INVERTED PENDULUM-TYPE VEHICLE CONTROLLER

WIPO Patent Application WO/2011/033578

A1

Disclosed is an inverted pendulum-type vehicle controller that suppresses deviations from a specified direction of movement of an inverted pendulum-type vehicle comprising a movement actuating portion which allows movement in all directions, when the vehicle is moved in a specified direction by tilting of a passenger riding portion thereof. Taking a second direction axial component and a first direction axial component from the tilt deviation between the actual tilt angle and the target tilt angle of a riding portion (3) as θbe_x_s and θbe_y_s respectively, and taking a first direction component and a second direction component from the movement velocity at the representative points of the vehicle (1) in a stationary state, with θbe_x_s，θbe_y_s maintained constant, as Ｖb_x_stb and Ｖb_y_stb respectively, the movement actuation of a movement actuating portion (5) is controlled in such a way that the ratio of the magnitude of Ｖb_x_stb to the magnitude of θbe_x_s differs from the ratio of the magnitude ofＶb_y_stb to the magnitude of θbe_y_s.

TAKENAKA TORU (JP)
AKIMOTO KAZUSHI (JP)
KOBASHI SHINICHIRO (JP)
MURAKAMI HIDEO (JP)

PCT/JP2009/004728

March 24, 2011

September 18, 2009

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HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
AKIMOTO KAZUSHI (JP)
KOBASHI SHINICHIRO (JP)
MURAKAMI HIDEO (JP)

B62K1/00; B62K17/00

WO2008139740A1	2008-11-20
WO2008132778A1	2008-11-06
WO2008132779A1	2008-11-06

JP2006282160A	2006-10-19
JP2004129435A	2004-04-22
JP3070015B2	2000-07-24

SATO & ASSOCIATES (JP)
Patent business corporation creation international patent firm (JP)

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