WO2009022584A1 - 車両 - Google Patents

車両 Download PDF

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Publication number
WO2009022584A1
WO2009022584A1 PCT/JP2008/064052 JP2008064052W WO2009022584A1 WO 2009022584 A1 WO2009022584 A1 WO 2009022584A1 JP 2008064052 W JP2008064052 W JP 2008064052W WO 2009022584 A1 WO2009022584 A1 WO 2009022584A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
gradient
road surface
attitude
estimated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2008/064052
Other languages
English (en)
French (fr)
Inventor
Katsunori Doi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Equos Research Co Ltd
Original Assignee
Equos Research Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2007210238A external-priority patent/JP5223265B2/ja
Priority claimed from JP2007210317A external-priority patent/JP2009040369A/ja
Priority claimed from JP2007210348A external-priority patent/JP2009040370A/ja
Application filed by Equos Research Co Ltd filed Critical Equos Research Co Ltd
Priority to EP08792219.1A priority Critical patent/EP2177425A4/en
Priority to US12/672,769 priority patent/US8442753B2/en
Priority to CN2008801025047A priority patent/CN101784437B/zh
Publication of WO2009022584A1 publication Critical patent/WO2009022584A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

　車体の姿勢変化も考慮して路面の勾（こう）配を推定することにより、路面の勾配を高精度で推定することができ、路面の勾配に関わらず、車両の安定した停止状態及び走行状態を実現することができるようにする。そのため、回転可能に車体に取り付けられた駆動輪１２と、該駆動輪１２に付与する駆動トルクを制御して前記車体の姿勢を制御する車両制御装置とを有し、該車両制御装置は、前記車体の姿勢に基づいて路面勾配を推定し、該路面勾配に応じて前記駆動トルクを補正する。
PCT/JP2008/064052 2007-08-10 2008-08-05 車両 Ceased WO2009022584A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08792219.1A EP2177425A4 (en) 2007-08-10 2008-08-05 Vehicle
US12/672,769 US8442753B2 (en) 2007-08-10 2008-08-05 Inverted pendulum vehicle with stability on a slope
CN2008801025047A CN101784437B (zh) 2007-08-10 2008-08-05 车辆

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2007-210348 2007-08-10
JP2007-210317 2007-08-10
JP2007210238A JP5223265B2 (ja) 2007-08-10 2007-08-10 車両
JP2007210317A JP2009040369A (ja) 2007-08-10 2007-08-10 車両
JP2007210348A JP2009040370A (ja) 2007-08-10 2007-08-10 車両
JP2007-210238 2007-08-10

Publications (1)

Publication Number Publication Date
WO2009022584A1 true WO2009022584A1 (ja) 2009-02-19

Family

ID=40350638

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/064052 Ceased WO2009022584A1 (ja) 2007-08-10 2008-08-05 車両

Country Status (4)

Country Link
US (1) US8442753B2 (ja)
EP (1) EP2177425A4 (ja)
CN (2) CN102336242A (ja)
WO (1) WO2009022584A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010116640A1 (ja) * 2009-03-30 2010-10-14 株式会社エクォス・リサーチ 車両
JP2010239675A (ja) * 2009-03-30 2010-10-21 Equos Research Co Ltd 車両
JP2010234933A (ja) * 2009-03-31 2010-10-21 Equos Research Co Ltd 車両

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4434186B2 (ja) * 2006-09-04 2010-03-17 トヨタ自動車株式会社 移動体及び移動体の制御方法
JP4735598B2 (ja) * 2007-04-27 2011-07-27 トヨタ自動車株式会社 倒立車輪型移動体、及びその制御方法
CN101568465B (zh) * 2007-08-28 2011-05-11 松下电器产业株式会社 倒立双轮式搬运车及其控制方法
US8570183B2 (en) * 2010-04-09 2013-10-29 Bae Systems Information And Electronic Systems Integration Inc. Method for detecting gross vehicle weight overload
US9145144B2 (en) * 2011-09-28 2015-09-29 Caterpillar Inc. Inclination detection systems and methods
WO2013084354A1 (ja) 2011-12-09 2013-06-13 株式会社日立製作所 倒立振子型移動装置、および、その制御方法
CN104541128B (zh) * 2012-08-02 2017-10-17 丰田自动车株式会社 路面状态取得装置及悬架系统
WO2014029357A1 (zh) * 2012-08-23 2014-02-27 苏州宝时得电动工具有限公司 自动工作设备及其控制方法
JP5644821B2 (ja) * 2012-08-29 2014-12-24 トヨタ自動車株式会社 倒立二輪車及びその制御方法
WO2014045696A1 (ja) * 2012-09-18 2014-03-27 株式会社村田製作所 移動体
JP6095436B2 (ja) 2013-03-27 2017-03-15 本田技研工業株式会社 倒立振子型車両
JP6081270B2 (ja) 2013-03-29 2017-02-15 本田技研工業株式会社 倒立振子型車両
JP6111119B2 (ja) * 2013-03-29 2017-04-05 本田技研工業株式会社 倒立振子型車両
JP6081271B2 (ja) 2013-03-29 2017-02-15 本田技研工業株式会社 倒立振子型車両
JP6099485B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
JP6099484B2 (ja) 2013-05-31 2017-03-22 本田技研工業株式会社 倒立振子型車両
WO2017124120A1 (en) * 2016-01-17 2017-07-20 Chen, Shane Self-balancing load bearing vehicle
CN107536698B (zh) * 2016-06-29 2022-06-03 松下知识产权经营株式会社 行走辅助机器人以及行走辅助方法
CN106379457B (zh) * 2016-09-20 2019-09-10 北京小米移动软件有限公司 平衡车校准方法及装置
JP6791014B2 (ja) * 2017-05-29 2020-11-25 トヨタ自動車株式会社 電動車椅子操作装置及びその車両操作方法
JP6901386B2 (ja) 2017-12-08 2021-07-14 株式会社東芝 勾配推定装置、勾配推定方法、プログラムおよび制御システム
CN110109354B (zh) * 2019-04-17 2022-01-07 杭州电子科技大学 一种反作用轮平衡自行车机器人自适应滑模控制方法
CN114056468A (zh) * 2021-10-18 2022-02-18 摩拜(北京)信息技术有限公司 车辆偏航角的校准方法、装置及可读介质
KR20230173244A (ko) * 2022-06-16 2023-12-27 현대자동차주식회사 차량의 구동력 제어 방법
WO2024056741A1 (en) * 2022-09-13 2024-03-21 Genny Factory Sa "control method for self-balancing vehicles and respective self-balancing vehicle"

