WO2009084384A1 - 車両 - Google Patents
車両 Download PDFInfo
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- WO2009084384A1 WO2009084384A1 PCT/JP2008/072307 JP2008072307W WO2009084384A1 WO 2009084384 A1 WO2009084384 A1 WO 2009084384A1 JP 2008072307 W JP2008072307 W JP 2008072307W WO 2009084384 A1 WO2009084384 A1 WO 2009084384A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a vehicle using posture control of an inverted pendulum.
- the vehicle is stopped or moved by controlling the operation of the rotating body while detecting the balance of the vehicle body and the state of the operation with the sensor.
- the vehicle body when getting on and off the step, the vehicle body tilts in a direction opposite to the step, and a stable posture cannot be maintained.
- a required driving torque is applied to the driving wheels when riding on a step
- the reaction acts on the vehicle body, so that the vehicle body is greatly inclined in the direction opposite to the step.
- the posture of the vehicle body is to be maintained upright, the necessary driving torque cannot be applied to the driving wheels, so that it is impossible to ride on the step.
- the same phenomenon occurs when getting down the step, and the vehicle body tilts forward.
- the present invention solves the problems of the conventional vehicle, and applies a driving torque suitable for raising and lowering the step to the driving wheel when moving up and down the step, and moves the center of gravity of the vehicle body in the upper direction of the step.
- This makes it possible to maintain a stable running state and a stable body posture both when climbing up and down a step, and for a vehicle that can travel safely and comfortably at a stepped place.
- the purpose is to provide.
- a vehicle body a drive wheel rotatably attached to the vehicle body, and a vehicle control device that controls the attitude of the vehicle body by controlling a drive torque applied to the drive wheel.
- the vehicle control device controls the position of the center of gravity of the vehicle body according to the step when the step is raised or lowered on the road surface.
- the vehicle control device further controls the position of the center of gravity of the vehicle body by changing an inclination angle of the vehicle body.
- Still another vehicle of the present invention further includes an active weight portion attached to the vehicle body so as to be movable back and forth in the traveling direction, and the vehicle control device moves the active weight portion. The position of the center of gravity of the vehicle body is controlled.
- the vehicle control device further moves the center of gravity of the vehicle body in the upper direction of the step.
- the vehicle control device further adds a driving torque corresponding to the step to the driving wheel, and the driving torque is equal to an increase in gravity torque due to the movement of the center of gravity of the vehicle body. In this way, the position of the center of gravity of the vehicle body is controlled.
- the vehicle control device further estimates a step resistance torque that is the resistance of the step by an observer, and controls the position of the center of gravity of the vehicle body according to the step resistance torque.
- the vehicle further includes a sensor for detecting the step, and the vehicle control device controls the position of the center of gravity of the vehicle body according to the measured value of the step measured by the sensor. .
- the vehicle has a drive wheel rotatably attached to the vehicle body, and a vehicle control device that controls the attitude of the vehicle body by controlling a drive torque applied to the drive wheel,
- the vehicle control device estimates a step resistance torque that is a driving torque necessary for raising and lowering the step in consideration of the posture of the vehicle body, and corrects the driving torque according to the step resistance torque.
- the vehicle control device further estimates the step resistance torque in consideration of an inclination angle of the vehicle body as a posture of the vehicle body.
- the vehicle control device further estimates the step resistance torque based on the driving torque, the rotational angular acceleration of the driving wheel, and the inclination angular acceleration of the vehicle body.
- the vehicle control device further determines that the step force is such that an external force acting on a vehicle body is proportional to the step resistance torque and is equal to the difference between the driving force and inertia force of the driving wheel. Estimate the resistance torque.
- the inertial force further includes a vehicle translational inertial force and a vehicle body tilting inertial force.
- the vehicle further includes an active weight portion attached to the vehicle body so as to be movable in the front-rear direction
- the vehicle control device includes the position of the drive torque and / or the active weight portion.
- the step resistance torque is estimated in consideration of the inclination angle of the vehicle body and the position of the active weight portion as the posture of the vehicle body.
- the vehicle control device further includes the step resistance based on the driving torque, rotational angular acceleration of the driving wheel, inclination angular acceleration of the vehicle body, and movement acceleration of the active weight portion. Estimate torque.
- the vehicle control device further determines that the step force is such that an external force acting on a vehicle body is proportional to the step resistance torque and is equal to the difference between the driving force and inertia force of the driving wheel. Estimate the resistance torque.
- the inertial force further includes the vehicle translational inertial force, the vehicle body tilting inertial force, and the active weight portion moving inertial force.
- the vehicle has a drive wheel rotatably attached to the vehicle body, and a vehicle control device that controls the attitude of the vehicle body by controlling a drive torque applied to the drive wheel,
- the vehicle control device estimates the step resistance torque of the step by an observer when raising and lowering the step on the road surface, and if the absolute value of the estimated value of the step resistance torque exceeds a predetermined threshold value, A driving torque necessary for raising and lowering is added.
- the vehicle control device further sets the estimated value to zero when the absolute value of the estimated value of the step resistance torque is equal to or less than the threshold value.
- the vehicle control device further includes statistics of an extreme value included in a time history of an estimated value of the step resistance torque from a time before a predetermined time to the present time.
- the threshold value is determined based on a characteristic amount.
- the vehicle control device further sets a value obtained by adding a value obtained by multiplying a standard deviation of the extreme value by a predetermined value to an average value of the extreme value as an upper limit value of the threshold value.
- a value obtained by subtracting a value obtained by multiplying the standard deviation of the extreme value by a predetermined value from the average value is set as the lower limit value of the threshold value.
- the vehicle control device further determines the threshold based on the maximum uneven height of the traveling road surface.
- the vehicle wheel In yet another vehicle of the present invention, the vehicle wheel, a drive wheel rotatably attached to the vehicle body, an input device for inputting a travel command, and the drive wheel based on the travel command input from the input device.
- a vehicle control device that controls the posture of the vehicle body by controlling the drive torque applied to the vehicle, and the vehicle control device estimates the steering intention based on the operation state of the vehicle and the travel command.
- a step elevation control for adding a driving torque for raising and lowering the step according to the steering intention estimated by the steering intention estimation unit.
- the steering intention estimation means further estimates the steering intention based on target values of vehicle speed and vehicle acceleration.
- the steering intention estimation means further includes a steering intention estimation map indicating a region with a plurality of predetermined functions related to the target values of the vehicle speed and the vehicle acceleration, and the vehicle speed and the vehicle acceleration.
- a steering intention estimation map indicating a region with a plurality of predetermined functions related to the target values of the vehicle speed and the vehicle acceleration, and the vehicle speed and the vehicle acceleration.
- the steering intention estimation means may further increase or decrease the steering intention when the target values of the vehicle speed and the vehicle acceleration satisfy predetermined conditions when entering the rising step.
- predetermined conditions when it is estimated that the control is prohibited and the target values of the vehicle speed and the vehicle acceleration do not satisfy the predetermined conditions, it is estimated that the steering intention is the execution of the step elevation control.
- the steering intention estimation unit may further control the steering intention when the vehicle is in a stopped state and the target value of the vehicle acceleration is a value for commanding the maintenance of the stopped state of the vehicle. It is estimated that step elevation control is prohibited.
- the steering intention estimation means is further configured such that the absolute value of the vehicle speed is equal to or less than a speed threshold value, and the target value of the vehicle acceleration is a value for commanding maintenance or braking of the traveling speed. In some cases, it is presumed that the steering intention is prohibition of step elevation control.
- the speed threshold value is further determined according to the value of the step resistance torque.
- the steering intention estimation means further determines that the steering intention is a step when the target value of the vehicle acceleration in the traveling direction is a value commanding sudden braking with a predetermined negative threshold value or less. It is estimated that lifting control is prohibited.
- the vehicle control device further executes step elevation control at a descending step regardless of the steering intention estimated by the steering intention estimation means.
- the vehicle control device further includes a step resistance torque estimating unit that estimates a step resistance torque, which is a resistance due to the step, based on a posture of the vehicle body when the vehicle steps up and down.
- the steering intention determining means determines whether the step is an up step or a down step according to the step resistance torque, and estimates the steering intention based on the determination result.
- the vehicle control means further changes the value from zero to 1 when the steering intention estimation means determines that the steering intention is execution of step elevation control,
- the step lifting torque rate determining means for determining the step lifting torque rate whose value changes from 1 to zero in a predetermined time is provided.
- a product value of the step resistance torque which is the resistance due to the step, is added as a driving torque for raising and lowering the step.
- the vehicle wheel In yet another vehicle of the present invention, the vehicle wheel, a drive wheel rotatably attached to the vehicle body, an input device for inputting a travel command, and the drive wheel based on the travel command input from the input device. And a vehicle control device that controls the posture of the vehicle body by controlling the drive torque applied to the vehicle, and the vehicle control device drives the drive wheel according to the level difference while raising and lowering the level difference on the road surface. And the target value of the vehicle acceleration determined according to the travel command is corrected.
- the vehicle control device further decreases the target value of the vehicle acceleration in the traveling direction when climbing the step on the road surface, and the traveling direction when descending the step on the road surface.
- the target value of the vehicle acceleration is increased.
- the vehicle control device is further configured to cancel the counter-torque acting on the vehicle body by the driving torque added in accordance with the step with an inertial force due to acceleration / deceleration of the vehicle. Correct the target acceleration value.
- the correction amount of the target value of the vehicle acceleration is set in proportion to the drive torque added according to the step.
- the vehicle control device further includes a correction amount of the target value of the vehicle acceleration according to a predicted vehicle end speed that is a predicted vehicle speed at the completion of the elevation of the step. To change.
- the predicted vehicle final speed value is a value of a rotational acceleration of the driving wheel, a step resistance torque that is a resistance caused by the step, and a vehicle acceleration determined according to the travel command. It is determined based on the target value.
- the vehicle control device further corrects the target value of the vehicle acceleration when the predicted vehicle final speed is equal to or less than a predetermined first threshold (threshold) value. Set the amount to zero.
- the vehicle control device further includes a vehicle body using a driving torque added in accordance with the step when the predicted vehicle final speed is equal to or greater than a predetermined second threshold value.
- the reference value which is the correction value of the target value of the vehicle acceleration, such that the counter torque acting on the vehicle is equal to the torque acting on the vehicle body due to the inertial force accompanying the acceleration / deceleration of the vehicle is set as the correction value of the target value of the vehicle acceleration .
