Vehicle

Abstract

Provided is a vehicle wherein a vehicle body can be reliably inclined in a specified direction at the time of an inversion control stop including an emergency stop by inclining the vehicle body in the specified direction by applying drive torque for a predetermined period of time immediately after the inversion control stop, and a vehicle body-fixed type stopper has only to be attached to only one side of the vehicle body, the vehicle being able to be reduced in weight and size and be used user-friendlily and safely. Specifically, a vehicle comprises a drive wheel (12) which is rotatably attached to a vehicle body, and a vehicle control device which controls the posture of the vehicle body by controlling the drive torque to be applied to the drive wheel (12), wherein the vehicle control device inclines the vehicle body in a specified direction by applying the drive torque to the drive wheel (12) for a predetermined period of time immediately after the posture control of the vehicle body is stopped.

Description

technical field [0001] The present invention relates to a vehicle for attitude control using an inverted pendulum. Background technique [0002] Conventionally, technologies related to attitude control of a vehicle using an inverted pendulum have been proposed. For example, a vehicle has been proposed that has two driving wheels arranged on the same axis and is driven by sensing changes in the posture of the vehicle body caused by the movement of the center of gravity of the occupant. A technology of a moving vehicle or the like while controlling its posture (for example, refer to Patent Document 1). [0003] At this time, while using the sensor to detect the balance and operating state of the vehicle body, the inversion control is performed to move the vehicle. In addition, when a passenger gets off the vehicle or when the power supply of the vehicle is cut off, the brake is operated while the inversion control is stopped, and the posture of the vehicle body is maintained...

AI Technical Summary

Problems solved by technology

However, tilting in the opposite direction always gives passengers a feeling of uneasiness, and replacement and maintenance of anti-fall devices such as airbags require labor and expense.

[0007] Also, even if the car body is tilted in the correct direction, if the momentum is too strong, the impact when the brakes contact the road surface will not only cause discomfort to the passengers, but also the car body may continue to tilt with the ground contact point of the brakes as the center of rotation.

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