JP4283094B2 - Car body tilt control device and car body tilt system - Google Patents

Description

  The present invention relates to a vehicle body tilt control device that controls a vehicle body tilt device that tilts the vehicle body of the vehicle when the vehicle passes a curve, and a vehicle body tilt system that tilts the vehicle body of the vehicle.

  There is known a pendulum vehicle having a function of inclining the vehicle body toward the inner track side of a curve when passing a curve to improve a decrease in riding comfort due to centrifugal force and improving a speed when passing the curve. In Japan, where there are many curves, pendulum vehicles have spread throughout the country, starting with the practical use of pendulum vehicles on the Shinano Express on the Chuo West Line in 1973, and all JR companies now operate pendulum vehicles. In Europe, Fiat in Italy, etc., manufactures pendulum vehicles and is used for commercial operation in Italy, Germany, Sweden, the UK, Switzerland and other countries. Such a pendulum vehicle was originally a natural pendulum system that leans the vehicle body using the excess centrifugal force that acts on the vehicle body when passing through the curved section. There is a problem that a so-called swing delay is started and the ride comfort is lowered. For this reason, at present, the pendulum system with control (forced pendulum system) in which the pendulum angle is instructed according to the situation of the curve and the vehicle body is tilted by the actuator that tilts the vehicle body is the mainstream. In such a pendulum with control, the pendulum angle changes in accordance with the size of the curve, so the point is how to accurately enter the curve, exit from the curve, and the size of the curve. In Europe, a method is used in which a gyro is mounted on the leading vehicle and a curve is detected based on the output signal of the gyro. However, it takes time to detect the curve, which causes a delay in the leading vehicle and costs. There is a problem that becomes high.

  In Japan, curve data for the entire travel section of the vehicle is stored in advance in the pendulum control device, and the current position of the vehicle is estimated by integrating the output signal of the rotation sensor that detects the rotation of the wheel. A method is employed in which position data is collated and the timing and angle of inclination of the vehicle body are indicated. For example, such a conventional vehicle body tilt control device includes a vehicle body tilt device that tilts the vehicle body when passing a curved portion of a track, a speed detection device that detects the speed of the vehicle, and a detection result of the speed detection device. Based on the point detection device for detecting the current traveling point of the vehicle based on this, the track information storage device for storing the curve information relating to the curve portion of the track, the current position information of the vehicle detected by the point detection device and the track information storage device are stored. And a control device that controls the operation of the vehicle body tilting device based on the curve information (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2002-316641 (paragraph numbers 0031 to 0037 and FIG. 1)

  In the conventional vehicle body tilt control device, it is necessary to previously store the curve data in the entire traveling section of the vehicle in the storage device. Therefore, when the curve section is improved, it is necessary to rewrite the curve data in the storage device. For this reason, it is necessary to correct the curve data after repeatedly verifying the ride comfort in the curved section while actually running the vehicle, which causes a problem that the work is troublesome and the cost is increased.

  The subject of this invention is providing the vehicle body tilt control apparatus and vehicle body tilt system which can improve curve passing speed and riding comfort with a low-cost and simple apparatus.

The present invention solves the above-mentioned problems by the solving means described below.
In addition, although the code | symbol corresponding to embodiment of this invention is attached | subjected and demonstrated, it is not limited to this embodiment.
The invention of claim 1 controls the vehicle body tilting device (10) for tilting the vehicle body (3) supported by the bogie (4) of the railway vehicle in the roll direction when the railway vehicle (2) passes through a curve. A vehicle body tilt control device that controls the vehicle body tilt device based on a command of a tilt angle (θ) in the left-right direction of the vehicle body from manual operation means (11) that is manually operated when the vehicle body is tilted. Control means (13), and when the direction in which the vehicle body is inclined and the direction in which the vehicle body is actually inclined differs according to the command of the inclination angle from the manual operation means, the control means (13) The vehicle body tilt control device is characterized by invalidating the command of the tilt angle .

The invention of claim 2 controls the vehicle body tilting device (10) for tilting the vehicle body (3) supported by the bogie (4) of the railway vehicle in the roll direction when the railway vehicle (2) passes through a curve. A vehicle body tilt control device that controls the vehicle body tilt device based on a command of a tilt angle (θ) in the left-right direction of the vehicle body from manual operation means (11) that is manually operated when the vehicle body is tilted. Control means (13), said control means for inclining said inclination from said manual operation means when command control device (20) for instructing said control means for the inclination angle and inclination timing of said vehicle body is inoperable. A vehicle body tilt control device that controls the vehicle body tilt device based on an angle command.