- the vehicle control device further includes the vehicle acceleration when the predicted vehicle final speed is in a range between the first threshold and the second threshold.
- the correction amount of the target value is shifted from zero to the reference value.
- the present invention can be applied to a vehicle that does not have a moving mechanism for moving the riding section, and the structure and the control system can be simplified, and an inexpensive and lightweight vehicle can be realized.
- the present invention can be applied to a vehicle having a moving mechanism for moving the riding section, and the posture of the vehicle body can be kept stable without tilting the vehicle body.
- the posture of the vehicle body can be kept more stable.
- the traveling state of the vehicle can be controlled more stably.
- FIG. 1 is a schematic diagram showing the configuration of a vehicle in a first embodiment of the present invention, and shows a state in which an occupant is moving forward in an accelerated state
- FIG. 2 is a first embodiment of the present invention.
- 1 is a block diagram showing a configuration of a vehicle control system in FIG.
- reference numeral 10 denotes a vehicle according to the present embodiment, which includes a body portion 11, a drive wheel 12, a support portion 13, and a riding portion 14 on which an occupant 15 rides. Can be tilted. Then, the posture of the vehicle body is controlled similarly to the posture control of the inverted pendulum. In the example shown in FIG. 1, the vehicle 10 is accelerating in the direction indicated by the arrow A, and the vehicle body is tilted in the traveling direction.
- the drive wheel 12 is rotatably supported with respect to the support portion 13 which is a part of the vehicle body, and is driven by a drive motor 52 as a drive actuator.
- the axis of the drive wheel 12 exists in a direction perpendicular to the plane shown in FIG. 1, and the drive wheel 12 rotates around that axis.
- the drive wheel 12 may be singular or plural, but in the case of plural, the drive wheels 12 are arranged on the same axis in parallel. In the present embodiment, description will be made assuming that there are two drive wheels 12. In this case, each drive wheel 12 is independently driven by an individual drive motor 52.
- the drive actuator for example, a hydraulic motor, an internal combustion engine, or the like can be used, but here, the description will be made assuming that the drive motor 52 that is an electric motor is used.
- the main body 11 which is a part of the vehicle body is supported from below by the support 13 and is positioned above the drive wheel 12.
- the main body 11 has a riding section 14 that functions as an active weight section so that it can move relative to the main body 11 in the front-rear direction of the vehicle 10, in other words, relative to the tangential direction of the vehicle body rotation circle. It is attached so as to be movable.
- the active weight part has a certain amount of mass, and actively corrects the position of the center of gravity of the vehicle 10 by moving it back and forth with respect to the main body part 11.
- the active weight portion does not necessarily need to be the riding portion 14.
- the active weight portion may be a device in which a heavy peripheral device such as a battery is movably attached to the main body portion 11, a weight, a weight (Weight), a device in which a dedicated weight member such as a balancer is movably attached to the main body 11 may be used.
- the riding part 14 in a state in which the occupant 15 is boarded functions as an active weight part will be described, but the occupant 15 is not necessarily in the riding part 14.
- the occupant 15 may not be on the riding section 14, or cargo may be loaded instead of the occupant 15.
- the riding section 14 is the same as a seat used in automobiles such as passenger cars and buses, and includes a seat surface section 14a, a backrest section 14b, and a headrest 14c, and is attached to the main body section 11 through a moving mechanism (not shown). ing.
- the moving mechanism includes a low-resistance linear moving mechanism such as a linear guide device and an active weight part motor 62 as an active weight part actuator.
- the active weight part motor 62 drives the riding part 14, and the main body part 11. The vehicle is moved back and forth in the vehicle traveling direction.
- the active weight actuator for example, a hydraulic motor, a linear motor, or the like can be used. However, here, the description will be made assuming that the active weight motor 62 that is a rotary electric motor is used.
- the linear guide device includes, for example, a guide rail attached to the main body 11, a carriage attached to the riding part 14 and sliding along the guide rail, a ball, a roller, and the like interposed between the guide rail and the carriage.
- Rolling elements In the guide rail, two track grooves are formed linearly along the longitudinal direction on the left and right side surfaces thereof.
- the cross section of the carriage is formed in a U-shape, and two track grooves are formed on the inner sides of the two opposing side surfaces so as to face the track grooves of the guide rail.
- the rolling elements are incorporated between the raceway grooves, and roll in the raceway grooves with the relative linear motion of the guide rail and the carriage.
- the carriage is formed with a return passage that connects both ends of the raceway groove, and the rolling elements circulate through the raceway groove and the return passage.
- the linear guide device includes a brake or a clutch that fastens the movement of the linear guide device.
- a brake or a clutch that fastens the movement of the linear guide device.
- An input device 30 including a joystick 31 as a target travel state acquisition device is disposed beside the boarding unit 14.
- the occupant 15 controls the vehicle 10 by operating a joystick 31 as a control device, that is, inputs a travel command such as acceleration, deceleration, turning, in-situ rotation, stop, and braking of the vehicle 10. ing. If the occupant 15 can operate and input a travel command, other devices such as a pedal, a handle, a jog dial, a touch panel, and a push button can be obtained instead of the joystick 31 to obtain a target travel state. It can also be used as a device.
- the vehicle 10 when the vehicle 10 is steered by remote control, it can replace with the said joystick 31, and can use the receiving apparatus which receives the driving
- a data reader that reads travel command data stored in a storage medium such as a semiconductor memory or a hard disk is used as a target travel instead of the joystick 31. It can be used as a status acquisition device.
- the vehicle 10 has a control ECU (Electronic Control Unit) 20 as a vehicle control device, and the control ECU 20 includes a main control ECU 21, a drive wheel control ECU 22, and an active weight control ECU 23.
- the control ECU 20, main control ECU 21, driving wheel control ECU 22 and active weight unit control ECU 23 include calculation means such as a CPU and MPU, storage means such as a magnetic disk and semiconductor memory, input / output interfaces, and the like.
- the computer system is disposed in the main body 11, but may be disposed in the support portion 13 or the riding portion 14.
- the main control ECU 21, the drive wheel control ECU 22, and the active weight control ECU 23 may be configured separately or may be configured integrally.
- the main control ECU 21 functions as a part of the drive wheel control system 50 that controls the operation of the drive wheel 12 together with the drive wheel control ECU 22, the drive wheel sensor 51, and the drive motor 52.
- the drive wheel sensor 51 includes a resolver, an encoder, and the like, functions as a drive wheel rotation state measuring device, detects a drive wheel rotation angle and / or rotation angular velocity indicating a rotation state of the drive wheel 12, and transmits it to the main control ECU 21. To do.
- the main control ECU 21 transmits a drive torque command value to the drive wheel control ECU 22, and the drive wheel control ECU 22 supplies an input voltage corresponding to the received drive torque command value to the drive motor 52.
- the drive motor 52 applies drive torque to the drive wheels 12 in accordance with the input voltage, thereby functioning as a drive actuator.
- the main control ECU 21 functions as a part of the active weight part control system 60 that controls the operation of the riding part 14 that is the active weight part together with the active weight part control ECU 23, the active weight part sensor 61, and the active weight part motor 62.
- the active weight part sensor 61 is composed of an encoder or the like, functions as an active weight part movement state measuring device, detects the active weight part position and / or movement speed indicating the movement state of the riding part 14, and transmits it to the main control ECU 21. To do. Further, the main control ECU 21 transmits an active weight part thrust command value to the active weight part control ECU 23, and the active weight part control ECU 23 sends an input voltage corresponding to the received active weight part thrust command value to the active weight part motor. 62.
- the active weight motor 62 applies thrust to the riding section 14 to translate the riding section 14 in accordance with the input voltage, thereby functioning as an active weight actuator.
- the main control ECU 21 functions as a part of the vehicle body control system 40 that controls the posture of the vehicle body together with the drive wheel control ECU 22, the active weight unit control ECU 23, the vehicle body inclination sensor 41, the drive motor 52, and the active weight unit motor 62.
- the vehicle body tilt sensor 41 includes an acceleration sensor, a gyro sensor, and the like, and functions as a vehicle body tilt state measuring device.
- the main control ECU 21 transmits a drive torque command value to the drive wheel control ECU 22 and transmits an active weight portion thrust command value to the active weight portion control ECU 23.
- a travel command is input to the main control ECU 21 from the joystick 31 of the input device 30. Then, the main control ECU 21 transmits a drive torque command value to the drive wheel control ECU 22 and transmits an active weight portion thrust command value to the active weight portion control ECU 23.
- control ECU 20 functions as a step resistance torque estimating means for estimating the step resistance torque based on the time change of the running state of the vehicle 10 and the body posture. Further, it functions as a target vehicle body posture determination means for determining a target vehicle body posture, that is, a vehicle body tilt state and / or an active weight portion movement state, according to the target travel state and the step resistance torque. Furthermore, it functions as an actuator output determining means that determines the output of each actuator according to the traveling state and vehicle body posture of the vehicle 10 acquired by each sensor, and the target traveling state, target vehicle body posture, and step resistance torque. Specifically, it functions as step elevation torque determining means for determining the drive torque to be added according to the step resistance torque, and center of gravity correction amount determining means for determining the center of gravity correction amount of the vehicle body according to the step elevation torque.
- each sensor may acquire a plurality of state quantities.
- an acceleration sensor and a gyro sensor may be used together as the vehicle body tilt sensor 41, and the vehicle body tilt angle and the vehicle body tilt angular velocity may be determined from the measured values of both.
- FIG. 3 is a schematic view showing the step-up / down operation of the vehicle in the first embodiment of the present invention
- FIG. 4 is a flowchart showing the operation of the vehicle travel and attitude control processing in the first embodiment of the present invention.
- FIG. 3A shows an example of operation according to the prior art for comparison
- FIG. 3B shows the operation according to the present embodiment.
- the riding section 14 functions as an active weight section, and as shown in FIG. 3B, the center of gravity position of the vehicle 10 is set by moving the riding section 14 back and forth. Actively correct. As a result, the center of gravity of the vehicle body is moved forward when riding on the step, so that the reaction when the driving torque for riding on the step is applied to the drive wheel 12, that is, even if the anti-torque acts on the vehicle body, It will not tilt backwards. Therefore, stable vehicle body posture and travel control can be performed even when riding on a step.
- This embodiment is particularly effective when entering a step from a stopped state and a low-speed traveling state.
- the driving torque for climbing up the step is estimated in real time during the climbing operation and applied to the drive wheels 12. Thereby, it is possible to stably ride on a step having an arbitrary shape.
