Vehicle, characteristic value estimating device, and loaded article determination device

A vehicle and vehicle body technology, which is applied to vehicle components, bicycles, motor vehicles, etc., can solve the problems of unable to perform stable attitude control and unable to provide comfortable riding environment for passengers.

Inactive Publication Date: 2011-11-16
EQUOS RES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0017] Therefore, under the premise of maintaining the occupant-based control parameters assumed during the design, stable attitude control cannot be performed, and a comfortable riding environment cannot be provided for occupants, so the control parameters must be corrected

Method used

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  • Vehicle, characteristic value estimating device, and loaded article determination device
  • Vehicle, characteristic value estimating device, and loaded article determination device
  • Vehicle, characteristic value estimating device, and loaded article determination device

Examples

Experimental program
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Effect test

Embodiment Construction

[0084] Below, refer to Figure 1-Figure 13 A detailed description will be given of suitable embodiments of the vehicle of the present invention.

[0085] (1) Outline of the first embodiment

[0086] figure 1 It is a diagram showing the outline of the center of gravity deviation control based on the first embodiment.

[0087] In the first embodiment, as figure 1 As shown in (a) and (b), first, the effect of the deviation of the actual vehicle's center of gravity from the designed vehicle's center of gravity is detected as the torque value generated by the center of gravity deviation.

[0088] Then, as shown figure 1 As shown in (c)-(e), using any of the correction of the body reference angle, the movement of the balancer, or the movement of the seat, the center of gravity deviation countermeasure control is performed to correspond to the detected torque value, so that the actual vehicle The center of gravity is consistent with the center of gravity of the designed vehicle.

[0089] due ...

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Abstract

A vehicle whose attitude can be controlled even if the position of the actual center of gravity of the vehicle is not aligned with the position of the designed center of gravity or moved. The effect of the displacement of the actual center of gravity of the vehicle from the designed center of gravity is detected as the torque value produced by the displacement of the center of gravity of the vehicle as shown in Figs. 1 (a), 1(b) . As shown in Figs. 1 (c) to 1(e) , the displacement of the center of gravity of the vehicle is corrected according to the detected torque value due to one of the correction of body reference angle, movement of balancer, and movement of seat so that the actual center of gravity of the vehicle is aligned with the design center of gravity of the vehicle.

Description

Technical field [0001] The present invention relates to a vehicle, a characteristic quantity specifying device, and a loaded object determination device, for example, to a vehicle that utilizes the attitude control of an inverted pendulum. Background technique [0002] Vehicles using the attitude control of an inverted pendulum (hereinafter referred to as an inverted pendulum vehicle) are attracting attention and are being put into practical use. [0003] For example, the technique disclosed in Patent Document 1 has two drive wheels arranged coaxially, and drives the drive wheels by sensing the posture of the drive wheels due to the movement of the center of gravity of the driver. [0004] In addition, the vehicle disclosed in Patent Document 2 moves while controlling the posture of one drive wheel in a circular shape or one drive wheel in a spherical shape in the past. In addition, Patent Document 2 also discloses various inverted pendulum vehicles. [0005] [Patent Document 1] Japa...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): B62K17/00B62K3/00B60L15/20G05D1/08
CPCY02T10/7241Y02T10/72
Inventor土井克则安藤正夫泽田和昭三木修昭
OwnerEQUOS RES