Body of invention of claim 3, a vehicle body tilt system for tilting the vehicle body (3) of the rail vehicle (2), wherein the rail vehicle is supported on carriage (4) of the rail vehicle when passing through the curve The vehicle body tilting device (10) for tilting (3) in the roll direction, the vehicle body tilt control device (13) according to claim 1 or 2 , and the vehicle body tilt angle (θ) and the tilt timing are determined by the vehicle body A command control device (20) for commanding the tilt control device, and manual operation means (manually operated) when commanding a tilt angle (θ) in the left-right direction of the vehicle body to the vehicle body tilt control device for controlling the vehicle body tilt device 11) a vehicle body tilting system (14; 24) including the vehicle body tilt operating device.

  According to a fourth aspect of the present invention, in the vehicle body tilt system according to the third aspect, when the vehicle body tilting device is automatically controlled, the command is switched from the command control device, and when the vehicle body tilting device is manually controlled, A vehicle body tilt system (24) comprising a switching device (25) for switching to a command from the vehicle body tilt operating device.

  According to the present invention, the curve passing speed and the ride comfort can be improved by a low-cost and simple device.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a configuration diagram of a vehicle body tilt system according to a first embodiment of the present invention. FIG. 2 is a conceptual diagram showing an operating state of the vehicle body tilt operating device of the tilt operating system according to the first embodiment of the present invention. FIG. 2 (A) shows a state when the left curve is passed, and FIG. ) Shows a state when passing through a straight line, and FIG. 2C shows a state when passing through a right curve.

  A track 1 shown in FIG. 1 is a passage (track) on which a vehicle 2 travels, and is composed of a pair of rails 1 a and 1 b that support and guide the vehicle 2. The track 1 is provided with a height difference (cant) between the rail 1a and the rail 1b so that the rail 1b on the outer track side is higher than the rail 1a on the inner track side. The vehicle 2 is a railway vehicle such as a train or a train, and includes a vehicle body 3, a carriage 4, a drive device 5, a brake device 6, a drive control device 7, a drive operation device 8, a vehicle body tilt system 9, and the like. I have. The vehicle body 3 is a structure for loading and transporting passengers, and the carriage 4 is a device that supports the vehicle body 3 and travels. The carriage 4 includes wheels 4a and 4b that are in rolling contact with the pair of rails 1a and 1b, a carriage frame 4c that supports the wheels 4a and 4b, and the like.

  The drive device 5 is a main motor that rotationally drives the wheels 4 a and 4 b to drive the vehicle 2, the brake device 6 is a device that reduces the speed of the vehicle 2, and the operation control device 7 is operated from the operation operation device 8. Is a device that controls the drive device 5 and the brake device 6 based on the command. The driving operation device 8 is a device for driving the vehicle body 3 by the driver D shown in FIG. The driving operation device 8 is, for example, a master controller (master controller) that is operated when the driver D controls the vehicle 2, and is installed in a cab in the cab of the vehicle 2. As shown in FIG. 2, the driving operation device 8 includes a mascon handle portion 8 a that slides in the front-rear direction by a manual operation of the driver D, and is installed on the left hand side when viewed from the driver D side. The mascon handle portion 8a is, for example, a one-handle mascon that is slid backward when performing speed control or acceleration control, and slid forward when performing brake control.

  A vehicle body tilting system 9 shown in FIG. 1 is a system for tilting the vehicle body 3. The vehicle body tilt system 9 includes a vehicle body tilt device 10 shown in FIG. 1, a manual operation device 11, a vehicle body tilt display device 12 shown in FIG. 2, a vehicle body tilt control device 13 shown in FIG. The vehicle body tilt system 9 causes the vehicle body tilt control device 13 to control the vehicle body tilt device 10 on the basis of a command from the manual operation device 11, so that the longitudinal axis (traveling direction) axis of the vehicle body 3 (hereinafter referred to as a pendulum center). The vehicle body 3 is rotated in the roll direction by an inclination angle (pendulum angle) θ with C as the center of rotation.

