Lean motion dynamics of a tilting personal mobility with the suspension device equipped with a mechanism converts driver’s actuation force into lean moment

Abstract

The Lean Automobile is a minimalistic tilting personal mobility for urban transportation with the suspension device equipped with a mechanism which converts driver's actuation force into lean moment. We proposed it as a solution for the urban traffic problems and conduct study of it aiming for societal implementation. Since the most distinctive feature of the Lean Automobile among the other micro mobilities is its lean control method that is enabled by the unprecedented suspension device, we need to focus on the lean motion dynamics in order to verify the feasibility of the lean control left in the hands and feet of the driver. In this paper the process and outcomes of the feasibility study based on the calculations of transient characteristics and the simulations of lean motion is discussed. A newly developed dynamic model which describes the tilting vehicle with the suspension device equipped with the mechanism generates lean moment is used for the calculations and simulations. Through the study we find out the conditions to stabilize weave mode along with the differences between multiple lean control tactics that is allowed by the distinctive suspension device, therefore we get the prospect that there is multiple tactics to stabilize the Lean Automobile's lean motion along with avoiding rollover.