- the vehicle 10 can stably move up and down the step by executing the running and posture control processing including the correction of the center of gravity of the vehicle 10 and the application of driving torque.
- control ECU 20 first executes a state quantity acquisition process (step S1), and the driving wheel is driven by each sensor, that is, the driving wheel sensor 51, the vehicle body tilt sensor 41, and the active weight sensor 61. 12 rotation states, vehicle body inclination states, and riding portion 14 movement states are acquired.
- step S2 the control ECU 20 executes a step elevation torque determination process (step S2), and obtains the state quantity obtained by the state quantity obtaining process, that is, the rotation state of the drive wheels 12, the lean state of the vehicle body, and the riding section 14.
- the step resistance torque is estimated by the observer based on the movement state and the output values of the actuators, that is, the output values of the drive motor 52 and the active weight motor 62, and the step elevation torque is determined.
- the observer is a method of observing the internal state of the control system based on a dynamic model, and is configured by wired logic or soft logic.
- control ECU 20 executes a target travel state determination process (step S3), and based on the operation amount of the joystick 31, the target value of the acceleration of the vehicle 10 and the target value of the rotational angular velocity of the drive wheels 12 are obtained. decide.
- control ECU 20 executes a target body posture determination process (step S4), and the step lift torque determined by the step lift torque determination process and the acceleration of the vehicle 10 determined by the target travel state determination process. Based on the target value, the target value of the vehicle body posture, that is, the target value of the vehicle body inclination angle and the active weight portion position is determined.
- control ECU 20 executes an actuator output determination process (step S5), each state quantity acquired by the state quantity acquisition process, the step lift torque determined by the step lift torque determination process, and the target travel state
- the output of each actuator that is, the output of the drive motor 52 and the active weight motor 62, is determined based on the target travel state determined by the determination processing of the target vehicle body and the target vehicle body posture determined by the determination processing of the target vehicle body posture. To do.
- FIG. 5 is a diagram showing a vehicle dynamic model and its parameters according to the first embodiment of the present invention
- FIG. 6 is a flowchart showing an operation of state quantity acquisition processing according to the first embodiment of the present invention.
- FIG. 5 shows some of the state quantities and parameters.
- ⁇ W Drive wheel rotation angle [rad]
- ⁇ 1 Body tilt angle (vertical axis reference) [rad]
- ⁇ S Active weight part position (vehicle center point reference) [m]
- ⁇ W Driving torque (total of two driving wheels) [Nm]
- S S Active weight part thrust [N]
- g Gravity acceleration [m / s 2 ]
- m W Drive wheel mass (total of two drive wheels) [kg]
- R W Driving wheel contact radius [m]
- I W Moment of inertia of driving wheel (total of two driving wheels) [kgm 2 ]
- D W viscosity damping coefficient [Ns / rad] with respect to rotation of the drive wheel
- m 1 Body mass (including active weight) [kg]
- l 1 Body center-of-gravity distance (from axle) [m]
- I 1 Body inertia
- FIG. 7 is a flowchart showing the operation of the step elevation torque determining process in the first embodiment of the present invention.
- the main control ECU 21 first estimates the step resistance torque ⁇ D (step S2-1). In this case, based on each state quantity acquired in the state quantity acquisition process and the output of each actuator determined in the actuator output determination process in the previous (previous time step) travel and posture control process, The step resistance torque ⁇ D is estimated from (1).
- the main control ECU 21 determines the step elevation torque ⁇ C (step S2-2).
- the driving wheel rotation angular acceleration indicating the vehicle translational acceleration as the state quantity, the vehicle body inclination angular acceleration, and the active weight moving acceleration.
- the driving wheel rotation angular acceleration indicating the vehicle translational acceleration as the state quantity, the vehicle body inclination angular acceleration, and the active weight moving acceleration.
- the driving wheel rotation angular acceleration indicating the rotation state of the driving wheel 12
- the vehicle body inclination angular acceleration and the active weight portion moving acceleration indicating the change in the vehicle body posture are considered. That is, the change in the vehicle body posture, which is a characteristic element of a vehicle using the posture control of the inverted pendulum, that is, the so-called inverted vehicle is taken into consideration.
- the step resistance torque is estimated based on the drive torque and the driving wheel rotation angular acceleration, a large error may occur in the estimated value of the step resistance torque especially when the posture of the vehicle body is changing.
- the step resistance torque is estimated in consideration of the vehicle body inclination angle acceleration indicating the change in the posture of the vehicle body and the active weight portion moving acceleration, so that a large error does not occur and the step is highly accurate.
- the resistance torque can be estimated.
- the center of gravity of the vehicle body moves back and forth relative to the drive wheels, so that the center of gravity of the vehicle may move back and forth even when the drive wheels are stopped. Therefore, in order to estimate the step resistance torque with high accuracy from the acceleration of the center of gravity and the driving force or the driving torque, it is necessary to consider such an influence.
- the weight ratio of the vehicle body with respect to the entire vehicle is high, and the change in posture during the step-up / down operation is large, so such an effect becomes large.
- the step resistance torque that changes during the step up and down operation is always estimated. For example, if a constant drive torque is applied to the drive wheels 12 during the step-up / down operation, the vehicle 10 may be unnecessarily accelerated / decelerated immediately before the end of the lift. This is because, for example, when riding on a step, the step resistance torque decreases as the vehicle 10 climbs the step. Therefore, in this embodiment, the step resistance torque that changes with the step elevation state is estimated in real time, and the value is constantly updated so that the step elevation torque suitable for the step elevation operation is always applied. It has become.
- the high frequency component of the estimated value can be removed by applying a low pass filter to the estimated value of the step resistance torque. In this case, a time delay occurs in the estimation, but the vibration caused by the high frequency component can be suppressed.
- a linear model related to the rotational motion of the drive wheel 12 is used.
- a more accurate nonlinear model may be used, or a model for vehicle body tilting motion or active weight portion translational motion. May be used.
- functions can also be applied in the form of maps.
- FIG. 8 is a flowchart showing the operation of the target travel state determination process in the first embodiment of the present invention.
- the main control ECU 21 first acquires a steering operation amount (step S3-1).
- the occupant 15 acquires the operation amount of the joystick 31 that is operated to input a travel command such as acceleration, deceleration, turning, on-site rotation, stop, and braking of the vehicle 10.
- the main control ECU 21 determines a target value of the vehicle acceleration based on the acquired operation amount of the joystick 31 (step S3-2). For example, a value proportional to the amount of operation of the joystick 31 in the front-rear direction is set as a target value for vehicle acceleration.
- the main control ECU 21 calculates the target value of the drive wheel rotational angular velocity from the determined target value of the vehicle acceleration (step S3-3). For example, by integrating the target value of the vehicle acceleration time, a value obtained by dividing the driving wheel contact radius R W and the target value of the drive wheel rotation angular velocity.
- FIG. 9 is a diagram showing changes in the target value of the active weight portion position and the target value of the vehicle body tilt angle in the first embodiment of the present invention
- FIG. 10 shows the target vehicle body posture in the first embodiment of the present invention. It is a flowchart which shows the operation
- the main control ECU 21 first determines a target value of the active weight portion position and a target value of the vehicle body tilt angle (step S4-1). In this case, based on the target value of the vehicle acceleration determined by the determination process of the target traveling state and the step lift torque ⁇ C acquired by the determination process of the step lift torque, the following expressions (2) and (3) are used: The target value of the active weight portion position and the target value of the vehicle body inclination angle are determined.
- the main control ECU 21 calculates the remaining target value (step S4-2). That is, the target values of the drive wheel rotation angle, the vehicle body inclination angular velocity, and the active weight portion moving speed are calculated by time differentiation or time integration of each target value.
- the target value of the vehicle body posture that is, the target value of the active weight portion position and the target value of the vehicle body tilt angle are determined in consideration of the counter torque.
- the center of gravity of the vehicle body is moved so that the torque that acts on the vehicle body to tilt the vehicle body, that is, the vehicle body tilt torque is canceled out by the action of gravity.
- the riding section 14 is moved forward, or the vehicle body is further tilted forward.
- the riding section 14 is moved rearward, or the vehicle body is further tilted rearward.
- the riding section 14 is moved without tilting the vehicle body, and when the riding section 14 reaches the active weight movement limit, the tilting of the vehicle body is started. .
- the vehicle body does not tilt forward and backward with respect to fine acceleration / deceleration, so that the ride comfort for the occupant 15 is improved.
- the level difference is not particularly high, the vehicle body is kept upright even on the level difference, so that it is easy to secure the field of view for the occupant 15.
- the level difference is not particularly high, the vehicle body does not greatly tilt even on the level difference, so that a part of the vehicle body is prevented from contacting the road surface.
- the active weight part movement limit is equal between the front and the rear, but when the front and rear are different, the inclination of the vehicle body is changed according to each limit.
- the presence or absence may be switched. For example, when the braking performance is set higher than the acceleration performance, it is necessary to set the rear active weight portion movement limit farther than the front limit.
- the vehicle body tilt torque may be handled by the vehicle body tilt. Good.
- the front-rear inertial force acting on the occupant 15 can be reduced.
- an expression based on a linearized dynamic model is used, but an expression based on a more accurate nonlinear model or a model considering viscous resistance may be used. Note that if the equation is nonlinear, the function can be applied in the form of a map.
- FIG. 11 is a flowchart showing the operation of the actuator output determination process in the first embodiment of the present invention.
- the main control ECU 21 first determines the feedforward output of each actuator (step S5-1).
- the feedforward output of the drive motor 52 is determined by the following equation (4) from each target value and the step lifting torque ⁇ C, and the feedforward of the active weight motor 62 is determined by the following equation (5). Determine the output.
- the feedforward output can be omitted as necessary.
- the feedback control indirectly gives a value close to the feedforward output with a steady deviation. Further, the steady deviation can be reduced by applying an integral gain.
- the main control ECU 21 determines the feedback output of each actuator (step S5-2).
- the feedback output of the drive motor 52 is determined by the following equation (6) from the deviation between each target value and the actual state quantity, and the feedback output of the active weight unit motor 62 by the following equation (7). To decide.
- nonlinear feedback control such as sliding mode control can also be introduced.
- some of the feedback gains excluding K W2 , K W3, and K S5 may be set to zero.
- an integral gain may be introduced in order to eliminate the steady deviation.
- the main control ECU 21 gives a command value to each element control system (step S5-3).
