Title:
VEHICLE
Document Type and Number:
WIPO Patent Application WO/2010/084762
Kind Code:
A1
Abstract:
When measurements by sensors are impossible, the angular position of the vehicle is estimated from the conditions including rotation of the drive wheel and the driving torque so that the vehicle may travel in an inverted-pendulum position even in case of a failure of measurements of the vehicular position of angle. To achieve the object, the vehicle has a drive wheel (12) rotatably mounted beneath a vehicular body, and a control unit that controls the vehicular position of angle through control of drive torque imparted to the drive wheel. The control unit has a means to estimate the vehicular angular position with respect to a vertical position from the conditions of rotation of the drive wheel (12) and the driving torque.
Inventors:
DOI KATSUNORI (JP)
Application Number:
PCT/JP2010/000359
Publication Date:
July 29, 2010
Filing Date:
January 22, 2010
Export Citation:
Assignee:
EQUOS RES CO LTD (JP)
DOI KATSUNORI (JP)
DOI KATSUNORI (JP)
International Classes:
G05D1/08; B60L15/20; B62K3/00; B62K17/00
Foreign References:
| JP2008089531A | 2008-04-17 | |||
| JP2009012720A | 2009-01-22 | |||
| JP2008018931A | 2008-01-31 |
Attorney, Agent or Firm:
AOKI, TOSHIAKI (JP)
Toshiaki Aoki (JP)
Toshiaki Aoki (JP)
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