JP5109990B2 - vehicle - Google Patents

Description

  The present invention relates to a vehicle using posture control of an inverted pendulum.

  Conventionally, a technique related to a vehicle using posture control of an inverted pendulum has been proposed. For example, a vehicle that has two drive wheels arranged on the same axis and drives by sensing a change in the posture of the vehicle body due to the driver's movement of the center of gravity, and a vehicle body posture that is attached to a single spherical drive wheel Techniques such as a vehicle that moves while controlling the vehicle have been proposed (see, for example, Patent Document 1).

  In this case, the vehicle is stopped or moved by controlling the operation of the drive wheels while detecting the balance of the vehicle body and the state of operation by the sensor.

JP 2004-129435 A

  However, in the conventional vehicle, the posture of the vehicle body is controlled by the measured value of the vehicle body tilt state acquired by the sensor. However, when the measured value cannot be acquired due to a failure of the sensor or a communication failure, an abnormal measurement is performed. When the value is acquired, the inverted posture control of the vehicle body cannot be continued, so that the control is immediately interrupted and the vehicle body is forced to be tilted and grounded.

  However, in preparation for such a situation, it is conceivable to prepare a plurality of sensors and communication means in advance. However, if a plurality of sensors and communication means are prepared, the system becomes expensive and complicated. That is, it is difficult to ensure sufficient safety and convenience with an inexpensive and simple system.

  The present invention solves the problems of the conventional vehicle and, when the measured value of the sensor cannot be obtained, estimates the vehicle body tilt state from the rotational state and drive torque of the drive wheel, It is an object of the present invention to provide a safer, more convenient, and less expensive vehicle that can maintain traveling in an inverted posture even in a situation where the tilt state cannot be acquired.

  For this purpose, the vehicle of the present invention includes a drive wheel rotatably attached to the vehicle body, and a vehicle control device that controls a drive torque applied to the drive wheel to control the posture of the vehicle body, The vehicle control device includes an inclination estimation unit that estimates an inclination angle of the vehicle body with respect to a vertical axis based on a rotation state of the driving wheel and the driving torque.

  In another vehicle of the present invention, the vehicle control device further determines a drive torque to be applied to the drive wheels based on an estimated value of the inclination angle of the vehicle body estimated by the inclination estimation means.

  In still another vehicle of the present invention, the vehicle control device further includes target value determining means for determining a target value of the lean angle of the vehicle body in accordance with a target operation of the vehicle, The driving torque having a magnitude proportional to the difference between the estimated value estimated by the estimating means and the target value determined by the target value determining means is applied.

  In still another vehicle of the present invention, the vehicle control device further includes an inclination measurement unit that measures an inclination angle of the vehicle body, acquires a measurement value by the inclination measurement unit, and / or acquires the measurement value. Determination means for determining whether the vehicle can be used for vehicle control, and the inclination estimation means estimates the inclination angle of the vehicle body when it is determined that the determination means is impossible. .

  In still another vehicle of the present invention, the vehicle control device further determines the driving torque based on a measured value of the inclination angle of the vehicle body when the determination unit determines that the determination unit is possible, and the determination unit When it is determined that the driving torque is impossible, the driving torque is determined based on the estimated value of the inclination angle of the vehicle body.

  In still another vehicle of the present invention, the vehicle control device further has a magnitude proportional to the difference between the measured value of the vehicle body inclination angle and the target value when it is determined that the determination means is possible. When the determination means determines that the driving torque is not possible, the driving torque having a magnitude proportional to the difference between the estimated value of the tilt angle of the vehicle body and the target value is applied. .

  In still another vehicle of the present invention, the vehicle control device further includes a center-of-gravity shift amount acquisition unit that acquires a shift amount of the center of gravity position of the vehicle body, and the inclination estimation unit includes the center-of-gravity shift amount acquisition unit. The estimated value of the tilt angle of the vehicle body is corrected based on the center-of-gravity shift amount obtained by the above.

  In yet another vehicle of the present invention, the center-of-gravity deviation amount acquisition means estimates the center-of-gravity deviation amount from a measured value of the rotational state of the driving wheel and / or the driving torque and / or the tilt angle of the vehicle body. To do.

  In still another vehicle of the present invention, the center-of-gravity deviation amount acquisition unit further determines that the determination unit cannot determine the latest center-of-gravity deviation amount when it is determined that the determination unit is possible. In this case, the center-of-gravity shift amount is used.

  In still another vehicle of the present invention, the vehicle control device further includes a tilt angle acceleration estimating means for estimating an acceleration of the tilt angle of the vehicle body based on a rotation state of the drive wheel and the drive torque, and the tilt angle The estimated value of the tilt angle of the vehicle body is corrected by the estimated value of the tilt angle acceleration estimated by the acceleration estimating means.

  In still another vehicle of the present invention, the vehicle control device further includes a resistance parameter acquisition unit that acquires a parameter relating to a running resistance of the vehicle, and the inclination estimation unit is acquired by the resistance parameter acquisition unit. The estimated value of the tilt angular acceleration is corrected by the resistance parameter.

  In still another vehicle of the present invention, the resistance parameter acquisition unit estimates the resistance parameter based on a measured value of the rotational state of the driving wheel and / or the driving torque and / or the tilt angle of the vehicle body.

  In still another vehicle of the present invention, the resistance parameter acquisition unit further determines that the latest determination of the resistance parameter when the determination unit is possible is impossible. These resistance parameters are as follows.

  According to the configuration of the first aspect, the vehicle body tilt angle is estimated from the rotational state of the driving wheel and the driving torque based on the dynamic model, so that the vehicle can run in the inverted posture without using the measurement value of the vehicle posture sensor. Can be maintained.

  According to the configuration of the second aspect, by determining the magnitude of the driving torque according to the estimated value of the vehicle body inclination angle, it is possible to apply the driving torque having an appropriate magnitude for maintaining the inverted posture.

