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Vehicle

A vehicle and body technology, applied in the field of vehicles, can solve problems such as bad riding

Inactive Publication Date: 2010-03-31
EQUOS RES
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] Accompanied by such a tilt of the vehicle body, the occupant needs to tilt greatly when accelerating or decelerating rapidly, and the field of vision of the occupant also moves up and down greatly, so the riding feeling is not good.

Method used

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no. 2 Embodiment approach

[0235] In the first embodiment, through the passenger's acceleration feeling coefficient C Sense A preset value is assigned such that the ratio of the perceived acceleration to the acceleration (target value) of the vehicle is constant.

[0236] Correspondingly, in the second embodiment, the degree of somatosensory acceleration can be quantitatively adjusted according to the passenger's preference. That is, when determining the target vehicle body attitude, the inclination angle of the vehicle body and the movement amount of the riding part are determined according to the passenger's preference, so as to adjust the degree of somatosensory acceleration. For example, if a strong acceleration feeling is desired, the boarding portion 13 is moved while suppressing the inclination of the vehicle body. Moreover, by making the occupant's acceleration feeling coefficient C in formula 2 Sense Variable, to achieve the above purpose.

[0237] In this way, by changing the passenger's ac...

Deformed example 2

[0415] (b) Modification 2... Estimation by observer

[0416] In Modification 1 above, it was explained that the mass m of the boarding part is calculated using the formula 26 based on the actual measurement value of the load meter. S (and car body mass m 1 ), but in this Modification 2, using the moving state λ based on the boarding part S or balancer thrust S B Etc. observer, estimated ride mass m S value.

[0417] The main control ECU 21 estimates the boarding part mass m using the boarding part movement model of the following formula 28 S . g is the acceleration due to gravity, C S is the viscous coefficient of friction relative to the movement of the seat. Also, by differentiating the velocity [x], the acceleration [[x]] of each state quantity x is obtained.

[0418] In Equation 28, for example, the thrust S required to move the seat S The larger the value, the estimated ride mass m S bigger.

[0419] Formula 28

[0420] m S =(S S -D S [λ S ]) / ([[λ S ]]+λ ...

no. 7 Embodiment approach

[0583] In the seventh embodiment, the drive motor 52 and the movement of the boarding part are used in distinction according to the frequency component of the disturbance. Specifically, in the feedback control, the low-frequency component of the deviation is associated with the movement of the boarding part, and the high-frequency component is associated with the drive motor 52, thereby suppressing the vibration due to the disturbance.

[0584] When the movement of the boarding portion 13 is used for posture control of the vehicle body, high-frequency vibrations may be generated, which may affect the ride quality. This is because there is a "lag" in the body attitude control based on the movement of the boarding part, and it is not suitable for fine control.

[0585] Also, if falling into a state of equilibrium with a posture different from the target posture, for example, the vehicle body may remain in a state in which the vehicle body is tilted more than the target angle and...

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Abstract

Intended is to provide a vehicle giving a comfortable ride and utilizing the attitude control of an inverted pendulum. The balance (or the inverted state) of a vehicle body is kept by moving a riding area containing a rider, translationally in the longitudinal directions of the vehicle. The riding area containing the rider is moved translationally in the accelerating direction so that a balance between an anti-torque of drive wheels to act on the vehicle body and an inertial force accompanying the acceleration may be kept by the acceleration / deceleration according to a target running state (e.g., acceleration, deceleration or stop) based on the rider's operations. As a result, the angle of inclination of the vehicle body with respect to the acceleration / deceleration can be reduced to provide a comfortable and safe inverted type vehicle.

Description

technical field [0001] The present invention relates to a vehicle, for example, to a vehicle controlled by an inverted pendulum gesture. Background technique [0002] A vehicle controlled by an inverted pendulum attitude (hereinafter simply referred to as an inverted pendulum vehicle) has attracted attention. For example, the transfer device of patent document 1 is proposed. [0003] [Patent Document 1] Japanese Patent Laid-Open No. 2004-129435 [0004] In the conveying device disclosed in Patent Document 1, the sensor unit detects the balance state and operating state of the casing, and the control unit controls the movement of the rotating body so that the conveying device is stationary or moved. [0005] Furthermore, attitude control is performed by moving a counterweight (balancer) according to the inclination angle of the vehicle body. [0006] However, in the vehicle described in Patent Document 1, attitude control is performed by moving the balancer forward and bac...

Claims

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Application Information

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IPC IPC(8): B62K17/00B60L15/00B62K3/00
CPCB60L2200/26B60L15/00B62K3/007B60L2200/16B62K11/007Y02T10/64
Inventor 土井克则安藤正夫长谷部正广牛来直树林弘毅二村佳代三宅隆文久野和宏
Owner EQUOS RES
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