JP4701681B2 - Parallel motorcycle and its control method - Google Patents

Description

  The present invention relates to a parallel two-wheeled vehicle suitable for use in, for example, a vehicle traveling on two wheels with a human being on board, and a control method therefor. Specifically, when braking is performed by providing braking means on a parallel two-wheeled vehicle, good braking can be realized.

  For example, a vehicle that travels on two wheels with a human being on board has been proposed (see, for example, Patent Document 1).

US Pat. No. 6,288,505

  For example, a device as described in Patent Document 1 has been proposed as a vehicle that travels on two wheels with a human being on board. However, in the prior art, the position and speed of the vehicle are controlled only by the movement of the center of gravity of the occupant. Therefore, it is necessary to control the vehicle by always moving the center of gravity even when you want to reduce the speed suddenly because you feel dangerous, or you want to stop on the spot because it is a narrow place, etc. There were problems such as slowing down and the need for advanced technology to continue stopping in narrow spaces.

  This application has been made in view of the above points, and the problem to be solved is that in the conventional apparatus, the position and speed of the vehicle are controlled only by the movement of the center of gravity of the occupant. This means that it was not possible to easily maintain the braking or stopping state.

  Therefore, in the present invention, the operation information of the brake lever is detected, the target vehicle speed is set from the detected operation information, and the vehicle is controlled so as to stably follow the set vehicle speed. And according to this, it is possible to perform the brake braking satisfactorily. Further, the target vehicle position is set, and control is performed so that the vehicle stably follows the set target vehicle position. According to this, the vehicle can be kept in a stopped state satisfactorily. it can.

And the body, and a pair of drive units mounted coaxially in the body, and the longitudinal inclination detecting device for detecting a longitudinal inclination of the body, relative angular velocity and longitudinal inclination detection between the detected body and the wheel in the drive unit A vehicle speed detection device that obtains a vehicle speed from the angular velocity detected by the device, the relative angle and angular velocity of the main body and wheels detected by the drive unit, and the angle and angular velocity detected by the longitudinal tilt detection device From the above, the control device calculates a driving torque necessary to stabilize the entire system so as not to fall, and drives each motor of the driving unit. A brake detection device that detects lever operation information, and a target speed setting device that sets a target vehicle speed from outputs of the brake detection device and the vehicle speed detection device. It is one in which the vehicle by performing control so that stably follow the vehicle speed set in the target speed setting device, it is possible to perform good braking.

Further, by changing the target vehicle speed set in the target speed setting device in accordance with the vehicle speed detected by the operation amount and the vehicle speed detecting device of the probe Rekireba, the vehicle speed so as to follow the target vehicle speed set By controlling, brake braking can be performed according to the operation amount of the brake lever.

Further provided a vehicle position detecting device for determining the vehicle position from the relative angle and the detected angles before and after the tilt detection device between the detected body and the wheel in driving motion unit, and a target position setting device for setting a target vehicle position The control device can satisfactorily stop the vehicle by performing control so that the vehicle stably follows the target vehicle position set in the target position setting device.

When the brake lever is operated when vehicles outages, the target vehicle position is set as the target position setting device as the current position, stably follow the target vehicle position control device is set to the target position setting device By performing the control in such a manner, the stop state of the vehicle can be favorably maintained.

When the brake lever is operated during running of the vehicles changes the target vehicle speed set in the target speed setting device in accordance with the vehicle speed detected by the operation amount and the vehicle speed detecting apparatus of the brake lever, set The vehicle speed is controlled to follow the set target vehicle speed, and when the vehicle speed detected by the vehicle speed detection device becomes 0, the target vehicle position set in the target position setting device is set as the current position. The control device performs control so as to stably follow the target vehicle position set in the target position setting device, so that it is possible to satisfactorily stop at that location after brake braking.

Operation amount of the probe Rekireba and in accordance with the vehicle speed detected by the vehicle speed detecting device to change the target vehicle speed set in the target speed setting device to control the vehicle speed so as to follow the target vehicle speed set A deceleration mode and a parking brake mode in which the target vehicle position set in the target position setting device is the current position and the control device performs control so as to stably follow the target vehicle position set in the target position setting device. By providing a switch for switching, even if the operation of the brake lever is released, the stop at that location can be performed satisfactorily.

