JPWO2018030407A1 - vehicle - Google Patents

Abstract

Provided is a vehicle that performs attitude control in accordance with traveling conditions such as start and road surface change. According to the present invention, at least one of the front wheel portion and the rear wheel portion is constituted by a pair of left and right wheels 101 and 102, and the state of the vehicle 100 can be promoted by the driver's operating force according to the present invention. In response to the detection, the rotational force of each of the pair of wheels 101 and 102 can be controlled independently of each other.

Description

  The present invention relates to a vehicle that can be propelled by the operating force of a driver, which performs posture control in accordance with a traveling state such as start or road surface change.

  A vehicle that has three or more wheels and can be propelled by rotating the wheels by the actuating force of the driver such as a bicycle where at least one of the front wheel portion and the rear wheel portion is composed of a pair of left and right wheels Vehicles with front wheel parts consisting of a pair of wheels are called "front wheel two-wheeled vehicles" and vehicles with rear wheel parts consisting of a pair of wheels are called "rear wheel two-wheeled vehicles" Compared to conventional two-wheeled bicycles arranged one by one, they are usually stable against tilting and shaking because they have more than three wheels, but they are suitable for both low and medium speed conditions It is difficult to perform proper attitude control, and the rolling resistance becomes large due to improper rotation speed difference between a pair of wheels when turning on a curve, making it difficult to bend.

  From such a problem, Patent Document 1 discloses a three-wheel front wheel two-wheeled vehicle in which the entire link mechanism moves left and right in conjunction with steering of the steering wheel. Link movement of the link mechanism uses a link angle control device. The link angle control device is attached to the fixed part attached to the stem part and the link mechanism part, and the opening of the electric (electromagnetic) servo valve controlled via the ECU from the vehicle speed sensor of the wheel It is disclosed that the movement of the link is set in a tendency to be fixed, the movement resistance of the link is removed in the middle and high speed range, and the attitude of the vehicle body is controlled by controlling the movement of the link angle of the link mechanism. It is done.

JP, 2010-184508, A

  A three-wheel two-wheeled three-wheeled vehicle in which the right wheel and the left wheel in the front wheel have the same rotational force as in Patent Document 1 improves the stability against posture change when turning on a curve. it can. However, a front wheel two-wheeled vehicle or a rear wheel two-wheeled vehicle including a three-wheeled front wheel two-wheeled vehicle as disclosed in Patent Document 1 has many contact points due to multiple wheels, and therefore is affected by a step surface or an inclined surface It tends to be inclined. In addition, since the front wheel two-wheeled vehicle or the rear wheel two-wheeled vehicle has a large contact area of the wheels, it requires a person's actuating force such as a large stepping force at the time of starting, and tends to lose balance and generate instability. is there. For example, in the case of a front-wheel two-wheeled vehicle, the center of gravity balance is poor particularly on the uphill, and it is difficult to increase the speed, and wandering is likely to occur even at the time of start-up such as at the time of starting. As described above, the front-wheel two-wheeled vehicle or the rear-wheel two-wheeled vehicle does not have sufficient posture control with respect to the posture change of the vehicle in both low speed and medium to high speed when inclination or wobble occurs. There is a problem that stability is difficult to ensure.

  Therefore, an object of the present invention is to provide a pair of motors for independently controlling the rotational force of each of a pair of left and right wheels in at least one of the front wheel portion and the rear wheel portion at low speed and medium speed. Vehicles capable of rotating and propelling wheels by the driver's operating force, ensuring stability against posture changes by performing posture control according to running conditions such as starting and road surface changes, etc. And a control device for use in the vehicle.

  According to one aspect of the present invention, there is provided a vehicle, wherein at least one of the front wheel portion and the rear wheel portion is composed of a pair of left and right wheels, which can be propelled by the driver's operating force. The state of the vehicle is detected, and in response to the detection, the rotational force of each of the pair of wheels can be controlled independently of each other.

  According to one embodiment of the present invention, a vehicle includes: a battery; a motor connected to the battery for controlling a rotational force of one of the pair of wheels; and a rotational force of the other of the pair of wheels A pair of motors composed of a motor for control, detection of a state, a sensor for transmitting a state signal based on the detection, and a control signal for controlling the pair of motors by arithmetic processing of the state signal And a motor driver for controlling power supply between the battery and the pair of motors based on a control signal transmitted from the vehicle controller, and the outputs of the pair of motors are made independent of each other by the motor driver. By controlling, the rotational force of each of the pair of wheels can be controlled independently of each other.

  According to one embodiment of the present invention, in a vehicle, the sensor includes an inclination sensor for detecting an inclination relative to the vertical direction of the vehicle, and the vehicle controller calculates a state signal transmitted from the sensor to correct the state. It can be processed to transmit control signals.

  According to an embodiment of the present invention, in the vehicle, the sensor further comprises an actuation force sensor for detecting the actuation force by the driver of the vehicle, and the vehicle controller is transmitted from the sensor to correct the condition. A signal can be arithmetically processed to transmit a control signal.

  According to an embodiment of the present invention, in the vehicle, the sensor further includes a speed sensor for detecting the speed of the vehicle, and the vehicle body controller processes the state signal transmitted from the sensor to correct the state. Control signal can be transmitted.

  According to one embodiment of the present invention, in a vehicle, at least one of the pair of motors has the function of a generator, and at least one of the pair of motors applies reverse rotation torque to its wheel. And, by the function of the generator, it is possible to recover the traveling energy of the vehicle and supply power to the battery via the motor driver.

  According to one embodiment of the invention, the vehicle is a front wheel two-wheeled three-wheeled bicycle.

  According to another aspect of the present invention, there is provided a vehicle control system, wherein at least one of the front and rear wheels is formed of a pair of left and right wheels, and which can be propelled by a driver's operating force. The method includes the steps of detecting the state of the vehicle, performing arithmetic processing based on the detection, and controlling the rotational force of each of the pair of wheels independently of each other based on the arithmetic processing.

  According to one embodiment of the present invention, in a method of controlling a vehicle, the vehicle comprises a battery, a pair of motors disposed on each of a pair of wheels, a sensor, a vehicle controller, and a motor driver to perform sensing. The step includes the step of detecting the state of the vehicle by the sensor, and the step of performing the arithmetic processing includes the step of performing the arithmetic processing by the vehicle body controller based on the detection by the sensor. The step of independently controlling the motor driver controls the power supply between the battery and the pair of motors based on arithmetic processing by the vehicle body controller, and controls the outputs of the pair of motors independently of each other. Controlling the rotational forces of each of the wheels independently of one another.

