To provide a method of controlling an electric vehicle provided with means of restricting the command speed safely even when the distance to an obstacle varies discontinuously.
An electric wheelchair 11 comprises a vehicle body portion 12 having a plurality of actuators 22 rotating a plurality of wheels 21 independently, an operation input portion 13 detecting an operation direction and an operation amount inputted by an operator, an obstacle sensor 14 detecting a distance to an obstacle, a moving target creation portion creating a moving target for the vehicle body portion 12 according to the operation direction and the operation amount detected in the operation input portion 13, a moving target restriction portion restricting the magnitude of the moving target with a specified value according to the distance to the obstacle detected by the obstacle sensor 14 and a wheel drive portion driving the actuators 22 on the basis of the moving target.
| JPS60190102 | [Title of the device] Electric vehicle control device |
| WO/2020/188904 | VEHICLE DRIVE DEVICE |
SHIMODA TOMOHIRO
OTA AKIHIRO
TSUKADA SHOHEI
KAWAKAMI HIDEO
Kentaro Fujii
Ikuro Terauchi
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