  The vehicle body tilting device 10 is a device that tilts the vehicle body 3 when the vehicle 2 passes a curve. The vehicle body tilting device 10 tilts the vehicle body 3 in the roll direction in order to cancel the excess centrifugal force acting on the vehicle body 3 when the vehicle 2 passes the curve. The vehicle body tilting device 10 includes pendulum rollers 10a and 10b, a pendulum beam 10c, air springs 10d and 10e, a pendulum control cylinder 10f, an air compressor 10g, a control valve 10h, a pendulum displacement meter 10i, and the like. Yes. The pendulum rollers 10a and 10b are cylindrical members attached to the carriage frame 4c via bearings. The pendulum beam 10c is a member that supports the vehicle body 3 via the air springs 10d and 10e, has an arcuate rolling surface that moves in contact with the pendulum rollers 10a and 10b, and a cart via the pendulum rollers 10a and 10b. It is supported by the frame 4c. The air springs 10 d and 10 e are members that elastically support the vehicle body 3, and the pendulum control cylinder 10 f is a drive device (actuator) such as a pneumatic cylinder that regulates the tilting operation of the vehicle 2, and it is not necessary to tilt the vehicle body 3. It prevents the vehicle body 3 from inadvertently inclining at a low speed and impairing the riding comfort. The pendulum control cylinder 10f connects the carriage frame 4c and the pendulum beam 10c. The air compressor 10g is a device for increasing air pressure, and supplies compressed air into the pendulum control cylinder 10f. The control valve 10h is a pressure flow control valve such as a pneumatic servo valve that converts the pendulum command pattern from the vehicle body tilt control device 13 into air pressure, and adjusts the air pressure of the compressed air from the air compressor 10g to adjust the pendulum control cylinder 10f. Drive. The pendulum displacement meter 10i is a sensor that detects the piston displacement amount of the pendulum control cylinder 10f, and feeds back the piston displacement amount to the vehicle body tilt control device 13 as a displacement signal. The vehicle body tilting device 10 is mounted on each vehicle 2 in one formation.

The manual operation device 11 is a device that operates the vehicle body tilting device 10 and is manually operated when the vehicle body tilt control device 13 is instructed to control the vehicle body tilting device 10. As shown in FIGS. 2A and 2C, the manual operation device 11 includes a manual operation handle portion 11a that is tilted in the left-right direction by the manual operation of the driver D, and determines the tilt angle θ of the vehicle body 3 in the left-right direction. Commands the vehicle body tilt control device 13. Manual operating handle 11a, as shown in FIG. 2 (A), when the vehicle 2 passes through the left curve is inclined leftward as seen from the operator's D is operated in the A ₁ direction by motorman D cage, when the vehicle 2 passes through the right curve as shown in FIG. 2 (C) are inclined in the right direction as viewed from the operator's D is operated in the a ₂ direction by the operator's D. As shown in FIG. 2B, the manual operation handle portion 11a is positioned at an intermediate position when the vehicle 2 passes through a straight line, and a spring or the like is restored so that when the driver D releases the hand, the manual operation handle portion 11a is restored to the neutral position. It is connected to the urging mechanism part. The manual operating device 11 is installed side by side with the driving operating device 8 on the right hand side when viewed from the driver D side, and outputs tilt operation information corresponding to the tilt angle of the manual operation handle portion 11a to the vehicle body tilt control device 13. To do.

  The vehicle body tilt display device 12 is a device that displays the tilt state of the vehicle body 3. The vehicle body tilt display device 12 is a device that approximates a leveling instrument used in construction and civil engineering or a leveling instrument (posture) used in an aircraft or the like, and whether the vehicle body 3 is inclined to the left or right in real time ( In which direction the car is traveling). The vehicle body tilt display device 12 is installed in the driver's cab so that the driver D can easily confirm the speed control work without hindering it. As shown in FIG. 2, the vehicle body tilt display device 12 includes a display body 12 a that indicates the tilt direction of the vehicle body 3. As shown in FIG. 2B, the display body 12a indicates the vertical direction with an arrow when the vehicle 2 passes a straight line, and the vehicle 2 passes the left curve as shown in FIG. When the vehicle 2 is moving, the vehicle body 3 tilts to the left, which is the tilt direction, and as shown in FIG. 2C, the vehicle 2 tilts to the right, which is the tilt direction of the vehicle body 3, when passing the right curve.

