JP6599110B2 - vehicle - Google Patents

Description

  The present invention relates to a vehicle including two or more wheels and a mounting portion on which an object is mounted.

  Conventionally, a vehicle having three or more wheels including at least one steered wheel, a center of gravity position changing device capable of changing the center of gravity of the vehicle body in the left-right direction, and a moment in a direction in which the vehicle body tilts in the left-right direction. A device including a moment output device for applying to a vehicle body has been proposed (see, for example, Patent Document 1). In the vehicle described in Patent Document 1, the center-of-gravity position changing device is configured by a lean device that tilts the vehicle body in the left-right direction by driving a lean motor, and the moment output device rotates a gyro having a flywheel by a gimbal motor. Thus, the gyro device generates a gyro moment around the roll axis of the vehicle.

JP 2014-69672 A

  However, the conventional vehicle described in Patent Document 1 is intended to improve the stability during turning by inclining the vehicle body to the inside of the turn by a lean device or a gyro device. No consideration is given to the force (inertial force such as acceleration force and braking force) acting on the motor. For this reason, in conventional vehicles, it is not always possible to obtain sufficient stability against various inertial forces that act, and the resultant force that combines the inertial force and the centrifugal force that acts during turning. There is a demand for a vehicle that is improved.

  The objective of this invention is providing the vehicle which can aim at the improvement of stability with respect to various driving | running | working conditions.

The vehicle of the present invention is a vehicle including at least two or more wheels and a mounting portion on which an object is mounted, and a vector direction of a force acting on the vehicle and the object intersects the road surface. Calculating means for calculating a composite pressure center that is a point to perform, a plurality of vehicle state changing means for changing at least one of the posture and motion state of the vehicle, and a plurality of grounding points where the plurality of wheels are in contact with the road surface Control means for controlling the vehicle state change means so that the center of the combined pressure is located , the vehicle state change means comprises wheel interval change means for changing the interval between the plurality of wheels, and the control means comprises: Then, by changing the wheel interval changing means so as to reduce the interval between the plurality of wheels, the unstable pressure control is performed in a direction in which the center of the combined pressure deviates from between the plurality of grounding points. Both of the combined pressures between the plurality of grounding points are implemented by performing stable control in which the center of the combined pressure is directed between the plurality of grounding points with respect to another vehicle state changing unit different from the wheel interval changing unit. It positions the center, characterized in Rukoto.

  According to the present invention, the composite pressure center is calculated by the calculation means, and the control means controls the vehicle state changing means so that the composite pressure center is located between the plurality of ground contact points where the plurality of wheels are in contact with the road surface. Then, the vehicle state changing means changes the posture and motion state of the vehicle, so that the stability of the vehicle can be improved. Here, examples of the motion state changed by the vehicle state changing means include a traveling state in the traveling direction, a braking state (speed and acceleration), a turning state (lateral force and centrifugal force), a vertical load state (gravity), and the like. it can. The composite pressure center is calculated not only by the weight of the vehicle alone, the position of the center of gravity, and the state of motion but also by the weight of the object (person or luggage) mounted on the vehicle and the position of the center of gravity. .

Therefore, by controlling the combined pressure center to be positioned between a plurality of contact points where a plurality of wheels are in contact with the road surface, stability can be maintained even with respect to an inertial force acting in the front-rear direction. Specifically, for example, in a vehicle having two wheels on the front and rear, control is performed such that the center of the combined pressure is located between the front and rear wheels, and in a vehicle having three wheels of the front two wheels and the rear one wheel. Can maintain stability against inertial force acting in the front-rear direction by controlling the center of the combined pressure between the three wheels. In addition, in a small vehicle that is greatly influenced by the object, the center of the combined pressure can be calculated with high accuracy, and stability can be improved.
Further, the vehicle state changing means includes wheel interval changing means, and by changing the intervals of the plurality of wheels by the wheel interval changing means, it is possible to select a traveling mode corresponding to the position of the combined pressure center. In other words, stability can be improved by increasing the distance between the front and rear wheels during sudden acceleration or sudden stopping when the inertial force in the front / rear direction is large, or by increasing the distance between the left and right wheels during sudden turning when the centrifugal force is large. Driving performance can be improved while maintaining. On the other hand, in a traveling state in which the inertial force and centrifugal force are not so large, it is possible to improve the turning performance by reducing the distance between the front and rear wheels and the left and right wheels, and to select a traveling mode that makes a small turn.
Then, at least one of the plurality of vehicle state changing means is used to perform the unstable control, and the other vehicle state changing means is used to perform the stable control. As a result of carrying out at the same time, by positioning the center of the composite pressure between a plurality of contact points, it is possible to simultaneously realize other running states and running modes that are contrary to vehicle stability while maintaining vehicle stability. .

The vehicle of the present invention is a vehicle including at least two or more wheels and a mounting portion on which an object is mounted, and a vector direction of a force acting on the vehicle and the object intersects the road surface. Calculating means for calculating a composite pressure center that is a point to perform, a plurality of vehicle state changing means for changing at least one of the posture and motion state of the vehicle, and a plurality of grounding points where the plurality of wheels are in contact with the road surface Control means for controlling the vehicle state changing means so that the center of the combined pressure is located, and the vehicle state changing means comprises mounting portion state changing means for changing the state of the position of the mounting portion, and the control The means is a direction in which the center of the combined pressure deviates from between the plurality of grounding points by changing the state of the mounting portion so as to increase the height position of the mounting portion by the front mounting portion state changing means. And performing the stable control in which the center of the combined pressure is directed between the plurality of grounding points with respect to another vehicle state changing unit different from the mounting unit state changing unit. The synthetic pressure center is located between the ground contact points.

