Title:
Personal vehicle
Document Type and Number:
Japanese Patent JP6119483
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a personal vehicle which reduces downhill turning at the beginning of cant travel and improves straight travel performance during the cant travel by performing a feedforward correction based on a position of the center of gravity.SOLUTION: A personal vehicle, including a vehicle body, right and left drive wheels, an operation unit, a drive part, a revolution speed detecting part, and a control unit, further includes a detection part of a yaw angular velocity ωY and a detection part of a position of the center of gravity of the vehicle body. The control unit includes: means for setting a target vehicle body angular velocity ω1 and a target straight advancing velocity based on a command signal; means 71 which corrects the target vehicle body angular velocity ω1 based on a difference Δω between the target vehicle body angular velocity ω1 and the yaw angular velocity ωY; means 72 which corrects the target vehicle body angular velocity ω1 based on a positional relationship (a right/left distribution ratio RF) between the right and left drive wheels and the position of the center of gravity; means for calculating a target revolution speed based on a post-correction target vehicle body angular velocity ω2 and the target straight advancing velocity; and means for controlling drive force of the drive part based on the target revolution speed and an actual revolution speed.
Inventors:
Yusuke Yoshida
Suzuki Tsutomu
Suzuki Tsutomu
Application Number:
JP2013155563A
Publication Date:
April 26, 2017
Filing Date:
July 26, 2013
Export Citation:
Assignee:
Aisin Seiki Co., Ltd.
International Classes:
B60L15/20; A61G5/04; B62D11/04
Domestic Patent References:
| JP2010260531A | ||||
| JP2006288121A | ||||
| JP2008081815A1 | ||||
| JP2010193939A | ||||
| JP2008126916A |
Attorney, Agent or Firm:
Hiroshi Okawa