  According to the configuration of claim 3, by using a simple method similar to general feedback control using a body posture sensor, it is possible to reduce the calculation load during control and to easily design the control system. Become.

  According to the configuration of the fourth aspect, even when it becomes suddenly impossible to acquire the measured value of the vehicle body inclination angle due to a sensor failure or communication failure, it is possible to maintain the traveling in the inverted posture. Further, it is possible to prevent an increase in calculation cost due to unnecessary estimated value acquisition processing when measurement values can be acquired.

  According to the configuration of claim 5, by appropriately grasping the situation where the estimated value is necessary and switching from the measured value to the estimated value, the control accuracy is generally lowered due to the use of the estimated value that is generally less accurate than the measured value. , Can prevent a decrease in ride comfort and maneuverability.

  According to the configuration of the sixth aspect, by applying a common control method when the measured value is used and when the estimated value is used in the posture control of the vehicle body, the control method is simplified, and the man-hour required for designing the control system is reduced. Can be reduced.

  According to the configuration of claim 7, by taking into account the shift of the center of gravity position of the vehicle body, it is possible to prevent a decrease in the estimation accuracy of the vehicle body inclination angle due to the difference in the weight of the passenger, the riding posture, the weight of the load or the loading position. be able to.

  According to the configuration of the eighth aspect, by acquiring the shift amount of the center of gravity position of the vehicle body by the estimating means, it is possible to compensate for the influence of the shift of the center of gravity position without adding a measurement device for the center of gravity position.

  According to the configuration of claim 9, under the assumption that the position of the center of gravity of the vehicle body does not change suddenly, the estimated value of the center of gravity deviation is fixed when acquisition of the measured value of the vehicle body inclination angle becomes impossible. Without the measurement value of the vehicle body tilt angle, the influence of the shift of the center of gravity position can be reduced to some extent without acquiring a difficult center of gravity shift amount.

  According to the configuration of the tenth aspect, the estimation calculation of the vehicle body tilt angle can be further stabilized and simplified by estimating the acceleration of the vehicle body tilt angle from another dynamic model.

  According to the configuration of the eleventh aspect, it is possible to prevent a decrease in the estimation accuracy of the vehicle body inclination angle acceleration and the vehicle body inclination angle caused by the change in the road surface condition by considering the change in the characteristics of the running resistance.

  According to the configuration of the twelfth aspect, the influence of the change in the road surface condition can be compensated without adding a measuring device such as a road surface shape by acquiring the characteristics of the running resistance by the estimating means.

  According to the configuration of claim 13, under the assumption that the road surface condition does not change abruptly, by fixing the estimated value of the running resistance parameter when it becomes impossible to obtain the measured value of the vehicle body inclination angle, If there is no measured value of the vehicle body inclination angle, it is possible to reduce to some extent the influence of changes in road surface conditions without acquiring difficult running resistance parameters.

It is the schematic which shows the structure of the vehicle in the 1st Embodiment of this invention, and is a figure which shows the state which is carrying out acceleration advance in the state which the passenger | crew got on. It is a block diagram which shows the structure of the control system of the vehicle in the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the driving | running | working and attitude | position control processing of the vehicle in the 1st Embodiment of this invention. It is a figure which shows the dynamic model of the vehicle in the 1st Embodiment of this invention, and its parameter. It is a flowchart which shows the operation | movement of the acquisition process of the state quantity in the 1st Embodiment of this invention. It is a flowchart which shows the operation | movement of the main state quantity acquisition process in the 1st Embodiment of this invention. It is a flowchart which shows the operation | movement of the determination process of the target driving state in the 1st Embodiment of this invention. It is a flowchart which shows the operation | movement of the determination process of the target vehicle body attitude | position in the 1st Embodiment of this invention. It is a flowchart which shows the operation | movement of the determination process of the actuator output in the 1st Embodiment of this invention. It is a flowchart which shows the operation | movement of the main state quantity acquisition process in the 2nd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic diagram showing the configuration of a vehicle in a first embodiment of the present invention, and shows a state in which an occupant is moving forward in an accelerated state, and FIG. 2 is a first embodiment of the present invention. 1 is a block diagram showing a configuration of a vehicle control system in FIG.

  In the figure, reference numeral 10 denotes a vehicle according to the present embodiment, which has a body portion 11, a driving wheel 12, a support portion 13, and a riding portion 14 on which an occupant 15 rides, and uses the posture control of an inverted pendulum. Control the attitude of the car body. The vehicle 10 can tilt the vehicle body forward and backward. In the example shown in FIG. 1, the vehicle 10 is accelerating in the direction indicated by the arrow A, and the vehicle body is tilted forward in the traveling direction.

  The drive wheel 12 is rotatably supported by a support portion 13 that is a part of the vehicle body, and is driven by a drive motor 52 as a drive actuator. The shaft of the drive wheel 12 extends in a direction perpendicular to the drawing of FIG. 1, and the drive wheel 12 rotates about the shaft. The drive wheel 12 may be singular or plural, but in the case of plural, the drive wheels 12 are arranged on the same axis in parallel. In the present embodiment, description will be made assuming that there are two drive wheels 12. In this case, each drive wheel 12 is independently driven by an individual drive motor 52. As the drive actuator, for example, a hydraulic motor, an internal combustion engine, or the like can be used, but here, the description will be made assuming that the drive motor 52 that is an electric motor is used.

  The main body 11 that is a part of the vehicle body is supported from below by the support 13 and is positioned above the drive wheels 12. A boarding unit 14 on which an occupant 15 who is a driver of the vehicle 10 boards is attached to the main body 11.