According to the present invention, the vehicle state changing unit includes the mounting unit state changing unit, and the mounting unit state changing unit changes the position of the mounting unit, thereby using the weight of the object mounted on the mounting unit. Thus, the position of the synthetic pressure center can be controlled, and the stability of the vehicle can be further enhanced. Further, by changing the position of the mounting portion, the mounting portion can be moved to a position where inertial force or centrifugal force is unlikely to act on the object, and the stability of the object can be improved. In addition, when the object is a person (driver), if the position of the mounting portion is increased, the field of view can be expanded to facilitate driving.
Then, at least one of the plurality of vehicle state changing means is used to perform the unstable control, the other vehicle state changing means is used to perform the stable control, and both of the unstable control and the stable control are performed. As a result of carrying out at the same time, by positioning the center of the composite pressure between a plurality of contact points, it is possible to simultaneously realize other running states and running modes that are contrary to vehicle stability while maintaining vehicle stability. .

In the present invention, the mounting unit status changing means includes Turkey to change the state of attitude of the mounting portion are preferred.

According to such a configuration, the vehicle status change means includes a is mounted unit status changing means, that this mounting section condition changing means changes the attitude of the mounting portion, utilizing the weight of the object mounted on the mounting portion Thus, the position of the synthetic pressure center can be controlled, and the stability of the vehicle can be further enhanced. Further, by changing the posture of the mounting portion, it is possible to inertial force or a centrifugal force moves the mounting portion in a position not easily act on the object, to improve the stability of the object.

  At this time, according to the present invention, the control means performs control for bringing the mounting portion closer to the rotation center of the turning locus with respect to the mounting portion state changing means when the vehicle is turning. The composite pressure center is positioned between the plurality of grounding points by performing stability control with respect to the vehicle state changing unit other than the part state changing unit such that the synthetic pressure center moves between the plurality of grounding points. Is preferred.

  According to such a configuration, the centrifugal force acting on the object mounted on the mounting portion is reduced by the mounting portion state changing means approaching the mounting portion toward the rotation center of the turning trajectory when the vehicle is turning. And the stability of the object can be improved. Here, when the object is a person (driver), the applied centrifugal force is reduced, so that the ride comfort is improved and the comfort during turning can be improved. In this way, by changing the position of the mounting portion and simultaneously performing the stability control using the vehicle state changing means other than the mounting portion state changing means, the composite pressure center is positioned between a plurality of grounding points to stabilize the vehicle. Sex can be maintained.

  In the present invention, the calculating means synthesizes the weight and center of gravity of the vehicle and the weight and center of gravity of the object, and calculates the combined pressure center based on the combined weight and center of gravity. Preferably it is a feature.

  According to such a configuration, the calculation means calculates the combined weight and the center of gravity position, and calculates the combined pressure center based on the combined weight and the center of gravity position, thereby improving the calculation accuracy of the combined pressure center. it can. In other words, the weight and center of gravity of the vehicle are known values, and the object may change each time, so the sensor detects the weight and center of gravity of the object separately from the vehicle, and this detection If the composite pressure center is calculated based on the value, the composite pressure center can be calculated accurately even if the object is changed, thereby increasing the calculation accuracy of the composite pressure center.

  In this invention, it is preferable that the said calculation means calculates the said synthetic | combination pressure center based on the ground pressure of these wheels.

  According to such a configuration, by calculating the composite pressure center based on the ground contact pressures of a plurality of wheels, the combined pressure center corresponding to the weight and the center of gravity of the vehicle and the object, and the motion state of the vehicle is obtained. It can be calculated easily. In other words, by using a sensor that detects the ground contact pressure of the wheel, the force acting on the entire vehicle and the object can be calculated, and based on this force, the center of the combined pressure can be calculated from a small number of parameters. Can do.

1 is a side view of a vehicle according to a first embodiment of the present invention. Front view of the vehicle Side view showing operation of the vehicle Side view showing operation of the vehicle Side view showing operation of the vehicle Front view showing operation of the vehicle Side view showing arrangement of detecting means in the vehicle Side view showing arrangement of other detection means in the vehicle Side view showing the arrangement of still another detection means in the vehicle. Front view showing force acting on the vehicle Front view showing another force acting on the vehicle Side view showing force acting on the vehicle Plan view showing force acting on the vehicle The top view which shows the operation | movement at the time of the turning of the said vehicle Side view of the vehicle according to the second embodiment of the present invention. Side view showing operation of the vehicle Side view showing operation of the vehicle Side view showing operation of the vehicle

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
FIG. 1 is a side view of a vehicle according to the first embodiment of the present invention, and FIG. 2 is a front view of the vehicle.
As shown in FIGS. 1 and 2, the vehicle 1 of the present embodiment is a three-wheeled vehicle having a pair of left and right (two) front wheels 2 and one rear wheel 3. A mounting portion 4 for mounting an object is provided above the rear wheel 3. In the following description, the front-rear direction of the vehicle 1 may be referred to as the X direction or the X axis, the left and right direction may be referred to as the Y direction or the Y axis, and the vertical direction may be referred to as the Z direction or the Z axis. At this time, the front side of the vehicle 1 is defined as + X direction, and the upper side of the vehicle 1 is defined as + Z direction. In FIG. 2, the rear wheel 3 is not shown for the sake of simplicity. The same applies to the following front views of the vehicle.

