Inverted Pendulum Vehicle Velocity Anisotropy Control
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Solution Overview
Problem
Inverted pendulum type vehicles experience uncomfortable riding qualities due to restricted traveling velocities based on actuator rotational angular velocities, leading to potential deterioration in occupant experience, especially when traveling in directions that cause visual field obstruction or discomfort.
Innovation Solution
The vehicle incorporates a controller with a representative point velocity restrictor that adjusts traveling velocities in different directions to maintain optimal riding quality, allowing for velocity anisotropy to ensure comfortable motion by restricting velocities in directions that might cause discomfort, such as traveling backward, where visual field obstruction occurs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vehicle travels at high velocity in all directions based on actuator rotational angular velocity limits, then the vehicle can move efficiently and quickly, but the riding quality deteriorates when traveling in directions that cause visual field obstruction or discomfort
Solution Approach 1:
The patent applies local quality by implementing direction-specific velocity restrictions. The velocity restrictor sets different maximum velocities for different traveling directions: the maximum velocity in the backward direction (first direction) is lower than in the forward direction (second direction), and the maximum velocity in the lateral direction (third direction) is also restricted. This creates locally optimized velocity characteristics for each direction based on occupant comfort requirements.
Solution Approach 2:
The patent implements asymmetry by establishing asymmetric velocity permissible ranges for different directions. The velocity restrictor creates an asymmetric velocity envelope where the permissible velocity in the backward direction differs from the forward direction, and lateral velocities are restricted differently from longitudinal velocities. This asymmetric velocity control matches the asymmetric nature of human visual field and comfort characteristics.
2Object-affected harmful factors
If the vehicle restricts traveling velocity to maintain riding quality, then occupant comfort is improved, but the vehicle efficiency and productivity are reduced
Solution Approach 1:
The patent applies dynamics by making the velocity permissible range adaptive and dynamic rather than fixed. The velocity restrictor dynamically adjusts the maximum permissible velocity based on the requested traveling direction and current vehicle state. This dynamic velocity control allows the system to optimize between comfort and efficiency in real-time, restricting velocities only when necessary for comfort while allowing higher velocities when comfort is not compromised.
3Ease of operation
If the vehicle allows free velocity in lateral direction, then the vehicle can respond quickly to steering inputs, but the riding quality deteriorates due to excessive lateral motion
Solution Approach 1:
The patent applies parameter changes by modifying the velocity parameter based on direction. The velocity restrictor changes the maximum permissible velocity parameter for lateral (third) direction travel, setting it lower than longitudinal velocities. This parameter adjustment ensures that lateral motions remain controlled and comfortable while still allowing adequate steering responsiveness for normal operation.
Data Source
AI summary
A desired travelling velocity of a representative point of a vehicle 1 is set under such a condition that it does not exceed a velocity permissible range which is defined to have anisotropy according to a posture of an occupant seated on a seat 3. An operation of a travelling motion unit 5 is controlled by controlling an operation of an actuator 7 on the basis of the desired travelling velocity.