  In the present embodiment, for the sake of explanation, an example in which an occupant 15 has boarded the boarding unit 14 will be described. However, the occupant 15 does not necessarily have to board the boarding unit 14. In the case of being controlled by control, the occupant 15 does not have to be on the riding section 14, and cargo may be loaded instead of the occupant 15. In addition, the said boarding part 14 is the same as the sheet | seat used for motor vehicles, such as a passenger car and a bus | bath, and is provided with the seat surface part 14a, the backrest part 14b, and the headrest 14c.

  An input device 30 including a joystick 31 as a target travel state acquisition device is disposed beside the boarding unit 14. The occupant 15 controls the vehicle 10 by operating a joystick 31 as a control device, that is, inputs a travel command such as acceleration, deceleration, turning, in-situ rotation, stop, and braking of the vehicle 10. ing. If the occupant 15 can operate and input a travel command, another device such as a jog dial, a touch panel, or a push button may be used as the target travel state acquisition device instead of the joystick 31. You can also.

  In addition, when the vehicle 10 is steered by remote control, it can replace with the said joystick 31, and can use the receiver which receives the driving | running | working command from a controller with a wire communication or a radio | wireless as a target driving state acquisition apparatus. Further, when the vehicle 10 automatically travels according to predetermined travel command data, a data reader that reads travel command data stored in a storage medium such as a semiconductor memory or a hard disk is used as a target travel instead of the joystick 31. It can be used as a status acquisition device.

  In addition, the vehicle 10 includes a control ECU (Electronic Control Unit) 20 as a vehicle control device, and the control ECU 20 includes a main control ECU 21 and a drive wheel control ECU 22. The control ECU 20, the main control ECU 21, and the drive wheel control ECU 22 include a calculation unit such as a CPU and an MPU, a storage unit such as a magnetic disk and a semiconductor memory, an input / output interface, and the like, and a computer system that controls the operation of each part of the vehicle 10. For example, although it is disposed in the main body 11, it may be disposed in the support portion 13 or the riding portion 14. Further, the main control ECU 21 and the drive wheel control ECU 22 may be configured separately or may be configured integrally.

  The main control ECU 21 functions as a part of the drive wheel control system 50 that controls the operation of the drive wheel 12 together with the drive wheel control ECU 22, the drive wheel sensor 51, and the drive motor 52. The drive wheel sensor 51 includes a resolver, an encoder, and the like, functions as a drive wheel rotation state measuring device, detects a drive wheel rotation angle and / or rotation angular velocity indicating a rotation state of the drive wheel 12, and transmits it to the main control ECU 21. To do. The main control ECU 21 transmits a drive torque command value to the drive wheel control ECU 22, and the drive wheel control ECU 22 supplies an input voltage corresponding to the received drive torque command value to the drive motor 52. The drive motor 52 applies drive torque to the drive wheels 12 in accordance with the input voltage, thereby functioning as a drive actuator.

  The main control ECU 21 functions as a part of the vehicle body control system 40 that controls the posture of the vehicle body together with the drive wheel control ECU 22, the vehicle body tilt sensor 41, and the drive motor 52. The vehicle body tilt sensor 41 includes an acceleration sensor, a gyro sensor, and the like, and functions as a tilt measurement unit. The vehicle body tilt sensor 41 detects a vehicle body tilt angle and / or a tilt angular velocity indicating the tilt state of the vehicle body, and transmits the detected vehicle body tilt angle to the main control ECU 21. Then, the main control ECU 21 transmits a drive torque command value to the drive wheel control ECU 22.

  In addition, a travel command is input from the joystick 31 of the input device 30 to the main control ECU 21. Then, the main control ECU 21 transmits a drive torque command value to the drive wheel control ECU 22.

  Further, the main control ECU 21 functions as a tilt estimating unit that estimates the tilt state of the vehicle body, and also includes a target value determining unit that determines a target tilt state of the vehicle body, a measurement value of the tilt state of the vehicle body, and measurement. Determination means for determining whether the value can be used for control, inclination angular acceleration estimation means for estimating the inclination angular acceleration of the vehicle body, resistance parameter acquisition means for estimating the running resistance parameter, and vehicle body center-of-gravity deviation amount It also functions as an estimated center-of-gravity deviation acquisition means.

  Each sensor may acquire a plurality of state quantities. For example, an acceleration sensor and a gyro sensor may be used in combination as the vehicle body tilt sensor 41, and the vehicle body tilt angle and the tilt angular velocity may be determined from both measured values.

  Next, the operation of the vehicle 10 configured as described above will be described. First, an outline of the travel and attitude control process will be described.

  FIG. 3 is a flowchart showing the operation of the vehicle travel and attitude control processing in the first embodiment of the present invention.

  In the present embodiment, when it is impossible to acquire the vehicle body tilt state by the vehicle body tilt sensor 41, the vehicle body tilt state is estimated from the rotation state of the drive wheels 12 and the drive torque, and is controlled. Specifically, the vehicle body inclination angle is estimated from the time history of the driving wheel rotation angular acceleration and the driving torque. Then, the state feedback control is executed by replacing the estimated value of the vehicle body inclination angle with the measured value. Further, the estimated value of the vehicle body tilt angle is corrected by the estimated value of the vehicle body center-of-gravity deviation amount at the normal time. Further, the vehicle body inclination angular acceleration is estimated by another dynamic model, and is corrected using the estimated value of the running resistance parameter at the normal time. Thereby, it is possible to maintain the inverted posture even in a situation where the vehicle body tilt state cannot be obtained, and it is possible to provide an inverted vehicle 10 that is safer, more convenient, and less expensive.

  In the travel and attitude control process, the control ECU 20 first executes a state quantity acquisition process (step S1), and is driven by each sensor, that is, the drive wheel sensor 51, the vehicle body tilt sensor 41, and the state quantity estimation unit. The rotation state of the wheel 12 and the tilt state of the vehicle body are acquired.

  Next, the control ECU 20 executes a target travel state determination process (step S2), and based on the operation amount of the joystick 31, the target value of the acceleration of the vehicle 10 and the target value of the rotational angular velocity of the drive wheels 12 are obtained. decide.

