IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0056063
(2009-06-05)
|
등록번호 |
US-8532877
(2013-09-10)
|
우선권정보 |
JP-2008-194848 (2008-07-29); JP-2008-194849 (2008-07-29); JP-2008-197814 (2008-07-31) |
국제출원번호 |
PCT/JP2009/002542
(2009-06-05)
|
§371/§102 date |
20110126
(20110126)
|
국제공개번호 |
WO2010/013381
(2010-02-04)
|
발명자
/ 주소 |
|
출원인 / 주소 |
- Toyota Jidosha Kabushiki Kaisha
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
6 인용 특허 :
10 |
초록
▼
To provide a coaxial two-wheeled vehicle capable of performing a turning movement with stability and its control method. A coaxial two-wheeled vehicle in accordance with the present invention includes drive means to drive two coaxially-arranged wheels, turning reference-input input means to input a
To provide a coaxial two-wheeled vehicle capable of performing a turning movement with stability and its control method. A coaxial two-wheeled vehicle in accordance with the present invention includes drive means to drive two coaxially-arranged wheels, turning reference-input input means to input a turning reference input, and control means to control the drive means according to a turning gain based on a turning reference-input input by the turning reference-input input means to thereby perform a turning movement. The control means preferably brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward speed greater than or equal to a first speed, and sets the turning gain to a value greater than zero when a vehicle speed is substantially zero.
대표청구항
▼
1. A coaxial two-wheeled vehicle comprising: drive means to drive two coaxially-arranged wheels; turning command input means to input a turning command; and control means to control the drive means according to a turning gain based on a turning command input by the turning command input means to the
1. A coaxial two-wheeled vehicle comprising: drive means to drive two coaxially-arranged wheels; turning command input means to input a turning command; and control means to control the drive means according to a turning gain based on a turning command input by the turning command input means to thereby perform a turning movement, wherein the control means brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward velocity greater than or equal to a first velocity, and sets the turning gain to a value greater than zero when a vehicle velocity is substantially zero, wherein the control means has a forward traveling mode and a backward traveling mode with regard to the turning gain, in the forward traveling mode, the control means brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward velocity greater than or equal to the first velocity, and sets the turning gain to a value greater than zero when the vehicle velocity is substantially zero, and in the backward traveling mode, assuming that a forward direction is positive and a backward direction is negative, the turning gain is increased as a vehicle velocity value increases, and set to substantially zero when the vehicle velocity is substantially zero. 2. The coaxial two-wheeled vehicle according to claim 1, wherein the control means changes the turning gain in a continuous manner in a backward traveling state between the first velocity and a velocity of zero. 3. The coaxial two-wheeled vehicle according to claim 1, wherein in a situation where the control means performs control in the forward traveling mode and the coaxial two-wheeled vehicle is moving backward, when the coaxial two-wheeled vehicle reaches a second velocity lower than the first velocity while being in a non-turning state, the control means switches from the forward traveling mode to the backward traveling mode. 4. The coaxial two-wheeled vehicle according to claim 3, wherein in a situation where the control means performs control in the backward traveling mode and the coaxial two-wheeled vehicle is moving backward, when the coaxial two-wheeled vehicle reaches a third velocity lower than the second velocity while being in a non-turning state, the control means switches from the backward traveling mode to the forward traveling mode. 5. The coaxial two-wheeled vehicle according to claim 1, wherein in a situation where the control means performs control in the backward traveling mode and the coaxial two-wheeled vehicle is moving forward, when the coaxial two-wheeled vehicle reaches a fourth at which a turning gain coincides between a forward traveling mode and a backward traveling mode, the control means switches from the backward traveling mode to the forward traveling mode. 6. A control method for a coaxial two-wheeled vehicle to make the coaxial two-wheeled vehicle perform a turning movement by controlling drive means according to a turning gain based on a turning command input by a turning command input means, wherein the turning gain is brought to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward velocity greater than or equal to a first velocity, and the turning gain is set to a value greater than zero when a vehicle velocity is substantially zero,wherein the turning gain has a forward traveling mode and a backward traveling mode,in the forward traveling mode, a control means brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward velocity greater than or equal to the first velocity, and sets the turning gain to a value greater than zero when a vehicle velocity is substantially zero, andin the backward traveling mode, assuming that a forward direction is positive and a backward direction is negative, the turning gain is increased as a vehicle velocity value increases, and set to substantially zero when the vehicle velocity is substantially zero. 7. The control method for a coaxial two-wheeled vehicle according to claim 6, the turning gain is changed in a continuous manner in a backward traveling state between the first velocity and a velocity of zero. 8. The control method for a coaxial two-wheeled vehicle according to claim 6, wherein in a situation where control is performed in the forward traveling mode and the coaxial two-wheeled vehicle is moving backward, when the vehicle reaches a second velocity lower than the first velocity while being in a non-turning state, the traveling mode is switched from the forward traveling mode to the backward traveling mode. 9. The control method for a coaxial two-wheeled vehicle according to claim 8, wherein in a situation where control is performed in the backward traveling mode and the coaxial two-wheeled vehicle is moving backward, when the vehicle reaches a third velocity lower than the second velocity while being in a non-turning state, the traveling mode is switched from the backward traveling mode to the forward traveling mode. 10. The control method for a coaxial two-wheeled vehicle according to claim 6, wherein in a situation where control is performed in the backward traveling mode and the coaxial two-wheeled vehicle is moving forward, the vehicle reaches a fourth velocity at which a turning gain coincides between a forward traveling mode and a backward traveling mode, the traveling mode is switched from the backward traveling mode to the forward traveling mode. 11. A coaxial two-wheeled vehicle comprising: a drive unit that drives two coaxially-arranged wheels; a turning command input portion that inputs a turning command; and a control device that controls the drive unit according to a turning gain based on a turning command input by the turning command input portion to thereby perform a turning movement, wherein the control device brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward velocity greater than or equal to a first velocity, and sets the turning gain to a value greater than zero when a vehicle velocity is substantially zero, wherein the control means has a forward traveling mode and a backward traveling mode with regard to the turning gain, in the forward traveling mode, the control means brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward velocity greater than or equal to the first velocity, and sets the turning gain to a value greater than zero when the vehicle velocity is substantially zero, and in the backward traveling mode, assuming that a forward direction is positive and a backward direction is negative, the turning gain is increased as a vehicle velocity value increases, and set to substantially zero when the vehicle velocity is substantially zero.
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