  The vehicle 1 further includes a chassis and a body (not shown), an engine or motor as a propulsion function, a brake device as a braking function, and a steering device as a turning function. In addition, a fuel tank, a battery, and various auxiliary devices Kinds are provided. In addition, the vehicle 1 is equipped with a control device (computer that is a control means) that controls the operation of each part of the vehicle 1 and performs various arithmetic processes. For example, the propulsion function drives the vehicle 1 forward or backward by rotationally driving the pair of front wheels 2. The braking function decelerates and stops the vehicle 1 by applying rotational resistance to the front wheels 2 and the rear wheels 3. The turning function changes the traveling direction of the vehicle 1 by, for example, turning the pair of front wheels 2 left and right. Such a propulsion function, a braking function, and a turning function may be operated by an operation of an occupant (target object) who has boarded the mounting unit 4, or may be operated by control of a control device.

The mounting portion 4 is connected to the pair of front wheels 2 by a pair of front frames 5 and is connected to the rear wheels 3 by a rear frame 6. The mounting portion 4, the front frame 5, and the rear frame 6 are connected to each other via a connecting portion 7. The connecting portion 7 connects the front frame 5 and the rear frame 6 so as to be rotatable around the X axis and the Y axis. Further, the connecting portion 7 connects the mounting portion 4 so as to be rotatable around the X axis and the Y axis.
The front frame 5 and the front wheel 2 are connected to each other via a front wheel shaft portion 8. The front wheel shaft portion 8 rotatably supports the front wheel 2 and connects the front frame 5 and the front wheel 2 so as to be rotatable around the X axis. The rear frame 6 and the rear wheel 3 are connected to each other via a rear wheel shaft portion 9. The rear wheel shaft portion 9 supports the rear wheel 3 in a rotatable manner.

The front frame 5 includes a cylinder 51 connected to the front wheel shaft portion 8 and a piston shaft 52 connected to the connecting portion 7, and the piston shaft 52 moves forward and backward with respect to the cylinder 51. It is configured to be stretchable. The control device extends and retracts the front frame 5 by driving the piston shaft 52 forward and backward by a hydraulic pump (not shown).
The connecting portion 7 includes a motor (not shown) that rotates the mounting portion 4, the front frame 5, and the rear frame 6. The control device rotates the mounting portion 4, the front frame 5, and the rear frame 6 by driving the motor.

  For example, as shown in FIG. 3, such a vehicle 1 extends the front frame 5 and drives the connecting portion 7 around the Y axis to bring the front frame 5 and the rear frame 6 closer to each other. The height position of 4 can be increased, and the front wheel 2 and the rear wheel 3 can be modified to approach each other. Further, as shown in FIG. 4, the front frame 5 is contracted, and the connecting portion 7 is driven around the Y axis to move the front frame 5 and the rear frame 6 away, thereby reducing the height position of the mounting portion 4. In addition, the front wheel 2 and the rear wheel 3 can be modified so as to be separated from each other.

Further, for example, the front wheel 2 and the rear wheel 3 can be modified so as to be closely spaced by driving the connecting portion 7 to open and close the front frame 5 and the rear frame 6 around the Y axis.
In addition, by combining expansion and contraction of the front frame 5 and opening and closing of the front frame 5 and the rear frame 6, the front wheel 2 and the rear wheel 3 are deformed so as to be closely spaced without changing the height position of the mounting portion 4. You can also

Further, as shown in FIG. 5, the vehicle 1 can be deformed so that the connecting portion 7 is driven and the mounting portion 4 is rotated around the Y axis to be inclined. Specifically, the mounting portion 4 can be inclined so as to descend toward the front wheel 2 side (see arrow in FIG. 5). Further, contrary to the state of FIG. 5, the mounting portion 4 can be tilted so as to rise toward the front wheel 2 side.
The vehicle 1 can be deformed so as to drive the connecting portion 7 and tilt the mounting portion 4 about the X axis (not shown).

  Further, as shown in FIG. 6, the vehicle 1 can be deformed to move the mounting portion 4 in the Y direction by extending one of the pair of front frames 5 and contracting the other. When the vehicle 1 is deformed in this way, the vehicle 1 can be deformed so that the connecting portion 7 is driven to rotate the mounting portion 4 around the X axis and not tilt.

  As described above, the distance between the front wheel 2 and the rear wheel 3 can be changed by driving the front frame 5 and the connecting portion 7, and the wheel interval changing means can be changed by the front frame 5 and the connecting portion 7. It is configured. Further, by driving the front frame 5 and the connecting portion 7, the position and posture of the mounting portion 4 can be changed, and the front frame 5 and the connecting portion 7 constitute a mounting portion state changing means. Yes. Further, since the posture of the vehicle 1 is changed by the wheel interval changing means and the mounting portion state changing means, and the motion state of the vehicle 1 is changed by the propulsion function, the braking function, and the turning function, the wheel interval change is performed. The vehicle state changing means of the present invention is constituted by the means, the mounting portion state changing means, the propulsion function, the braking function, and the turning function.