  Next, the control ECU 20 executes a target vehicle body posture determination process (step S3), and based on the target value of the acceleration of the vehicle 10 and the target value of the rotational angular velocity of the drive wheels 12 determined by the target travel state determination process. Thus, the target value of the vehicle body inclination angle is determined as the target value of the vehicle body posture.

  Finally, the control ECU 20 executes an actuator output determination process (step S4), each state quantity acquired by the state quantity acquisition process, the target travel state determined by the target travel state determination process, and the target Based on the target vehicle body posture determined by the vehicle body posture determination process, the output of each actuator, that is, the output of the drive motor 52 is determined.

  Next, details of the traveling and attitude control processing will be described. First, the state quantity acquisition process will be described.

  FIG. 4 is a diagram showing a vehicle dynamic model and its parameters according to the first embodiment of the present invention, and FIG. 5 is a flowchart showing an operation of state quantity acquisition processing according to the first embodiment of the present invention.

In the present embodiment, state quantities, inputs, parameters, physical constants, and the like are represented by the following symbols. FIG. 4 shows some of the state quantities and parameters.
θ _W : Drive wheel rotation angle [rad]
θ ₁ : Body tilt angle (vertical axis reference) [rad]
τ _W : Driving torque (total of two driving wheels) [Nm]
m _W : Drive wheel mass (total of two drive wheels) [kg]
R _W : Driving wheel contact radius [m]
I _W : Moment of inertia of driving wheel (total of two driving wheels) [kgm ² ]
m ₁ : Body mass [kg]
l ₁ : Body center-of-gravity distance (from axle) [m]
I ₁ : Body inertia moment (around the center of gravity) [kgm ² ]
g: Gravity acceleration [m / s ² ]
In the state quantity acquisition process, the main control ECU 21 first executes a main state quantity acquisition process for acquiring the drive wheel rotation state quantity and the vehicle body tilt state quantity, which are the main state quantities (step S1-1).

  Next, the main state quantity acquisition process will be described.

FIG. 6 is a flowchart showing the operation of the main state quantity acquisition process in the first embodiment of the present invention.

Subsequently, the main control ECU 21 determines whether or not the inclination angle can be acquired (step S1-1-2). Specifically, whether or not the vehicle body inclination angle θ ₁ as the vehicle body inclination state quantity can be acquired from the vehicle body inclination sensor 41, and if it can be acquired, the measured value is used for control. Determine whether it is possible. For example, when a state such as no data reception, reception of a failure state notification signal, or abnormal reception data occurs, it is determined that it is impossible.

Subsequently, the main control ECU 21 estimates the shift amount of the vehicle body center of gravity (step S1-1-4). Specifically, the vehicle body center-of-gravity deviation amount δ ₁ is estimated from each state quantity and the time history of the driving torque by the following equation (1).

Note that the value determined during the previous control process is used as the value of the drive torque τ _W. The values of the vehicle body tilt angle acceleration and the drive wheel rotation angle acceleration are obtained by time-differentiating (differencing) the measured values of the vehicle body tilt angle θ ₁ and the drive wheel rotation angle θ _W twice.

  In the present embodiment, the vehicle body center-of-gravity shift amount is estimated as a deviation from the mechanical model related to the tilt motion of the vehicle body based on the time history of the drive wheel rotation state, the vehicle body tilt state, and the drive torque. Specifically, the rotational inertia of the vehicle body, the inertial force accompanying acceleration / deceleration of the vehicle 10, gravity torque, and the anti-torque of the drive torque are considered, and it is assumed that the action not taken into account is due to the deviation of the center of gravity of the vehicle body. Thus, the deviation of the center of gravity of the vehicle body is estimated. Therefore, for example, the mechanical and electrical offset of the vehicle body tilt sensor 41 can be automatically considered as the vehicle body center-of-gravity deviation amount.

  In addition, the low-pass filter removes the influence of disturbance. For example, the influence of the occupant 15 temporary movement, road surface unevenness, sensor signal noise, and the like is excluded. In the present embodiment, in order to realize this, the low-pass filter time constant for estimating the shift amount of the center of gravity of the vehicle body is set to about 5 seconds.

  In this embodiment, the vehicle body center-of-gravity shift amount is estimated using a simple linear model, but may be estimated using a more rigorous model. For example, the estimation may be performed more strictly by using a model that takes into account factors such as nonlinear action and viscous resistance to vehicle body rotation. Moreover, you may estimate with a simpler model. For example, the estimation may be performed using a model in which the rotational inertia of the vehicle body having a short characteristic time and the inertial force accompanying acceleration / deceleration are ignored. Furthermore, when the vehicle body inclination angular acceleration and the driving wheel rotation angular acceleration are large, the estimated value may be maintained by fixing the estimated value.

  In this embodiment, the estimated value is corrected by the first-order low-pass filter, but a higher-order filter may be used.

  Furthermore, in the present embodiment, the vehicle body center-of-gravity deviation amount is acquired by estimation, but other methods may be used. For example, a plurality of load sensors that measure the load distribution of the riding section 14 including the occupant 15 and the loaded object may be provided, and the riding section 14 and the vehicle body center-of-gravity deviation may be estimated based on the measured values. Thereby, the accuracy and reliability of estimation can be further increased. In this case, other elements not considered in the dynamic model, for example, the offset of the vehicle body tilt sensor 41 may be estimated by the same method as in the present embodiment.

  Furthermore, in the present embodiment, the deviation from the mechanical model relating to the tilt motion of the vehicle body is estimated as the vehicle body center-of-gravity deviation amount, but the deviation may be evaluated by other physical quantities. For example, the external torque acting on the eccentric vehicle body may be used as a deviation, and the estimated value may be used for vehicle body tilt angle estimation described later. That is, the vehicle body center-of-gravity deviation amount is one of physical quantities corresponding to the deviation from the dynamic model, and is not limited thereto.

