JP5828097B2 - 電動車両及びその制御方法 - Google Patents
電動車両及びその制御方法 Download PDFInfo
- Publication number
- JP5828097B2 JP5828097B2 JP2013527851A JP2013527851A JP5828097B2 JP 5828097 B2 JP5828097 B2 JP 5828097B2 JP 2013527851 A JP2013527851 A JP 2013527851A JP 2013527851 A JP2013527851 A JP 2013527851A JP 5828097 B2 JP5828097 B2 JP 5828097B2
- Authority
- JP
- Japan
- Prior art keywords
- electric vehicle
- travel
- vibration
- target speed
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0007—Measures or means for preventing or attenuating collisions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D51/00—Motor vehicles characterised by the driver not being seated
- B62D51/001—Motor vehicles characterised by the driver not being seated characterised by the vehicle control device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D51/00—Motor vehicles characterised by the driver not being seated
- B62D51/001—Motor vehicles characterised by the driver not being seated characterised by the vehicle control device
- B62D51/002—Motor vehicles characterised by the driver not being seated characterised by the vehicle control device comprising safety arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D51/00—Motor vehicles characterised by the driver not being seated
- B62D51/04—Motor vehicles characterised by the driver not being seated the driver walking
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/14—Joysticks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/043—Mid wheel drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/046—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type at least three driven wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/16—Single-axle vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/34—Wheel chairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
- B60L2240/547—Voltage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/10—Driver interactions by alarm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/24—Driver interactions by lever actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0069—Control
-
- 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
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Description
図1、図2、図3、図4は、本発明の実施の形態1にかかる電動車両11を説明するための図である。図1は、電動車両11の概略構成図であり、図2は、並進走行目標速度の方向と垂直方向の速度の大きさを示す走行制御情報のタイムチャートである。図3は、本実施の形態1にかかる電動車両11の斜視図であり、図4は、本実施の形態1にかかる電動車両11の平面図である。
運転者がジョイスティック14aを前方にある程度(中程度)の角度で傾けると、操作入力部14は、操作方向の並進成分が前方であると検出し、操作量の並進成分が中レベルであると検出する。なお、並進走行目標速度は、操作入力部14で検出される操作量に比例して、決まる。操作入力部14において、操作量は無段階に検出されるが、以下の説明では、理解し易いように、操作量を大レベル、中レベル、小レベルと分けて説明する。
また、電動車両11の前方はxr軸方向であるので、操作方向の並進成分がxr軸からの傾き方向であると、xr軸を0°として並進走行目標速度の方向の角度θaが決まる。ジョイスティック14aを前方に倒し続けると、図7に示すように、並進走行目標速度の垂直方向の速度の大きさは0km/hとして、走行制御情報が生成し続けられる。
図17、図18は、本発明の実施の形態2にかかる電動車両51を説明するための図であり、図17は電動車両51の斜視図であり、図18は電動車両51の平面図である。
図19、図20は、本発明の実施の形態3にかかる電動車両61を説明するための図であり、図19は、電動車両61の斜視図、図20は、電動車両61の平面図である。
12,52,62 車体部
13 椅子部
13a シート
13b バックサポート
13c,13d アームサポート
13e レッグサポート
13f フットサポート