In the present embodiment, the wheel interval changing unit can change the interval between the front wheel 2 and the rear wheel 3, but the interval between the pair of front wheels 2 may be changed.
In this embodiment, the mounting portion state changing means moves the mounting portion 4 in the Y direction by extending one of the pair of front frames 5 and contracting the other, but the mounting portion 4 is connected. The mounting portion 4 may be moved in the Y direction by allowing the portion 7 to slide in the Y direction.

Moreover, as shown in FIGS. 7-9, the vehicle 1 is provided with the various sensors 10 in each part. In addition to the sensor 10 shown in FIGS. 7 to 9, the vehicle 1 is provided with a speedometer (X direction), an acceleration clock (X, Y, Z direction), an inclinometer (X, Y direction), and the like. ing.
A sensor 10 illustrated in FIG. 7 is, for example, a six-axis force sensor, and is provided in the connecting portion 7. This sensor 10 measures the mass of the object mounted on the mounting unit 4, the position of the center of gravity of the object, the vertical force (inertial force or gravity) by the object, the horizontal force (inertial force) by the object, and the like. To detect.

A sensor 10 shown in FIG. 8 is, for example, a uniaxial force sensor, and is provided on the front wheel 2 and the rear wheel 3. These sensors 10 detect a reaction force (vertical force) from the road surface that acts on each of the front wheel 2 and the rear wheel 3.
The sensor 10 shown in FIG. 9 is a uniaxial force sensor such as a strain gauge, for example, and is provided at two places on the front and rear of the mounting portion 4. These sensors 10 detect a force (vertical force) acting on the mounting unit 4 from the object.
The detection result detected by the sensor 10 of each part as described above is output as an electrical signal to the control device, and analysis and calculation processing are executed by the control device.

  Next, a method for calculating the composite pressure center ZMP in the vehicle 1 will be described. As shown in FIG. 10, the resultant pressure center ZMP is a point where the vector direction of the force (the resultant force F) acting on the center of gravity G combining the vehicle 1 and the object intersects the road surface, that is, the moment due to the resultant force F. This is a point that does not occur (Zero Moment Point), and is calculated by a calculation by a control device (calculation means). In FIG. 10, the force on the YZ plane orthogonal to the front-rear direction (X direction) of the vehicle 1 is considered. Here, the position of the center of gravity G is represented by coordinates (y, z) as shown in FIG. 10, and the center of gravity of the vehicle 1 according to the posture, the mass and center of gravity of the object mounted on the mounting unit 4, , Is calculated as a composite. As the force acting on the center of gravity G, the centrifugal force f1, the horizontal inertia force fy, the vertical inertia force fz, and the gravity f2 are considered, and are expressed by the following equations (1) to (4), respectively.

  In the above formulas (1) to (4), m is the total mass of the vehicle 1 and the object, r is the turning radius r of the turning vehicle 1, and this turning radius r is the center of rotation. It is replaced with the distance (cy) from C to the center of gravity G. The centrifugal force f1 is proportional to the square of the velocity in the X direction, the horizontal inertia force fy is proportional to the acceleration in the Y direction, the vertical inertia force fz is proportional to the acceleration in the Z direction, and the gravity f2 is It is proportional to the gravitational acceleration g. The resultant force F is a resultant force of Fy (= f1 + fy) which is a horizontal force in the Y direction and Fz (= fz + f2) which is a vertical force in the Z direction. Based on each of the above forces, the combined pressure center ZMP is calculated by the following equation (5). As a stability condition of the vehicle 1, the combined pressure center ZMP is within the range of the wheel width w. It is defined as equation (5). Here, the wheel width w is the distance between the ground contact points P1, P1 between the left and right front wheels 2 and the road surface.

  When the vehicle 1 is not turning, the composite pressure center ZMP and the stability condition of the vehicle 1 are defined as in the following equation (6).

As described above, the force acting on the center of gravity G of the vehicle 1 is calculated based on the detection values detected by the sensors 10 shown in FIG. 7 or FIG. 9 and the acceleration clock or speedometer, and these detection values are used. Thus, the composite pressure center ZMP is calculated by performing the calculations of the formulas (1) to (4) and performing the calculations of the formula (5) or the formula (6) based on the calculations.
Therefore, in the present embodiment, the control device synthesizes the weight and centroid position of the vehicle 1 with the weight and centroid position of the object, and calculates a combined pressure center ZMP based on the synthesized weight and centroid position.

  On the other hand, as shown in FIG. 11, if the reaction force (vertical force) from the road surface acting on each of the front wheel 2 and the rear wheel 3 is detected by the sensor 10 of FIG. 8, the center of the combined pressure is based on the detected value. ZMP can be calculated by the following equation (7). In other words, in the present embodiment, the control device may calculate the composite pressure center ZMP based on the ground pressure of the plurality of wheels 2 and 3. In Expression (7), fr is a vertical force acting on the right front wheel 2, and fl is a vertical force acting on the left front wheel 2. In formula (7), the vertical force acting on the rear wheel 3 is ignored for the sake of simplicity.

  In equations (5), (6), and (7), the calculation method of the composite pressure center ZMP in the YZ plane and the stability condition thereof are defined. Similarly, the composite pressure in the XZ plane is defined. The calculation method of the center ZMP and its stability condition can be defined. That is, as shown in FIG. 12, the resultant pressure center ZMP is calculated as a point where the road surface intersects the vector direction of the resultant force F of the horizontal force Fx in the X direction acting on the center of gravity G and the vertical force Fz in the Z direction. The stability condition of the vehicle 1 in the front-rear direction is defined as the combined pressure center ZMP being within the range of the front-rear wheel width w. Here, the wheel width w is a distance between the contact points P1 and P2 between the front wheel 2 and the rear wheel 3 and the road surface.