A vehicle body tilt control device 13 shown in FIG. 1 is a device (TC device (Tilt Controller)) that controls the vehicle body tilt device 10 based on a command from the manual operation device 11. The vehicle body tilt control device 13 sets the tilt angle θ and the tilt timing for tilting the vehicle body 3 to the control valve 10h based on the tilt information output by the manual operation device 11 shown in FIG. 1 and the displacement information output by the pendulum displacement meter 10i. The control valve 10h is driven and controlled by commanding. The vehicle body tilt control device 13 invalidates the command from the manual operation device 11 when the direction in which the vehicle body 3 is tilted by the command from the manual operation device 11 and the direction in which the vehicle body 3 is actually tilted are different. For example, the vehicle body inclination control device 13, such as the vehicle 2, as shown in FIG. 2 (A) even though the manual operation handle portion 11a of the operator's D passes through the left curve tilted to A ₂ direction Sometimes, the command from the manual operation handle portion 11a is canceled.

Next, the operation of the vehicle body tilt system according to the first embodiment of the present invention will be described.
Since the driver D normally knows the track data of the line section he / she is driving, the driver D can easily specify the tilt angle θ and the tilt timing for tilting the vehicle body 3. For example, as shown in FIG. 2 (A), the vehicle 2 as it passes through the left curve, train driver D manually operated handle section 11a in the same A ₁ direction to the direction of the curve to operate. As a result, tilt operation information corresponding to the tilt angle of the manual operation handle portion 11a is output from the manual operation device 11 shown in FIG. 1 to the vehicle body tilt control device 13, and the vehicle body tilt control device 13 performs control based on the tilt search information. The valve 10h is controlled. When the control valve 10h adjusts the air pressure in the pendulum control cylinder 10f, the piston rod moves in the pendulum control cylinder 10f, and the vehicle body 3 rotates about the pendulum center C by the tilt angle θ as shown in FIG. As shown in FIGS. 2 (A) and 2 (C), when the vehicle 2 passes the curve, the tilt state of the vehicle body 3 is displayed on the vehicle body tilt display device 12, so that the manual operation handle is referred to the display body 12a. The driver D operates the part 11a. The instruction such as the inclination angle of the driver D by the manual operation handle portion 11a is considered to be an operation about once every few seconds. It is thought that it will not hinder the speed control work that is the business.

The vehicle body tilt system according to the first embodiment of the present invention has the following effects.
(1) In the first embodiment, the vehicle body tilt control device 13 controls the vehicle body tilt device 10 based on a command from the manual operation device 11 that is manually operated when the vehicle body 3 is tilted. For this reason, the inclination angle θ and the inclination timing of the vehicle 2 can be commanded by a manual operation of the driver D. As a result, there is no need for a storage device for storing curve data in advance, unlike the conventional vehicle body tilt control device, and the device can be manufactured easily. Further, in the conventional vehicle body tilt control device, it is necessary to rewrite the curve data in the storage device when the curve section is improved. However, in this first embodiment, it is possible to save time and effort for such rewriting work. Cost can be reduced.

(2) In the first embodiment, when the direction in which the vehicle body 3 is tilted by the command from the manual operation device 11 is different from the direction in which the vehicle body 3 is actually tilted, the command from the manual operation device 11 is The control device 13 disables it. For this reason, when the driver D operates the manual operation handle portion 11a by mistake and the manual operation device 11 instructs the vehicle body tilt control device 13 to tilt in a direction different from the direction in which the vehicle body 3 should tilt, The occurrence of an accident due to such an erroneous operation of the driver D can be prevented in advance.

(3) In the first embodiment, the manual operation device 11 instructs the vehicle body inclination control device 13 to set the inclination angle θ and the inclination timing in the left-right direction of the vehicle body 3. As a result, when traveling on a line section without curve data, such as a temporary train, the curve can be passed by the manual operation of the driver D, so that the curve passing speed and the ride comfort can be improved.

(4) In the first embodiment, the manual operation device 11 is manually operated when the vehicle body tilt control device 13 is commanded to control the vehicle body tilt device 10. As a result, since a command control device such as a conventional vehicle body tilt control device is not required, the cost of the entire system can be reduced. Further, since the manual operation device 11 is added to a vehicle having an existing vehicle body tilt system and the vehicle body tilt system is controlled by a command from the manual operation device 11, it is not necessary to remodel the vehicle 2 on a large scale, and the cost is low. Can be achieved.