It has a handle which multiply personnel caught, by providing a brake lever on the handle, in which the operation of the brake lever can be performed well.

In addition, body and a pair of drive units mounted coaxially in the body, and the longitudinal inclination detecting device for detecting a longitudinal inclination of the body, relative angular velocity and the front and rear of the detected body and the wheel in the drive unit A vehicle speed detection device for obtaining a vehicle speed from the angular velocity detected by the tilt detection device, the relative angle and angular velocity between the main body and the wheels detected by the drive unit, the angle detected by the front and rear tilt detection device, and A control method for a parallel two-wheeled vehicle that drives each motor of the drive unit by calculating a drive torque necessary to stabilize the entire system from falling down from the angular velocity, The operation information is detected, the target vehicle speed is set from the detected brake lever operation information and the output of the vehicle speed detection device, and the vehicle stably follows the set vehicle speed. By performing controlled so, it is capable of performing satisfactorily braking.

Further, by controlling the vehicle speed so changing the target vehicle speed set in accordance with the vehicle speed detected by the operation amount and the vehicle speed detecting device of the probe Rekireba, it follows the target vehicle speed set, Brake braking can be performed according to the amount of operation of the brake lever.

Calculated vehicle position from the detected angle relative angle and longitudinal inclination detecting device of the body and the wheels detected by the driving motion unit, sets a target vehicle position, stably follow the target vehicle position where the vehicle is set The vehicle can be stopped satisfactorily by performing the control in such a manner.

When the brake lever is operated when vehicles stop as the current position the target vehicle position set, by performing control so that stably follow the set target vehicle position, favorably the vehicle It is possible to keep the stop state.

When the brake lever is operated during running of the vehicles, the target vehicle speed by changing the target vehicle speed set in accordance with the vehicle speed detected by the operation amount and the vehicle speed detecting apparatus of the brake lever, is set When the vehicle speed detected by the vehicle speed detection device becomes 0, the set target vehicle position is set as the current position, and the set target vehicle position is stabilized. By performing the control so as to follow, it is possible to satisfactorily stop at that location after braking.

Operation amount of the probe Rekireba and in accordance with the vehicle speed detected by the vehicle speed detecting device to change the target vehicle speed set, a speed reduction mode for controlling the vehicle speed so as to follow the target vehicle speed set, set The brake lever operation is released by allowing the target vehicle position to be set to the current position and switching the parking brake mode to control the vehicle so as to stably follow the set target vehicle position. However, the stop at that place can be performed well.

  Thus, according to the present invention, it is possible to easily solve these problems according to the present invention, which is not easy for the conventional apparatus to brake in a parallel two-wheeled vehicle or to keep the parallel two-wheeled vehicle in a stopped state. It is something that can be done.

  Hereinafter, the present invention will be described with reference to the drawings. FIG. 1 shows a configuration of an embodiment of a vehicle to which a parallel two-wheeled vehicle and a control method thereof according to the present invention are applied. 1A is a front view and FIG. 1B is a side view.

  In FIG. 1, a parallel two-wheeled vehicle according to the present invention includes a main body (portion on which an occupant stands) 1, a pair of drive units 2A and 2B that are coaxially attached to the main body 1, and a T-shaped type that holds the occupant. It comprises a handle 3 and a tilt detection device 4 before and after the main body 1 (around the Y axis). In the present invention, the brake lever 5 and the brake detection device 6 for detecting operation information (operation amount, operation speed) of the brake lever 5 are provided at the end of the handle 3. The main body 1 is provided with a control device (not shown) for controlling the vehicle, which will be described later.

  Further, FIG. 2 shows a structural example around the brake lever 5. 2A is a top view and FIG. 2B is a side view. That is, in FIG. 2, a brake lever 5 is attached to the handle 3, and an operation amount and an operation speed of the brake lever 5 are detected by a potentiometer or a rotary encoder serving as the brake detection device 6. The brake lever 5 is further provided with a return spring 7, and the brake detection device 6 and the return spring 7 are accommodated in a bracket 8.

  Therefore, first, in the normal travel mode, as shown in FIG. 3, from the relative angle and angular velocity between the main body 1 and the wheels detected by the drive units 2A and 2B, and the angle and angular velocity detected by the front / rear inclination detecting device 4, The controller 11 calculates the drive torque necessary to stabilize the entire system so as not to fall down, and drives the motors of the drive units 2A and 2B. Accordingly, the occupant can move forward and backward by shifting the center of gravity back and forth.