  Further, as a stability condition in the XY plane of the vehicle 1, as shown in FIG. 13, the combined pressure center ZMP obtained by combining the combined pressure center ZMP in the left-right direction and the combined pressure center ZMP in the front-rear direction is the front wheel 2 and the rear wheel. 3 is defined as being within a range A surrounded by 3. This range A is represented by a triangle connecting the ground point P1 of the left and right front wheels 2 and the ground point P2 of the rear wheel 3. If the composite pressure center ZMP is located inside such a range A, the left and right front wheels 2 and the rear wheels 3 do not float, and the vehicle 1 is in a state where it can travel stably. To be judged. That is, the control device calculates the combined pressure center ZMP, and the front frame 5 as the vehicle state changing means, the connecting portion 7, the propulsion function, the braking so that the calculated combined pressure center ZMP is positioned inside the range A. At least one selected appropriately among the function and the turning function is driven.

Hereinafter, the control method of the vehicle state changing means by the control device will be exemplified.
First, the stability control of the vehicle 1 in which the resultant pressure center ZMP is inside the range A and is directed toward the center of the range A (the origins of the X axis and the Y axis) will be described.

  As control at the time of starting and acceleration, the propulsion function is driven to increase the vehicle speed. For such acceleration in the + X direction, the inertial force in the -X direction is applied to the vehicle 1 and the object. Will act. In that case, a horizontal force Fx in the −X direction acts on the center of gravity G, and a combined pressure center ZMP that moves toward the rear of the range A is calculated. After calculating the composite pressure center ZMP, the control device lowers the height position of the center of gravity G, widens the range A, or moves the center of gravity G forward so that the composite pressure center ZMP does not deviate from the range A. The vehicle state changing means is controlled to move. Here, the composite pressure center ZMP is difficult to move when the height position of the center of gravity G is lowered, and as a result, the composite pressure center ZMP is difficult to deviate from the range A.

Specifically, as shown in FIG. 4, the front frame 5 is contracted to lower the center of gravity G, or the distance between the front wheel 2 and the rear wheel 3 is increased to widen the range A, or as shown in FIG. The part 4 is tilted so as to descend toward the front wheel 2 side, and the object is tilted forward to move the center of gravity of the object forward. Control.
Note that the control device may control the propulsion function, the braking function, and the turning function so that the combined pressure center ZMP does not deviate from the range A.

  As the control at the time of deceleration or stopping, the vehicle speed is reduced by driving the braking function while suppressing the propulsion function. For such acceleration in the −X direction, the vehicle 1 and the object are controlled. The inertia force in the + X direction acts. In that case, a horizontal force Fx in the + X direction acts on the center of gravity G, and a combined pressure center ZMP that moves toward the front of the range A is calculated. After calculating the composite pressure center ZMP, the control device lowers the height position of the center of gravity G, widens the range A, or moves the center of gravity G backward so that the composite pressure center ZMP does not deviate from the range A. The vehicle state changing means is controlled to move.

Specifically, as shown in FIG. 4, the front frame 5 is contracted to lower the center of gravity G, the distance between the front wheel 2 and the rear wheel 3 is widened to widen the range A, or the mounting portion 4 is moved to the front wheel 2 side. The center of gravity of the object is moved backward by inclining the object so as to rise as it moves toward the rear, or further, each part is controlled by combining these operations.
Note that the control device may control the propulsion function, the braking function, and the turning function so that the combined pressure center ZMP does not deviate from the range A.

  Also, as control when traveling on a slope, gravity acts in the −X direction on an uphill, so that the composite pressure center ZMP that moves toward the rear of the range A is calculated as in starting and forward acceleration. Therefore, the control device changes the vehicle state so that the height position of the center of gravity G is lowered, the range A is widened, or the center of gravity G is moved forward so that the composite pressure center ZMP does not deviate from the range A. Control means. On the other hand, since the gravity acts in the + X direction on the downhill, the composite pressure center ZMP that moves toward the front of the range A is calculated in the same manner as when the vehicle is decelerated or stopped. The vehicle state changing means is controlled such that the height position of the center of gravity G is lowered, the range A is widened, or the center of gravity G is moved backward so that the center of gravity G does not deviate from the range A.

  As the control at the time of turning, the turning function is driven to change the traveling direction of the vehicle 1. At this time, the centrifugal force in the Y direction acts on the vehicle 1 and the object. In that case, a horizontal force Fy acts on the center of gravity G outward in the turning direction, and a combined pressure center ZMP that moves toward the side of the range A is calculated. When such a combined pressure center ZMP is calculated, the control device reduces the height position of the center of gravity G or moves the center of gravity G to the inside in the turning direction so that the combined pressure center ZMP does not deviate from the range A. Control the state changing means.

Specifically, the front frame 5 is contracted to lower the center of gravity G as shown in FIG. 4, or the inner front frame 5 is contracted to bring the center of gravity G closer to the inside as shown in FIG. Each unit is controlled by combining these operations.
Note that the control device may control the propulsion function, the braking function, and the turning function so that the combined pressure center ZMP does not deviate from the range A. In addition, when the wheel interval changing means is configured so that the interval between the pair of front wheels 2 can be changed, the control device widens the range A by widening the interval between the pair of front wheels 2 to increase the combined pressure. The center ZMP may not be out of the range A.