14 操作入力部
14a ジョイスティック
15 走行情報生成部
16 制御部
17 バッテリー部
18 バッテリー測定部
19 障害物センサ
20 報知判定部
21 報知部
31,65a,65b 車輪
32,66a,66b アクチュエータ
41,42,43,44,45,46,47 振動速度信号
41a,41b 基準値
41c,41d 変化領域
53 ハンドル部
68 補助キャスター
Claims (11)
- アクチュエータを駆動させて走行する電動車両であって、
当該電動車両の外部環境及び内部環境を測定する測定部と、
周期的に変動する速度を示す信号であると共に、当該電動車両の外部環境の測定情報に基づく信号が当該電動車両の内部環境の測定情報に基づく信号よりも振動の大きさが大きい振動速度信号を、前記測定部の測定情報に基づいて発信する報知部と、
当該電動車両の運転者により入力された操作方向及び操作量に基づいて走行目標速度を算出し、前記走行目標速度に基づいて前記アクチュエータを制御するための走行制御情報を生成する走行情報生成部と、
前記走行制御情報に基づいて前記アクチュエータを制御する制御部と、を備え、
前記走行情報生成部は、前記振動速度信号を受信すると、前記走行目標速度に前記振動速度信号を合成して前記走行制御情報を再生成する
電動車両。 - 前記走行目標速度は、当該電動車両の並進動作に関する並進走行目標速度と回転動作に関する回転走行目標速度とを含み、
前記走行情報生成部は、前記振動速度信号を受信すると、前記振動速度信号を前記並進走行目標速度の垂直方向に合成して前記走行制御情報を再生成する
請求項1に記載の電動車両。 - 前記走行目標速度は、当該電動車両の並進動作に関する並進走行目標速度と回転動作に関する回転走行目標速度とを含み、
前記走行情報生成部は、前記振動速度信号を受信すると、前記振動速度信号を前記並進走行目標速度の方向に合成して前記走行制御情報を再生成する
請求項1に記載の電動車両。 - アクチュエータを駆動させて走行する電動車両であって、
当該電動車両の外部環境又は内部環境を測定する測定部と、
周期的に変動する速度を示す信号である振動速度信号を前記測定部の測定情報に基づい
て発信する報知部と、
当該電動車両の運転者により入力された操作方向及び操作量に基づいて走行目標速度を算出し、前記走行目標速度に基づいて前記アクチュエータを制御するための走行制御情報を生成する走行情報生成部と、
前記走行制御情報に基づいて前記アクチュエータを制御する制御部と、を備え、
前記走行目標速度は、当該電動車両の並進動作に関する並進走行目標速度と回転動作に関する回転走行目標速度とを含み、
前記走行情報生成部は、前記振動速度信号を受信すると、前記振動速度信号を前記回転走行目標速度に合成して前記走行制御情報を再生成し、
前記測定部が当該電動車両の右側に前記外部環境の一例である障害物を測定した場合、前記報知部は、前記回転走行目標速度の回転中心の位置を当該電動車両の左側へ修正し、
前記測定部が当該電動車両の左側に前記外部環境の一例である障害物を測定した場合、前記報知部は、前記回転走行目標速度の回転中心の位置を当該電動車両の右側へ修正する電動車両。 - 当該電動車両は独立2輪駆動型である
請求項1から4のいずれか1項に記載の電動車両。 - 当該電動車両の走行速度と前記走行目標速度とのズレに基づいて前記アクチュエータの回転を修正するフィードバック部を更に備える
請求項1から5のいずれか1項に記載の電動車両。 - 前記報知部は、波の形状が異なる複数の振動速度信号を生成する
請求項1から6のいずれか1項に記載の電動車両。 - 前記報知部は、基準値を中心に振動すると共に前記基準値間の変化領域を偶数有する前記振動速度信号を生成する
請求項1から7のいずれか1項に記載の電動車両。 - 前記変化領域は、前記基準値の一方側にある第1変化領域と前記基準値の他方側にある第2変化領域に分けられ、
前記報知部は、前記第1変化領域と前記第2変化領域を略同一の面積にして生成する
請求項8に記載の電動車両。 - 運転者が着席すると共に、前記振動速度信号に基づく前記走行制御情報により振動可能な椅子部と、
前記運転者が前記操作量を入力する操作入力部とを、さらに備えた
請求項1から9のいずれか1項に記載の電動車両。 - アクチュエータを駆動させて走行する電動車両の制御方法であって、
当該電動車両の外部環境及び内部環境を測定情報として測定し、
周期的に変動する速度を示す信号であると共に、当該電動車両の外部環境の測定情報に基づく信号が当該電動車両の内部環境の測定情報に基づく信号よりも振動の大きさが大きい振動速度信号を、前記測定情報に基づいて発信し、
当該電動車両の運転者により入力された操作方向及び操作量に基づいて走行目標速度を算出し、前記走行目標速度に基づいて前記アクチュエータを制御するための走行制御情報を生成すると共に、前記振動速度信号を受信すると、前記走行目標速度に前記振動速度信号を合成して前記走行制御情報を再生成し、
前記走行制御情報に基づいて前記アクチュエータを制御する
電動車両の制御方法。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013527851A JP5828097B2 (ja) | 2011-08-08 | 2012-07-09 | 電動車両及びその制御方法 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011172778 | 2011-08-08 | ||
JP2011172778 | 2011-08-08 | ||
PCT/JP2012/004431 WO2013021546A1 (ja) | 2011-08-08 | 2012-07-09 | 電動車両及びその制御方法 |
JP2013527851A JP5828097B2 (ja) | 2011-08-08 | 2012-07-09 | 電動車両及びその制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2013021546A1 JPWO2013021546A1 (ja) | 2015-03-05 |
JP5828097B2 true JP5828097B2 (ja) | 2015-12-02 |
Family
ID=47668088
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013527851A Active JP5828097B2 (ja) | 2011-08-08 | 2012-07-09 | 電動車両及びその制御方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8938328B2 (ja) |
EP (1) | EP2743121B1 (ja) |
