Title:
OVERTURN AVOIDANCE METHOD OF INVERTED TWO-WHEEL VEHICLE AND INVERTED TWO-WHEEL VEHICLE
Document Type and Number:
Japanese Patent JP2017074866
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide an overturn avoidance method of an inverted two-wheel vehicle which avoids that a posture of a vehicle body becomes instable resulting from the torque shortage of the inverted two-wheel vehicle.SOLUTION: An overturn avoidance method of an inverted two-wheel vehicle has: an operation instruction part which outputs an instruction from an operation part attached to a vehicle body as an operation instruction signal; a gyro sensor which outputs a posture angle of the vehicle body; a motor which drives wheels attached to the vehicle body, and outputs a torque measurement value which indicates torque generated at a rotating shaft, and a rotation angle value which indicates a rotation angle of the rotating shaft; a motor control part which drives the motor; and a vehicle body control part which outputs at least one of a speed command value, a torque command value, and a rotation angle command value to the motor control part. The overturn avoidance method increases an uplift amount of the vehicle body according to the fact that a motor angle speed exceeds a preset overturn countermeasure processing activation determination threshold, and a torque measurement value goes below a preset overturn countermeasure processing activation threshold.SELECTED DRAWING: Figure 3
Inventors:
HIWA TSUYOKI
TSUKAMOTO MASA
NISHIZAWA CHIEKO
NAKAJIMA YUICHIRO
TSUKAMOTO MASA
NISHIZAWA CHIEKO
NAKAJIMA YUICHIRO
Application Number:
JP2015203684A
Publication Date:
April 20, 2017
Filing Date:
October 15, 2015
Export Citation:
Assignee:
TOYOTA TECHNICAL DEV CORP
TOYOTA MOTOR CORP
TOYOTA MOTOR CORP
International Classes:
B62K17/00; B62K3/00
Attorney, Agent or Firm:
Ken Ieiri