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Title:
VEHICLE
Document Type and Number:
Japanese Patent JP2019081476
Kind Code:
A
Abstract:
To improve travel stability of a vehicle.SOLUTION: A vehicle includes a vehicle body, an inclination mechanism which inclines the vehicle body, an operation input part, an inclination control part, and a rotating wheel support part which supports one or more rotating wheels that can rotate right and left. The rotating wheel support part includes a support member that supports the one or more rotating wheels, a rotation driving device which applies a torque rotating the support member right and left to the support member, and a rotation control part which controls the torque of the rotation driving device using a control parameter. The rotation control part includes a specification part which specifies a target direction of the one or more rotating wheels using the control parameter, a first determination part which determines a first control value for approaching the direction of the one or more rotating wheels to the target direction, a driving control value determination part which determines a driving control value using the first control value, and a torque control part which controls the torque of the rotation driving device according to the driving control value. The first determination part adjusts the first control value using a vehicle speed.SELECTED DRAWING: Figure 1

Inventors:
ARAKI KEIZO
MIZUNO AKIRA
MOGI KOJI
Application Number:
JP2017210285A
Publication Date:
May 30, 2019
Filing Date:
October 31, 2017
Export Citation:
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Assignee:
EQUOS RES CO LTD
International Classes:
B62K5/10; B60G21/05; B60L15/20; B62D6/00; B62D9/02; B62D61/08; B62K5/027
Attorney, Agent or Firm:
特許業務法人鳳国際特許事務所



 
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