- the main control ECU 21 transmits the sum of the feedforward output and the feedback output determined as described above to the drive wheel control ECU 22 and the active weight part control ECU 23 as the drive torque command value and the active weight part thrust command value. .
- the step resistance torque ⁇ D is estimated by the observer, the step lifting torque ⁇ C is applied, and the riding section 14 is moved in the upper direction of the step. Therefore, the vehicle body can be held upright even on the level difference, and the level difference can be raised and lowered.
- an apparatus for measuring a step is not required, and the system configuration can be simplified and the cost can be reduced.
- the step lifting torque tau C since in view of the vehicle body inclination angle theta 1 and active weight portion position lambda S indicates the attitude of the vehicle body is estimated the step lifting torque tau C, without a large error occurs, the step lifting torque tau C with extremely high precision Can be estimated.
- this embodiment is effective not only when climbing a step, but also when descending a step.
- the acceleration of the vehicle 10 when the step is lowered is suppressed by applying the step elevation torque, and the vehicle body is held upright by moving the riding portion 14 backward.
- FIG. 12 is a block diagram showing the configuration of the vehicle control system in the second embodiment of the present invention
- FIG. 13 is a schematic diagram showing the operation in raising and lowering the step of the vehicle in the second embodiment of the present invention. .
- the riding part 14 is attached so as to be able to translate relative to the main body part 11 in the front-rear direction of the vehicle 10, and functions as an active weight part.
- a moving mechanism including the active weight motor 62 is disposed, and thereby the riding section 14 is translated, so that the control system is complicated as the structure becomes complicated and the cost and weight increase.
- the first embodiment cannot be applied to an inverted vehicle that does not have a moving mechanism for moving the riding section 14.
- a moving mechanism for moving the riding section 14 is omitted. Also, as shown in FIG. 12, the active weight part control system 60 is omitted from the control system, and the active weight part control ECU 23, the active weight part sensor 61, and the active weight part motor 62 are omitted. Since the configuration of other points is the same as that of the first embodiment, description thereof is omitted.
- the driving torque applied to the drive wheel 12 for raising and lowering the step that is, the reaction to the step raising and lowering torque is applied to the vehicle body.
- the vehicle body tilting torque is canceled by the action of gravity to maintain a balance.
- the vehicle body is intentionally tilted in the upper direction of the step by an angle suitable for the height of the step, so that a stable body posture can be maintained even when the step is raised or lowered. It is possible to travel safely and comfortably in places with steps.
- FIG. 14 is a flowchart showing the operation of the state quantity acquisition process in the second embodiment of the present invention.
- FIG. 15 is a flowchart showing the operation of the step elevation torque determination process in the second embodiment of the present invention.
- the main control ECU 21 estimates the step resistance torque ⁇ D (step S2-11). In this case, based on each state quantity acquired in the state quantity acquisition process and the output of each actuator determined in the actuator output determination process in the previous run (previous time step) travel and posture control process, The step resistance torque ⁇ D is estimated from equation (8).
- the main control ECU 21 determines the step elevation torque ⁇ C (step S2-12).
- the step resistance torque is estimated based on the driving torque output from the driving motor 52, the driving wheel rotation angular acceleration and the vehicle body inclination angular acceleration as the state quantities.
- the driving wheel rotation angular acceleration indicating the rotation state of the driving wheel 12 but also the vehicle body inclination angular acceleration indicating the change in the vehicle body posture is considered. That is, the change in the vehicle body posture, which is a characteristic element of a vehicle using the posture control of the inverted pendulum, that is, the so-called inverted vehicle is taken into consideration.
- the step resistance torque is estimated based on the drive torque and the driving wheel rotation angular acceleration, a large error may occur in the estimated value of the step resistance torque particularly when the posture of the vehicle body changes greatly.
- the step resistance torque is estimated in consideration of the vehicle body inclination angle acceleration indicating the change in the posture of the vehicle body, so that a large error does not occur and the step resistance torque can be estimated with high accuracy. it can.
- the step resistance torque that changes during the step up and down operation is always estimated. For example, if a constant drive torque is applied to the drive wheels 12 during the step-up / down operation, the vehicle 10 may be unnecessarily accelerated / decelerated immediately before the end of the lift. This is because, for example, when riding on a step, the step resistance torque decreases as the vehicle 10 climbs the step. Therefore, in this embodiment, the step resistance torque that changes with the step elevation state is estimated in real time, and the value is constantly updated so that the step elevation torque suitable for the step elevation operation is always applied. It has become.
- a high-frequency component of the estimated value can be removed by applying a low-pass filter to the estimated value of the step resistance torque.
- a time delay occurs in the estimation, but the vibration caused by the high frequency component can be suppressed.
- nonlinear model may be used, or a model for vehicle body tilt motion may be used.
- functions can also be applied in the form of maps.
- FIG. 16 is a flowchart showing the operation of the target vehicle body posture determination process in the second embodiment of the present invention.
- the main control ECU 21 first determines a target value of the vehicle body inclination angle (step S4-11). In this case, based on the target value of the vehicle acceleration determined by the target travel state determination process and the step lift torque ⁇ C acquired by the step lift torque determination process, the vehicle body inclination angle is expressed by the following equation (9). Determine the target value.
- the main control ECU 21 calculates the remaining target value (step S4-12). That is, the target values of the drive wheel rotation angle and the vehicle body inclination angular velocity are calculated by time differentiation or time integration of each target value.
- the target value of the vehicle body posture that is, the target value of the vehicle body tilt angle is determined in consideration of the counter torque.
- the center of gravity of the vehicle body is moved so as to cancel the vehicle body tilt torque by the action of gravity. For example, when the vehicle 10 accelerates and climbs a step, the vehicle body is tilted forward. Further, when the vehicle 10 decelerates and descends a step, the vehicle body is tilted backward.
- an expression based on a linearized dynamic model is used.
- an expression based on a more accurate nonlinear model or a model considering viscous resistance may be used. Note that if the equation is nonlinear, the function can be applied in the form of a map.
- FIG. 17 is a flowchart showing the operation of the actuator output determination process in the second embodiment of the present invention.
- the main control ECU 21 first determines the feedforward output of the actuator (step S5-11).
- the feedforward output of the drive motor 52 is determined from the target value and the step elevation torque ⁇ C according to the equation (4) described in the first embodiment.
- the feedforward output can be omitted if necessary.
- the feedback control indirectly gives a value close to the feedforward output with a steady deviation. Further, the steady deviation can be reduced by applying an integral gain.
- the main control ECU 21 determines the feedback output of the actuator (step S5-12).
- the feedback output of the drive motor 52 is determined by the following equation (10) from the deviation between each target value and the actual state quantity.
- nonlinear feedback control such as sliding mode control can also be introduced.
- some of the feedback gains excluding K W2 and K W3 may be set to zero.
- an integral gain may be introduced in order to eliminate the steady deviation.
- the main control ECU 21 gives a command value to the element control system (step S5-13).
- the main control ECU 21 transmits the sum of the feedforward output and the feedback output determined as described above to the drive wheel control ECU 22 as a drive torque command value.
- the vehicle body can be tilted in the upper direction of the step to maintain the balance when the step is raised or lowered. Therefore, it can be applied to an inverted vehicle that does not have a moving mechanism for moving the riding section 14, and the structure and the control system are simplified, so that stable and low-level ingress and egress can be achieved even on an inexpensive and lightweight inverted vehicle. Can be realized.
- FIG. 18 is a schematic diagram showing the configuration of the vehicle according to the third embodiment of the present invention, showing a state where a step is detected before the step
- FIG. 19 is a vehicle according to the third embodiment of the present invention.
- FIG. 20 is a block diagram showing a configuration of a vehicle control system according to a third embodiment of the present invention.
- 18B is an enlarged view of the main part of FIG. 18A
- FIGS. 19A to 19C are diagrams showing a series of operations.
- the vehicle 10 may be unnecessarily accelerated / decelerated just before the end of the lift. This is because, for example, when riding on a step, the step resistance torque decreases as the vehicle 10 climbs the step.
- a step in the traveling direction of the vehicle 10 is detected by a sensor, and the position and height of the step measured by the sensor and the rotation angle of the driving wheel corresponding to the raised / lowered state of the step are determined.
- the step lifting torque is changed.
- the vehicle 10 has a distance sensor 71 as a step measurement sensor, as shown in FIG.
- the distance sensor 71 uses, for example, laser light, but may be any type of sensor.
- two distance sensors 71 are arranged on the lower surface of the riding section 14 so as to be separated from each other in the front-rear direction, and each measures the distance from the lower surface to the road surface.
- step difference of a road surface can be detected from the change of the measured value of each distance sensor 71, and the position and height of the detected level
- one distance sensor 71 is disposed in front of a portion of the driving wheel 12 that contacts the road surface, and the other distance sensor 71 is disposed rearward of a portion of the driving wheel 12 that contacts the road surface. Is done.
- the two distance sensors 71 measure the distance to the road surface at a position away from the contact point of the drive wheel 12, the step difference between the front and rear of the vehicle 10 can be detected.
- the vehicle 10 has a step measuring system 70 including a distance sensor 71 as shown in FIG. Then, the distance sensor 71 detects the ground distance as the distance to the road surface at two points on the front and rear sides, and transmits it to the main control ECU 21.
- the amount of movement of the riding section 14, the driving torque for riding on the step, etc. are changed as the vehicle 10 rises, thereby stabilizing the vehicle body posture. And travel control can be performed.
- FIG. 21 is a diagram showing a geometric condition when measuring an ascending step according to the third embodiment of the present invention
- FIG. 22 is a step ascending / descending resistivity of the ascending step according to the third embodiment of the present invention.
- FIG. 23 is a diagram showing a geometric condition when measuring a down step in the third embodiment of the present invention
- FIG. 24 is a down view in the third embodiment of the present invention.
- FIG. 25: is a flowchart which shows the operation
- the main control ECU 21 first acquires the measurement value of the distance sensor 71 (step S2-21). In this case, the measured value of the ground distance is acquired from the two front and rear distance sensors 71.
- the main control ECU 21 determines the position and height of the step (step S2-22). In this case, determined by the time history of the ground distance obtained from the distance sensors 71, the vehicle body inclination angle theta 1, the position of the riding section 14, i.e., based on the active weight portion position lambda S, the position and height of the step To do.
- the main control ECU 21 determines the step resistance torque ⁇ D (step S2-23).