  Subsequently, the main control ECU 21 estimates a travel resistance parameter (step S1-1-5). Specifically, the running resistance parameter is estimated by the following equation (2) from the time history of each state quantity and drive torque.

  In the present embodiment, the running resistance torque is estimated as a deviation from the dynamic model related to the rotational motion of the drive wheel 12 based on the drive wheel rotation state, the vehicle body tilt state, and the drive torque time history. Specifically, considering the driving torque, the inertia with respect to acceleration / deceleration of the vehicle 10 and the action of the center of gravity movement due to the vehicle body inclination, it is assumed that the action not taken into account is caused by the running resistance. presume. Accordingly, for example, the influence of the road gradient can be automatically taken into account as the running resistance torque.

  Further, the running resistance parameter is estimated by the least square method from the relationship between the running resistance torque and the driving wheel rotation angular velocity. Specifically, a linear relationship is assumed between the driving wheel rotation angular velocity and the running resistance torque, and the proportionality coefficient and the constant term are estimated as running resistance parameters. The least square method also serves as a low-pass filter, and removes the influence of the occupant 15 temporary operation, road surface unevenness, sensor signal noise, and the like. In the present embodiment, in order to realize this, the low-pass filter time constant for estimating the running resistance parameter is set to about 5 seconds.

  In this embodiment, the running resistance torque is estimated by a simple linear model, but may be estimated by a more strict model. For example, the estimation may be performed more strictly using a model that takes into account a non-linear action. Moreover, you may estimate with a simpler model. For example, the estimation may be performed using a model that ignores the rotational inertia of the vehicle body having a short characteristic time. Furthermore, when the vehicle body inclination angular acceleration and the driving wheel rotation angular acceleration are large, the estimated value may be maintained by fixing the estimated value.

  In the present embodiment, the parameter is estimated as the running resistance parameter under the assumption that the running resistance torque is expressed by a linear function of the driving wheel rotation angular velocity. It may be assumed. Further, the traveling resistance torque may be handled on the assumption that the driving resistance torque is a constant that does not depend on the rotational angular velocity of the driving wheel.

  Furthermore, in this embodiment, the running resistance torque is acquired by estimation, but other methods may be used. For example, a road surface shape sensor that measures the road surface condition around the vehicle may be provided, and the running resistance torque may be estimated by estimating the road surface gradient and the degree of running resistance based on the measured values. Thereby, the accuracy and reliability of estimation can be further increased. In this case, other elements that are not considered in the dynamic model, such as rolling resistance on a flat road, may be estimated by the same method as in the present embodiment.

  Furthermore, in the present embodiment, the deviation from the dynamic model relating to the rotational motion of the drive wheel 12 is estimated as the running resistance torque, but the deviation may be evaluated by other physical quantities. For example, the road surface gradient may be used as a deviation, and the estimated value may be used for vehicle body inclination angle estimation described later. That is, the running resistance torque is one of physical quantities corresponding to a deviation from the dynamic model, and is not limited thereto.

  On the other hand, it is determined whether or not the inclination angle can be acquired. If the inclination angle cannot be acquired, the main control ECU 21 estimates the vehicle body inclination state amount (step S1-1-6). Specifically, the vehicle body inclination angle is estimated by the following equation (3) from each state quantity, the time history of the drive torque, and each estimation parameter.

  In the present embodiment, the vehicle body tilt angle is estimated based on a dynamic model relating to the tilt motion of the vehicle body using the driving wheel rotation state, the time history of the drive torque, and the parameter estimation value. At that time, taking into account gravity torque, rotational inertia of the vehicle body, inertial force accompanying acceleration / deceleration of the vehicle, and anti-torque of the drive torque, the relationship between the magnitudes and the proportional relationship between the gravity torque and the vehicle body inclination angle From this, the vehicle body inclination angle is estimated. Thus, by using the theoretical relationship between each state and torque in the dynamic model, an unknown vehicle body inclination angle can be estimated.

  Further, the estimated value of the vehicle body tilt angle is corrected based on the estimated value of the vehicle body center-of-gravity deviation amount at the normal time (when the measured value of the vehicle body tilt state by the vehicle body tilt sensor can be acquired and used). Specifically, under the assumption that the deviation of the center of gravity of the vehicle body, which corresponds to the deviation from the mechanical model related to the vehicle body tilt motion, has not changed since immediately before the vehicle body tilt angle measurement value could not be obtained. The estimated value of the vehicle body tilt angle is corrected using the estimated value at. Thus, by preparing before estimation, it is possible to consider to some extent the influence of the deviation of the center of gravity of the vehicle body that cannot be taken into account by the dynamic model. In other words, by estimating the error of the dynamic model using the measured value that is a true value before performing the estimation using the dynamic model, the error can be taken into consideration at the time of actual estimation.

  Furthermore, the vehicle body inclination angular acceleration is estimated by another dynamic model. Specifically, the vehicle body tilt angle acceleration is regarded as a state quantity independent of the vehicle body tilt angle, and is estimated by a dynamic model related to the rotational motion of the drive wheels 12. At that time, the driving torque, the inertia with respect to the acceleration / deceleration of the vehicle, and the action of the center of gravity movement due to the vehicle body inclination are considered. In this way, by estimating the vehicle body inclination angular velocity from another model, accumulation of errors accompanying acceleration integration and instability of estimation calculation are avoided, and stable and highly accurate vehicle body inclination angle estimation is realized. To do.

  Further, the estimated value of the vehicle body inclination angular acceleration is corrected by the estimated value of the running resistance parameter at the normal time. Specifically, under the assumption that the characteristic of the running resistance corresponding to the deviation from the dynamic model related to the rotational motion of the drive wheel 12 does not change immediately before the vehicle body tilt angle measurement value cannot be obtained, The estimated value of the vehicle body inclination angular acceleration is corrected using the parameter estimated value at that time. Thus, by preparing before estimation, the influence of running resistance that cannot be considered in the dynamic model can be considered to some extent.

