WO2009048004A1 - 車両 - Google Patents

車両 Download PDF

Info

Publication number
WO2009048004A1
WO2009048004A1 PCT/JP2008/067789 JP2008067789W WO2009048004A1 WO 2009048004 A1 WO2009048004 A1 WO 2009048004A1 JP 2008067789 W JP2008067789 W JP 2008067789W WO 2009048004 A1 WO2009048004 A1 WO 2009048004A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
weight portion
active weight
posture
controlling
Prior art date
Application number
PCT/JP2008/067789
Other languages
English (en)
French (fr)
Inventor
Naoki Gorai
Original Assignee
Equos Research Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Equos Research Co., Ltd. filed Critical Equos Research Co., Ltd.
Priority to US12/682,736 priority Critical patent/US8504282B2/en
Priority to CN2008801112986A priority patent/CN101821155B/zh
Publication of WO2009048004A1 publication Critical patent/WO2009048004A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

　坂道で車両（１０）が停止する場合には、制動装置を作動させて駆動輪（１２）の回転を停止させ駆動輪（１２）にトルクをかけない状態とし、能動重量部（１４）を移動させて車体（１１）の姿勢を制御することによって、多量のエネルギを消費することなく、車両（１０）の安定した停止状態を実現することができるようにする。そのため、回転可能に車体（１１）に取り付けられた駆動輪（１２）と、前記車体（１１）に対して移動可能に取り付けられた能動重量部（１４）と、前記駆動輪（１２）に付与する駆動トルクと前記能動重量部（１４）の位置とのうちの少なくとも１つを制御して前記車体（１１）の姿勢を制御する車両制御装置とを有し、該車両制御装置は、坂道で停車している場合、前記能動重量部（１４）の位置のみを制御して前記車体（１１）の姿勢を制御する。
PCT/JP2008/067789 2007-10-12 2008-10-01 車両 WO2009048004A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/682,736 US8504282B2 (en) 2007-10-12 2008-10-01 Vehicle
CN2008801112986A CN101821155B (zh) 2007-10-12 2008-10-01 车辆

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007266010A JP5115133B2 (ja) 2007-10-12 2007-10-12 車両
JP2007-266010 2007-10-12

Publications (1)

Publication Number Publication Date
WO2009048004A1 true WO2009048004A1 (ja) 2009-04-16

Family

ID=40549149

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/067789 WO2009048004A1 (ja) 2007-10-12 2008-10-01 車両

Country Status (4)