JP (1) | JP5828097B2 (ja) |
CN (1) | CN103717442B (ja) |
WO (1) | WO2013021546A1 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9731784B2 (en) | 2013-07-04 | 2017-08-15 | Yamaha Hatsudoki Kabushiki Kaisha | Wheelchair electric device, electric wheelchair with wheelchair electric device and drive monitoring method for electric wheelchair |
JP5763231B1 (ja) * | 2014-02-18 | 2015-08-12 | Whill株式会社 | 操作装置および電動モビリティ |
EP3449885B1 (en) | 2016-06-24 | 2020-12-16 | Panasonic Corporation | Electrically powered wheelchair |
US11039964B2 (en) * | 2017-03-06 | 2021-06-22 | Stryker Corporation | Systems and methods for facilitating movement of a patient transport apparatus |
JP6820801B2 (ja) * | 2017-05-24 | 2021-01-27 | 株式会社クボタ | 作業車両 |
JP6969921B2 (ja) * | 2017-07-18 | 2021-11-24 | 株式会社マキタ | 手押し式電動運搬車 |
JP6967444B2 (ja) * | 2017-12-22 | 2021-11-17 | パナソニック株式会社 | 移動車両 |
JP7259356B2 (ja) * | 2019-01-28 | 2023-04-18 | スズキ株式会社 | 制御装置及び電動車両 |
CN110356246A (zh) * | 2019-06-14 | 2019-10-22 | 上海伊控动力系统有限公司 | 一种纯电动物流车基于驾驶习惯的电机扭矩调整方法 |
CN110595542A (zh) * | 2019-09-23 | 2019-12-20 | 徐州徐工筑路机械有限公司 | 一种冷再生施工测距方法、装置及系统 |
CN112918256A (zh) * | 2021-03-31 | 2021-06-08 | 江西江铃集团新能源汽车有限公司 | 一种锂电池组碰撞控制方法及系统 |
Family Cites Families (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7663502B2 (en) * | 1992-05-05 | 2010-02-16 | Intelligent Technologies International, Inc. | Asset system control arrangement and method |
US5060959A (en) * | 1988-10-05 | 1991-10-29 | Ford Motor Company | Electrically powered active suspension for a vehicle |
EP1064503A4 (en) * | 1998-03-16 | 2002-06-19 | Asyst Technologies | SMART MINI WORLD |
JP2001254155A (ja) * | 2000-03-09 | 2001-09-18 | Nkk Corp | 高周波鉄損特性に優れた高けい素鋼板 |
JP3498044B2 (ja) * | 2000-06-14 | 2004-02-16 | 川崎重工業株式会社 | 全方向移動装置の制御装置 |
JP4754766B2 (ja) * | 2000-06-28 | 2011-08-24 | 株式会社ブリヂストン | 車両制御方法及び車両制御装置 |
AU2002224386B2 (en) * | 2000-10-18 | 2007-12-13 | Johnson & Johnson Consumer Companies, Inc. | Intelligent performance-based product recommendation system |
JP2003312407A (ja) * | 2002-04-18 | 2003-11-06 | Alps Electric Co Ltd | 自動車の衝突防止装置 |
AU2003262893A1 (en) * | 2002-08-21 | 2004-03-11 | Neal Solomon | Organizing groups of self-configurable mobile robotic agents |
DE102004002061A1 (de) * | 2004-01-15 | 2005-08-04 | Zf Friedrichshafen Ag | Verfahren zum Steuern und Regeln eines Antriebsstranges eines Hybridfahrzeuges und Antriebsstrang eines Hybridfahrzeugs |
JP4269055B2 (ja) * | 2004-03-31 | 2009-05-27 | 国立大学法人広島大学 | 障害物回避装置および移動体 |
US7983813B2 (en) * | 2004-10-29 | 2011-07-19 | Bose Corporation | Active suspending |
JP4650327B2 (ja) | 2005-04-14 | 2011-03-16 | トヨタ自動車株式会社 | 同軸二輪車 |
JP4684954B2 (ja) * | 2005-08-31 | 2011-05-18 | 本田技研工業株式会社 | 車両の走行安全装置 |
JP2007152019A (ja) * | 2005-12-08 | 2007-06-21 | Masayoshi Wada | 電動車椅子 |
JP2007203973A (ja) * | 2006-02-03 | 2007-08-16 | Aisin Seiki Co Ltd | 車両の操舵装置 |
US8191874B2 (en) * | 2006-03-22 | 2012-06-05 | Toyota Jidosha Kabushiki Kaisha | Vehicle suspension system |