  Next, in the deceleration mode, in FIG. 4, the brake detection device 6 detects the operation amount and operation speed of the brake lever 5 operated by the occupant. Further, the vehicle speed detection device 12 obtains the current vehicle speed from the relative angular velocity between the main body 1 and the wheels detected by the drive units 2 </ b> A and 2 </ b> B and the vehicle angular velocity detected by the longitudinal tilt detection device 4. The target speed setting device 13 determines the deceleration from the outputs of the brake detection device 6 and the vehicle speed detection device 12, and determines the target vehicle speed.

  That is, by the above processing, the target speed setting device 13 appropriately adjusts the deceleration according to the brake operation amount and the brake operation speed. Thus, the control device 11 causes the vehicle to stably follow the target vehicle angle (= 0, that is, keep it horizontal), the target vehicle angular velocity (= 0, that is, keep the current angle), and the target vehicle speed.

  Further, in the stop mode, in FIG. 5, the brake detection device 6 detects the operation amount of the brake lever 5 operated by the occupant. Further, the vehicle speed detection device 12 obtains the current vehicle speed from the relative angular velocity between the main body 1 and the wheels detected by the drive units 2 </ b> A and 2 </ b> B and the vehicle angular velocity detected by the longitudinal tilt detection device 4. The target speed setting device 13 determines the deceleration from the outputs of the brake detection device 6 and the vehicle speed detection device 12, and determines the target vehicle speed.

  On the other hand, the vehicle position detection device 14 obtains the current vehicle position from the relative angle between the main body 1 and the wheels detected by the drive units 2 </ b> A and 2 </ b> B and the vehicle angle detected by the front / rear inclination detection device 4. Further, the target position setting device 15 determines the target vehicle position, and supplies the current vehicle position detected by the vehicle position detection device 14 to the target position setting device 15.

  When it is detected that the vehicle speed is 0 or extremely low and the brake is operated, control is performed so that the vehicle is stopped at that position. Specifically, the target speed setting device 13 sets the target vehicle speed to 0, and the target position setting device 15 sets the target vehicle position to the current position. The control device 11 sets the target vehicle angle (= 0, i.e., keeps it horizontal), the target vehicle angular speed (= 0, i.e., keeps the current angle), the target vehicle speed (= 0, i.e., stops), and the target vehicle position (= current). The vehicle) in a stable manner.

  Also, in the transition from the travel mode to the stop mode, the vehicle decelerates in the above-described deceleration mode during traveling, and if the brake is still being operated when the speed becomes zero, the mode shifts to the stop mode. Continue to stop on the ground.

  Further, in the parking brake mode, the normal running mode (or stop mode) and the parking brake mode are switched by an arbitrary brake switch (not shown). As a result, in the parking brake mode, the vehicle continues to stop even if the brake lever is not continuously held.

  In addition, the state transition between the above modes is shown in FIG. That is, in FIG. 6, the normal driving mode, the deceleration mode, the stop mode, and the parking brake mode are respectively the brake operation, brake release, brake switch operation, brake switch release, brake switch operation and speed≈0, brake operation and It shows a state where the transition is performed with a speed ≈ 0 or the like as a trigger.

  Further details of the operation in each mode are shown below.

First, in the operation details of the normal travel mode, as variables, θ _V : inclination angle of the vehicle body θ _Vref : target inclination angle of the vehicle body (= 0)
θ ′ _V : Angular velocity of the vehicle body (′ represents time differentiation, the same applies hereinafter)
θ ′ _Vref : Target inclination angular velocity of the vehicle body (= 0)
T _W : Torque P ₁ applied to the wheels, P ₂ : A feedback coefficient is given.

In a specific operation, first, the controller 11 first sets the target vehicle tilt angle (θ _Vref = 0, ie, keeps it horizontal), the target vehicle tilt angular velocity (θ ′ _Vref = 0, ie, keeps the current angle), and the target. The vehicle is made to follow the vehicle speed stably. For this purpose, for example, a conventionally known stabilization control rule of an inverted pendulum (T _W = P ₁ (θ _Vref −θ _V ) + P ₂ (θ ′ _Vref −θ ′ _V ) is used. The operation in the normal travel mode is performed.