  Further, the influence of noise or the like is removed by a low-pass filter. At that time, in order to prevent the delay of the estimated value from affecting the vehicle body posture control (inverted control), the time constant of the filter is set shorter than the characteristic time of the vehicle body tilt.

  In the present embodiment, the vehicle body inclination angle is estimated by a simple linear model, but may be estimated by a more rigorous model. For example, the estimation may be performed more strictly by using a model that takes into account factors such as nonlinear action and viscous resistance to vehicle body rotation. Moreover, you may estimate with a simpler model.

  Next, the target travel state determination process will be described.

  FIG. 7 is a flowchart showing the operation of the target travel state determination process in the first embodiment of the present invention.

  In the target travel state determination process, the main control ECU 21 first acquires a steering operation amount (step S2-1). In this case, the occupant 15 acquires the operation amount of the joystick 31 that is operated to input a travel command such as acceleration, deceleration, turning, on-site rotation, stop, and braking of the vehicle 10.

  Subsequently, the main control ECU 21 determines a target value for vehicle acceleration based on the acquired operation amount of the joystick 31 (step S2-2). For example, a value proportional to the amount of operation of the joystick 31 in the front-rear direction is set as a target value for vehicle acceleration.

Subsequently, the main control ECU 21 calculates the target value of the drive wheel rotational angular velocity from the determined target value of the vehicle acceleration (step S2-3). For example, by integrating the target value of the vehicle acceleration time, a value obtained by dividing the driving wheel contact radius R _W and the target value of the drive wheel rotation angular velocity.

  Next, the target vehicle body posture determination process will be described.

  FIG. 8 is a flowchart showing the operation of the target body posture determination process in the first embodiment of the present invention.

  In the determination process of the target vehicle body posture, the main control ECU 21 first determines a target value of the vehicle body inclination angle (step S3-1). In this case, the target value of the vehicle body tilt angle is determined by the following equation (4) from the target value of the vehicle acceleration determined by the target travel state determination process.

Α ^* is a target value of vehicle acceleration. In this manner, the target value of the vehicle body tilt angle is determined in consideration of the inertial force acting on the vehicle body in accordance with the vehicle acceleration and the counter torque of the drive torque.

  Subsequently, the main control ECU 21 calculates the remaining target value (step S3-2). That is, the target values of the drive wheel rotation angle and the vehicle body tilt angular velocity are calculated by time differentiation or time integration of each target value.

  Next, the actuator output determination process will be described.

  FIG. 9 is a flowchart showing the operation of the actuator output determination process according to the first embodiment of the present invention.

  In the actuator output determination process, the main control ECU 21 first determines the feedforward output of each actuator (step S4-1). In this case, the feedforward output of the drive motor 52 is determined from each target value by the following equation (5).

  As described above, the driving torque and the attitude control of the vehicle 10 are executed with high accuracy by adding the driving torque necessary for realizing the target vehicle acceleration.

  Subsequently, the main control ECU 21 determines the feedback output of each actuator (step S4-2). In this case, the feedback output of the drive motor 52 is determined by the following equation (6) from the deviation between each target value and the actual state quantity or estimated value.

Here, as the values of the feedback gains K _{W1 to} K _W4 , for example, values of optimum regulators are set in advance.

Note that non-linear feedback control such as sliding mode control may be introduced. As a simpler control, some of the gains excluding K _W2 and K _W3 may be set to zero. Further, an integral gain may be introduced in order to eliminate the steady deviation.

  In the present embodiment, whether the control is based on the measured value of the vehicle body inclination angle by the vehicle body inclination sensor 41 or the control based on the estimated value of the vehicle body inclination angle by the inclination estimation means, in other words, the vehicle body inclination Whether the angle measurement value can be acquired or not, the running and posture control is executed according to the same control law shown in the equation (6). Thereby, since the control law is simplified, it is possible to greatly reduce the labor spent at the time of designing and programming the control system and the calculation cost at the time of the control operation.

  Finally, the main control ECU 21 gives a command value to each element control system (step S4-3). In this case, the main control ECU 21 transmits the sum of the feedforward output and the feedback output determined as described above to the drive wheel control ECU 22 as a drive torque command value.

  Thus, in this embodiment, when it is impossible to acquire the vehicle body tilt state by the vehicle body tilt sensor 41, the vehicle body tilt angle is estimated from the time history of the drive wheel rotation angular acceleration and the drive torque. Then, the state feedback control is executed by replacing the estimated value of the vehicle body inclination angle with the measured value. Further, the estimated value of the vehicle body tilt angle is corrected by the estimated value of the vehicle body center of gravity deviation at the normal time. Further, the vehicle body inclination angular acceleration is estimated by another dynamic model, and is corrected using the estimated value of the running resistance parameter at the normal time. Thereby, it is possible to maintain the inverted posture even in a situation where the vehicle body tilt state cannot be obtained, and it is possible to provide an inverted vehicle 10 that is safer, more convenient, and less expensive.

  Next, a second embodiment of the present invention will be described. In addition, about the thing which has the same structure as 1st Embodiment, the description is abbreviate | omitted by providing the same code | symbol. The description of the same operation and the same effect as those of the first embodiment is also omitted.

  FIG. 10 is a flowchart showing the operation of the main state quantity acquisition process in the second embodiment of the present invention.

  In the present embodiment, when estimating the vehicle body tilt angle, the mechanical model related to the rotational motion of the drive wheels, the mechanical model related to the tilt motion of the vehicle body, and the center of gravity of the vehicle body are used without using the estimated value of the running resistance torque. The estimated vehicle body tilt angle is corrected using only the estimated deviation amount.

