Method of calculating the body roll angle of the motorcycle, and the motorcycle calculation device of the vehicle body roll angle of the

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.