The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 09, 2024
Filed:
Feb. 26, 2021
Yamaha Hatsudoki Kabushiki Kaisha, Iwata, JP;
Nobuo Hara, Shizuoka, JP;
Hidekazu Tsuboi, Shizuoka, JP;
YAMAHA HATSUDOKI KABUSHIKI KAISHA, Iwata, JP;
Abstract
A leaning vehicle including a vehicle body frame, at least one steerable wheel, a handlebar, of which the manipulation by a rider generates a steering torque, a steering actuator steering the at least one steerable wheel, a roll rate sensor detecting a roll rate of the vehicle body frame, and a steering actuator controller. The steering actuator controller includes a torque estimation section that receives an input to thereby generate an estimated value of the steering torque, and a current determination section that obtains a control current based on the estimated valued of the steering torque generated by the torque estimation section, and outputs the control current to the steering actuator to control the steering actuator. The input of the torque estimation section includes the roll rate obtained from the roll rate sensor, but is free from any value of the steering torque detected by a torque sensor.