  According to one embodiment of the present invention, in the method of controlling a vehicle, the step of performing sensing includes the step of sensing the inclination of the vehicle relative to the vertical direction by means of a sensor and the speed of the vehicle; In the step of controlling the forces independently of each other, when the inclination is detected and the speed is equal to or higher than a predetermined speed, a motor disposed on the opposite wheel to the inclination of the pair of wheels is on that wheel And applying a reverse torque.

  According to one embodiment of the present invention, in the method of controlling a vehicle, the step of performing sensing includes the step of sensing the inclination of the vehicle relative to the vertical direction, the speed of the vehicle, and the actuating force by the driver of the vehicle The step of controlling the rotational force of each of the pair of wheels independently of one another is such that if the tilt is detected, the speed is less than a predetermined speed, and the actuation force is detected, the tilt of the pair of wheels is The step includes the step of applying a positive torque to the wheels by a motor located on the wheel located on the same side.

  According to one embodiment of the present invention, in the method of controlling a vehicle, the step of performing sensing includes the step of sensing the inclination of the vehicle relative to the vertical direction, the speed of the vehicle, and the actuating force by the driver of the vehicle The step of controlling the rotational force of each of the pair of wheels independently of each other may be performed on the tilt of the pair of wheels if the tilt is detected, the speed is less than a predetermined speed, and the actuating force is not detected. And a step of applying a reverse torque to the wheels by a motor disposed on the opposite wheel.

  According to one embodiment of the present invention, in the method of controlling a vehicle, the step of performing sensing includes the step of sensing the inclination of the vehicle relative to the vertical direction, the speed of the vehicle, and the actuating force by the driver of the vehicle The step of controlling the rotational force of each of the pair of wheels independently of one another is such that if the tilt is not detected, the speed is less than a predetermined speed and the actuating force is detected, then each of the pair of motors Applying a positive torque to the wheels.

  According to still another aspect of the present invention, the control device can be propelled by the driver's operating force in which at least one of the front wheel portion and the rear wheel portion is composed of a pair of left and right wheels. It is used in a vehicle that detects the state of the vehicle, and in response to the detection, the rotational force of each of the pair of wheels can be controlled independently of each other.

  According to one embodiment of the present invention, the control device includes a battery, a motor connected to the battery, for controlling a rotational force of one of the pair of wheels, and a rotational force of the other of the pair of wheels And a sensor for detecting a state and transmitting a state signal based on the detection, and a control signal for controlling the pair of motors by arithmetic processing of the state signal. A vehicle controller that transmits and a motor driver that controls power supply between a battery and a pair of motors based on a control signal transmitted from the vehicle controller.

  According to one embodiment of the present invention, in the control device, the motor driver can control the output of each of the pair of motors independently of each other to control the rotational force of each of the pair of wheels independently of each other. ing.

  According to one embodiment of the present invention, in the control device, the sensor includes an inclination sensor for detecting an inclination relative to the vertical direction of the vehicle, and the vehicle controller controls the state signal transmitted from the sensor to correct the state. It is possible to transmit control signals by arithmetic processing.

  According to an embodiment of the present invention, in the control device, the sensor further includes an actuation force sensor for detecting an actuation force by the driver of the vehicle, and the vehicle controller is transmitted from the sensor to correct the state. The control signal can be transmitted by arithmetic processing of the state signal.

  According to one embodiment of the present invention, in the control device, the sensor further includes a speed sensor for detecting the speed of the vehicle, and the vehicle body controller processes the state signal transmitted from the sensor to correct the state. Control signal can be transmitted.

  According to one embodiment of the present invention, in the control device, at least one of the pair of motors has the function of a generator, and at least one of the pair of motors has reverse torque with respect to its wheels. The energy of the vehicle can be recovered by the function of the generator, and power can be supplied to the battery via the motor driver.

  According to the present invention, the motor is arranged on each of the pair of wheels, and the output of each of the pair of motors is controlled independently of each other to control the rotational force of each of the pair of wheels independently of each other. By correcting the inclination of the vehicle due to time, road surface change, etc., it is possible to suppress the instability and perform attitude control according to the traveling state. Further, by detecting the state of the vehicle by the sensor and performing arithmetic processing based on the detection result, it is possible to generate mutually independent independent rotational forces for each of the pair of wheels. Furthermore, when attitude control is performed, the motor can be operated as a generator to recover the traveling energy of the vehicle, and power can be supplied to the battery. Then, since the output of each of the pair of motors can be controlled independently of each other, one of the motors supplies power from the battery to the motor in order to apply positive rotational torque to the wheel, while the other motor Can be operated as a generator to apply reverse torque to its wheels and to supply power from its motor to the battery.

  Other objects, features and advantages of the present invention will become apparent from the following description of embodiments of the present invention with reference to the attached drawings.

It is the schematic which looked at the vehicle as one embodiment of the present invention from the side. It is the schematic which looked at the vehicle of FIG. 1 from the front. FIG. 2 is a schematic view of the vehicle of FIG. 1 as viewed from the driver, as viewed from the front, as viewed from the front. It is a figure showing the state where the motor in the control device used for vehicles as one embodiment of the present invention was operated as an electric motor. It is a figure showing the state where the motor in the control device used for vehicles as one embodiment of the present invention was operated as a generator. FIG. 1 represents a flow chart of a method for controlling a vehicle according to an embodiment of the present invention.

  Examples of the present invention will be described below with reference to the drawings, but the present invention is not limited to these examples.

  A vehicle 100 according to an embodiment of the present invention is shown in FIGS. 1, 2A and 2B. The term "vehicle" as used herein refers to rotating at least one of the front and rear wheels by the driver's operating force, at least one of the front and rear wheels being composed of a pair of left and right wheels. It is a vehicle that can be driven to As such a vehicle, for example, there is a bicycle which can be propelled by rotating a wheel by providing a pedal with a pedal force which is a driver's operating force. Although a bicycle is particularly shown among the vehicles in the following embodiments, the present invention can be applied to a vehicle that can be propelled by the operating force of a driver other than a bicycle. Vehicle 100 is a front wheel two-wheeled bicycle in which the front wheel portion of the front wheel portion and the rear wheel portion is composed of a pair of left and right wheels, and the first vehicle located on the right side when viewed from the driver disposed on the front wheel portion. A pair of left and right wheels having a wheel 101, a second wheel 102 positioned on the left side as viewed from the driver, and a third wheel 103 of one wheel disposed on the rear wheel portion are provided. In this case, the rear wheel portion may be equipped with one or more wheels. The first wheel 101 and the second wheel 102 may be connected by a link mechanism 113. In addition, the vehicle 100 is disposed at the battery 109 and the hub of the first wheel 101, and is disposed at the hub of the first motor 104 for controlling the rotational force of the first wheel 101 and the hub of the second wheel 102. And a pair of motors comprising a second motor 105 for controlling the rotational force of the second wheel 102. The pair of motors 104 and 105 are connected to the battery 109. The vehicle 100 shown in FIGS. 1, 2A and 2B is a front wheel two-wheeled three-wheeled bicycle in which the front wheel portion is composed of a pair of left and right wheels, but the rear wheel is composed of a pair of left and right wheels. It may be a two-wheeled vehicle. Among rear-wheel two-wheeled vehicles, for example, in the case of rear-wheel two-wheeled bicycles, by adopting differential gears (differential gears) in the rear wheels, the left and right wheels can be given a rotational difference, Place a motor on each hub of the wheels.

