IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0439143
(2007-08-31)
|
등록번호 |
US-8301354
(2012-10-30)
|
우선권정보 |
JP-2006-250848 (2006-09-15) |
국제출원번호 |
PCT/JP2007/067002
(2007-08-31)
|
§371/§102 date |
20090909
(20090909)
|
국제공개번호 |
WO2008/032587
(2008-03-20)
|
발명자
/ 주소 |
|
출원인 / 주소 |
- Kabushikikaisha Equos Research
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
1 인용 특허 :
3 |
초록
▼
During vehicle operation, drive wheels are constantly monitored to see whether or not slip of drive wheels occurs and when slip is detected, posture control for slip conditions is performed by uncoupling normal posture control for the drive wheels. A balancer (weight body) which is movable in a long
During vehicle operation, drive wheels are constantly monitored to see whether or not slip of drive wheels occurs and when slip is detected, posture control for slip conditions is performed by uncoupling normal posture control for the drive wheels. A balancer (weight body) which is movable in a longitudinal direction of the vehicle is provided, and posture control is performed by moving the balancer backward when the vehicle inclines forward due to slip and moving the balancer forward when the vehicle inclines backward. The detection of slip is through a comparison between the drive wheels circumferential speed V2 and a vehicle running speed V1.
대표청구항
▼
1. A vehicle having two mutually-opposed drive wheels, the vehicle comprising: a weight body disposed to be moveable with respect to a longitudinal direction of the vehicle;a slip condition estimation system, included within an electronic control unit, which determines whether or not the drive wheel
1. A vehicle having two mutually-opposed drive wheels, the vehicle comprising: a weight body disposed to be moveable with respect to a longitudinal direction of the vehicle;a slip condition estimation system, included within an electronic control unit, which determines whether or not the drive wheels have slipped; anda slip adaptation control system, included within the electronic control unit, which provides posture control by moving the weight body responsive to a determination by the slip adaptation control system that slip has occurred. 2. The vehicle according to claim 1, wherein: the slip condition estimation system detects a slip ratio of the drive wheels, andwhen the detected slip ratio exceeds a predetermined threshold value, in addition to posture control by moving the weight body, the slip adaptation control system performs posture control by correcting a target vehicle inclination angle. 3. The vehicle according to claim 1, wherein, responsive to a determination by the slip condition estimation system that slip has occurred, the slip adaptation control system performs posture control by reduction of rotational speed of the drive wheels and rearward movement of the weight body, or by increase of the rotational speed of the drive wheels and forward movement of the weight body. 4. The vehicle according to claim 1, wherein the slip adaptation control system has a first, normal mode of operation wherein longitudinal balance is maintained by controlling output torque to from the drive wheels to coincide with a target inclination angle in response to a running target value from a controller and a second, slip mode wherein the posture control is provided by movement of the weight body until the vehicle recovers a non-slip condition. 5. The vehicle according to claim 4, wherein, in the second mode, the slip adaptation control system, responsive to a determination by the slip condition estimation system that slip has occurred, reduces the vehicle wheel rotational speed and moves the weight body backward when the vehicle body is inclined forward and increases the vehicle wheel rotational speed and moves the weight body forward when the vehicle body is inclined backward. 6. The vehicle according to claim 4 wherein: the slip condition estimation system detects a slip ratio of the drive wheels, andwhen the detected slip ratio exceeds a predetermined threshold value, the slip adaptation control system, operating in the second mode, in addition to posture control by moving the weight body, or in substitution thereof, performs posture control by correcting a target vehicle inclination angle. 7. The vehicle according to claim 4 wherein: the slip adaptation control system, operating in the second mode, provides posture control by movement of the weight body and by control of wheel rotational speed.
이 특허에 인용된 특허 (3)
-
Field, J. Douglas; Morrell, John B., Accelerated startup for a balancing personal vehicle.
-
Winchell Frank J. (Orchard Lake MI), Cambering vehicle.
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Kautzky Hans, Ultrasensitive balancing device for automotive wheels.
이 특허를 인용한 특허 (1)
-
Uematsu, Koji; Hatake, Kazuhiro, Traction control apparatus.
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