  If the road surface condition (road surface gradient or the like) changes after the measurement value of the vehicle body inclination state cannot be obtained, the vehicle body inclination angle estimation accuracy and control accuracy may decrease. For example, when using the running resistance parameter estimated value immediately before the measurement value of the vehicle body tilt state becomes unacquirable, the running resistance parameter is changed along with subsequent changes in road surface conditions (such as entering or exiting slopes or bad roads). If it changes, an error also occurs in the estimation of the vehicle body tilt angle using the change. Therefore, it is desirable that high safety and convenience can be ensured even in a driving environment where the road surface condition changes suddenly.

  Therefore, in the present embodiment, the estimated vehicle body tilt angle is corrected using only the estimated vehicle body center of gravity deviation estimated value. Specifically, the vehicle body inclination angle is estimated based on the relationship between the vehicle body inclination angle and the angular acceleration. Therefore, it is not necessary to estimate the vehicle body inclination angular acceleration using the running resistance parameter.

  Accordingly, it is possible to prevent the control accuracy from being lowered when the road surface condition changes after the measurement value of the vehicle body tilt state becomes impossible. Therefore, it is possible to provide an inverted vehicle 10 that is safe and convenient even in a driving environment in which the road surface condition changes suddenly.

Next, the main state quantity acquisition process in the present embodiment will be described. The outline of the travel and attitude control process, the state quantity acquisition process, the target travel state determination process, the target vehicle body attitude determination process, and the actuator output determination process are the same as those in the first embodiment. Since there is, explanation is omitted.

Subsequently, the main control ECU 21 determines whether or not an inclination angle can be acquired (step S1-1-12). Specifically, whether or not the vehicle body inclination angle θ ₁ as the vehicle body inclination state quantity can be acquired from the vehicle body inclination sensor 41, and if it can be acquired, the measured value is used for control. Determine whether it is possible. For example, when a state such as no data reception, reception of a failure state notification signal, or abnormal reception data occurs, it is determined that it is impossible.

Subsequently, the main control ECU 21 estimates the shift amount of the center of gravity of the vehicle body (step S1-1-14). Specifically, the vehicle body center-of-gravity deviation amount δ ₁ is estimated from the state histories of the respective state quantities and the drive torque by the equation (1) described in the first embodiment.

  On the other hand, it is determined whether or not the inclination angle can be acquired and used, and if the inclination angle cannot be acquired, the main control ECU 21 estimates the vehicle body inclination state amount (step S1-1-15). . Specifically, the vehicle body inclination angle is estimated by the following equation (7) from each state quantity, the time history of the drive torque, and each estimation parameter.

  In the present embodiment, the vehicle body tilt angle is estimated based on a dynamic model relating to the tilt motion of the vehicle body using the driving wheel rotation state, the time history of the drive torque, and the parameter estimation value. At that time, taking into account gravity torque, rotational inertia of the vehicle body, inertial force accompanying acceleration / deceleration of the vehicle, and anti-torque of the drive torque, the relationship between the magnitudes and the proportional relationship between the gravity torque and the vehicle body inclination angle From this, the vehicle body inclination angle is estimated. Thus, by using the theoretical relationship between each state and torque in the dynamic model, an unknown vehicle body inclination angle can be estimated.

  Further, the estimated value of the vehicle body tilt angle is corrected based on the estimated value of the vehicle body center-of-gravity deviation amount at the normal time (when the measured value of the vehicle body tilt state by the vehicle body tilt sensor can be acquired and used). Specifically, under the assumption that the deviation of the center of gravity of the vehicle body, which corresponds to the deviation from the mechanical model related to the vehicle body tilt motion, has not changed since immediately before the vehicle body tilt angle measurement value could not be obtained. The estimated value of the vehicle body tilt angle is corrected using the estimated value at. Thus, by preparing before estimation, it is possible to consider to some extent the influence of the deviation of the center of gravity of the vehicle body that cannot be taken into account by the dynamic model. In other words, by estimating the error of the dynamic model using the measured value that is a true value before performing the estimation using the dynamic model, the error can be taken into consideration at the time of actual estimation.

  Further, the vehicle body inclination angle is estimated based on the relationship between the vehicle body inclination angle and the angular acceleration. At that time, the vehicle body inclination angle acceleration is given as a second-order time differential (difference) of the vehicle body inclination angle. That is, the vehicle body inclination angle at that time is estimated based on the time history of the vehicle body inclination angle estimation value until that time. In other words, the estimated value of the vehicle body inclination angle is obtained by numerically integrating and solving the second-order differential equation of the vehicle body inclination angle including acceleration. As the initial value, the last obtained vehicle body tilt angle measurement value is used. Thus, since the dynamic model related to the travel resistance parameter, that is, the dynamic model related to the rotation of the drive wheel 12 is not used, the estimated value of the vehicle body tilt angle is not affected by the estimation error of the travel resistance. Therefore, even if a change in road surface condition (entrance to or exit from a slope or a rough road) occurs after it becomes impossible to acquire the measured value of the vehicle body tilt state, the vehicle body tilt angle can be estimated with the same accuracy.

  Further, the influence of noise or the like is removed by a low-pass filter. At this time, in order to prevent the delay of the estimated value from affecting the vehicle body posture control (inversion control), the time constant of the filter is set shorter than the characteristic time of the vehicle body tilt.

  In the present embodiment, the vehicle body inclination angle is estimated by a simple linear model, but may be estimated by a more rigorous model. For example, the estimation may be performed more strictly by using a model that takes into account factors such as nonlinear action and viscous resistance to vehicle body rotation. Moreover, you may estimate with a simpler model.

  Further, in the present embodiment, the vehicle body inclination angular acceleration is evaluated by the backward difference using only past data, but a differential equation including the current data may be used. Further, another calculation method may be used for numerical time integration. For example, the vehicle body inclination angle can be estimated with higher accuracy by using the fourth-order Runge-Kutta method.