  Vehicle 100 also includes a sensor group that detects the state of vehicle 100 and transmits a state signal based on the detection. As shown in FIG. 1, the state of the vehicle 100 includes, for example, the inclination of the vehicle 100 with respect to the vertical direction, the operating force by the driver of the vehicle 100, the speed of the vehicle 100, etc. It is detected by the sensor 107, the speed sensor 108 and the like.

  In FIG. 3 and FIG. 4, a pair of right and left wheels having at least one of the front wheel portion and the rear wheel portion is a first wheel 101 on the right side and a second wheel 102 on the left side. The control apparatus 117 used for the comprised vehicle 100 is shown. The control device 117 is connected to the battery 109 and the battery 109, and controls the rotational force of the right wheel as the first wheel 101, and the rotational force of the left wheel as the second wheel 102. And a tilt sensor 106, an actuating force sensor 107, and a speed sensor 108 to detect the state of the vehicle 100, and to detect a state signal based on the detection (tilt And a sensor group for transmitting the signal 118, the actuation force signal 119, the velocity signal 120), and the status signals 118 to 120 for arithmetic processing to control the outputs of the first motor 104 and the second motor 105. Based on the vehicle controller 114 transmitting the control signal 121 and the control signal 121 transmitted from the vehicle controller 114, the battery 109 and the first The first motor driver 115 for controlling the supply of power between the motor 104, and a second motor driver 116 for controlling the supply of power between the battery 109 and the second motor 105. Thus, the first motor driver 115 and the second motor driver 116 which receive the control signal 121 respectively supply power from the battery 109 to the first motor 104 and the second motor 105 at a certain timing. To supply power from the first motor 104 and the second motor 105 to the battery 109 at a certain timing so that the output of the first motor 104 and the output of the second motor 105 can be controlled independently of each other. It has become.

  The first motor driver 115 and the second motor driver 116 may be an integrated motor driver, and further, the vehicle controller 114, the first motor driver 115, and the second motor driver 116 may be integrated. It may be an integrated controller. In addition, the vehicle body controller 114, the first motor driver 115, and the second motor driver 116 may be disposed on the handle 112 which is a grip portion of the driver of the vehicle 100, and when the vehicle 100 is a bicycle, It may be disposed under the saddle 111. In FIG. 3 and FIG. 4, the control signal 121 is transmitted from the vehicle body controller 114 to the first motor driver 115 and the second motor driver 116 by one signal line, but the control signal is By providing an authentication code for each of the first motor driver 115 and the second motor driver 116 to 121, it may be transmitted by one signal line, and even if it is wired, it may be wireless. It may be a formula.

  The inclination sensor 106 of the sensor group is operated by the power from the battery 109 and detects the inclination of the vehicle 100 with respect to the vertical direction. By including the inclination sensor 106, it is possible to detect a stagger alternately inclined to the left and right due to a change in road surface or the like when the vehicle starts. The tilt sensor 106 may be, for example, a tilt angle sensor, a gyro sensor, or the like. When the vehicle 100 is a bicycle as shown in FIG. 1, an inclination sensor, a gyro sensor, etc. may be disposed under the saddle 111. As shown in FIG. 2B, when the vehicle 100 inclines to the left as viewed from the driver in the vertical direction, the inclination angle sensor detects the inclination angle θ, or the gyro sensor detects the angular velocity with respect to the inclination angle θ Thus, the inclination of the vehicle 100 is detected. Further, as the inclination sensor 106, there is, for example, a torque sensor, and a torque sensor is disposed on each of the first wheel 101 and the second wheel 102, and the torque difference of each wheel detected from each torque sensor The tilt of the vehicle 100 can also be detected by using it. Further, as the inclination sensor 106, for example, there is a steering angle sensor, and the steering angle sensor is disposed on the steering wheel 112 which is a grip portion of the driver, and the vehicle is also used by using the steering angle detected from the steering angle sensor. An inclination of 100 can be detected. In addition, even if the road surface on which the vehicle 100 is traveling is a horizontal road surface as shown in FIG. 1, FIG. 2A, and FIG. 2B, the inclination sensor 106 is a road surface having an inclination of uphill and downhill. The inclination with respect to the vertical direction of the vehicle 100 can be detected.

  The inclination sensor 106 generates a state signal (inclination signal 118) including the detected inclination and transmits it to the vehicle controller 114. The vehicle controller 114 receives the status signal (tilt signal 118) to determine the direction of tilt of the vehicle 100, corrects the tilt of the vehicle 100, and returns the posture in the vertical direction to the status signal (tilt signal 118). Perform arithmetic processing. The first motor driver 115 and the second motor driver 116 respectively select a position between the battery 109 and the first motor 104 and the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114. Control the power supply. The output of the first motor 104 and the output of the second motor 105 are respectively controlled by the first motor driver 115 and the second motor driver 116 based on the control signal 121 transmitted from the vehicle body controller 114 to the battery 109. The power supply between the and the first motor 104 and the second motor 105 is controlled so that they can be controlled independently of each other. The output of the first motor 104 and the output of the second motor 105, which are controlled independently of each other, respectively control the rotational force of the first wheel 101 and the rotational force of the second wheel 102 independently of each other Thus, the inclination of the vehicle 100 is corrected to return the posture in the vertical direction. In this case, the first motor 104 and the second motor 105 can increase the rotational force of the wheel located on the same side of the inclination of the pair of wheels, or the opposite side to the inclination It is possible to reduce the rotational force of the wheels located at

  The operating force sensor 107 of the sensor group is operated by the electric power from the battery 109 and detects an operating force for propelling the vehicle 100 by the driver of the vehicle 100. When the vehicle 100 is a bicycle, the actuation force sensor 107 is a torque sensor. As shown in FIG. 1, a torque sensor is disposed on a shaft connecting a pair of left and right pedals 110, and the driver of the vehicle 100 detects the torque of the rotating shaft by stepping on the pedal 110, Detects the pedal force that is the power. The operating force sensor 107 may be any sensor that can detect the operating force applied by the driver of the vehicle 100.