Country Link
US (1) US8504282B2 (ja)
JP (1) JP5115133B2 (ja)
CN (1) CN101821155B (ja)
WO (1) WO2009048004A1 (ja)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4735598B2 (ja) * 2007-04-27 2011-07-27 トヨタ自動車株式会社 倒立車輪型移動体、及びその制御方法
CN101568465B (zh) * 2007-08-28 2011-05-11 松下电器产业株式会社 倒立双轮式搬运车及其控制方法
WO2009084384A1 (ja) * 2007-12-27 2009-07-09 Equos Research Co., Ltd. 車両
US8522902B2 (en) * 2009-09-18 2013-09-03 Honda Motor Co., Ltd. Inverted pendulum type vehicle
US9027681B2 (en) 2009-12-04 2015-05-12 Massachusetts Institute Of Technology Hybrid sensor-enabled electric wheel and associated systems, multi-hub wheel spoking systems, and methods of manufacturing and installing wheel spokes
EP2539216B1 (en) * 2010-02-26 2015-09-02 Segway Inc. Apparatus and method for control of a vehicle
KR101079755B1 (ko) 2010-06-14 2011-11-03 김준형 핸즈프리형 전동스쿠터
JP2012126224A (ja) * 2010-12-15 2012-07-05 Bosch Corp 倒立振子型移動体
DE112013004517T5 (de) * 2012-09-18 2015-06-03 Murata Manufacturing Co., Ltd. Beweglicher Körper
JP6032119B2 (ja) * 2013-05-07 2016-11-24 トヨタ自動車株式会社 倒立移動体及びその制御方法
US10005317B2 (en) 2014-04-04 2018-06-26 Superpedestrian, Inc. Devices and methods of thermal management for a motorized wheel
US10308065B2 (en) 2014-04-04 2019-06-04 Superpedestrian, Inc. Devices and methods for connecting a spoke to a hub
WO2015154046A1 (en) 2014-04-04 2015-10-08 Superpedestrian, Inc. Systems, methods, and devices for the operation of electrically motorized vehicles
KR101601104B1 (ko) * 2014-09-22 2016-03-08 현대자동차주식회사 G센서를 이용한 도로 구배 연산 장치 및 방법
CN111216558A (zh) 2014-11-24 2020-06-02 极步公司 机动车轮的设备和方法
CN105116817A (zh) * 2015-06-26 2015-12-02 小米科技有限责任公司 平衡车管理方法及装置
WO2021022473A1 (zh) * 2019-08-06 2021-02-11 深圳市大疆创新科技有限公司 控制方法、控制设备、可移动平台以及存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0415713A (ja) * 1990-05-01 1992-01-21 Komatsu Ltd 平行２輪車の姿勢制御方法
JPH09130909A (ja) * 1995-10-31 1997-05-16 Sanyo Electric Co Ltd 電気自動車の駆動制御装置
JPH11143540A (ja) * 1997-11-05 1999-05-28 Mazda Motor Corp 搬送車の制御装置
JP2004345030A (ja) * 2003-05-22 2004-12-09 Toyota Motor Corp 倒立振子型台車ロボット
WO2006095823A1 (ja) * 2005-03-11 2006-09-14 Equos Research Co., Ltd. 車両
JP2007203965A (ja) * 2006-02-03 2007-08-16 Toyota Motor Corp 倒立車輪型の走行体

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6561294B1 (en) * 1995-02-03 2003-05-13 Deka Products Limited Partnership Balancing vehicle with passive pivotable support
JP3892236B2 (ja) * 2001-02-20 2007-03-14 本田技研工業株式会社 ハイブリッド車両の制御装置
JP4178830B2 (ja) * 2002-05-08 2008-11-12 日産自動車株式会社 燃料改質システム
JP2004129435A (ja) 2002-10-04 2004-04-22 Sony Corp 搬送装置、制御方法、及び駆動機構
WO2004036079A2 (de) * 2002-10-11 2004-04-29 Luk Lamellen Und Kupplungsbau Beteiligungs Kg Verfahren und system zum steuern wenigstens eines aktors im antriebsstrang eines fahrzeuges
JP4124035B2 (ja) * 2003-06-26 2008-07-23 ヤマハ株式会社 省エネ評価システム
JP4760162B2 (ja) * 2005-06-29 2011-08-31 トヨタ自動車株式会社 移動台車の制御方法及び移動台車

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0415713A (ja) * 1990-05-01 1992-01-21 Komatsu Ltd 平行２輪車の姿勢制御方法
JPH09130909A (ja) * 1995-10-31 1997-05-16 Sanyo Electric Co Ltd 電気自動車の駆動制御装置
JPH11143540A (ja) * 1997-11-05 1999-05-28 Mazda Motor Corp 搬送車の制御装置
JP2004345030A (ja) * 2003-05-22 2004-12-09 Toyota Motor Corp 倒立振子型台車ロボット
WO2006095823A1 (ja) * 2005-03-11 2006-09-14 Equos Research Co., Ltd. 車両
JP2007203965A (ja) * 2006-02-03 2007-08-16 Toyota Motor Corp 倒立車輪型の走行体

Also Published As

Publication number Publication date
CN101821155A (zh) 2010-09-01
JP5115133B2 (ja) 2013-01-09
CN101821155B (zh) 2012-11-21
US20100280745A1 (en) 2010-11-04
JP2009090938A (ja) 2009-04-30
US8504282B2 (en) 2013-08-06

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