Title:
TWO-WHEELED INVERTED PENDULUM DEVICE, METHOD FOR CONTROLLING SAME, AND CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2011/108029
Kind Code:
A1
Abstract:
A two-wheeled inverted pendulum device is provided with a drive means for driving wheels, a control means for generating torque command values for controlling drive torque of the drive means, and an attitude detecting means for detecting attitude information for a vehicle. Moreover, the two-wheeled inverted pendulum device is capable of traveling with an inverted state maintained. Furthermore, when the control means determines that a torque command value generated is not less than a predetermined value and thus is in a saturated state, and when the control means also determines, on the basis of attitude information detected by the attitude detecting means, that inversion control is in a failed state, then the control means performs control such that an occupant is made to alight from the vehicle.
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Inventors:
KOSAKA, Yusuke (1 Toyota-cho, Toyota-sh, Aichi 71, 〒4718571, JP)
小坂雄介 (〒71 愛知県豊田市トヨタ町１番地トヨタ自動車株式会社内 Aichi, 〒4718571, JP)
小坂雄介 (〒71 愛知県豊田市トヨタ町１番地トヨタ自動車株式会社内 Aichi, 〒4718571, JP)
Application Number:
JP2010/001556
Publication Date:
September 09, 2011
Filing Date:
March 05, 2010
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA (1 Toyota-cho, Toyota-shi Aichi, 71, 〒4718571, JP)
トヨタ自動車株式会社 (〒71 愛知県豊田市トヨタ町１番地 Aichi, 〒4718571, JP)
KOSAKA, Yusuke (1 Toyota-cho, Toyota-sh, Aichi 71, 〒4718571, JP)
トヨタ自動車株式会社 (〒71 愛知県豊田市トヨタ町１番地 Aichi, 〒4718571, JP)
KOSAKA, Yusuke (1 Toyota-cho, Toyota-sh, Aichi 71, 〒4718571, JP)
International Classes:
B62K17/00; B62K3/00
Attorney, Agent or Firm:
IEIRI, Takeshi (HIBIKI IP Law Firm, Asahi Bldg. 10th Floor 3-33-8, Tsuruya-cho, Kanagawa-ku, Yokohama-sh, Kanagawa 35, 〒2210835, JP)
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Claims: