JP5083265B2 - 車両 - Google Patents
車両 Download PDFInfo
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- JP5083265B2 JP5083265B2 JP2009084072A JP2009084072A JP5083265B2 JP 5083265 B2 JP5083265 B2 JP 5083265B2 JP 2009084072 A JP2009084072 A JP 2009084072A JP 2009084072 A JP2009084072 A JP 2009084072A JP 5083265 B2 JP5083265 B2 JP 5083265B2
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- 230000001133 acceleration Effects 0.000 claims description 103
- 230000009467 reduction Effects 0.000 claims description 14
- 230000007423 decrease Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 description 17
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 12
- 230000003247 decreasing effect Effects 0.000 description 11
- 238000012937 correction Methods 0.000 description 6
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Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Motorcycle And Bicycle Frame (AREA)
Description
θW :駆動輪回転角〔rad〕
θ1 :車体傾斜角(鉛直軸基準)〔rad〕
λS :搭乗部位置(能動重量部位置)〔m〕
g:重力加速度〔m/s2 〕
RW :駆動輪接地半径〔m〕
mS :搭乗部質量(能動重量部質量:搭載物を含む)〔kg〕
αMax,A =αMax,A,0
αMax,D =αMax,D,0
である。さらに、αMax,A,0 は標準車両加速度制限値、αMax,D,0 は標準車両減速度制限値であり、各々、下記のように表される。
λS,Max,L =λS,Max,f +λS,Max,r
である。
12 駆動輪
14 搭乗部
20 車両制御装置
63 能動重量部ブレーキ
Claims (8)
- 回転可能に車体に取り付けられた駆動輪と、
前記車体に対して移動可能に取り付けられた能動重量部と、
該能動重量部を車体に対して固定する能動重量部ブレーキと、
前記駆動輪に与える駆動トルク及び前記能動重量部の位置を制御して前記車体の姿勢を制御する車両制御装置とを有し、
該車両制御装置は、前記能動重量部を車体に対して固定した場合に、車両加速度及び車両減速度の制限値を能動重量部を車体に対して固定する直前の車両加速度及び車両減速度より減少させることを特徴とする車両。 - 前記車両制御装置は、車両加速度及び車両減速度の目標値に対する制限値を能動重量部を車体に対して固定する直前の車両加速度の目標値及び車両減速度の目標値より減少させる請求項1に記載の車両。
- 前記車両制御装置は、前記能動重量部の固定位置に応じて前記制限値の減少量を決定する請求項1又は2に記載の車両。
- 前記車両制御装置は、前記能動重量部の可動域前縁から前記固定位置までの距離に応じて車両加速度の制限値の減少量を決定し、前記能動重量部の可動域後縁から前記固定位置までの距離に応じて車両減速度の制限値の減少量を決定する請求項3に記載の車両。
- 前記車両制御装置は、車両減速度の制限値に応じて車両加速度の制限値を更に減少させる請求項1〜4のいずれか1項に記載の車両。
- 前記車両制御装置は、車両加速度の制限値が車両減速度の制限値よりも小さくなるように補正する請求項5に記載の車両。
- 前記車両制御装置は、車両減速度の制限値に応じて駆動輪回転角速度の制限値を減少させる請求項5に記載の車両。
- 前記車両制御装置は、前記能動重量部の固定位置に応じて目標車体傾斜角を補正する請求項1〜7のいずれか1項に記載の車両。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009084072A JP5083265B2 (ja) | 2009-03-31 | 2009-03-31 | 車両 |
CN2010800151656A CN102378715B (zh) | 2009-03-30 | 2010-03-25 | 车辆 |
PCT/JP2010/002114 WO2010116640A1 (ja) | 2009-03-30 | 2010-03-25 | 車両 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009084072A JP5083265B2 (ja) | 2009-03-31 | 2009-03-31 | 車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010234933A JP2010234933A (ja) | 2010-10-21 |
JP5083265B2 true JP5083265B2 (ja) | 2012-11-28 |
Family
ID=43089697
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009084072A Expired - Fee Related JP5083265B2 (ja) | 2009-03-30 | 2009-03-31 | 車両 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP5083265B2 (ja) |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5013256B2 (ja) * | 2007-08-07 | 2012-08-29 | 株式会社エクォス・リサーチ | 車両 |
US8442753B2 (en) * | 2007-08-10 | 2013-05-14 | Equos Research Co., Ltd. | Inverted pendulum vehicle with stability on a slope |
EP2190054B1 (en) * | 2007-09-12 | 2016-10-26 | Mitsubishi Chemical Corporation | Nonaqueous electrolyte solution for secondary battery and nonaqueous electrolyte secondary battery |
-
2009
- 2009-03-31 JP JP2009084072A patent/JP5083265B2/ja not_active Expired - Fee Related
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Publication number | Publication date |
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JP2010234933A (ja) | 2010-10-21 |
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