  The actuating force sensor 107 generates a state signal (actuating force signal 119) including the detected actuating force and transmits it to the vehicle controller 114. The vehicle controller 114 receives the state signal (tilt signal 118, actuation force signal 119), corrects the tilt of the vehicle 100, and returns the posture in the vertical direction (state signal 118, actuation force signal 119). Process the The first motor driver 115 and the second motor driver 116 respectively select a position between the battery 109 and the first motor 104 and the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114. The power supply is controlled and power is supplied from the battery 109 to the first motor 104 and the second motor 105, or power is supplied from the first motor 104 and the second motor 105 to the battery 109. The output of the first motor 104 whose power supply is controlled and the output of the second motor 105 are controlled independently from each other as described above, and the rotational force of the first wheel 101 and that of the second wheel 102 are controlled. The rotational forces are controlled independently of each other to correct the inclination of the vehicle 100 and return the posture in the vertical direction.

  The speed sensor 108 of the sensor group is operated by the power from the battery 109, and is disposed on the third wheel 103 which is a rear wheel as shown in FIG. 1, and the speed of the vehicle 100 is calculated from the rotational speed of the third wheel 103. Detect The speed sensor 108 may be any sensor as long as it can detect the speed of the vehicle 100. Also, the speed sensor 108 may be disposed on either the first wheel 101 or the second wheel 102.

  The speed sensor 108 generates a state signal (speed signal 120) including the detected speed and transmits it to the vehicle controller 114. The vehicle controller 114 receives the status signals (the tilt signal 118, the actuation force signal 119, the velocity signal 120), corrects the tilt and returns the posture in the vertical direction, and the status signals (the tilt signal 118, the actuation force signal 119). , Speed signal 120). The first motor driver 115 and the second motor driver 116 respectively select a position between the battery 109 and the first motor 104 and the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114. The power supply is controlled and power is supplied from the battery 109 to the first motor 104 and the second motor 105, or power is supplied from the first motor 104 and the second motor 105 to the battery 109. The output of the first motor 104 whose power supply is controlled and the output of the second motor 105 are controlled independently from each other as described above, and the rotational force of the first wheel 101 and that of the second wheel 102 are controlled. The rotational forces are controlled independently of each other to correct the inclination of the vehicle 100 and return the posture in the vertical direction.

  In detail, when the vehicle 100 shakes and the tilt is detected by the tilt sensor 106, the vehicle body controller 114 can control at least one of the first motor 104 and the second motor 105. The first motor driver 115 and the second motor driver 116 respectively operate the battery 109 based on the control signal 121 transmitted from the vehicle body controller 114. By supplying power from the battery 109 to the first motor 104 and the second motor 105 by controlling power supply between the first motor 104 and the second motor 105, or The power is supplied from the first motor 104 and the second motor 105 to the battery 109 to compensate for the tilt. To return the posture in a vertical direction with. The first motor 104 and the second motor 105 control the amount of torque required for the first wheel 101 and the second wheel 102 and the time for applying the torque, respectively. The rotational torque can be applied to the wheel 101 and the second wheel 102 independently of each other. Of the "providing rotational torque", "providing positive rotational torque" refers to applying torque in the same direction to the rotation of the wheel in the direction of travel of the vehicle 100 to increase the rotational force of the wheel "To apply reverse torque" means to apply torque in the direction opposite to the rotation of the wheel in the direction of travel of the vehicle 100 to reduce the torque of the wheel. Even when the rotational speed of the wheel is zero, the motor can apply rotational torque to the wheel.

  Specifically, as shown in FIG. 2B, when the vehicle is inclined to the left as viewed from the driver (inclination angle θ in FIG. 2B), the inclination sensor 106 detects that the vehicle 100 is inclined to the left Transmits the status signal (tilt signal 118) based on the detection (tilt on the left side), and the vehicle controller 114 processes the status signal (tilt signal 118) based on the tilt on the left side, and the second motor driver 116 Supplies power from the battery 109 to the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114, and the second motor 105 applies positive rotational torque to the second wheel 102 on the left side. By increasing the rotational force of the second wheel 102, or alternatively, the first motor driver 115 can operate the battery based on the control signal 121 transmitted from the vehicle controller 114. By supplying power from the power source 109 to the first motor 104, the first motor 104 applies a reverse torque to the first wheel 101 on the right side to reduce the torque of the first wheel 101. The rotational force of each of the wheel 101 and the second wheel 102 is controlled independently of each other to correct the inclination to the left and return the posture in the vertical direction (inclination angle 0 in FIG. 2A) ). When the reverse torque is applied to the first wheel 101 to reduce its torque, the first motor driver 115 operates the first motor 104 as a generator to generate the first wheel. The electric power may be supplied from the first motor 104 to the battery 109 by regenerative braking 101. In addition, when the driver leans to the right when viewed from the driver, the tilt sensor 106 detects that the vehicle 100 is tilted to the right, and the state signal (tilt signal 118) based on the detection (right tilt) Is transmitted from the battery 109 based on the control signal 121 transmitted from the vehicle controller 114 by the first motor driver 115 based on the control signal 121 transmitted from the vehicle controller 114. By supplying power to the first motor 104 and applying a positive rotational torque to the first wheel 101 on the right side to increase the torque of the first wheel, or The motor driver 116 supplies power from the battery 109 to the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114, and the second The rotation of each of the first wheel 101 and the second wheel 102 is achieved by the torque 105 applying reverse torque to the second wheel 102 on the left side to reduce the torque of the second wheel 102. The forces are controlled independently of each other to correct the tilt to the right and return the attitude in the vertical direction. When reverse torque is applied to the second wheel 102 to reduce the torque, the second motor 105 is operated as a generator by the second motor driver 116 to regenerate the second wheel 102. The second motor 105 may supply power to the battery 109 by braking.

  In the case where reverse torque is applied to the wheel, the motor may be operated as an electric motor if it is necessary to greatly reduce the rotational force of the wheel in a short time. For example, in the inclination correction of the vehicle 100 when the vehicle 100 is inclined leftward, the inclination correction of the vehicle 100 can catch up even if the first motor 104 is operated as a generator to regeneratively brake the first wheel 101. If not, the first motor 104 is operated as a motor so that the first motor 104 can apply a large reverse rotational torque to the first wheel 101 to increase the rotational force of the first wheel 101. It may be reduced. As described above, when the reverse rotation torque is applied to the wheels, the motor is operated as a generator or a motor, or as a generator and then as a motor, etc. You can choose the method.