  In addition, as a control when one of the front wheels 2 rides on the unevenness of the road surface and the vehicle 1 tilts in the front-rear direction or the left-right direction, the inertial force of the vehicle 1 and the target acts forward and one side, and gravity is applied. Since it acts on the rear side and the other side, the directions of the horizontal forces Fx and Fy change according to the magnitude of these inertial forces and gravity. Even in this case, the control device lowers the height position of the center of gravity G or moves the center of gravity G in the direction opposite to the horizontal forces Fx and Fy so that the combined pressure center ZMP does not deviate from the range A, as in turning. The vehicle state changing means is controlled so that

  In addition, when the object moves on the mounting portion 4, the position of the center of gravity G changes, so that the resultant pressure center ZMP may move in a direction out of the range A. Even in this case, the control device Controls the vehicle state changing means so that the height position of the center of gravity G is lowered or the center of gravity G is moved in the direction opposite to the change in position so that the composite pressure center ZMP does not deviate from the range A.

The control exemplified above is stable control with an emphasis on the running stability of the vehicle 1. However, as a control method of the vehicle 1, the following control method is adopted according to the running conditions and the selected running mode. May be.
That is, in the stable control, one or a plurality of vehicle state changing means such as the front frame 5, the connecting portion 7, the propulsion function, the braking function, and the turning function are selected and the selected vehicle state changing means is controlled. The apparatus controls the resultant pressure center ZMP so as to be directed toward the center of the range A (the origins of the X axis and the Y axis). However, at least one of the plurality of vehicle state changing means is subjected to an unstable control in which the combined pressure center ZMP is deviated from the range A, and the combined pressure center ZMP is in the range of the other vehicle state changing means. As a result, the composite pressure center ZMP may be positioned within the range A by performing the stability control toward the inside of A. A control method for simultaneously performing such unstable control and stable control will be described below.

  When the traveling condition is selected as a traveling condition when traveling on a narrow road or a congested place, the control device deforms the vehicle 1 by the wheel interval changing means, so that the front wheel 2 and the rear wheel 3 are deformed. And approach. When the front wheel 2 and the rear wheel 3 are brought closer to each other in this way, the distance between the ground contact points P1 and P2 of the wheel becomes smaller, so the range A becomes narrower and the resultant pressure center ZMP tends to deviate from the range A. That is, non-stable control is performed such that the running stability of the vehicle 1 is reduced. In this case, the control device performs stability control for the other vehicle state changing means different from the wheel interval changing means so that the combined pressure center ZMP is directed to the inside of the range A. As a result, the combined pressure center ZMP is determined. Position within range A.

  Moreover, when driving | running | working on a road with bad visibility as driving | running conditions, when a driving | running | working mode with high visibility is selected, a control apparatus deform | transforms the vehicle 1 by a mounting part state change means, Increase the height position. When the height position of the mounting portion 4 is increased in this way, the composite pressure center ZMP is easily moved and easily deviated from the range A. That is, non-stable control is performed such that the running stability of the vehicle 1 is reduced. In this case, the control device performs stable control in which the combined pressure center ZMP is directed to the inside of the range A with respect to another vehicle state changing unit different from the mounting portion state changing unit, and as a result, the combined pressure center ZMP Is located within range A.

In addition, when the traveling mode in which the ride comfort is emphasized is selected during turning, the control device deforms the vehicle 1 by the mounting unit state changing unit, so that the mounting unit 4 has the rotation center C as shown in FIG. Move it closer to. In FIG. 14, the vehicle 1 is turning along a turning trajectory R that turns to the left toward the upper side of the figure, the rotation center C is on the left side of the vehicle 1, and the vehicle 1 is a tangential direction of the turning trajectory R. It is proceeding in the traveling direction X ′. At this time, by controlling the position of the mounting portion 4 to move from the initial position 4a on the X axis to the moving position 4b on the rotation center C side, the passenger who is the object turns smaller than the turning locus R. It will turn with a radius, and the centrifugal force received by turning will become small, and riding comfort will become good.
On the other hand, if the position of the mounting portion 4 is moved greatly, the position of the center of gravity G also moves greatly due to the weight of the object, so that the amount of fluctuation of the combined pressure center ZMP increases, and the combined pressure center ZMP tends to deviate from the range A. Become. That is, non-stable control is performed such that the running stability of the vehicle 1 is reduced. In this case, the control device performs stable control in which the combined pressure center ZMP is directed to the inside of the range A with respect to another vehicle state changing unit different from the mounting portion state changing unit, and as a result, the combined pressure center ZMP Is located within range A.

According to the present embodiment as described above, the following operations and effects can be achieved.
(1) The control device calculates the combined pressure center ZMP, and controls the vehicle state changing means so that the combined pressure center ZMP is located within the range A, whereby the stability of the vehicle can be improved.
(2) In calculating the composite pressure center ZMP, the composite pressure center ZMP can be accurately calculated by taking into account the mass and the center of gravity of the object, and the stability of the vehicle 1 can be improved.

(3) A traveling mode corresponding to the position of the composite pressure center ZMP is selected by providing wheel interval changing means that drives the front frame 5 and the connecting portion 7 to bring the front wheel 2 and the rear wheel 3 close to and away from each other. It is possible to improve the running performance while maintaining the stability, and to select a running mode that improves the turning performance and provides a small turn.
(4) The composite pressure center ZMP using the weight of the object mounted on the mounting unit 4 by providing the mounting unit state changing means for driving the front frame 5 and the connecting unit 7 to change the state of the mounting unit 4. The position of the vehicle can be controlled, and the stability of the vehicle can be further enhanced.

(5) By changing the position and orientation of the mounting portion 4 by the mounting portion state changing means, the mounting portion 4 is moved to a position where inertial force or centrifugal force is unlikely to act on the object, Stability and ride comfort can be improved. Further, by raising the height of the mounting portion 4 by the mounting portion state changing means, it is possible to widen the field of view of the passenger and make it easier to drive.
(6) Even when the unstable control is performed on any one of the plurality of vehicle state changing means, the stable control is performed using the other vehicle state changing means, and these unstable control and stable control are performed. As a result of carrying out both of the above, by simultaneously positioning the composite pressure center ZMP within the range A, while maintaining the stability of the vehicle 1, other travel states and travel modes contrary to the stability of the vehicle 1 can be realized simultaneously. can do.

(7) By performing the above-described non-stable control, a driving mode with a small turn according to the driving conditions, a driving mode with good visibility, or a driving mode in which riding comfort is improved. In addition to running stability, convenience and comfort can be improved.

[Second Embodiment]
FIG. 15 is a side view of a vehicle according to the second embodiment of the present invention.
As in the first embodiment, the vehicle 1A of the present embodiment includes a pair of left and right (two) front wheels 2, one rear wheel 3, a mounting portion 4 for mounting an object, and a front frame 5. And a rear frame 6. In the present embodiment, as shown in FIG. 15, the rear frame 6 has a cylinder 61 connected to the rear wheel shaft portion 9 and a piston shaft 62 connected to the connecting portion 7. The point which is comprised so that expansion-contraction is possible because the axis | shaft 62 moves forward / backward is different from 1st Embodiment. The control device extends and retracts the rear frame 6 by driving the piston shaft 62 back and forth with a hydraulic pump (not shown).

  For example, as shown in FIG. 16, the vehicle 1 </ b> A of the present embodiment extends both the front frame 5 and the rear frame 6, and drives the connecting portion 7 around the Y axis to move the front frame 5 and the rear frame 6. By moving away from the front wheel 2, the front wheel 2 and the rear wheel 3 can be deformed to be separated from each other while the height position of the mounting portion 4 is maintained. In contrast to the state of FIG. 16, both the front frame 5 and the rear frame 6 are contracted, and the connecting portion 7 is driven around the Y axis to bring the front frame 5 and the rear frame 6 closer to each other. The front wheel 2 and the rear wheel 3 can be modified so as to approach each other while the height position of the portion 4 is maintained.

  In addition, as shown in FIG. 17, the vehicle 1 </ b> A extends the rear frame 6 while contracting the front frame 5, thereby maintaining the distance between the front wheel 2 and the rear wheel 3 while maintaining the height position of the mounting portion 4. And can be modified to move forward. In contrast to the state of FIG. 17, the height of the mounting portion 4 is raised while maintaining the distance between the front wheel 2 and the rear wheel 3 by contracting the rear frame 6 while extending the front frame 5. At the same time, it can be modified to move backward.

  Further, as shown in FIG. 18, the vehicle 1A extends both the front frame 5 and the rear frame 6, and drives the connecting portion 7 around the Y axis to bring the front frame 5 and the rear frame 6 closer to each other. The mounting portion 4 can be deformed to raise the height position while maintaining the distance between the front wheel 2 and the rear wheel 3. In contrast to the state of FIG. 18, both the front frame 5 and the rear frame 6 are contracted, and the connecting portion 7 is driven around the Y axis to move the front frame 5 and the rear frame 6 away from each other. While maintaining the distance between 2 and the rear wheel 3, the height of the mounting portion 4 can be lowered.

  As described above, by driving the front frame 5, the rear frame 6, and the connecting portion 7, the distance between the front wheel 2 and the rear wheel 3 can be changed. These front frame 5, rear frame 6, The connecting portion 7 constitutes a wheel interval changing means. Further, by driving the front frame 5, the rear frame 6, and the connecting portion 7, the position and orientation of the mounting portion 4 can be changed. These front frame 5, rear frame 6, and connecting portion 7 are configured. The mounting portion state changing means is configured by the above. Further, since the posture of the vehicle 1A is changed by the wheel interval changing means and the mounting portion state changing means, and the motion state of the vehicle 1A is changed by the propulsion function, the braking function, and the turning function, the wheel interval change is performed. The vehicle state changing means of the present invention is constituted by the means, the mounting portion state changing means, the propulsion function, the braking function, and the turning function.

Therefore, according to the present embodiment, the same functions and effects as the above (1) to (7) in the first embodiment can be achieved, and the following functions and effects can be achieved.
(8) Since both the front frame 5 and the rear frame 6 are configured to be extendable and retractable, the distance between the front wheel 2 and the rear wheel 3 can be greatly changed, and the height position of the mounting portion 4 can be greatly changed. can do. Accordingly, since the vehicle 1A can be deformed more dynamically, the running stability can be enhanced even in a more severe running state.