  Next, the processing when transitioning to the deceleration mode by detecting the brake operation is performed as shown in the flowchart of FIG. That is, in FIG. 7, the brake operation is detected in step S11 in the normal travel mode (step S10). When there is no operation (N), the normal travel mode is returned, and when there is an operation (Y), the deceleration mode is selected. The process proceeds to (Step S20).

Therefore, in the operation details of the deceleration mode, as a variable, θ _B : brake operation amount (for example, brake lever angle)
θ ′ _B : Brake operation speed (eg, angular speed of brake lever)
θ ′ _W : Wheel rotation speed relative to the vehicle body θ _V : Vehicle body inclination angle θ _Vref : Vehicle body inclination angle (= 0)
θ ′ _V : Inclination angular velocity of vehicle body θ ′ _Vref : Target inclination angular velocity of vehicle body (= 0)
R _W : Wheel radius V _V : Vehicle body speed V _Vref : Vehicle body target speed a _Vref : Vehicle body target deceleration f: Functions K ₁ , K ₂ , K ₃ : Coefficient T _W : Torque P applied to wheels ₁ , P ₂ , P ₄ : A feedback coefficient is given.

In a specific operation, for example, as shown in the flowchart of FIG. 8, first, from the normal travel mode (step S10), a transition to the deceleration mode (step S20) is made when a brake operation is detected (step S11). Here, the brake detection device 6 detects the operation amount (θ _B ) and the operation speed (θ ′ _B ) of the brake lever 5 operated by the occupant.

Next, in step S21, the vehicle speed detection device 12 determines the current vehicle speed from the relative angular velocity between the main body 1 and the wheels detected by the drive units 2A and 2B and the vehicle angular velocity detected by the front / rear inclination detection device 4. (V _V = R _W (θ ′ _W −θ ′ _V )) is obtained. Further, in step S22, the target speed setting device 13 sets the target deceleration (a _Vref = f (θ _B , θ ′ _B , V _V )) according to a function f from the outputs of the brake detection device 6 and the vehicle speed detection device 12. It determines, at step S23, sets the vehicle target speed _{(V Vref = V V -a Vref} ).

In this case, the function f, for example f (theta _B, theta is _{'B, V V) = K} 1 θ B + K 2 θ' B + K 3 V format, as shown in _V, speed and brake operation amount and brake operation When the vehicle body speed is high, coefficients K ₁ , K ₂ , and K _{3 are} determined so as to calculate a large target deceleration. Depending on how the function f is determined, it is possible to have different properties such as calculating a large target deceleration when the speed of the vehicle body is low. When the vehicle target speed becomes zero or negative, the vehicle target speed is set to zero.

In step S24, the control device 11 sets the target vehicle tilt angle (θ _Vref = 0, ie, keeps it horizontal), the target vehicle tilt angular velocity (θ ′ _Vref = 0, ie, keeps the current angle), and the target vehicle speed (V _Vref ) And make the vehicle follow stably. For this purpose, for example, a conventionally known inverted pendulum stabilization control law T _W = P ₁ (θ _Vref −θ _V ) + P ₂ (θ ′ _Vref −θ ′ _V ) + P ₄ (V _Vref −V _V ) Is used. Further, when the vehicle speed becomes 0, the mode transits to the stop mode (step S30).

Furthermore, in the details of the operation in the stop mode, as a variable, θ _B : brake operation amount (for example, brake lever angle)
θ _W : Wheel rotation angle relative to the vehicle body θ ′ _W : Wheel rotation speed relative to the vehicle body θ _V : Vehicle body tilt angle θ _Vref : Vehicle body tilt angle (= 0)
θ ′ _V : Inclination angular velocity of vehicle body θ ′ _Vref : Target inclination angular velocity of vehicle body (= 0)
R _W: wheel radius _{X V:} Position of the vehicle body _{X Vref:} the target position of the vehicle body _{V V:} vehicle body speed _{V Vref:} the vehicle body of the target speed _{T W:} Torque _{P 1,} P 2, _{P 3} applied to the wheel , P ₄ : A feedback coefficient is given.

In a specific operation, for example, as shown in the flowchart of FIG. 9, first, vehicle speed = 0 is detected in step S25 from the deceleration mode (step S20), and the presence or absence of a brake operation is detected in step S12. . That is, the brake detection device 6 detects the operation amount (θ _B ) of the brake lever 6 operated by the occupant. Here, when the brake operation is not detected (N), a transition is made to the normal travel mode (step S10).