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002538891A (ja) * 1999-03-15 2002-11-19 デカ・プロダクツ・リミテッド・パートナーシップ 車椅子用制御システム及び方法
JP2004129435A (ja) 2002-10-04 2004-04-22 Sony Corp 搬送装置、制御方法、及び駆動機構
JP2007186184A (ja) * 2005-12-14 2007-07-26 Equos Research Co Ltd 車両

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6003624A (en) * 1995-06-06 1999-12-21 University Of Washington Stabilizing wheeled passenger carrier capable of traversing stairs
JP3576789B2 (ja) * 1998-02-09 2004-10-13 株式会社日本自動車部品総合研究所 道路形状計測装置
US6799649B2 (en) * 1999-03-15 2004-10-05 Deka Products Limited Partnership Control of a balancing personal vehicle
AU771830B2 (en) * 1999-03-15 2004-04-01 Deka Products Limited Partnership Control of a balancing personal vehicle
US6553271B1 (en) * 1999-05-28 2003-04-22 Deka Products Limited Partnership System and method for control scheduling
EP1190283B1 (en) * 1999-06-30 2005-04-06 Deka Products Limited Partnership Apparatus and method for a pitch state estimator for a personal vehicle
JP3772815B2 (ja) * 2002-09-20 2006-05-10 トヨタ自動車株式会社 車両のスリップ制御装置及びその制御方法
US7363993B2 (en) * 2003-11-04 2008-04-29 Toyota Jidosha Kabushiki Kaisha Traveling apparatus and method for controlling thereof
JP2006136962A (ja) * 2004-11-11 2006-06-01 Hitachi Ltd 移動ロボット
JP4886201B2 (ja) * 2005-03-14 2012-02-29 株式会社日立製作所 移動ロボット
CN100557539C (zh) * 2005-07-26 2009-11-04 松下电器产业株式会社 倒立二轮行走型机器人及其控制方法
JP4556831B2 (ja) * 2005-10-13 2010-10-06 トヨタ自動車株式会社 走行装置及びその制御方法
US7979179B2 (en) * 2006-08-11 2011-07-12 Segway Inc. Apparatus and method for pitch state estimation for a vehicle
KR101406469B1 (ko) * 2006-08-11 2014-06-13 세그웨이 아이엔씨. 전기 운송수단의 속도 제한
US7798264B2 (en) * 2006-11-02 2010-09-21 Hutcheson Timothy L Reconfigurable balancing robot and method for dynamically transitioning between statically stable mode and dynamically balanced mode

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002538891A (ja) * 1999-03-15 2002-11-19 デカ・プロダクツ・リミテッド・パートナーシップ 車椅子用制御システム及び方法
JP2004129435A (ja) 2002-10-04 2004-04-22 Sony Corp 搬送装置、制御方法、及び駆動機構
JP2007186184A (ja) * 2005-12-14 2007-07-26 Equos Research Co Ltd 車両

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2177425A4

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010116640A1 (ja) * 2009-03-30 2010-10-14 株式会社エクォス・リサーチ 車両
JP2010239675A (ja) * 2009-03-30 2010-10-21 Equos Research Co Ltd 車両
CN102378715A (zh) * 2009-03-30 2012-03-14 爱考斯研究株式会社 车辆
CN102378715B (zh) * 2009-03-30 2013-09-25 爱考斯研究株式会社 车辆
JP2010234933A (ja) * 2009-03-31 2010-10-21 Equos Research Co Ltd 車両

Also Published As

Publication number Publication date
US8442753B2 (en) 2013-05-14
CN101784437A (zh) 2010-07-21
CN102336242A (zh) 2012-02-01
US20110098884A1 (en) 2011-04-28
EP2177425A4 (en) 2014-06-18
CN101784437B (zh) 2012-04-18
EP2177425A1 (en) 2010-04-21

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