  In the case where the vehicle 100 is a bicycle with a power assist, the first motor 104 may be determined according to the speed of the vehicle 100, since the range that can be assisted by the speed of the vehicle 100 may be determined by law. And the method of controlling the second motor 105 may be different. When the speed of the vehicle 100 detected by the speed sensor 108 is equal to or higher than a predetermined speed (for example, 24 km / h), assist can not be performed. In order to reduce the torque of the located wheel, the motor corrects its tilt by applying a counter-rotating torque to the wheel.

  Specifically, when the speed of the vehicle 100 is equal to or higher than a predetermined speed, when the vehicle 100 is inclined to the right, the inclination sensor 106 and the speed sensor 108 incline the vehicle 100 to the right. And detects that the vehicle 100 is at a predetermined speed or higher, and transmits a state signal (tilt signal 118, speed signal 120) based on the detection, and the vehicle controller 114 generates a state signal based on the right The second motor driver 116 processes the tilt signal 118) and the state signal (speed signal 120) based on the speed, and based on the control signal 121 transmitted from the vehicle body controller 114, the battery 109 to the second motor 105 Power is supplied, and the second motor 105 applies a reverse torque to the left second wheel 102 to reduce the torque of the second wheel 102. By, to return the posture in a vertical direction to correct the inclination in the right. In this case, although the first motor 104 and the second motor 105 both apply reverse rotational torque to the first wheel 101 and the second wheel 102, respectively, the reverse rotational torque of the second motor 105 The inclination to the right may be corrected so as to be larger than the reverse rotation torque of the first motor 104. Further, when the vehicle 100 is inclined to the left, the inclination sensor 106 and the speed sensor 108 detect that the vehicle 100 is inclined to the left and that the vehicle 100 is equal to or higher than a predetermined speed. , The state signal (tilt signal 118, speed signal 120) based on the detection, and the vehicle controller 114 controls the state signal (tilt signal 118) based on the left side tilt, and the state signal (speed signal 120) based on the speed. The first motor driver 115 supplies electric power from the battery 109 to the first motor 104 based on the control signal 121 transmitted from the vehicle body controller 114, and the first motor 104 is the first wheel on the right side. By applying a reverse rotation torque to 101 to reduce the torque of the first wheel 101, the inclination to the left is corrected and the attitude in the vertical direction is corrected. Back so as to. In this case, although the first motor 104 and the second motor 105 both apply reverse rotational torque to the first wheel 101 and the second wheel 102, respectively, the reverse rotational torque of the first motor 104 The inclination to the right may be corrected so as to be larger than the reverse rotation torque of the second motor 105.

  In addition, as in the case where the vehicle 100 is moving uphill or downhill, the inclination sensor 106 and the speed sensor 108 detect the front and back inclination of the vehicle 100 with respect to the vertical direction. , And when detecting that the speed of the vehicle 100 is decreasing or increasing, the vehicle controller 114 transmits a status signal (tilt signal 118, speed signal 120) based on the detection. The first motor driver 115 and the second motor driver 116 respectively operate on the vehicle body by processing the state signal (tilt signal 118) based on the back and forth tilt and the state signal (speed signal 120) based on the speed to be increased or decreased. Power supply between the battery 109 and the first motor 104 and the second motor 105 based on the control signal 121 transmitted from the controller 114 The first motor 104 and the second motor 105 apply positive rotational torque to the first wheel 101 and the second wheel 102, respectively, when the speed of the vehicle 100 is decreasing. The torque of the vehicle 100 can be increased to increase the speed of the vehicle 100, and when the speed of the vehicle 100 is increased, the first motor 104 and the second motor 105 can each perform the first operation. The reverse rotation torque may be applied to the wheel 101 and the second wheel 102 to reduce the rotational force of the wheel 102 to reduce the speed of the vehicle 100.

  Usually, the first motor 104 and the second motor 105 operate as electric motors, respectively, so that electric energy (electric power) supplied from the battery 109 can be converted into kinetic energy (traveling energy of the vehicle 100). , And controls the first wheel 101 and the second wheel 102, but the first motor 104 and the second motor 105 can each operate as a generator. The first motor 104 and the second motor 105 operating as a generator respectively generate the first wheel 101 and the second wheel by regeneratively braking the first wheel 101 and the second wheel 102, respectively. While giving a reverse rotation torque to 102 and reducing its rotational force, kinetic energy (traveling energy of the vehicle 100) can be converted into electrical energy (electric power) and recovered to the battery 109. For example, when it is determined that the inclination direction is the right side and the speed of the vehicle 100 is equal to or higher than the predetermined value, the second motor driver 116 performs the second based on the control signal 121 transmitted from the vehicle controller 114. The second motor 105 applies reverse rotational torque to the second wheel 102 by regeneratively braking the second wheel 102 on the left side to rotate the second wheel 102. While reducing the power, the traveling energy of the vehicle 100 is converted into electric power, and a current flows from the second motor 105 to the battery 109 to return (supply) the power from the second motor 105 to the battery 109 It may be possible to recover the traveling energy of the vehicle 100.

  In the case where the vehicle 100 is a bicycle with an electric assist, the driver can assist when the driver of the vehicle 100 applies a pedal depression force that is an actuation force, so the first motor 104 according to the actuation force The method of controlling the second motor 105 may be different. When the operating force is detected by the operating force sensor 107 when the speed of the vehicle 100 is lower than the predetermined speed by the speed sensor 108, assist can be performed. The torque of the wheels located on the same side is controlled, and the inclination of the wheels is corrected by applying positive torque to the wheels.