  In the flowchart of FIG. 9, the presence or absence of a brake switch operation is detected in step S13. Here, when a brake switch operation is detected (Y), a transition is made to a parking brake mode described later. On the other hand, when the brake switch operation is not detected in step S13 (N), the mode is changed to the stop mode (step S30).

In this stop mode (step S30), in step S31, the vehicle position detection device 14 changes the relative angle from a certain reference time (for example, at the time of stop mode transition) between the main body 1 and the wheels detected by the drive units 2A and 2B. And the current vehicle position (X _V = R _W (θ _W −θ _V )) based on a certain point (for example, the position at the time of transition to the stop mode) from the vehicle angle detected by the forward / backward tilt detection device 4 Ask for.

In step S32, the target position setting device 15 sets the vehicle target position (X _Vref ) at a certain reference point (for example, the position at the time of transition to the stop mode). Further, in step S33, the target speed setting device 13 sets the vehicle target speed (V _Vref ) to zero. On the other hand, the vehicle speed detection device 12 determines the current vehicle speed (V _V = V) from the relative angular velocity between the main body 1 and the wheels detected by the driving units 2A and 2B and the vehicle angular velocity detected by the front / rear inclination detection device 4. R _W (θ ′ _W −θ ′ _V )) is obtained.

In step S35, the control device 11 determines the target vehicle inclination angle (θ _Vref = 0, ie, keeps it horizontal), the target vehicle inclination angular velocity (θ ′ _Vref = 0, ie, keeps the current angle), and the target vehicle position (X _The vehicle is made to stably follow _Vref (for example, the position at the time of stop mode transition) and the target vehicle speed (V _Vref = 0, that is, stop). For this purpose, for example, a conventionally known inverted pendulum stabilization control law T _W = P ₁ (θ _Vref −θ _V ) + P ₂ (θ ′ _Vref −θ ′ _V ) + P ₃ (X _Vref −X _V ) + P ₄ (V _Vref −V _V ) is used.

Further, when the brake is released, the mode is changed to the normal running mode, and when the brake switch is detected, the mode is changed to the parking brake mode. Here, in the operation details of the parking brake mode, as variables, θ _W : rotation angle of the wheel with respect to the vehicle body θ ′ _W : rotation speed of the wheel with respect to the vehicle body θ _V : inclination angle of the vehicle body θ _Vref : target inclination angle of the vehicle body (= 0)
θ ′ _V : Inclination angular velocity of vehicle body θ ′ _Vref : Target inclination angular velocity of vehicle body (= 0)
R _W: wheel radius _{X V:} Position of the vehicle body _{X Vref:} the target position of the vehicle body _{V V:} vehicle body speed _{V Vref:} the vehicle body of the target speed _{T W:} Torque _{P 1,} P 2, _{P 3} applied to the wheel , P ₄ : A feedback coefficient is given.

  In a specific operation, for example, as shown in the flowchart of FIG. 10, when the vehicle speed is first set to approximately 0 in step S25 and the brake switch is detected in step S13 from the normal travel mode (step S10), the parking brake is detected. Transition to the mode (step S40). Alternatively, when the brake switch is detected in the step S14 from the stop mode (step S30), the mode is changed to the parking brake mode (step S40).

  Thereafter, the brake lever operation is merely replaced with the brake switch operation in the stop mode (step S30), and the operation is performed in the same manner as the stop mode (step S30). That is, steps S41 to S45 in the flowchart of FIG. 10 are equivalent to steps S31 to S35 of the flowchart of FIG. By this process, instead of continuing to hold the brake lever, if the brake switch is turned on, it will continue to stop. Further, when the brake switch is released, the mode is changed to the normal travel mode (step S10).

  Therefore, in this embodiment, the operation information of the brake lever is detected, the target vehicle speed is set from the detected operation information, and control is performed so that the vehicle stably follows the set vehicle speed. Brake braking can be performed. Further, by setting the target vehicle position and performing control so that the vehicle stably follows the set target vehicle position, it is possible to maintain the vehicle stopped state satisfactorily.

  Thus, according to the present invention, it is possible to easily solve these problems according to the present invention, which is not easy for the conventional apparatus to brake in a parallel two-wheeled vehicle or to keep the parallel two-wheeled vehicle in a stopped state. It is something that can be done.

