CONTROL DEVICE FOR MOBILE OBJECT, AND PROGRAM

WIPO Patent Application WO/2023/233905

A1

This control device for a mobile object controls a mobile object that includes: a first brake/drive torque providing unit (30R) for providing a first brake/drive torque to a right driving wheel; a second brake/drive torque providing unit (30L) for providing a second brake/drive torque to a left driving wheel; and a right driven wheel and a left driven wheel comprising caster wheels. The control device is provided with a torque control unit (44) and a speed difference computation unit (430). The torque control unit controls the first brake/drive torque providing unit and the second brake/drive torque providing unit. The speed difference computation unit computes a target yaw rate for the mobile object for when the mobile object turns, on the basis of a road friction coefficient for a road surface on which the mobile object is traveling, and also computes a speed difference or speed difference change rate that should be produced between the right driving wheel and the left driving wheel on the basis of the computed target yaw rate. The torque control unit turns the mobile object by respectively controlling the first brake/drive torque and the second brake/drive torque on the basis of the speed difference or speed difference change rate computed by the speed difference computation unit.

LIU HAIBO (JP)
KAMIO SHIGERU (JP)
KAWAI KEISUKE (JP)
KUBOTA MASARU (JP)

PCT/JP2023/017024

December 07, 2023

May 01, 2023

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DENSO CORP (JP)

B60L15/20; B60W30/02; B62D15/00

JP2011115006A	2011-06-09
JPH07223520A	1995-08-22
JP2003160042A	2003-06-03
JP2010081720A	2010-04-08
JP2006074974A	2006-03-16

KAMATA, Toru et al. (JP)

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