  Specifically, when the speed of the vehicle 100 is less than a predetermined speed and the actuation force is detected, the inclination sensor 106 and the actuation force sensor when the vehicle 100 is inclined to the right. 107 and the speed sensor 108 detect that the vehicle 100 is inclined to the right, that there is an actuating force by the driver, and that the vehicle 100 is less than a predetermined speed, and a status signal based on the detection ( The tilt signal 118, the actuation force signal 119, the velocity signal 120) is transmitted, and the vehicle body controller 114 generates a status signal based on the rightward tilt (tilt signal 118), an actuation force-based status signal (actuation signal 119), and the velocity The first motor driver 115 executes a process based on the control signal 121 transmitted from the vehicle body controller 114. The electric power supply between the power source 109 and the first motor 104 is controlled, and the first motor 104 applies a positive rotational torque to the first wheel 101 on the right side to increase the torque of the first wheel 101. By doing this, the inclination to the right is corrected to return the posture in the vertical direction. In this case, although the first motor 104 and the second motor 105 both give positive rotational torque to the first wheel 101 and the second wheel 102, respectively, the positive rotational torque of the first motor 104 The inclination to the right may be corrected so as to be larger than the positive rotation torque of the second motor 105. When the vehicle 100 is inclined to the left, the inclination sensor 106, the operating force sensor 107, and the speed sensor 108 indicate that the vehicle 100 is inclined to the left, and the operating force by the driver is present. And detects that the vehicle 100 is below the predetermined speed, and transmits a state signal (tilt signal 118, actuation force signal 119, speed signal 120) based on the detection, and the vehicle controller 114 determines the state based on the left side tilt The second motor driver 116 is transmitted from the vehicle controller 114 by processing the signal (inclination signal 118), the operating force-based status signal (operating force signal 119), and the velocity-based status signal (speed signal 120). The power supply between the battery 109 and the second motor 105 is controlled based on the control signal 121, and the second motor 105 is the second wheel on the left side. By increasing the rotational force of the second wheel 102 giving a positive rotational torque to the 02, to return the posture in a vertical direction to correct the inclination in the left side. In this case, although the first motor 104 and the second motor 105 both apply positive rotational torque to the first wheel 101 and the second wheel 102, respectively, the positive rotational torque of the second motor 105 The inclination to the left may be corrected so as to be larger than the positive rotation torque of the first motor 104.

  In this case, power is supplied from the battery 109 to the motor giving positive rotational torque. For example, in the case where the inclination direction is the right side and the speed of the vehicle 100 is less than the predetermined value and there is an operating force, the vehicle body controller 114 is used to increase the rotational force of the first wheel 101 on the right side. Based on the transmitted control signal 121, the first motor driver 115 causes the battery 109 to increase the rotational force of the first wheel 101, that is, a current flows to the first motor 104, and the first motor driver 115 Power to the first motor 104 so as to apply a positive rotational torque to the first wheel 101.

  When the speed of the vehicle 100 is less than the predetermined speed by the speed sensor 108, assist can not be performed when the actuating force is not detected by the actuating force sensor 107, and therefore the inclination detected by the inclination sensor 106 is A motor that controls the rotational force of the oppositely located wheel corrects its inclination by applying a reverse rotational torque to the wheel. A specific method of inclination correction is the same as the method in the case where the speed of the vehicle 100 is equal to or higher than a predetermined speed.

  In this case, a motor that applies a reverse rotation torque to the wheels is operated as a generator to regeneratively brake the wheels, whereby the running energy of the vehicle 100 is recovered by the motor and sent to the battery 109. Power may be returned (supplied). For example, when it is determined that the inclination direction is the right side and the speed of the vehicle 100 is less than the predetermined value and there is no actuation force, the second motor driver 116 transmits the control signal transmitted from the vehicle body controller 114. 121. Based on 121, the motor that decreases the rotational force of the second wheel 102 on the left side, that is, the travel energy of the vehicle 100 by operating the second motor 105 as a generator and regeneratively braking the second wheel. The second motor 105 operates as a generator while allowing current to flow from the second motor 105 to the battery 109 to return (supply) power from the second motor 105 to the battery 109. 105 may apply reverse torque to the second wheel 102.

  In addition, when the inclination is not detected by the inclination sensor 106 and the vehicle 100 is not shaken, the speed of the vehicle 100 detected by the speed sensor 108 is less than a predetermined speed and the actuating force by the actuating force sensor 107 is Since the vehicle controller 114 can assist when detected, the vehicle controller 114 performs arithmetic processing of the state signals (the inclination signal 118, the actuation force signal 119, the velocity signal 120), and the first motor driver 115 and the second motor driver 115 The motor driver 116 controls the power supplied from the battery 109 based on the control signal 121 transmitted from the vehicle body controller 114, and supplies power to the first motor 104 and the second motor 105, respectively. By controlling the output of the first motor 104 and the output of the second motor 105 independently of each other The first motor 104 and the second motor 105 give positive rotational torque to the first wheel 101 and the second wheel 102, respectively, and the first wheel 101 and the second wheel The torque of 102 is increased.

  Even when the driver starts driving the vehicle 100, the posture of the vehicle 100 tends to be unstable. Therefore, at the start of driving of the vehicle 100 by the driver, the first motor 104 and the second motor 105 minutely apply rotational torque to the first wheel 101 and the second wheel 102, respectively. The posture of the vehicle 100 may be stabilized. In this case, it is determined whether the driving start time of the vehicle 100 is started by using the actuating force sensor 107 and the speed sensor 108, and if the inclination is detected by the inclination sensor 106, the detection is performed. The first motor 104 and the second motor 105 may minutely apply rotational torque to the first wheel 101 and the second wheel 102, respectively.

  Specifically, when the vehicle 100 is stopped and the driver does not apply the operating force, the inclination sensor 106, the operating force sensor 107, and the vehicle 100 are inclined to the right. The speed sensor 108 detects that the vehicle 100 is inclined to the right, that there is no actuating force by the driver, and that the vehicle 100 is stopped, and the state signal (inclination signal 118 based on the detection). , An actuating force signal 119, a velocity signal 120), and the vehicle body controller 114 generates a condition signal based on the right inclination (inclination signal 118), an actuating force based condition signal (actuating force signal 119), and a condition based on the velocity. The signal (speed signal 120) is arithmetically processed to determine that it is at the start of driving of the vehicle 100, and the first motor driver 115 and the second motor driver 116 respectively determine it. It is, based on the control signal 121 transmitted from the vehicle body controller 114 controls the electric power supplied from the battery 109 supplies power to the first motor 104, and the second motor 105. Then, the first motor 104 that controls the rotational force of the first wheel 101 on the right side gives positive rotation torque minutely to the first wheel 101, and the first wheel 101 is the same as the traveling direction of the vehicle 100. The second motor 105, which slightly rotates with respect to the direction and controls the rotational force of the left second wheel 102, minutely applies reverse rotational torque to the second wheel 102, and the second wheel 102 is rotated. By slightly rotating the vehicle 100 in the direction opposite to the traveling direction, the inclination to the right is corrected to return the posture in the vertical direction. In this case, which of the first motor 104 and the second motor 102 applies a small amount of positive rotation torque to the first wheel 101 or the second wheel 102, whichever, Either control may be used. When the vehicle 100 is inclined to the left, the inclination sensor 106, the actuating force sensor 107, and the speed sensor 108 indicate that the vehicle 100 is inclined to the left, and there is no actuating force by the driver. And detects that the vehicle 100 has stopped, and transmits a state signal (inclination signal 118, actuation force signal 119, speed signal 120) based on the detection, and the vehicle controller 114 performs a state based on the left inclination. The signal (tilt signal 118), the operating force-based status signal (operating force signal 119), and the speed-based status signal (speed signal 120) are arithmetically processed to determine that it is at the start of driving of the vehicle 100, The first motor driver 115 and the second motor driver 116 respectively operate the battery 10 based on the control signal 121 transmitted from the vehicle body controller 114. By controlling the power supplied from the supply power to the first motor 104, and the second motor 105. Then, the second motor 105 for controlling the rotational force of the left second wheel 102 minutely imparts a positive rotational torque to the second wheel 102 to make the second wheel 102 the same as the traveling direction of the vehicle 100. The first motor 104 that slightly rotates in the direction and controls the torque of the first right wheel 101 applies minute reverse torque to the first wheel 101 to control the first wheel 101. By slightly rotating the vehicle 100 in the direction opposite to the traveling direction, the inclination to the left is corrected to return the posture in the vertical direction. In this case, which of the second motor 105 gives a slight positive rotational torque to the second wheel 102 or the first motor 104 gives a slight reverse rotational torque to the first wheel 101 Either control may be used. When the vehicle 100 is a bicycle, a sensor such as a load cell is further installed under the saddle 111, and it is determined whether the driver gets in the vehicle 100 based on detection of a load by the sensor such as the load cell, ie If it is determined whether or not the vehicle 100 starts driving, and if the inclination is detected by the inclination sensor 106, the first motor 104 and the second motor 105 each perform the first operation as described above. A small amount of rotational torque may be given to one wheel 101 and the second wheel 102.