- the step resistance torque ⁇ D is calculated by the following equation (11).
- ⁇ D ⁇ D, Max (11)
- ⁇ D, Max is the maximum step resistance torque
- ⁇ is the step elevation resistance.
- ⁇ 0 is a virtual climbing angle and corresponds to a driving wheel rotation angle necessary for climbing a step.
- ⁇ W, S is the driving wheel rotation angle when the driving wheel 12 contacts the step
- ⁇ W, 0 is the driving wheel rotation angle when the step is detected.
- ⁇ W is the driving wheel rotation angle after the step contact, and the value becomes zero when the driving wheel 12 contacts the step.
- the value of the step resistance torque ⁇ D changes as shown in FIG. That is, the maximum value ⁇ D, Max is reached when the drive wheel 12 contacts the step, gradually decreases during the ascending step, and reaches the minimum value of zero when the ascending step is finished.
- the value of the step resistance torque ⁇ D changes as shown in FIG. That is, the minimum value is zero when the drive wheel 12 contacts the step, gradually decreases during the descending step, and reaches the maximum value ⁇ D, Max immediately before the end of the descending step.
- the main control ECU 21 determines the step elevation torque ⁇ C (step S2-24).
- the step resistance torque ⁇ D is changed in accordance with the step height H. That is, the value of the step resistance torque ⁇ D is increased as the value of the step height H is increased.
- the magnitude of the step resistance torque ⁇ D is changed in accordance with the step elevation state of the vehicle 10. That is, the elevation state of the vehicle 10 is estimated from the drive wheel rotation angle ⁇ W and the value of the step elevation resistivity ⁇ is changed. Thereby, it is possible to cope with a speed change of the vehicle 10.
- the step resistance torque ⁇ D (step elevation resistivity ⁇ ) is decreased as the drive wheel rotation angle ⁇ W increases. This is because the driving torque required to support the vehicle 10 decreases as the level difference is increased.
- step resistance torque ⁇ D step elevation resistivity ⁇
- the distance sensor 71 is not used during the step-up / down operation.
- the measurement value of the distance sensor 71 is used. You can also Thereby, stable control can be performed even if the drive wheel 12 slips.
- hysteresis control for example, two threshold values are set, and the threshold value is changed according to the rotation direction of the drive wheels 12).
- the step in the traveling direction of the vehicle 10 is detected by the distance sensor 71, and according to the position and height H of the step measured by the distance sensor 71 and the driving wheel rotation angle ⁇ W.
- the value of the step elevation torque ⁇ C is changed. Therefore, the inverted posture of the vehicle body can be kept stable even when the step is raised or lowered. Thereby, the vehicle 10 can drive
- the detection of the step and the position and height H of the step may be measured by acquiring an image of the traveling direction of the vehicle 10 with a camera and analyzing the acquired image.
- the detection of the step and the position and height H of the step may be measured by acquiring an image of the traveling direction of the vehicle 10 with a camera and analyzing the acquired image.
- the level difference that exists around the vehicle 10 is determined. Information may be acquired.
- FIG. 26 is a schematic diagram showing the step-up / down operation of the vehicle in the fourth embodiment of the present invention
- FIG. 27 is a diagram showing a change in the final speed correction coefficient in the fourth embodiment of the present invention
- FIG. It is a flowchart which shows the operation
- FIG. 26A shows an operation example according to the first embodiment
- FIG. 26B shows an operation according to the present embodiment.
- step elevation control In a control operation for adding drive torque for raising and lowering the step when the vehicle 10 gets on and off the step (hereinafter referred to as “step elevation control”), the added drive torque is the gravitational torque due to the movement of the center of gravity of the vehicle body. Even if the control of the vehicle body posture is canceled, the actual operation is delayed with respect to the sudden change in the target value of the vehicle body posture, so that the vehicle body posture control becomes insufficient and the vehicle 10 is unnecessarily accelerated or decelerated. Or the vehicle body may tilt significantly. This is because there is a time delay with respect to the setting of the target value in the control of the vehicle body inclination angle, which is the control of the vehicle body posture, and the position control of the riding section 14. That is, since the response speed of the vehicle body posture control is lower than the response speed of the control for adding the drive torque, the vehicle body posture control is unbalanced.
- the response speed of the vehicle body posture control it is possible to increase the response speed of the vehicle body posture control. For this reason, for example, if the moving speed of the riding section 14 is increased, the active weight section motor 62 having a high output is required as an actuator. The weight and cost of the vehicle 10 increase. Further, if the response speed of the vehicle body posture control is too high, the ride comfort for the occupant 15 may deteriorate.
- the target value of the vehicle acceleration determined based on the operation amount of the joystick 31 is corrected so that the vehicle body posture becomes constant during the elevation of the step.
- the step lift torque ⁇ C acts on the vehicle body so that the vehicle body posture is constant from the start to the end of the step lift.
- the target value of the vehicle acceleration is decreased so that the counter torque is canceled out by the inertial force due to the deceleration of the vehicle 10.
- the target value of the vehicle acceleration is corrected so that the reaction torque acting on the vehicle body as the reaction of the step elevation torque ⁇ C necessary for the elevation of the step is balanced with the torque due to the inertial force accompanying the acceleration / deceleration of the vehicle 10.
- the riding portion 14 is driven, and the reaction portion acting on the vehicle body by the step elevation torque ⁇ C is applied to the riding portion.
- the main body 11 is moved back and forth in the vehicle traveling direction so as to cancel out by gravity due to the movement of 14.
- the main control ECU 21 first acquires a steering operation amount (step S3-11).
- the occupant 15 acquires the operation amount of the joystick 31 that is operated to input a travel command such as acceleration, deceleration, turning, on-site rotation, stop, and braking of the vehicle 10.
- the main control ECU 21 determines a target value for vehicle acceleration based on the obtained operation amount of the joystick 31 (step S3-12).
- the target value ⁇ * of the vehicle acceleration is determined by the following equation (16) based on the operation amount of the joystick 31, the driving wheel rotation angular velocity, and the step resistance torque.
- ⁇ VC is a final speed correction coefficient, and is changed as shown in FIG. 27 by a vehicle final speed predicted value V f that is a value predicted from the vehicle speed when the vehicle 10 has finished climbing the step. . That is, the lower the vehicle final speed predicted value V f is, the smaller the final speed correction coefficient ⁇ VC is.
- ⁇ VC 0 means that the target value of the vehicle acceleration is not corrected, and corresponds to executing the control as described in the first embodiment.
- the final speed correction coefficient ⁇ VC is set by the following equation (18).
- V f0 and V f1 are a low speed side threshold value as a first threshold value and a high speed side threshold value as a second threshold value of the vehicle final speed predicted value V f , and are predetermined values set in advance.
- the predicted vehicle final speed V f is given by the following equation (19).
- C I is a parameter related to inertia
- V is corrected vehicle speed
- eta is a virtual uphill angle
- equation (20) is represented respectively.
- ⁇ is a minute constant and is a predetermined value set to prevent the denominator of the equation (19) from becoming zero.
- the virtual uphill angle ⁇ is the rotation angle of the drive wheel 12 necessary to complete the elevation of the step. For example, in the state where the drive wheel 12 is in contact with the step, as shown in FIG.
- the tangent of the peripheral surface at the contact point between the peripheral surface of the drive wheel 12 and the step is equal to the angle formed by the road surface (horizontal plane).
- the main control ECU 21 calculates the target value of the drive wheel rotational angular velocity from the determined target value of vehicle acceleration (step S3-13). For example, by integrating the target value of the vehicle acceleration time, a value obtained by dividing the driving wheel contact radius R W and the target value of the drive wheel rotation angular velocity.
- the main control ECU 21 corrects the target value of the vehicle acceleration so that the vehicle body posture becomes constant during the elevation of the step.
- the target value of the vehicle acceleration is corrected so that the counter-torque acting on the vehicle body as a counter-action of the step lifting torque necessary for stepping up and down balances the torque due to the inertial force accompanying the acceleration / deceleration of the vehicle 10.
- the vehicle 10 is decelerated to generate an inertial force that tries to tilt the vehicle body forward so as to counteract the counter torque that tries to tilt the vehicle body backward as a reaction of the step lifting torque.
- the target vehicle acceleration correction amount reference value for realizing appropriate deceleration is set as a function proportional to the step elevation torque. Accordingly, it is possible to suppress an abrupt change in the vehicle body posture (the inclination angle of the vehicle body, the position of the riding section 14, etc.) during the step elevation, and to realize a stable and comfortable step elevation operation.
- limit the amount of vehicle acceleration target value correction to prevent excessive correction. That is, by limiting the target vehicle acceleration correction amount reference value to the target vehicle acceleration correction amount maximum value, which is a predetermined maximum value, a mismatch with the control feeling of the occupant 15 due to automatic correction, and a sudden addition Prevents deterioration in ride comfort associated with deceleration.
- the correction amount of the target value of vehicle acceleration is limited to prevent the attempt to raise or lower the step or the folding operation. Therefore, even when the vehicle enters the step at a low speed, the necessary step elevation control can be appropriately executed to realize stable step elevation.
- step elevation can be completed when correction based on the target vehicle acceleration correction amount correction value is performed based on a vehicle end speed prediction value that is a value obtained by predicting vehicle speed at the time of completion of step elevation. Determine whether or not.
- the vehicle final speed prediction value is based on a dynamic model, and the vehicle acceleration target according to the operation amount of the joystick 31 that determines the target value of the driving wheel rotation angular velocity, the step resistance torque, and the fixed vehicle body posture. Set as a function of value. Thereby, the vehicle final speed, which is an important determination factor, can be predicted more accurately.
- the final speed correction coefficient is set to 1 and correction is performed. In other words, it is judged that there is a low possibility that the vehicle speed will greatly decrease and the attempt to raise or lower the step or the folding operation will occur, and by decelerating the vehicle, the step can be raised in a stable state without changing the vehicle body posture. .
- the final speed correction coefficient is set to 0 and no correction is performed. In other words, if the vehicle speed is greatly reduced, it is determined that there is a high possibility that an attempt to raise or lower a step or a turn-back operation will occur. Raise the step.
- the final speed correction coefficient is given by a linearly interpolated function, so that Prevents sudden changes and vibrations that are periodically switched near the threshold.
- control for making the vehicle body posture constant by setting the final speed correction coefficient to 1, that is, control with priority on the vehicle body posture is performed.