  Thus, in the present embodiment, the estimated vehicle body tilt angle is corrected using only the estimated vehicle body center of gravity deviation. As a result, it is not necessary to estimate the vehicle body tilt angle acceleration using the travel resistance parameter, so even if the road surface condition changes after the measurement value of the vehicle body tilt state cannot be obtained, the vehicle keeps running in an inverted posture. it can. Therefore, it is possible to provide an inverted vehicle 10 that is safe and convenient even under a traveling environment in which the road surface condition changes rapidly.

  As for the method for determining the vehicle body inclination angular acceleration, in the first embodiment, by using a driving wheel rotational motion model including running resistance, it is possible to avoid accumulation of errors due to acceleration integration, and In the second embodiment, the influence of the change in the road surface resistance is avoided by evaluating from the time history of the vehicle body inclination angle. However, both methods may be used depending on the driving situation. .

  For example, the method in the first embodiment is used when used in an environment with little road surface change such as indoors, and the method in the second embodiment is used when used in an environment with large road surface changes such as outdoors. A method may be used. In addition, when it is necessary to maintain traveling for a relatively long time after the vehicle body inclination angle cannot be obtained, the method in the first embodiment can be used to stop the vehicle in a short time. May use the method in the second embodiment. Further, the two may be switched according to the operation of the switching device by the occupant 15.

  By using such a method, both advantages can be achieved, and safety and comfort can be further enhanced.

  In the above embodiment, the vehicle body inclination sensor 41 for measuring the vehicle body inclination state is provided, and the vehicle body inclination state is acquired by the inclination estimation means only when the measurement value cannot be acquired. However, the vehicle body inclination sensor 41 may not be provided, and the vehicle body inclination state may always be acquired by the inclination estimation means. Further, the vehicle body tilt sensor 41 may be used for verification of the estimated value.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

  The present invention can be applied to a vehicle using posture control of an inverted pendulum.

10 Vehicle 12 Drive wheel 20 Control ECU
21 Main control ECU
41 Car body tilt sensor

Claims (13)

A drive wheel rotatably mounted on the vehicle body,
A vehicle control device for controlling the attitude of the vehicle body by controlling the drive torque applied to the drive wheels,
The vehicle control device includes a tilt estimation unit that estimates a tilt angle of the vehicle body with respect to a vertical axis based on a rotation state of the driving wheel and the driving torque.   The vehicle according to claim 1, wherein the vehicle control device determines a driving torque to be applied to the driving wheels based on an estimated value of the inclination angle of the vehicle body estimated by the inclination estimation unit. The vehicle control device further includes target value determining means for determining a target value of the inclination angle of the vehicle body according to a target operation of the vehicle,
The vehicle according to claim 2, wherein the driving torque having a magnitude proportional to a difference between the estimated value estimated by the inclination estimating unit and the target value determined by the target value determining unit is applied. The vehicle control device includes an inclination measuring means for measuring an inclination angle of the vehicle body,
Determination means for obtaining a measurement value by the inclination measurement means and / or determining whether the measurement value can be used for controlling the vehicle; and
The vehicle according to any one of claims 1 to 3, wherein the inclination estimation means estimates an inclination angle of the vehicle body when the determination means determines that the determination means is impossible.   The vehicle control device determines the driving torque based on a measured value of the tilt angle of the vehicle body when it is determined that the determination unit is possible, and when the determination unit determines that the determination unit is impossible, The vehicle according to claim 4, wherein the driving torque is determined based on an estimated value of an inclination angle of a vehicle body.   When the vehicle control device determines that the determination means is possible, the vehicle control device applies the driving torque having a magnitude proportional to the difference between the measured value of the tilt angle of the vehicle body and the target value. The vehicle according to claim 5, wherein when it is determined that the driving torque is impossible, the driving torque having a magnitude proportional to a difference between the estimated value of the inclination angle of the vehicle body and the target value is applied. The vehicle control device further includes a center-of-gravity shift amount acquisition unit that acquires a shift amount of the center of gravity position of the vehicle body,
The vehicle according to claim 1, wherein the inclination estimation unit corrects the estimated value of the inclination angle of the vehicle body based on the center-of-gravity deviation amount acquired by the center-of-gravity deviation amount acquisition unit.   The vehicle according to claim 7, wherein the center-of-gravity deviation obtaining unit estimates the center-of-gravity deviation based on a measured value of a rotation state of the driving wheel and / or the driving torque and / or an inclination angle of the vehicle body.   The center-of-gravity deviation amount acquisition unit uses the latest center-of-gravity deviation amount when it is determined that the determination unit is possible as the center-of-gravity deviation amount when it is determined that the determination unit is impossible. Or the vehicle according to 8;   The vehicle control device includes an inclination angle acceleration estimating unit that estimates an acceleration of an inclination angle of the vehicle body based on a rotation state of the driving wheel and the driving torque, and the inclination angular acceleration estimated by the inclination angle acceleration estimating unit is calculated. The vehicle according to claim 1, wherein the estimated value of the tilt angle of the vehicle body is corrected by the estimated value. The vehicle control device further includes resistance parameter acquisition means for acquiring a parameter related to the running resistance of the vehicle,
The vehicle according to claim 10, wherein the inclination estimation unit corrects the estimated value of the inclination angular acceleration based on the resistance parameter acquired by the resistance parameter acquisition unit.   The vehicle according to claim 11, wherein the resistance parameter acquisition unit estimates the resistance parameter based on a measured value of a rotation state of the driving wheel and / or the driving torque and / or an inclination angle of the vehicle body.   13. The resistance parameter acquisition unit according to claim 11 or 12, wherein the latest resistance parameter when it is determined that the determination unit is possible is the resistance parameter when it is determined that the determination unit is impossible. The vehicle described.

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