  Subsequently, the driver is constituted by a pair of wheels having at least one of the front wheel portion and the rear wheel portion is a first wheel 101 on the right side and a second wheel 102 on the left side. A method of controlling the vehicle 100 that can be propelled by the actuation force of the vehicle will be described. The method includes the steps of detecting the state of the vehicle 100 and controlling the rotational forces of the pair of wheels 101 and 102 independently of each other in response to the detection.

  A method of controlling a vehicle 100 comprising a pair of motors, comprising a first motor 104 on the right and a second motor 105 on the left, arranged on each of a pair of wheels is shown in FIG. This will be described in detail using a flowchart. In STEP 100, the detection results of the inclination sensor 106, the actuating force sensor 107, and the speed sensor 108 provided in the vehicle 100 are read. Next, in STEP 101, the presence or absence of the inclination of the vehicle 100 is determined based on the detection result from the inclination sensor 106. If it is determined that there is no inclination, it is determined in STEP 102 whether the speed of the vehicle 100 is higher or lower than a predetermined speed based on the detection result from the speed sensor 108. If it is determined that the speed is low, then in STEP 103, the presence or absence of the actuating force by the driver is determined from the detection result from the actuating force sensor 107. If it is determined that there is an operating force, in STEP 104, the right motor and the left motor respectively apply positive rotational torque to the right wheel and the left wheel.

  If it is determined in STEP 101 that there is a slope, it is determined in STEP 105 whether the vehicle 100 is at the start of driving. Whether or not to start driving may be determined based on the detection results of the actuating force sensor 107 and the speed sensor 108.

  If it is determined in STEP 105 that the driving start time has not come, the inclination direction of the vehicle 100 is determined in STEP 106. Even when the vehicle 100 turns left or right, the vehicle 100 inclines with respect to the vertical direction, but if it is determined that it is not a flutter but a left or right turn, steps 107 to 116 shown later will be performed. Steps are set to not take place.

  If it is determined in STEP 106 that the inclination is on the left side, the inclination to the left is corrected to return the posture in the vertical direction, but the motor on the right side and the motor on the left side are The control method of the motor is different. In STEP 107, it is determined whether the speed of the vehicle 100 is higher or lower than a predetermined speed according to the detection result from the speed sensor 108. If it is determined that the speed is higher, in STEP 108, the right motor is the right wheel. On the other hand, the inclination to the left is corrected by applying a reverse rotation torque to reduce the torque of the right wheel. In this case, although the right motor and the left motor both apply reverse rotation torque to the right wheel and the left wheel, respectively, the reverse rotation torque of the right motor is higher than the reverse rotation torque of the left motor. The inclination to the left may be corrected by increasing the size. When the reverse rotation torque is applied, the motor may be operated as a generator to regeneratively brake the wheels. If it is determined in STEP 107 that the speed is low, then in STEP 109, the presence or absence of the actuating force by the driver is determined based on the detection result from the actuating force sensor 107. If it is determined that there is no operating force, the right motor corrects the inclination to the left by reducing torque of the right wheel by applying reverse torque to the right wheel in STEP 110. . In this case, although the right motor and the left motor both apply reverse rotation torque to the right wheel and the left wheel, respectively, the reverse rotation torque of the right motor is higher than the reverse rotation torque of the left motor. The inclination to the left may be corrected by increasing the size. When the reverse rotation torque is applied, the motor may be operated as a generator to regeneratively brake the wheels. The left motor may minutely apply positive rotational torque to the left wheel to slightly increase the rotational force of the left wheel. When it is determined in STEP 109 that there is an operating force, in STEP 111, the motor on the left applies positive rotational torque to the wheel on the left to increase the torque of the wheel on the left, Correct the tilt. In this case, although the right motor and the left motor both apply positive rotational torque to the right wheel and the left wheel, respectively, the positive rotational torque of the left motor is higher than the positive rotational torque of the right motor. The inclination to the left may be corrected by increasing the size.

  If it is determined in STEP 106 that the inclination is on the right, the inclination to the right is corrected to return the attitude in the vertical direction, but the motor on the right and the left are The control method of the motor is different. In STEP 112, it is determined from the detection result from the speed sensor 108 whether the speed of the vehicle 100 is higher or lower than a predetermined speed, and if it is determined that the speed is higher, in STEP 113, the left motor is the left wheel. On the other hand, the rightward tilt is corrected by applying a reverse torque to reduce the torque of the left wheel. In this case, although the right motor and the left motor both apply reverse rotation torque to the right wheel and the left wheel, respectively, the reverse rotation torque of the left motor is higher than the reverse rotation torque of the right motor. The inclination to the right may be corrected by increasing the size. When the reverse rotation torque is applied, the motor may be operated as a generator to regeneratively brake the wheels. When it is determined in STEP112 that the speed is low, in STEP114, the presence or absence of the actuating force by the driver is determined based on the detection result from the actuating force sensor 107. If it is determined that there is no operating force, the motor on the left side applies reverse torque to the wheel on the left side in STEP 115 to reduce the torque of the wheel on the left side, thereby correcting inclination to the right side. . In this case, although the right motor and the left motor both apply reverse rotation torque to the right wheel and the left wheel, respectively, the reverse rotation torque of the left motor is higher than the reverse rotation torque of the right motor. The inclination to the right may be corrected by increasing the size. When the reverse rotation torque is applied, the motor may be operated as a generator to regeneratively brake the wheels. In addition, the motor on the right side may minutely apply positive rotational torque to the wheel on the right side to minutely increase the rotational force on the wheel on the right side. When it is determined in STEP 114 that there is an actuating force, in STEP 116, the motor on the right applies positive torque to the wheels on the right to increase the torque of the wheels on the right. Correct the tilt. In this case, although the right motor and the left motor both apply positive rotation torque to the right wheel and the left wheel, respectively, the positive rotation torque of the right motor is higher than the positive rotation torque of the left motor. The inclination to the right may be corrected by increasing the size.