- a parameter adjusting device may be provided on the joystick 31 that is a control device so that the occupant 15 can adjust the value of the final speed correction coefficient.
- the vehicle end speed is predicted based on the measured value of the drive wheel rotation angular speed
- the vehicle end speed may be predicted based on the target value of the drive wheel rotation angular speed.
- a nonlinear function to determine the vehicle final speed predicted value and the virtual climb angle.
- the calculation is performed by using a linear function approximating the nonlinear function. May be simplified.
- a nonlinear function may be applied in the form of a map.
- the example in which the height of the step is estimated based on the estimated value of the step resistance torque and the vehicle end speed is predicted based on the estimated value has been described.
- the description is given.
- a step measurement sensor such as the distance sensor 71 may be used, and control may be executed based on the measurement result of the step measurement sensor.
- FIG. 29 is a diagram illustrating a boarding intention estimation map according to the fifth embodiment of the present invention, that is, a vehicle acceleration target value and a driving wheel rotational angular velocity threshold
- FIG. 30 is a vehicle according to the fifth embodiment of the present invention.
- FIG. 31 is a flowchart showing the operation of the step elevation torque determining process in the fifth embodiment of the present invention.
- step elevation control the control operation for adding the drive torque for raising and lowering the step.
- step elevation control the control operation for adding the drive torque for raising and lowering the step.
- the steering intention of the occupant 15 is estimated based on the traveling state of the vehicle 10 and the traveling command, and execution or prohibition of the step elevation control is selected according to the estimated steering intention. That is, the control ECU 20 as the vehicle control device includes a steering intention estimation unit that estimates the steering intention of the occupant 15 and selects execution or prohibition of the step elevation control according to the estimated steering intention.
- the steering intention estimation means includes a vehicle speed (driving wheel rotational angular velocity) as a traveling state of the vehicle 10, a vehicle acceleration target value determined according to an operation amount of the joystick 31 as a traveling command, and The intention of maneuvering the occupant 15 is estimated in consideration of the step resistance torque corresponding to the height of the step, and execution or prohibition of the step elevation control is selected.
- the steering intention estimation means estimates that the steering intention is prohibited from step elevation control when the target values of the vehicle speed and the vehicle acceleration satisfy predetermined conditions when entering the ascending step. When the target value of the vehicle acceleration does not satisfy the predetermined condition, it is estimated that the steering intention is execution of step elevation control.
- the step elevation control is not executed. Further, when the vehicle speed increases at a relatively low vehicle speed and enters a step, and the target value of the vehicle acceleration is a value for commanding braking, the step elevation control is not executed. On the other hand, when the vehicle rises at a relatively high vehicle speed and enters a step, the step elevation control is executed even if the target value of the vehicle acceleration is a value for commanding braking. Further, when the target value of the vehicle acceleration is a value for commanding sudden braking, the step elevation control is not executed even if the vehicle speed is high. Further, when entering the descending step, the step elevation control is executed regardless of the target values of the vehicle speed and the vehicle acceleration.
- the main control ECU 21 first executes a process for acquiring a state quantity indicating the operation state of the vehicle 10 (step S11), and each sensor, that is, the drive wheel sensor 51, the vehicle body tilt sensor 41, and the active sensor.
- the weight sensor 61 obtains the rotation state of the drive wheels 12, the inclination state of the vehicle body, and the movement state of the riding section 14.
- control ECU 20 executes a target travel state determination process (step S12), and based on the operation amount of the joystick 31, the target value of the acceleration of the vehicle 10 and the target value of the rotational angular velocity of the drive wheels 12 are determined. decide.
- step S13 the control ECU 20 executes a step elevation torque determination process (step S13), and obtains the state quantity obtained by the state quantity obtaining process, that is, the rotational state of the drive wheels 12, the inclination state of the vehicle body, and the riding section 14.
- the step resistance torque is estimated by the observer, and further determined by the target travel state determination process.
- the step elevation torque is determined based on the target acceleration value of the vehicle 10, the rotational angular velocity of the drive wheels 12, and the like.
- control ECU 20 executes target body posture determination processing (step S14), the step lifting torque determined by the step lifting torque determination processing, and the acceleration of the vehicle 10 determined by the target travel state determination processing.
- target value of the vehicle body posture that is, the target value of the vehicle body inclination angle and the active weight portion position.
- control ECU 20 executes an actuator output determination process (step S15), each state quantity acquired by the state quantity acquisition process, the target travel state determined by the target travel state determination process, the step elevation torque
- the output of each actuator that is, the output of the drive motor 52 and the active weight motor 62 is determined on the basis of the step lifting torque determined by the determination process and the target vehicle body attitude determined by the target vehicle body attitude determination process.
- step elevation torque determination process in the present embodiment, details of the step elevation torque determination process in the present embodiment will be described. Note that the state quantity acquisition process, the target travel state determination process, the target vehicle body posture determination process, and the actuator output determination process are the same as those in the first embodiment, and a description thereof will be omitted.
- the main control ECU 21 first estimates the step resistance torque ⁇ D (step S13-1).
- each state quantity acquired in the state quantity acquisition process and the actuator output determination process in the previous (previous time step) travel and posture control process are determined.
- the step resistance torque ⁇ D is estimated by the equation (1).
- the main control ECU 21 determines the step elevation torque ⁇ C (step S13-2).
- the step elevation torque ⁇ C is determined by the following equation (25) based on the step resistance torque ⁇ D , the target value of the vehicle acceleration, and the driving wheel rotation angular velocity.
- ⁇ C ⁇ D (25)
- ⁇ is the step elevation torque rate and is expressed by the following equation (26).
- the main control ECU 21 prohibits the step elevation control when it is estimated that the occupant 15 does not want to step up, that is, the steering intention is the non-execution of the step elevation control. Do not run.
- the target value of the vehicle acceleration determined by the amount of operation of the joystick 31 by the occupant 15, the driving wheel rotation angular velocity indicating the operating state of the vehicle 10, and the estimated value of the step resistance torque corresponding to the height of the step. Based on the above, it is determined whether or not the occupant 15 desires to step on the vehicle 10.
- the step elevation control is switched between execution and non-execution by multiplying the estimated step resistance torque by the step elevation torque rate. Also, smooth switching between execution and non-execution of the step elevation control is realized by applying a low pass filter to the step elevation torque rate specified value. Thereby, the control intention of the occupant 15 can be appropriately determined, and the step elevation control is executed only when the occupant 15 desires to step on the vehicle 10.
- the step elevation control is not executed.
- This case corresponds to the case of (a), and in the steering intention determination map of FIG. 29, the point corresponding to the conditions of the drive wheel rotation angular velocity and the target vehicle acceleration is in the rectangular hatched region including the origin.
- the condition that the absolute value of the driving wheel rotational angular velocity is equal to or smaller than the predetermined driving wheel rotational angular velocity first threshold value and the absolute value of the target value of vehicle acceleration is equal to or smaller than the predetermined target vehicle acceleration first threshold value is satisfied. Is the case.
- the steering intention determination value is set to zero.
- the step elevation control is not executed.
- This case corresponds to the case of (b), and in the steering intention determination map of FIG. 29, the points corresponding to the conditions of the drive wheel angular velocity and the target vehicle acceleration are adjacent to the right and left sides of the rectangle including the origin. It exists in the hatched area.
- the driving wheel rotation angular velocity is equal to or smaller than the driving wheel rotation angular velocity second threshold value and the absolute value of the target value of the vehicle acceleration is equal to or less than zero in the direction of entering the step.
- the steering intention determination value is set to zero.
- the hatched areas on the right side and the left side show the target vehicle acceleration upper limit threshold value in the range where the drive wheel rotation angular velocity is higher than the drive wheel rotation angular velocity first threshold value and not more than the drive wheel rotation angular velocity second threshold value. It includes a region in which the steering intention determination value is 0 for a minute acceleration request of the occupant 15 provided by linearly decreasing from the first acceleration threshold value to zero. Accordingly, it is possible to appropriately determine the steering operation by the occupant 15 intended to stop the vehicle 10 by bringing the driving wheel 12 into contact with the step or to decelerate the vehicle 10 by climbing the step, and easily realize the operation. it can.
- step elevation control is executed.
- This case corresponds to the case of (d) above, and in the steering intention determination map of FIG. 29, the point corresponding to the conditions of the drive wheel rotational angular velocity and the target vehicle acceleration is further to the right of the hatched area on the right side.
- the target value of the vehicle acceleration existing in is not negatively hatched, or the target value of the vehicle acceleration existing on the left side of the hatched region adjacent to the left is in the region not negatively hatched To do. That is, in the direction to enter the step, the drive wheel rotation angular velocity is higher than the drive wheel rotation angular velocity second threshold and the vehicle acceleration target value is larger than the negative target vehicle acceleration upper limit threshold.
- the steering intention determination value is set to 1.
- the target vehicle acceleration upper limit threshold is changed from zero to the target vehicle acceleration second threshold in a range where the drive wheel rotation angular velocity is higher than the drive wheel rotation angular velocity second threshold. It is a region provided by decreasing by an exponential function asymptotically. That is, as the target deceleration required by the occupant 15 is larger, the threshold value for executing the step elevation control, that is, the threshold value of the driving wheel rotational angular velocity with the steering intention determination value being 1, is increased. As a result, the higher the vehicle speed, the easier it is to determine the steering operation by the occupant 15 by appropriately determining that the operation of stopping the vehicle 10 after climbing the step is intended, thereby making the operation easier and more stable. Can be realized.
- the higher the step to be climbed the higher the vehicle speed threshold for executing step elevation control. That is, the larger the estimated value of the step resistance torque is, the higher the driving wheel rotation angular velocity second threshold, which is a threshold for switching the steering intention determination value during high-speed traveling, can be prevented from unnaturally riding the vehicle 10 over a high step.
- the driving wheel rotation angular velocity second threshold value is based on the minimum driving wheel rotation angular velocity of stepped inertia riding, which is the minimum vehicle speed at which the vehicle 10 can ride on the stepped portion with inertia (without using driving torque).
- the step elevation control is not executed regardless of the step approach speed of the vehicle 10.
- This case corresponds to the case of (c) above, and in the steering intention determination map of FIG. 29, the points corresponding to the conditions of the drive wheel rotational angular velocity and the target vehicle acceleration are hatched outside the two one-dot chain lines. Exists in the designated area. That is, when the driving wheel rotation angular velocity is higher than the driving wheel rotation angular velocity first threshold and the target value of the vehicle acceleration is lower than the negative target vehicle acceleration second threshold in the direction of entering the step, is there.