That is, according to the present invention, the following effects are obtained in operation.
1. Since it is possible to decelerate with the brake lever instead of the movement of the center of gravity of the occupant, it is possible to cope with an emergency where the movement of the center of gravity is not in time, so safety is high.
2. Because it is possible to decelerate with the brake lever instead of the movement of the center of gravity of the occupant, operation similar to that of other vehicles such as bicycles is possible. No skill is required.
3. Easy operation of the vehicle in a narrow space because it can be stopped by the brake lever instead of moving the center of gravity of the passenger.
4). If you use the parking brake mode, you do not have to hold the brake lever. You can keep both hands free and stay stable in a narrow area.

  The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

1 is a configuration diagram of an embodiment of a vehicle to which a parallel two-wheeled vehicle and a control method thereof according to the present invention are applied. FIG. It is a block diagram for explanation of the normal driving mode. It is a block diagram for explanation of the deceleration mode. It is a block diagram for description of the stop mode. It is a state transition diagram which shows the state transition between modes. It is a flowchart figure for description of normal driving mode. It is a flowchart figure for description of deceleration mode. It is a flowchart figure for description of stop mode. It is a flowchart figure for description of parking brake mode.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Main body, 2A, 2B ... Drive unit, 3 ... Handle, 4 ... Inclination detection device, 5 ... Brake lever, 6 ... Brake detection device

Claims (2)

A main body, a pair of drive units coaxially attached to the main body, a front / rear inclination detecting device for detecting a front / rear inclination of the main body, a relative angular velocity between the main body and wheels detected by the drive unit; A vehicle speed detection device that obtains a vehicle speed from the angular velocity detected by the front / rear inclination detection device;
Necessary for the control device to stabilize the entire system from falling down, based on the relative angle and angular velocity between the main body and the wheel detected by the drive unit and the angle and angular velocity detected by the longitudinal tilt detection device. A parallel two-wheeled vehicle that calculates drive torque and drives each motor of the drive unit,
A brake lever,
A brake detection device for detecting operation information of the brake lever;
A target speed setting device for setting a target vehicle speed from outputs of the brake detection device and the vehicle speed detection device ;
A vehicle position detection device for obtaining a vehicle position from a relative angle between the main body and the wheel detected by the drive unit and an angle detected by the front-rear inclination detection device;
A target position setting device for setting a target vehicle position ;
When the brake lever is operated during travel of the vehicle, a target vehicle speed set by the target speed setting device is set according to the amount of operation of the brake lever and the vehicle speed detected by the vehicle speed detection device. Change the vehicle speed to follow the set target vehicle speed,
When the brake lever is operated when the vehicle speed detected by the vehicle speed detection device becomes 0, the target vehicle position set by the target position setting device is set as the current position, and the control A parallel two-wheeled vehicle, wherein the control is performed so that the device follows the target vehicle position set by the target position setting device . A main body, a pair of drive units coaxially attached to the main body, a front / rear inclination detecting device for detecting a front / rear inclination of the main body, a relative angular velocity between the main body and wheels detected by the drive unit; A vehicle speed detection device for obtaining a vehicle speed from the angular velocity detected by the front / rear inclination detection device;
Based on the relative angle and angular velocity between the main body and the wheel detected by the drive unit and the angle and angular velocity detected by the front / rear inclination detector, the driving torque necessary to stabilize the entire system so as not to fall down is obtained. A calculation method for a parallel two-wheeled vehicle that calculates and drives each motor of the drive unit,
Detecting brake lever operation information
A target vehicle speed is set from the detected operation information of the brake lever and the output of the vehicle speed detection device,
Obtaining the vehicle position from the relative angle between the main body and the wheel detected by the drive unit and the angle detected by the front / rear tilt detection device,
When the brake lever is operated during travel of the vehicle, the set target vehicle speed is changed according to the operation amount of the brake lever and the vehicle speed detected by the vehicle speed detection device, and the setting Control the vehicle speed to follow the set target vehicle speed,
When the brake lever is operated when the vehicle speed detected by the vehicle speed detection device becomes 0, the current position is set as the target vehicle position, and the set target vehicle position is followed. The control method of the parallel two-wheeled vehicle characterized by performing control in this way.

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