Title:
VEHICLE CONTROL DEVICE AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/189181
Kind Code:
A1
Abstract:
A vehicle (10) comprises: a body (11); a pair of drive wheels (21, 22) that are attached at to positions on the left and right sides of the body with respect to the vehicle travel direction, and that have respective motors (23, 24), the motors being driven independently; and driven wheels (31, 32) steerably provided on the body. A vehicle control device (40) controls the travelling of the vehicle by controlling the driving of the motors of the drive wheels. The vehicle control device (40) comprises: a thrust calculation unit that calculates the thrust generated by the rotation of the motors in the drive wheels when the vehicle travels along a predetermined travel route; a center-of-gravity calculation unit that calculates the center-of-gravity position of the vehicle in a coordinate system of which the origin is the center position between the pair of drive wheels, on the basis of the thrust force calculated by the thrust force calculation unit; and a control unit that controls the rotation speeds or movement speeds of the drive wheels on the basis of the position of the center of gravity.
Inventors:
SUZUKI HIDETOSHI (JP)
Application Number:
PCT/JP2023/007867
Publication Date:
October 05, 2023
Filing Date:
March 02, 2023
Export Citation:
Assignee:
DENSO CORP (JP)
International Classes:
B60L15/20; B60L9/18; B60W30/18; B60W40/10; B60W40/12
Domestic Patent References:
| WO2014061108A1 | 2014-04-24 |
Foreign References:
| JP2006117067A | 2006-05-11 | |||
| JP2021168532A | 2021-10-21 | |||
| JP2020060434A | 2020-04-16 | |||
| JP2008265545A | 2008-11-06 |
Attorney, Agent or Firm:
YAMADA, Tsuyoshi (JP)
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