- control intention determination value is set to zero, and step elevation control for adding drive torque is not executed.
- step elevation control when descending a step, always perform step elevation control.
- This case corresponds to the case (e). That is, when the positive / negative of the driving wheel rotation angular velocity is different from the positive / negative of the step resistance torque, it is determined that the vehicle 10 is in a state of descending the step, and the step lifting torque rate designation value is set to 1.
- the ride comfort can be improved by giving priority to mitigating the impact generated when going down the step rather than using the increase in vehicle acceleration accompanying going down the step.
- transition bands may be provided in the target vehicle acceleration upper limit threshold and the target vehicle acceleration lower limit threshold, which are functions of the vehicle acceleration target value and the driving wheel rotation angular velocity as shown by a curve in the steering intention determination map of FIG. . That is, in FIG.
- the curve for switching the step lifting torque rate specified value from 0 to 1 is replaced with a band having a predetermined width, and the step lifting torque rate specified value is linearly changed from 0 to 1 in the band. Also good. Thereby, the smoothness at the time of switching and the responsiveness with respect to the change of the operation amount of the passenger
- the step elevation control that is prohibited with respect to the braking request at the time of the forward rising step contact may be temporarily reexecuted immediately before the vehicle 10 stops.
- the vehicle acceleration target value is constant lower than the negative target vehicle acceleration first threshold value. If the value is maintained, the step elevation torque rate specified value is changed from 0 to 1 when the drive wheel rotation angular velocity falls below the drive wheel rotation angular velocity first threshold.
- the step elevation torque rate designation value may be determined in consideration of the direction in which the target value of the vehicle acceleration and the driving wheel rotation angular velocity change. For example, the target value of the vehicle acceleration changes in a region where the driving wheel rotational angular velocity is higher than zero and equal to or lower than the driving wheel rotational angular velocity first threshold and the target value of the vehicle acceleration is lower than the negative target vehicle acceleration first threshold. If it is entered by switching, the step lifting torque rate specified value is switched from 0 to 1, but if it is entered by changing the driving wheel rotation angular velocity, the step lifting torque rate specified value is maintained at zero. Unnecessary step elevation control can be prevented from being re-executed.
- the step elevation control is performed based on the target value of the driving wheel rotational angular velocity. And may be switched between prohibition and prohibition. Thereby, it is possible to prevent a minute vibration of the rotational angular velocity of the driving wheel due to disturbance or the like from affecting the switching between execution and prohibition of the step elevation control, and to realize more stable step elevation control.
- a nonlinear function is used to determine a part of the threshold value of the target value of the vehicle acceleration and the minimum driving wheel rotation angular velocity for climbing the step inertia.
- the calculation may be simplified by using a linear function approximating.
- a nonlinear function may be applied in the form of a map.
- step elevation control is switched on the assumption of various occupant 15 maneuvering intentions.
- Switching may be omitted. For example, when only traveling at a low speed is performed, the step elevation control at the time of high speed step entry may not be executed, and the step elevation control may be prohibited at all times when a braking request is made.
- a step measurement sensor such as the distance sensor 71 may be used to switch between execution and prohibition of the step elevation control based on the measurement result of the step measurement sensor.
- the intention of maneuvering the occupant 15 is estimated based on the target value of the vehicle acceleration corresponding to the amount of operation of the joystick 31 by the occupant 15, but the amount of operation of the joystick 31 is the vehicle speed.
- the vehicle acceleration target value may be replaced with a vehicle speed target value, or may be replaced with a time difference between the vehicle speed target values.
- the intention of the occupant 15 to steer may be estimated based on the operation amount of the joystick 31 itself.
- an accelerator pedal and a brake pedal may be provided as a control device in the vehicle 10, and execution / prohibition of step elevation control may be switched based on the depression amount of each pedal and the driving wheel rotation angular velocity.
- a switch for switching the traveling state and the stopped state by the occupant 15 may be provided in the vehicle 10, and prohibition of the step elevation control when the vehicle is stopped may be selected depending on the operation state of the switch.
- FIG. 32 is a diagram showing a change in curvature correction coefficient in the sixth embodiment of the present invention
- FIG. 33 is a diagram showing a change in speed correction coefficient in the sixth embodiment of the present invention
- FIG. 35 is a flowchart for explaining the correction of the step resistance torque in the sixth embodiment
- FIG. 35 is a flowchart showing the operation of the step elevation torque determination process in the sixth embodiment of the present invention.
- Estimation of the step resistance torque tau D and sometimes delay occurs in the control of the running and posture of the vehicle 10 based on the estimated step resistance torque tau D.
- a low-pass filter is used to remove noise of the estimated value of the step resistance torque ⁇ D caused by noise of measurement values of sensors such as the drive wheel sensor 51, the vehicle body tilt sensor 41, and the active weight sensor 61.
- the backward difference calculation is performed to obtain the acceleration necessary for the estimation calculation of the step resistance torque ⁇ D.
- the speed of the vehicle 10 entering the step is high, the influence of the delay is noticeable. When such a delay occurs, unnecessary acceleration / deceleration of the vehicle 10 and a large inclination of the vehicle body occur, and the ride comfort deteriorates.
- the estimated value is slightly corrected to a value at a future time based on the estimated value of the step resistance torque ⁇ D and the time change rate of the estimated value. Specifically, it is corrected to a value predicted to be an estimated value a little ahead by linear extrapolation. Further, when the time change rate and the curvature (time change acceleration) of the estimated value are different, correction is not performed. Further, the correction amount of the estimated value is increased as the absolute value of the rotational speed of the drive wheel 12 is increased.
- the main control ECU 21 first estimates the step resistance torque ⁇ D (step S2-31).
- each state quantity acquired in the state quantity acquisition process and the actuator output determination process in the previous (previous time step) travel and posture control process are determined.
- the step resistance torque ⁇ D is estimated based on the output of each actuator.
- ⁇ CC is a curvature correction coefficient, which is expressed by the following equation (35), and changes as shown in FIG.
- ⁇ t b is a time step of difference calculation.
- values satisfying the conditions represented by the following equation (36) are set with reference to the time constant T LPF of the low-pass filter.
- ⁇ VC is a speed correction coefficient, which is expressed by the following equation (37) and changes as shown in FIG.
- the step resistance torque ⁇ D is predicted to be obtained at a slightly earlier time based on the estimated value of the step resistance torque ⁇ D and the time change rate ⁇ D ′ of the estimated value. It is corrected to the value.
- an estimated value at a slightly earlier time is predicted by linear extrapolation.
- the time increment of the difference calculation for obtaining the time change rate is made larger than the time constant of the low-pass filter at the time of the estimation value calculation, and the time interval of the linear extrapolation is increased. By making it smaller, the stability and consistency of the control are ensured. As described above, by appropriately predicting a value at a future time, it is possible to reduce the influence due to the estimation delay.
- the main control ECU 21 determines the step elevation torque ⁇ C (step S2-33).
- the estimated value of the step resistance torque ⁇ D is corrected to a value at a future time predicted based on the time change rate of the estimated value. Therefore, the traveling state of the vehicle 10 and the posture of the vehicle body are more stable when moving up and down the step. In particular, even if the speed of the vehicle 10 entering the step is high, the step up / down operation is stable. Thus, the vehicle 10 can travel more safely and more comfortably when the step is raised and lowered.
- FIG. 36 is a diagram for explaining the correction of the step resistance torque in the seventh embodiment of the present invention
- FIG. 37 is a flowchart showing the operation of the step elevation torque determining process in the seventh embodiment of the present invention.
- vibrations may occur in the vehicle speed and the vehicle body posture due to minute fluctuations in the estimated value. For example, not only the minute unevenness of the road surface, but also disturbances received by the vehicle 10 such as wind, and steps other than steps such as noise of measured values of sensors such as the drive wheel sensor 51, the vehicle body tilt sensor 41, and the active weight sensor 61 Due to the factor, a minute fluctuation occurs in the estimated value of the step resistance torque ⁇ D.
- the discrimination result and the control switching frequently occur in response to the minute fluctuation of the estimated value. Large vibrations may occur depending on the vehicle posture.
- the step resistance torque ⁇ D is estimated and the travel and posture of the vehicle 10 based on the estimated value of the step resistance torque ⁇ D when the step is raised and lowered. There may be a delay in the control. As a result, the rider 15 becomes uncomfortable to ride.
- control other than the time when the step is raised and lowered is always performed to raise and lower the step, which may affect other controls. Therefore, more labor is spent on the design and adjustment of the control system.
- the step lifting torque ⁇ C is not added.
- the main control ECU 21 first estimates the step resistance torque ⁇ D (step S2-41).
- each state quantity acquired in the state quantity acquisition process and the actuator output determination process in the previous (previous time step) travel and posture control process are determined.
- the step resistance torque ⁇ D is estimated based on the output of each actuator.
- the main control ECU 21 corrects the step resistance torque ⁇ D (step S2-42).
- the estimated value of the step resistance torque ⁇ D is corrected by the following equation (38) based on a predetermined dead zone threshold.
- ⁇ SE is a sensitivity and is expressed by the following equation (39).
- H Rough is the maximum uneven height of the road surface, and is an assumed value when a bumpy road is considered.
- the estimated value of the step resistance torque ⁇ D is corrected to zero. Specifically, the estimated value of the step resistance torque ⁇ D is corrected as shown in FIG.
- the estimated value of the step resistance torque ⁇ D is inside the upper limit value and the lower limit value of the dead zone threshold, the estimated value is set to zero. As a result, the fluctuation of the estimated value of the small step resistance torque ⁇ D can be ignored, and the vibration of the vehicle speed and the vehicle body posture can be prevented.
- the estimated value of the step resistance torque ⁇ D is outside the upper limit value and the lower limit value of the dead zone threshold, the estimated value is adopted as it is. Accordingly, it is possible to perform appropriate control by regarding the fluctuation in the estimated value of the large step resistance torque ⁇ D as a step.
- the estimated value of the step resistance torque ⁇ D before and after the dead zone threshold is eliminated and continuously changed.
- the shock of the vehicle speed and the vehicle body posture at the time of the discontinuous transition on the dead zone threshold can be reduced, and the vibration (hunting) of the vehicle speed and the vehicle posture accompanying the repetitive transition near the dead zone threshold can be reduced. Can be prevented.
- the dead zone threshold is set to a predetermined value based on the assumed uneven height of the road surface.
