向机构的车辆转向系统。解决方案：转向系统包括转向单元（32），其适于将输入到输入轴（33）的操作输入转换成可选择的旋转量和/或可选择的转动力，并将其从输出轴（34），联接到所述输入轴（33）的转向手把（15），联接到所述输出轴（34）并支撑车辆的前轮（WF）的支撑托架（4a）和存储箱 31）存储转向单元（32），与所述摩托车（1）的车身框架（2）的前端一体地安装的所述收纳箱（31）。转向单元（32）包括适于将输入转向角转换成可选输出转向角并将其传送到前轮（WF）的可变转向机构（32b），以及适于供给对输入操作的可选辅助力。储存箱（31）和车身框架（2）由相同的材料形成并且彼此焊接或由不同的材料形成并且用螺栓彼此固定。版权所有（C）2009，JPO＆INPIT

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