Inverted Pendulum Vehicle Control for Intention Consistency
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Inverted pendulum type vehicles often turn contrary to the operator's intention when displacing the center of gravity, leading to inconsistent vehicle motion and steering experiences.
Innovation Solution
The vehicle incorporates moving motion units and actuator devices controlled by a control device that detects the inclination state of the occupant riding section, extracting designated frequency components to differentiate between intended and unintended tilting conditions, thereby aligning the vehicle's turning with the operator's intention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If turning control and lateral translation control are used separately according to the magnitude of the center of gravity displacement amount, then the vehicle can respond to operator input, but the vehicle may turn contrary to the operator's intention when the operator intends lateral translation
Solution Approach 1:
The control system dynamically adjusts the interpretation of operator input based on the detected motion state. When lateral translation motion is detected, the system switches to a control mode where lateral tilting commands are interpreted as translation commands rather than turning commands, preventing unintended turning behavior
Solution Approach 2:
The system continuously monitors the actual motion state of the vehicle and uses this feedback to adjust the control interpretation. By detecting whether the vehicle is undergoing lateral translation or turning, the system can distinguish between intended and unintended turning conditions and adjust the control response accordingly
2Ease of operation
If the vehicle responds to all tilting conditions with turning control, then the vehicle is easy to steer, but unintended turning occurs when the operator intends lateral translation
Solution Approach 1:
The control system segments the tilting conditions into different categories based on the current motion state. When lateral translation is detected, lateral tilting is segmented as a translation command. When not translating, lateral tilting is segmented as a turning command. This segmentation allows the same physical action (lateral tilting) to produce different control responses based on context
Solution Approach 2:
The system changes the control parameter interpretation based on the detected motion state. The same tilting input parameter is interpreted differently depending on whether the vehicle is in a lateral translation state or not, allowing the system to adapt its response to prevent harmful unintended turning
Data Source
AI summary
An inverted pendulum type vehicle capable of improving consistency of the intention of an operator and the motion condition of the vehicle. When a low frequency component of an estimate value Vb_estm1_y of the translational speed in the Y-axis direction of a vehicle system center of gravity of the entirety deviates from a dead zone of a processing unit and movement of the waist of an operator is sudden enough to generate a high frequency component in Vb_estm1_y, a target turning angular velocity ωz_cmd_gc is set to a positive value or a negative value depending on the deviation amount, and a turning suppression factor Kωz is adjusted to 0. Therefore, motion of actuator devices of a vehicle is controlled so that turning of the vehicle is suppressed and the vehicle system center of gravity of the entirety is translated to +Y-axis direction.