JP2008230295A (ja) | 2007-03-16 | 2008-10-02 | Suzuki Motor Corp | 車両用制動力制御装置 |
JP2009196493A (ja) * | 2008-02-21 | 2009-09-03 | Toyota Motor Corp | 移動体及び移動体の旋回制御方法 |
JP5147542B2 (ja) | 2008-05-23 | 2013-02-20 | 本田技研工業株式会社 | 倒立振子移動体 |
EP2821875A3 (en) * | 2008-09-03 | 2015-05-20 | Murata Machinery, Ltd. | Route planning method, route planning unit, and autonomous mobile device |
JP5309970B2 (ja) * | 2008-12-24 | 2013-10-09 | トヨタ自動車株式会社 | 同軸二輪車 |
EP2383163B1 (en) * | 2009-06-02 | 2017-07-05 | Panasonic Intellectual Property Management Co., Ltd. | Electric motor vehicle and method for controlling the same |
JP5672430B2 (ja) * | 2010-03-31 | 2015-02-18 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
CN201716580U (zh) * | 2010-06-02 | 2011-01-19 | 华中科技大学 | 一种电动轮椅控制系统 |
US8581714B2 (en) * | 2011-05-20 | 2013-11-12 | Ford Global Technologies, Llc | Method and apparatus for generating vehicle vibration to alert vehicle user of warning |
-
2012
- 2012-07-09 EP EP12822646.1A patent/EP2743121B1/en not_active Not-in-force
- 2012-07-09 CN CN201280037551.4A patent/CN103717442B/zh active Active
- 2012-07-09 JP JP2013527851A patent/JP5828097B2/ja active Active
- 2012-07-09 WO PCT/JP2012/004431 patent/WO2013021546A1/ja active Application Filing
- 2012-07-09 US US14/236,107 patent/US8938328B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP2743121A4 (en) | 2016-03-30 |
CN103717442A (zh) | 2014-04-09 |
EP2743121A1 (en) | 2014-06-18 |
JPWO2013021546A1 (ja) | 2015-03-05 |
CN103717442B (zh) | 2016-03-23 |
WO2013021546A1 (ja) | 2013-02-14 |
US8938328B2 (en) | 2015-01-20 |
EP2743121B1 (en) | 2019-03-27 |
US20140180520A1 (en) | 2014-06-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5828097B2 (ja) | 電動車両及びその制御方法 | |
JP5316640B2 (ja) | 走行支援装置 | |
JP4924350B2 (ja) | 操舵装置、操舵装置を備えた搭乗型移動体、および移動体の操舵方法 | |
US20120166048A1 (en) | Inverted pendulum type moving body | |
JP5003734B2 (ja) | 情報提示装置 | |
KR20170067855A (ko) | 지능 차량 시험을 위해 매우 민첩한 지상 차량을 이용하는 시험 방법 및 시스템 | |
CN211023585U (zh) | 电动移动车 | |
JP2010167807A (ja) | 走行装置及びその制御方法 | |
JP5388299B2 (ja) | 駐車支援装置 | |
JP5316142B2 (ja) | 倒立車輪型移動体 | |
JP5065206B2 (ja) | 移動体、倒立型移動体、及びその制御方法 | |
JP2010215064A (ja) | 移動体 | |
JP2006195877A (ja) | 作業機械 | |
JP2023174836A (ja) | 作業機械及び作業機械の制御方法 | |
JP5811576B2 (ja) | 衝突防止機能付き車両 | |
WO2019181817A1 (ja) | 建設機械 | |
JP5321272B2 (ja) | 走行支援装置 | |
JP2006110207A (ja) | 小型電動車両の走行支援制御方法 | |
WO2017110249A1 (ja) | 移動体 | |
JP2011183032A (ja) | 移動体 | |
KR101739275B1 (ko) | 전동식 이동장치 | |
JP2018134969A (ja) | リーン機構を備える車両 | |
JP2012090409A (ja) | 全方向移動型電動車両およびその制御方向 | |
JP2018044382A (ja) | 作業車両 | |
KR101827702B1 (ko) | 시트, 그를 가지는 차량 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20150303 |
|
A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20150317 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20150512 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20150521 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 5828097 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |