WO2014061057A1 - 倒立型移動体及びその制御方法 - Google Patents
倒立型移動体及びその制御方法 Download PDFInfo
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- WO2014061057A1 WO2014061057A1 PCT/JP2012/006614 JP2012006614W WO2014061057A1 WO 2014061057 A1 WO2014061057 A1 WO 2014061057A1 JP 2012006614 W JP2012006614 W JP 2012006614W WO 2014061057 A1 WO2014061057 A1 WO 2014061057A1
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- inverted
- moving body
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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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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- 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
- B62K17/00—Cycles not otherwise provided for
-
- 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
- B62K3/00—Bicycles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
Definitions
- the present invention relates to an inverted moving body and a method for controlling the inverted moving body, and more particularly to a technique for performing an inverted control of the inverted moving body based on an angular velocity detected by a sensor.
- an inverted type moving body such as an inverted motorcycle
- the inverted moving body performs the inverted control based on the output from the sensor. Therefore, it is very important for ensuring safety to detect a sensor failure and a failed sensor with high accuracy and to suppress the inversion control based on the output from the failed sensor.
- Patent Document 1 discloses a vehicle in which a power base in which a combination of a power source, a sensor electronics board, and a control processor is combined is configured with a triple surplus. This vehicle detects a sensor failure by comparing data supplied from each of the triple surplus sensors.
- Patent Document 2 discloses an inertial reference device that calculates angular velocities of three orthogonal axes from angular velocities measured by four gyros arranged obliquely to each other.
- the present invention has been made on the basis of the above-described knowledge, and an object thereof is to provide an inverted moving body and its control method capable of reducing the cost without reducing the failure detection accuracy.
- the inverted moving body according to the first aspect of the present invention is an inverted moving body that is inverted and controlled from the pitch axis of the inverted moving body on a plane orthogonal to the yaw axis of the inverted moving body.
- a second sensor that detects an angular velocity around the axis, a third sensor that detects an angular velocity around the pitch axis of the inverted moving body, and a pitch axis that detects an acceleration of the pitch axis of the inverted moving body An acceleration detection unit; a roll axis acceleration detection unit that detects acceleration of the roll axis of the inverted moving body; a yaw axis acceleration detection unit that detects acceleration of the yaw axis of the inverted moving body; and the first sensor.
- the second sensor, and the third A control unit that performs the inversion control based on the angular velocity detected by each of the sensors, and the control unit calculates based on the angular velocity detected by each of the first sensor and the second sensor.
- a specific safety function is activated based on the mutual relationship of the third angular velocities around the pitch axis of the inverted moving body calculated based on the acceleration detected by each of the yaw axis acceleration detecting sections.
- the control method detects an angular velocity around an axis inclined at a first predetermined angle from the pitch axis of the inverted moving body on a plane orthogonal to the yaw axis of the inverted moving body.
- a method for controlling an inverted moving body that performs inverted control based on an angular velocity detected by each of third sensors that detect angular velocities around the pitch axis of the inverted moving body, the pitch axis of the inverted moving body , The roll axis acceleration of the inverted moving body, and the yaw axis acceleration of the inverted moving body are detected and calculated based on the angular velocities detected by the first sensor and the second sensor, respectively.
- a specific safety function is activated based on the mutual relationship of the third angular velocities around the pitch axis of the inverted moving body calculated based on the respective accelerations of the axes.
- FIG. 1 is a diagram illustrating a schematic configuration of an inverted motorcycle according to an embodiment. It is a block diagram which shows the structure of the control apparatus concerning embodiment. It is a figure which shows the angular velocity and acceleration which the sensor concerning Embodiment detects. It is a figure which shows the acceleration of a X-axis, a Y-axis, and a Z-axis detected and calculated in embodiment. It is a figure which shows the angular velocity detected and calculated in embodiment. It is a flowchart which shows the sensor failure detection process concerning embodiment. It is a figure which shows an example of the transition of the acceleration concerning embodiment, and an angular velocity.
- FIG. 1 is a diagram showing a schematic configuration of an inverted motorcycle 1 according to an embodiment of the present invention.
- the inverted motorcycle 1 detects the posture angle (pitch angle) of the inverted motorcycle 1 in the front-rear direction when a passenger who has boarded the step plate 3 applies a load in the front-rear direction of the inverted motorcycle 1, Based on the detection result, the motors that drive the left and right wheels 2 are controlled so as to maintain the inverted state of the inverted motorcycle 1. In other words, the inverted motorcycle 1 accelerates forward so as to maintain the inverted state of the inverted motorcycle 1 when the passenger who has boarded the step plate 3 applies a load forward to tilt the inverted motorcycle 1 forward.
- the motors that drive the left and right wheels 2 are controlled so as to accelerate backward so as to maintain the inverted motorcycle 1 in an inverted state.
- a control system for controlling the motor is duplicated in order to ensure control stability.
- control of the motor described above is performed by the control device 10 mounted on the inverted motorcycle 1.
- control device 10 will be described with reference to FIG.
- FIG. 2 it is a block diagram which shows the structure of the control apparatus 10 concerning embodiment of this invention.
- the control device 10 includes microcontrollers 11 and 12 (hereinafter also referred to as “microcomputer”), inverters 13 to 16, motors 17 and 18, and sensors 19 to 22.
- microcomputer microcontrollers 11 and 12
- inverters 13 to 16 motors 17 and 18, and sensors 19 to 22.
- the control device 10 is a dual system that is duplexed into the first system 100 and the second system 200 in order to ensure the stability of the control of the inverted motorcycle 1. That is, normally, the inverted motorcycle 1 is controlled by both the systems 100 and 200, and when an abnormality is detected in one of the systems, the other motorcycle 1 is controlled so that the inverted motorcycle 1 is safely stopped.
- the 1-system 100 includes a microcomputer 11, inverters 13 and 14, and sensors 19 to 21.
- the two-system system 200 includes a microcomputer 12, inverters 15 and 16, and a sensor 22.
- the roll axis of the inverted motorcycle 1 is also referred to as the X axis
- the pitch axis of the inverted motorcycle 1 is also referred to as the Y axis
- the yaw axis of the inverted motorcycle 1 is also referred to as the Z axis.
- the sensor 19 and the sensor 20 are arranged so that their detection axes face each other at an angle of 45 ° on a plane orthogonal to the yaw axis from each of the pitch axis and the roll axis. Yes. That is, the sensor 19 and the sensor 20 are arranged so that their detection axes are inclined 45 ° in different directions so as to be symmetric with respect to the pitch axis.
- the sensor 21 is arranged such that its detection axis coincides with the yaw axis.
- the sensor 22 is arranged such that its detection axis coincides with the pitch axis.
- Each of the microcomputers 11 and 12 controls the motors 17 and 18 based on the angular velocity signals output from the sensors 19 to 21 and the sensor 22 so that the inverted motorcycle 1 maintains the inverted state as described above.
- ECU Engine Control Unit
- Each of the microcomputers 11 and 12 has a CPU (Central Processing Unit) and a storage unit, and executes processing as each of the microcomputers 11 and 12 in the present embodiment by executing a program stored in the storage unit.
- the program stored in the storage unit of each of the microcomputers 11 and 12 includes a code for causing the CPU to execute processing in each of the microcomputers 11 and 12 in the present embodiment.
- the storage unit includes, for example, an arbitrary storage device that can store the program and various types of information used for processing in the CPU.
- the storage device is, for example, a memory.
- the microcomputer 11 generates a command value for controlling the motor 17 and outputs the command value to the inverter 13. Further, the microcomputer 11 generates a command value for controlling the motor 18 and outputs it to the inverter 14.
- the microcomputer 11 calculates the attitude angle of the inverted two-wheeled vehicle 1 based on the angular velocity signals output from the sensors 19 and 20, and maintains the inverted state of the inverted two-wheeled vehicle 1 based on the calculated attitude angle. , 18 is generated.
- the microcomputer 11 calculates the angular velocity around the pitch axis from the angular velocity indicated by the angular velocity signal output from each of the sensors 19 and 20.
- the microcomputer 11 calculates the posture angle (pitch angle) of the inverted two-wheeled vehicle 1 by integrating the calculated angular velocity around the pitch axis, and the inverted state of the inverted two-wheeled vehicle 1 based on the calculated posture angle (pitch angle).
- a command value for controlling the motors 17 and 18 is generated.
- the angular velocity indicated by the angular velocity signal output from each of the sensors 19 and 20 is an angular velocity around an axis inclined by 45 ° from the pitch axis as described above.
- the microcomputer 11 calculates the angular velocity around the pitch axis by performing rotation matrix calculation on those angular velocities, and based on the calculated angular velocity around the pitch axis, the longitudinal direction of the inverted motorcycle 1 is calculated.
- the attitude angle (pitch angle) is calculated.
- the microcomputer 11 calculates the angular velocity around the roll axis from the angular velocity indicated by the angular velocity signal output from each of the sensors 19 and 20.
- the microcomputer 11 integrates the calculated angular velocity around the roll axis to calculate a lateral attitude angle (roll angle) of the inverted motorcycle 1 and turns the inverted motorcycle 1 based on the calculated attitude angle (roll angle).
- a command value for controlling the motors 17 and 18 is generated.
- the angular velocity indicated by the angular velocity signal output from each of the sensors 19 and 20 is also an angular velocity around an axis inclined by 45 ° from the roll axis.
- the microcomputer 11 performs rotation matrix calculation on these angular velocities to calculate angular velocities around the roll axis, and based on the calculated angular velocities around the roll axis, the left and right direction of the inverted motorcycle 1
- the posture angle (roll angle) is calculated.
- the microcomputer 11 may control an arbitrary inverted two-wheeled vehicle 1 based on the angular velocity around the yaw axis indicated by the angular velocity signal output from the sensor 21. For example, when the microcomputer 11 determines that the angular velocity indicated by the angular velocity signal output from the sensor 21 exceeds a predetermined angular velocity in order to prevent the inverted motorcycle 1 from turning sharply, the microcomputer 11 is inverted at a higher angular velocity. You may make it produce
- the microcomputer 12 generates a command value for controlling the motor 17 and outputs it to the inverter 15. Further, the microcomputer 12 generates a command value for controlling the motor 18 and outputs it to the inverter 16.
- the microcomputer 12 calculates the attitude angle of the inverted motorcycle 1 based on the angular velocity signal output from the sensor 22, and the motors 17, 18 so as to maintain the inverted state of the inverted motorcycle 1 based on the calculated attitude angle.
- a command value for controlling the is generated.
- the microcomputer 12 calculates the posture angle (pitch angle) in the front-rear direction of the inverted motorcycle 1 by integrating the angular velocity around the pitch axis indicated by the angular velocity signal output from the sensor 22, and calculates the calculated posture angle. Based on (pitch angle), a command value for controlling the motors 17 and 18 is generated so as to maintain the inverted state of the inverted motorcycle 1.
- the inverter 13 performs PWM (Pulse Width Modulation) control based on the command value output from the microcomputer 11, thereby generating a drive current for performing motor control according to the command value and supplying the drive current to the motor 17.
- the inverter 14 performs PWM control based on the command value output from the microcomputer 11, thereby generating a drive current for performing motor control according to the command value and supplying the drive current to the motor 18.
- the inverter 15 performs PWM control based on the command value output from the microcomputer 12, thereby generating a drive current for performing motor control according to the command value and supplying the drive current to the motor 17.
- the inverter 16 performs PWM control based on the command value output from the microcomputer 12, thereby generating a drive current for performing motor control according to the command value and supplying the drive current to the motor 18.
- Each of the motors 17 and 18 is a double-winding motor.
- the motor 17 is driven based on the drive current supplied from the inverter 13 and the drive current supplied from the inverter 15. By driving the motor 17, the left wheel 2 of the inverted motorcycle 1 rotates.
- the motor 18 is driven based on the drive current supplied from the inverter 14 and the drive current supplied from the inverter 16. By driving the motor 18, the right wheel 2 of the inverted motorcycle 1 rotates.
- each of the sensors 19 to 22 will be described with reference to FIG.
- FIG. 3 is a diagram showing the angular velocity and acceleration detected by each of the sensors 19-22.
- each of the sensors 19 to 21 includes a composite sensor chip capable of detecting a uniaxial angular velocity and a biaxial acceleration. That is, each of the sensors 19 to 21 functions as a gyro sensor and an acceleration sensor.
- the sensor 22 is a sensor chip that detects a uniaxial angular velocity. That is, the sensor 22 functions as a gyro sensor.
- the sensor 19 detects the angular velocity ⁇ 0 around each of the pitch axis and the roll axis and is inclined by 45 °, generates an angular velocity signal indicating the detected angular velocity ⁇ 0, and outputs it to the microcomputer 11. Further, the sensor 19 detects an acceleration Acc_left in the axial direction inclined by 45 ° with respect to each of the pitch axis and the roll axis, generates a tilt axis acceleration signal indicating the detected acceleration Acc_left, and outputs it to the microcomputer 11.
- the detection axis of the angular velocity ⁇ 0 and the detection axis of the acceleration Acc_left are arranged so as to be orthogonal to each other.
- the sensor 19 detects the Z-axis acceleration AccZ_0, generates a Z-axis acceleration signal indicating the detected acceleration AccZ_0, and outputs the Z-axis acceleration signal to the microcomputer 11.
- the sensor 20 detects the angular velocity ⁇ 1 around each of the pitch axis and the roll axis and tilted by 45 °, generates an angular velocity signal indicating the detected angular velocity ⁇ 1, and outputs it to the microcomputer 11. Further, the sensor 20 detects the acceleration Acc_right of the pitch axis and the roll axis and an axis inclined by 45 °, generates a tilt axis acceleration signal indicating the detected acceleration Acc_right, and outputs it to the microcomputer 11.
- the detection axis of angular velocity ⁇ 1 and the detection axis of acceleration Acc_ right are arranged so as to be orthogonal.
- the sensor 20 detects the Z-axis acceleration AccZ′_0, generates a Z-axis acceleration signal indicating the detected acceleration AccZ_0, and outputs the Z-axis acceleration signal to the microcomputer 11.
- the sensor 21 detects the angular velocity ⁇ 2 around the yaw axis, generates an angular velocity signal indicating the detected angular velocity ⁇ 2, and outputs it to the microcomputer 11.
- the sensor 21 detects the acceleration AccX_0 in the X direction, generates an X-axis acceleration signal indicating the detected acceleration AccX_0, and outputs the X-axis acceleration signal to the microcomputer 11.
- the sensor 21 detects the acceleration AccY_0 in the Y-axis direction, generates a Y-axis acceleration signal indicating the detected acceleration AccY_0, and outputs the Y-axis acceleration signal to the microcomputer 11.
- the sensor 22 detects an angular velocity ⁇ 3 around the pitch axis, generates an angular velocity signal indicating the detected angular velocity ⁇ 3, and outputs it to the microcomputer 12.
- FIG. 4 is a diagram showing the accelerations of the X axis, the Y axis, and the Z axis detected and calculated in the present embodiment.
- each of the two acceleration detection axes coincides with the X axis and the Y axis.