  If it is determined in STEP 105 that the vehicle 100 is at the start of driving, in STEP 117, the inclination direction of the vehicle 100 is determined. When it is determined in STEP 117 that the inclination is on the left side, in STEP 118, the motor on the right applies minutely reverse torque to the wheels on the right, and the wheels on the right are reverse to the traveling direction of the vehicle 100. The motor on the left is slightly rotated with respect to the direction, and / or the motor on the left is slightly applied positive torque to the wheel on the left to rotate the wheel on the left in the same direction as the traveling direction of the vehicle 100 By doing this, the inclination to the left is corrected and the attitude is returned in the vertical direction. When it is determined in STEP 117 that the inclination is on the right, in STEP 119, the motor on the left applies minutely reverse torque to the wheels on the left, and the wheels on the left are the traveling direction of the vehicle 100. The motor on the right is slightly rotated in the reverse direction, and / or the motor on the right applies a small amount of positive torque to the wheel on the right, and the wheel on the right is minute on the same direction as the traveling direction of the vehicle 100 By rotating to the right, the inclination to the right is corrected to return the posture in the vertical direction.

  In addition to a bicycle having three or more wheels, a vehicle in which at least one of the front wheel portion and the rear wheel portion is composed of a pair of left and right wheels and which can be propelled by rotating the wheels by the driver's operating force Wheelchairs, handcarts, etc. are included.

  Although the above description has been made for a specific embodiment, it will be apparent to those skilled in the art that the present invention is not limited thereto and that various changes and modifications can be made within the principles of the present invention and the appended claims. is there.

Reference Signs List 100 vehicle 101 first wheel 102 second wheel 103 third wheel 104 first motor 105 second motor 106 inclination sensor 107 actuation force sensor 108 speed sensor 109 battery 110 pedal 111 saddle 112 steering wheel 113 link mechanism 114 vehicle body Controller 115 First motor driver 116 Second motor driver 117 Control device 118 Tilt signal 119 Actuation force signal 120 Speed signal 121 Control signal

Claims (13)

A vehicle in which at least one of a front wheel portion and a rear wheel portion is constituted by a pair of left and right wheels and which can be propelled by a driver's operating force,
A vehicle that detects a state of the vehicle and can control rotational forces of the pair of wheels independently of each other in response to the detection. With the battery,
A pair of motors connected to the battery and comprising a motor for controlling the rotational force of one of the pair of wheels, and a motor for controlling the rotational force of the other of the pair of wheels ,
A sensor that detects the state and transmits a state signal based on the detection;
A vehicle controller for transmitting a control signal for controlling the pair of motors by arithmetic processing of the state signal;
And a motor driver that controls power supply between the battery and the pair of motors based on the control signal transmitted from the vehicle controller.
The vehicle according to claim 1, wherein the output of each of the pair of motors is controlled independently of each other by the motor driver so that the rotational force of each of the pair of wheels can be controlled independently of each other.   The sensor includes an inclination sensor for detecting an inclination relative to the vertical direction of the vehicle, and the vehicle body controller processes the control signal transmitted from the sensor to correct the control state. The vehicle according to claim 2, which is capable of transmission.   The sensor further includes an operating force sensor for detecting an operating force by a driver of the vehicle, and the vehicle controller performs arithmetic processing of the state signal transmitted from the sensor to correct the state. A vehicle according to claim 3, adapted to transmit control signals.   The sensor may further include a speed sensor for detecting the speed of the vehicle, and the vehicle controller may transmit the control signal by arithmetically processing the state signal transmitted from the sensor to correct the state. The vehicle according to claim 3 or 4, which is configured as follows.   At least one of the pair of motors has the function of a generator, at least one of the pair of motors can apply reverse rotation torque to its wheels, and the function of the generator The vehicle according to any one of claims 2 to 5, wherein the traveling energy of the vehicle can be recovered and power can be supplied to the battery via the motor driver. A control device for use in a vehicle, wherein at least one of a front wheel portion and a rear wheel portion is composed of a pair of left and right wheels, which can be propelled by a driver's operating force,
A control device configured to detect a state of the vehicle and to control rotational forces of the pair of wheels independently of each other in response to the detection. With the battery,
A pair of motors connected to the battery and comprising a motor for controlling the rotational force of one of the pair of wheels, and a motor for controlling the rotational force of the other of the pair of wheels ,
A sensor that detects the state and transmits a state signal based on the detection;
A vehicle controller for transmitting a control signal for controlling the pair of motors by arithmetic processing of the state signal;
The control device according to claim 7, further comprising: a motor driver that controls power supply between the battery and the pair of motors based on the control signal transmitted from the vehicle body controller.   The control device according to claim 8, wherein said motor driver can control the output of each of said pair of motors independently of each other so as to control the rotational force of each of said pair of wheels independently of each other. .   The sensor may include an inclination sensor for detecting an inclination of the vehicle with respect to the vertical direction, and the vehicle controller may transmit a control signal by processing the state signal transmitted from the sensor so as to correct the state. The control device according to claim 8 or 9, which is configured as follows.   The sensor further includes an operating force sensor for detecting an operating force by a driver of the vehicle, and the vehicle controller performs arithmetic processing of the state signal transmitted from the sensor to correct the state. The control device according to claim 10, wherein the control signal can be transmitted.   The sensor may further include a speed sensor for detecting the speed of the vehicle, and the vehicle controller may transmit the control signal by arithmetically processing the state signal transmitted from the sensor to correct the state. The control device according to claim 10 or 11, which is configured as follows.   At least one of the pair of motors has the function of a generator, at least one of the pair of motors can apply reverse rotation torque to its wheels, and the function of the generator The control device according to any one of claims 8 to 12, wherein the traveling energy of the vehicle can be recovered and power can be supplied to the battery via the motor driver.

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