Personal vehicle

Japanese Patent JP6120370

B2

PROBLEM TO BE SOLVED: To provide a personal vehicle controller by which slip-down of a vehicle body in cant drive is quickly corrected, and straight traveling performance of the vehicle body is secured even when a roll angle is large.SOLUTION: A personal vehicle controller has: an operation part 14 for inputting an original command value including a command value regarding a turning angle; a shaft angle sensor 51 for detecting a physical quantity regarding the roll angle and the turning angle; a right wheel sensor 53R; a left wheel sensor 53L; and a control part 2. The control part 2 calculates an actual command value on the basis of a difference (ωref-ωgyaw) between the command value regarding the turning angle and the physical quantity regarding the turning angle, an integral value obtained by performing time integration of the difference (ωref-ωgyaw) and the original command value (a first operation rule). The integral value corrects the original command value according to the magnitude of the difference (ωref-ωgyaw). An actual command value regarding rotational angle speed for driving a right wheel and a left wheel on the basis of the roll angle and the original command value can be further calculated (a second operation rule).

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Suzuki Tsutomu
Yusuke Yoshida
Matsumoto Osamu

JP2013155553A

April 26, 2017

July 26, 2013

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Aisin Seiki Co., Ltd.
National Institute of Advanced Industrial Science and Technology

B62D11/04; A61G5/04; B62D6/00

JP2010193939A
JP2013226387A
JP2004113375A

Hiroshi Okawa

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