(Second Embodiment)
FIG. 3 is a configuration diagram of a vehicle body tilt system according to the second embodiment of the present invention. In the following, the same parts as those shown in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description thereof is omitted.
The vehicle body tilt system 14 includes a vehicle body tilt device 10 shown in FIG. 3, a manual operation device 11, a vehicle body tilt display device 12 shown in FIG. 2, a vehicle body tilt control device 13 shown in FIG. 3, a speed detector 15, An ATS ground element 16, an ATS vehicle element 17, an ATS receiver 18, a storage device 19, a command control device 20, a control setter 21, an operation check device 22, a warning device 23, and the like are provided. . The speed detector 15 is a device that detects the speed of the vehicle 2 and is a speed generator that outputs a distance pulse signal generated according to the number of rotations of the wheels 4a and 4b as speed information. The ATS ground unit 16 is a coil installed at a specific point on the ground side in order to transmit and receive information to and from the ATS vehicle upper unit 17 of the automatic train stop device (ATS). The ATS vehicle upper arm 17 is a coil installed on the vehicle 2 side to transmit / receive information to / from the ATS ground child 16, and the ATS receiver 18 receives a signal from the ATS vehicle upper arm 17. Device for outputting absolute position information. The storage device 19 is a device that stores various types of information related to the vehicle body tilting system 14, and stores curve information and the like of all sections in which the vehicle 2 travels.

  The command control device 20 is a device (CC device (Command Controller)) that commands the vehicle body tilt control device 13 to control the vehicle body tilt device 10 based on information about a curve through which the vehicle 2 passes. The command control device 20 detects the absolute position of the vehicle 2 based on the absolute position information output from the ATS receiver 18, and the distance pulse output from the speed detector 15 until the vehicle 2 reaches the next ATS ground element 16. The current position of the vehicle 2 is detected by integrating the signals. The command control device 20 commands the vehicle body tilt control device 13 about the tilt angle θ and the tilt timing of the vehicle body 3 based on the speed information, the current position information, and the curve information. The control setting device 21 is a device that sets predetermined information from various information stored in the storage device 19, and sets information related to a departure / arrival station, a travel section, a travel route, and the like.

  The operation confirmation device 22 is a device for confirming the operation of the command control device 20. The operation confirmation device 22 constantly monitors the operating state of the command control device 20, and when the command control device 20 is inoperable, the vehicle tilting device controls the vehicle tilting device 10 based on a command from the manual operation device 11. Commands the controller 13. The warning device 23 is a device that warns the driver D with characters or voice when the command control device 20 is inoperable.

  The vehicle body tilt system according to the second embodiment of the present invention has the following effects in addition to the effects of the first embodiment. In the second embodiment, the vehicle body tilt control device 13 controls the vehicle body tilt device 10 based on a command from the manual operation device 11 when the command control device 20 is inoperable. For this reason, it is not necessary to fix the vehicle body tilting device 10 so that the vehicle body tilting device 10 does not operate when an abnormal situation occurs in the command control device 20, and the driver D holds the manual operation handle portion 11a shown in FIG. The vehicle body 3 can be tilted by manual operation. As a result, the manual operation device 11 can be used as a backup facility for the existing vehicle body tilt system.

(Third embodiment)
FIG. 4 is a configuration diagram of a vehicle body tilt system according to the third embodiment of the present invention.
The vehicle body tilt system 24 shown in FIG. 4 switches to a command from the command control device 20 when automatically controlling the vehicle body tilt device 10, and switches to a command from the manual operation device 11 when manually controlling the vehicle body tilt device 10. A switching device 25 is provided. Therefore, a track section that curves information is stored in advance when the vehicle 2 drives, it automatically controls the vehicle body tilt device 10 on the basis of the curve information is switched to a command from the instruction control unit 20 Can do. On the other hand, when the vehicle 2 travels in a line section in which curve information is not stored, the vehicle body tilting device 10 can be manually controlled based on a command from the manual operation device 11. As a result, in the third embodiment, for example, when the vehicle 2 enters a plurality of line sections, it is possible to improve the traveling speed and riding comfort of the vehicle 2 in a curved section where curved information is not stored. .

