Vehicle

Abstract

Provided is a vehicle wherein even when an active weight portion is fixed at a position that greatly deviates from a neutral position, the highest possible motion performance can be secured and adequate safety can be ensured by reducing the vehicle acceleration and vehicle deceleration limit values when the active weight portion is fixed, the vehicle being able to be used user-friendlily, safely,and comfortably. Specifically provided is a vehicle comprising a drive wheel (12) which is rotatably attached to a vehicle body, an active weight portion which is movably attached to the vehicle body, an active weight portion brake which fixes the active weight portion to the 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) and the position of the active weight portion, wherein when the active weight portion is fixed to the vehicle body, the vehicle control device makes the vehicle acceleration and vehicle deceleration limit values lower than the vehicle acceleration and vehicle deceleration immediately before the active weight portion is fixed to the vehicle body.

Description

technical field [0001] The present invention relates to a vehicle for attitude control using an inverted pendulum. Background technique [0002] In the past, there have been proposed technologies related to a vehicle under attitude control using an inverted pendulum. For example, a vehicle has been proposed that has two driving wheels arranged on the same axis and is driven by sensing the posture change of the vehicle body caused by the movement of the occupant's center of gravity. A technology of a moving vehicle or the like while controlling its posture (for example, refer to Patent Document 1). [0003] At this time, the vehicle is moved by moving the active weight portion as a counterweight back and forth to perform inversion control. [0004] [Patent Document 1] Japanese Patent Laid-Open No. 2004-129435 [0005] However, in the above-mentioned conventional vehicles, it is sometimes necessary to fix the active weight portion to prevent the active weight portion from m...

AI Technical Summary

Problems solved by technology

For example, when the boarding part is fixed at a very forward position, the deceleration performance will be greatly reduced compared with the acceleration performance, and there is a possibility that the maneuverability will deteriorate due to inappropriate manipulation

In this case, safety and operability may not be fully guaranteed

[0008] If the vehicle is forced to stop in order to ensure safety under these conditions, it may not be possible to retreat to the side of the road or to the shoulder of the road in an emergency, which may cause problems in safety and convenience.

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