- the driving wheel sensor 51, the vehicle body tilt sensor 41, the active weight sensor It can also be set in consideration of other factors such as a noise component of a measured value of a sensor such as 61.
- the step lifting torque ⁇ C is not added. Therefore, vibration does not occur in the vehicle speed and the vehicle body posture during normal traveling. This makes it possible to travel comfortably both when ascending / descending steps and when traveling on flat ground.
- FIG. 38 is a diagram for explaining the correction of the step resistance torque dead zone threshold according to the eighth embodiment of the present invention
- FIG. 39 is a flowchart showing the operation of the step elevation torque determining process according to the eighth embodiment of the present invention. is there.
- the fluctuation range of the estimated value of the step resistance torque ⁇ D varies depending on the road surface condition. For example, on an indoor smooth floor, the fluctuation range of the estimated value is small. Further, for example, the fluctuation range of the estimated value is large on a road surface where small unevenness such as a gravel road continues. For this reason, when the dead zone threshold value is reduced, when the vehicle travels on a road surface with small unevenness, control switching frequently occurs or vibrations may occur in the vehicle speed and the vehicle body posture due to the control switching.
- the noise components of the measured values of the sensors such as the drive wheel sensor 51, the vehicle body tilt sensor 41, and the active weight sensor 61 vary depending on the operating state of the motor, inverter, and the like.
- the dead zone threshold a value obtained by adding a value obtained by multiplying the average value of the extreme value by N times the standard deviation is set as the upper limit value of the dead zone threshold, and a value obtained by subtracting the value obtained by multiplying the average value of the extreme value by N times the standard deviation is the dead zone threshold value.
- the dead zone threshold value of the estimated value of the step resistance torque ⁇ D is automatically adjusted to an appropriate value in response to a change in the road surface condition and the like, so that the user can travel comfortably anytime and anywhere.
- the main control ECU 21 first estimates the step resistance torque ⁇ D (step S2-51).
- each state quantity acquired in the state quantity acquisition process and the actuator output determination process in the previous (previous time step) travel and posture control process are determined.
- the step resistance torque ⁇ D is estimated based on the output of each actuator.
- the main control ECU 21 determines a dead zone threshold value for the step resistance torque ⁇ D (step S2-52).
- the upper limit value ⁇ D0, Max and the lower limit value ⁇ D0, Min of the dead zone threshold are determined by the following equations (40) and (41).
- FIG. 38 shows an example of the time history of the estimated value of the step resistance torque ⁇ D from the previous time to the present by a predetermined time, and further, the extreme values contained therein (example shown in the figure) 6).
- T ref is a reference time for setting a time that is a predetermined time before the current time, is a time that takes extreme values into consideration, and is a predetermined value. That is, the time history from the current time before T ref is not considered.
- the detection method of the extreme value can be arbitrarily selected. For example, when the following equation (44) is satisfied, ⁇ D (t 1 ) is automatically detected by determining that it is an extreme value. be able to.
- the dead zone threshold is determined based on the statistical characteristic amount of the extreme value included therein.
- an average value and a standard deviation are used as indicators as statistical characteristic quantities.
- the threshold is determined so that the deviation of the value greatly exceeding this is determined to be an abnormal state, that is, a step.
- step difference is performed based on the said estimated value.
- the estimated value is not considered as a step. Then, by ignoring the estimated value, vibration of the vehicle speed and the vehicle body posture is prevented.
- the main control ECU 21 corrects the step resistance torque ⁇ D (step S2-53).
- the estimated value of the step resistance torque ⁇ D is corrected in the same manner as in the seventh embodiment.
- the evaluation can also be performed using a simpler method.
- the second largest value and the second smallest value may be determined as the degree of variation during normal times and used as a threshold value.
- an estimated value of step resistance torque ⁇ D during step elevation is extracted by frequency filter and pattern analysis, and a threshold is set based on a set of estimated values excluding that value You can also
- a predetermined value is given in advance as an initial value of the threshold.
- two threshold values at the end of the previous control are stored, and the values are stored. It can also be used as an initial value.
- the time history of the estimated value of the step resistance torque ⁇ D from the previous time to the present by a predetermined time is based on the statistical characteristic amount of the extreme value included therein.
- the dead zone threshold is determined. Accordingly, since the dead zone threshold value of the estimated value of the step resistance torque ⁇ D is automatically adjusted to an appropriate value in response to a change in road surface condition, etc., it is possible to travel comfortably anytime and anywhere.
- the present invention can be applied to a vehicle using posture control of an inverted pendulum.
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Abstract
Description
12 駆動輪
14 搭乗部
20 制御ECU
θW :駆動輪回転角〔rad〕
θ1 :車体傾斜角(鉛直軸基準)〔rad〕
λS :能動重量部位置(車体中心点基準)〔m〕
τW :駆動トルク(2つの駆動輪の合計)〔Nm〕
SS :能動重量部推力〔N〕
g:重力加速度〔m/s2 〕
mW :駆動輪質量(2つの駆動輪の合計)〔kg〕
RW :駆動輪接地半径〔m〕
IW :駆動輪慣性モーメント(2つの駆動輪の合計)〔kgm2 〕
DW :駆動輪回転に対する粘性減衰係数〔Ns/rad〕
m1 :車体質量(能動重量部を含む)〔kg〕
l1 :車体重心距離(車軸から)〔m〕
I1 :車体慣性モーメント(重心周り)〔kgm2 〕
D1 :車体傾斜に対する粘性減衰係数〔Ns/rad〕
mS :能動重量部質量〔kg〕
lS :能動重量部重心距離(車軸から)〔m〕
IS :能動重量部慣性モーメント(重心周り)〔kgm2 〕
DS :能動重量部並進に対する粘性減衰係数〔Ns/rad〕
τD =ξτD,Max ・・・式(11)
ここで、τD,Max は最大段差抵抗トルクであり、ξは段差昇降抵抗率である。
(a)駆動輪12が上がり段差に接触した状態で車両10が停止し、乗員15もジョイスティック31を操作していない場合:この場合、乗員15の操縦意図は、車両10が停止した状態を維持すること、である可能性が高い。
(b)比較的低い車両速度で駆動輪12が上がり段差に接触し、乗員15がジョイスティック31の操作による走行指令として制動を入力した場合:この場合、乗員15の操縦意図は、車両10を段差に接触させて止めること、である可能性が高い。
(c)乗員15がジョイスティック31の操作による走行指令として急制動を入力した場合:この場合、乗員15の操縦意図は、車両10を段差に接触させて止めること、又は、少しでも短い制動距離で車両10を止めること、である可能性が高い。
(d)比較的高い車両速度で駆動輪12が上がり段差に接触し、乗員15がジョイスティック31を操作して走行指令として制動を入力した場合:この場合、乗員15は、車両10を段差に接触させて止めることはできないことを認識している、又は、段差通過後に車両10を止めることを意図している可能性が高い。
(e)車両10が下がり段差に進入した場合:この場合、段差を昇降するための駆動トルクを追加しないと、段差から着地したときに衝撃を受け、乗員15は不快に感じる可能性が高い。
τC =ρτD ・・・式(25)
ここで、ρは、段差昇降トルク率であり、次の式(26)で表される。
Δtf ≦TLPF ≦Δtb ・・・式(36)
さらに、ξVCは速度補正係数であり、次の式(37)で表され、図33に示されるように変化する。
Claims (7)
- 車体と、
該車体に回転可能に取り付けられた駆動輪と、
該駆動輪に付与する駆動トルクを制御して前記車体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、路面の段差を昇降するときに、該段差に応じて前記車体の重心位置を制御することを特徴とする車両。 - 前記車両制御装置は、前記車体の傾斜角を変化させて前記車体の重心位置を制御する請求項1に記載の車両。
- 進行方向に対して前後に移動可能に前記車体に取り付けられた能動重量部を更に有し、
前記車両制御装置は、前記能動重量部を移動させて前記車体の重心位置を制御する請求項1又は2に記載の車両。 - 前記車両制御装置は、前記車体の重心位置を前記段差の上段方向に移動させる請求項1~3のいずれか1項に記載の車両。
- 前記車両制御装置は、前記駆動輪に前記段差に応じた駆動トルクを付加し、当該駆動トルクが前記車体の重心移動による重力トルクの増加量と等しくなるように、前記車体の重心位置を制御する請求項1~4のいずれか1項に記載の車両。
- 前記車両制御装置は、オブザーバによって前記段差の抵抗である段差抵抗トルクを推定し、当該段差抵抗トルクに応じて前記車体の重心位置を制御する請求項1~5のいずれか1項に記載の車両。
- 前記段差を検出するセンサを更に有し、
前記車両制御装置は、前記センサによって計測した段差の計測値に応じて、前記車体の重心位置を制御する請求項1~5のいずれか1項に記載の車両。
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CN200880111389A CN101821122A (zh) | 2007-12-27 | 2008-12-09 | 车辆 |
US12/734,800 US8374774B2 (en) | 2007-12-27 | 2008-12-09 | Vehicle |
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JP2007-337608 | 2007-12-27 | ||
JP2007337683A JP5061889B2 (ja) | 2007-12-27 | 2007-12-27 | 車両 |
JP2007337623A JP5163115B2 (ja) | 2007-12-27 | 2007-12-27 | 車両 |
JP2007-337623 | 2007-12-27 | ||
JP2007-337683 | 2007-12-27 | ||
JP2007337608A JP5018462B2 (ja) | 2007-12-27 | 2007-12-27 | 車両 |
JP2008-039068 | 2008-02-20 | ||
JP2008-039021 | 2008-02-20 | ||
JP2008039021A JP5061943B2 (ja) | 2008-02-20 | 2008-02-20 | 車両 |
JP2008039068A JP5200574B2 (ja) | 2008-02-20 | 2008-02-20 | 車両 |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009154807A (ja) * | 2007-12-27 | 2009-07-16 | Equos Research Co Ltd | 車両 |
JP2009196467A (ja) * | 2008-02-20 | 2009-09-03 | Equos Research Co Ltd | 車両 |
DE112009005251B4 (de) | 2009-09-18 | 2018-07-12 | Honda Motor Co., Ltd. | Regelungs-/Steuerungsvorrichtung eines inverspendel-artigen Fahrzeugs |
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Also Published As
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US20100305840A1 (en) | 2010-12-02 |
CN101821122A (zh) | 2010-09-01 |
US8374774B2 (en) | 2013-02-12 |
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