Title:
Personal vehicle
Document Type and Number:
Japanese Patent JP6115776
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a low-cost personal vehicle which reduces tendency drifting to one side while travelling on a cant by controlling right and left driving wheels to rotate approximately at the same time.SOLUTION: A personal vehicle comprises: a vehicle body; right and left driving wheels; an operation unit; a drive unit; a rotation number detector; a controller; a detector of yaw angular velocity ωY of the vehicle body; and a detector of roll angle θ. The controller comprises: means 61 for setting target vehicle body angular velocity and target linear velocity V1; means 63 for correcting target vehicle body angular velocity; means 62 for calculating target rotational number on the basis of the corrected target vehicle body angular velocity ω2 and the target linear velocity V1; means 62 for controlling the drive power on the basis of the target rotational number and the actual rotational number NL, NR; and means (mountain side delay control unit 64) for controlling a mountain side wheel and a valley side wheel to approximately simultaneously start rotating in which the right and left driving wheels are determined, when the vehicle body is slanted at the start of travelling, on the mountain side wheel and the valley wheel and control of the mountain side wheel is started after control of the valley side wheel.
Inventors:
Yusuke Yoshida
Suzuki Tsutomu
Suzuki Tsutomu
Application Number:
JP2013155586A
Publication Date:
April 19, 2017
Filing Date:
July 26, 2013
Export Citation:
Assignee:
Aisin Seiki Co., Ltd.
International Classes:
A61G5/04
Domestic Patent References:
| JP2010193939A | ||||
| JP2004120875A | ||||
| JP59017807A | ||||
| JP2013001229A |
Attorney, Agent or Firm:
Hiroshi Okawa