[Modification of Embodiment]
The present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within the scope that can achieve the object of the present invention are included in the present invention.
For example, in the above-described embodiment, the vehicles 1 and 1A are tricycles, but the vehicle of the present invention is not limited to a tricycle, and may have four or more wheels or may be a two-wheeled vehicle. When the vehicle is a two-wheeled vehicle, the combined pressure center ZMP is controlled so as to be positioned between the ground contact points in the front-rear direction, and the passenger may be balanced in the left-right direction. Alternatively, even when the vehicle is a two-wheeled vehicle, stability in the left-right direction can be obtained by controlling the combined pressure center ZMP to be within the range of the width of the front and rear wheels and the distance between the front and rear wheels.

  In the said embodiment, although the vehicle illustrated the motor vehicle which had propulsion functions, such as an engine and a motor, as a propulsion function, not only an engine and a motor but arbitrary things can be utilized. Further, the vehicle of the present invention may be a vehicle that does not have a propulsion function and travels by the movement of a passenger, such as a bicycle, a tricycle, or a wheelchair. Furthermore, the vehicle according to the present invention may be a vehicle that does not have a propulsion function and moves by an external force, such as a luggage trolley, a movable rack, a trailer trolley, and a traveling playground equipment.

  In the above embodiment, the wheel interval changing means and the mounting portion state changing means are configured by the front frame 5, the rear frame 6, and the connecting portion 7, but the wheel interval changing means and the mounting portion state changing means are respectively You may comprise with a separate drive means. For example, in the above-described embodiment, the wheel interval changing means and the mounting portion state changing means are configured by the front frame 5 and the rear frame 6 that are configured to be extendable and contractible. However, the present invention is not limited to this, and may include a support unit that supports the wheel so that the wheel can be moved back and forth and right and left, and a drive unit that moves the wheel supported by the support unit.

  In the above embodiment, the mounting portion state changing means is configured by the front frame 5, the rear frame 6, and the connecting portion 7. However, the mounting portion state changing means is not limited to that of the above embodiment, but the chassis. On the other hand, there may be provided a support part that supports the mounting part so that the mounting part can be moved back and forth, right and left and up and down, and a drive part that moves the mounting part supported by the support part. Thus, if the mounting portion state changing means is configured to move or rotate the mounting portion in an arbitrary direction, the center of gravity position of the object can be changed as appropriate, and the running stability can be improved. it can.

  As described above, the present invention can be suitably used for a vehicle including two or more wheels and a mounting portion on which an object is mounted.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Front wheel 3 Rear wheel 4 Mounting part 5 Front frame (Wheel space changing means, mounting part state changing means)
6 Rear frame (wheel interval changing means, mounting portion state changing means)
7 Connecting part (wheel interval changing means, mounting part state changing means)
C Rotation center G Center of gravity P1, P2 Ground point r Rotation radius w Wheel width

Claims (6)

A vehicle comprising at least two or more wheels and a mounting portion for mounting an object,
Calculating means for calculating a composite pressure center that is a point where a vector direction of a force acting on the vehicle and the object intersects a road surface;
A plurality of vehicle state changing means for changing at least one of the posture and the motion state of the vehicle;
Control means for controlling the vehicle state changing means so that the composite pressure center is located between a plurality of contact points where the plurality of wheels are in contact with a road surface;
Equipped with a,
The vehicle state changing means includes wheel interval changing means for changing intervals between the plurality of wheels,
The control means performs an unstable control in which the center of the combined pressure is deviated from between the plurality of grounding points by changing the wheel interval changing means so as to narrow the interval between the plurality of wheels. In addition, with respect to another vehicle state changing unit different from the wheel interval changing unit, the combined pressure center is subjected to stability control in which the center of the combined pressure is directed between the plurality of grounding points, thereby the combined pressure between the plurality of grounding points. vehicle, characterized in Rukoto positions the center. A vehicle comprising at least two or more wheels and a mounting portion for mounting an object,
Calculating means for calculating a composite pressure center that is a point where a vector direction of a force acting on the vehicle and the object intersects a road surface;
A plurality of vehicle state changing means for changing at least one of the posture and the motion state of the vehicle;
Control means for controlling the vehicle state changing means so that the composite pressure center is located between a plurality of contact points where the plurality of wheels are in contact with a road surface;
With
The vehicle state changing means includes mounting portion state changing means for changing the state of the position of the mounting portion,
The control means changes the position state of the mounting portion so that the height position of the mounting portion is increased by the front mounting portion state changing means, so that the composite pressure center is between the plurality of grounding points. In addition to performing unstable control toward the direction of departure, and performing stable control in which the combined pressure center is directed between the plurality of grounding points with respect to another vehicle state changing unit different from the mounting unit state changing unit. The vehicle is characterized in that the composite pressure center is positioned between the plurality of grounding points. The vehicle according to claim 2,
The mounting unit status changing means, vehicle, wherein the benzalkonium change the state of attitude of the mounting portion. In the vehicle according to claim 2 or claim 3,
The control means controls the mounting portion state changing means to bring the mounting portion closer toward the center of rotation of the turning trajectory while turning the vehicle, and the control means other than the mounting portion state changing means A vehicle characterized in that the composite pressure center is positioned between the plurality of grounding points by performing stability control for the vehicle state changing means so that the synthetic pressure center is directed between the plurality of grounding points. In the vehicle according to any one of claims 1 to 4,
The calculating means combines the weight and center of gravity of the vehicle with the weight and center of gravity of the object, and calculates the combined pressure center based on the combined weight and center of gravity. . In the vehicle according to any one of claims 1 to 4,
The vehicle characterized in that the calculation means calculates the composite pressure center based on a ground contact pressure of the plurality of wheels.

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