(Other embodiments)
The present invention is not limited to the embodiment described above, and various modifications or changes can be made as described below, and these are also within the scope of the present invention.
(1) In this embodiment, the case where the vehicle body 3 is tilted when the vehicle 2 passes the curve has been described as an example, but the present invention is not limited to this case. For example, when the height of the station platform differs between the electrified section and the non-electrified section, and there is a step between the station platform and the entrance of the vehicle 2, the manual operation device 11 is operated to move the vehicle body 3 It is also possible to reduce the level difference between the station platform and the entrance / exit of the vehicle 2 by inclining. In this embodiment, the roller-type pendulum device including the pendulum rollers 10a and 10b is described as an example of the vehicle body tilting device 10, but the present invention is also applied to a bearing guide-type pendulum device including a bearing guide mechanism. be able to.

(2) In this embodiment, the case where the manual operation handle portion 11a is a lever-type handle has been described as an example. However, the manual operation handle portion 11a may be a rotary handle. Further, in this embodiment, the case where the vehicle body inclination display device 12 is a level or a horizontal globe has been described as an example. However, the inclination of the vehicle body 3 is detected by an acceleration sensor or the like, and the vehicle body inclination display device 12 is in an inclined state. It can also be displayed. Furthermore, in this embodiment, the case where the vehicle body tilt display device 12 is installed in the cab is described as an example. However, since the driver D can experience the tilt state of the vehicle body 3, the vehicle body tilt display device 12 is provided. Can be omitted.

1 is a configuration diagram of a vehicle body tilt system according to a first embodiment of the present invention. It is a conceptual diagram which shows the operation state of the vehicle body tilt operation apparatus of the tilt operation system which concerns on 1st Embodiment of this invention, (A) shows the state at the time of the left curve passage, (B) shows the state at the time of straight passage. (C) shows the state when passing the right curve. It is a block diagram of the vehicle body tilt system which concerns on 2nd Embodiment of this invention. It is a block diagram of the vehicle body tilt system which concerns on 3rd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Track | truck 2 Vehicle 3 Car body 4 Cargo 8 Driving | operation operation apparatus 8a Mass control handle part 9 Car body tilt system 10 Car body tilt apparatus 11 Manual operation apparatus 11a Manual operation handle part 12 Car body tilt display apparatus 12a Display body 13 Car body tilt control apparatus 14 Car body tilt system 20 command control device 22 operation confirmation device 24 vehicle body tilt system 25 switching device θ tilt angle C pendulum center

Claims (4)

A vehicle body tilt control device that controls a vehicle body tilting device that tilts a vehicle body supported by a bogie of the railcar in a roll direction when the railcar passes a curve,
Control means for controlling the vehicle body tilting device based on a command of a tilt angle in a lateral direction of the vehicle body from a manual operation device manually operated when the vehicle body is tilted;
The control means invalidates the command of the tilt angle from the manual operation means when the direction of tilting the vehicle body and the direction of actually tilting the vehicle body differ according to the command of the tilt angle from the manual operation means. To
A vehicle body tilt control device characterized by the above. A vehicle body tilt control device that controls a vehicle body tilting device that tilts a vehicle body supported by a bogie of the railcar in a roll direction when the railcar passes a curve,
Control means for controlling the vehicle body tilting device based on a command of a tilt angle in a lateral direction of the vehicle body from a manual operation device manually operated when the vehicle body is tilted;
The control means controls the vehicle body tilting device based on the command of the tilt angle from the manual operation means when the command control device that commands the control means to instruct the tilt angle and tilt timing of the vehicle body is inoperable. Controlling,
A vehicle body tilt control device characterized by the above. A vehicle body tilting system for tilting the body of a railway vehicle,
A vehicle body tilting device that tilts the vehicle body supported by the bogie of the railway vehicle in the roll direction when the railway vehicle passes a curve;
The vehicle body tilt control device according to claim 1 or 2 ,
A command control device for commanding the tilt angle and tilt timing of the vehicle body to the vehicle body tilt control device;
A vehicle body tilt operation device comprising manual operation means that is manually operated when a vehicle body tilt control device that controls the vehicle body tilt device is instructed to instruct a lateral tilt angle of the vehicle body;
Body tilt system with The vehicle body tilt system according to claim 3 ,
A switching device that switches to a command from the command control device when automatically controlling the vehicle body tilting device, and switches to a command from the vehicle body tilting operation device when manually controlling the vehicle body tilting device;
Body tilt system featuring

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