- the sensors 19 and 20 have a single acceleration detection axis that coincides with the Z axis. Therefore, as shown in the equations (1) to (3), the microcomputer 11 uses the accelerations AccX and AccY of the X axis and Y axis as the accelerations AccX_0 and AccY_0 of the X axis and Y axis detected by the sensor 21, respectively. And the Z-axis acceleration AccZ_0 detected by the sensor 19 or the Z-axis acceleration AccZ′_0 detected by the sensor 20. In the present embodiment, the case where the Z-axis acceleration AccZ_0 detected by the sensor 19 is used as the Z-axis acceleration AccZ will be described.
- the microcomputer 11 sets the X-axis acceleration AccX_0 indicated by the X-axis acceleration information output from the sensor 21 as the X-axis acceleration AccX, as shown in Expression (1). Further, as shown in Expression (2), the microcomputer 11 sets the Y-axis acceleration AccY_0 indicated by the Y-axis acceleration information output from the sensor 21 as the Y-axis acceleration AccY. Further, as shown in Expression (3), the microcomputer 11 sets the Z-axis acceleration AccZ_0 indicated by the Z-axis acceleration information output from the sensor 19 as the Z-axis acceleration AccZ.
- the microcomputer 11 also calculates accelerations AccX′_0 and AccY′_0 used for comparison for detecting a failure related to acceleration detection of the sensors 19 to 21.
- the detection axis of one acceleration forms an angle of 45 ° with respect to each of the pitch axis and the roll axis. Therefore, the microcomputer 11 combines the X-axis acceleration AccX'_0 with the accelerations of the X-axis components in the accelerations Acc_left and Acc_right detected by the sensors 19 and 20, respectively, as shown in Expression (4). calculate.
- the X-axis angular velocity AccX′_0 is obtained by calculating the square root of 2 from the total value (added value) of the acceleration Acc0_left detected by the sensor 19 and the acceleration Acc0_right detected by the sensor 20, as shown in Expression (4). Is calculated by dividing. That is, the microcomputer 11 divides the square root of 2 from the total value of the acceleration Acc0_left indicated by the tilt axis acceleration information output from the sensor 19 and the acceleration Acc0_right indicated by the tilt axis acceleration information output from the sensor 20, and X Calculate the angular velocity AccX'_0 of the axis.
- the microcomputer 11 combines the acceleration AccY′_0 in the Y-axis direction with the acceleration of the Y-axis component in each of the accelerations Acc_left and Acc_right detected by the sensors 19 and 20 as shown in the equation (5).
- the angular velocity AccY′_0 of the Y axis is obtained by calculating the square root of 2 from the difference value (subtraction value) between the acceleration Acc0_left detected by the sensor 19 and the acceleration Acc0_right detected by the sensor 20, as shown in Expression (5). Is calculated by dividing. That is, the microcomputer 11 divides the square root of 2 from the difference value between the acceleration Acc0_left indicated by the tilt axis acceleration information output from the sensor 19 and the acceleration Acc0_right indicated by the tilt axis acceleration information output from the sensor 20, and Y Calculate the angular velocity AccY'_0 of the axis.
- FIG. 5 is a diagram showing angular velocities detected and calculated in the present embodiment.
- the angular velocity detection axis forms an angle of 45 ° with respect to each of the pitch axis and the roll axis. Therefore, the microcomputer 11 calculates the angular velocity Roll_0 around the roll axis by combining the angular velocities of the roll axis components at the angular velocities ⁇ 0 and ⁇ 1 detected by the sensors 19 and 20, respectively, as shown in Equation (6). To do.
- the angular velocity Roll_0 around the roll axis detected in the 1-system 100 is equal to the difference value between the angular velocity ⁇ 0 detected by the sensor 19 and the angular velocity ⁇ 1 detected by the sensor 20, as shown in Equation (6). It is calculated by dividing the square root of 2 from the subtracted value. That is, the microcomputer 11 divides the square root of 2 from the difference value between the angular velocity ⁇ 0 indicated by the angular velocity information output from the sensor 19 and the angular velocity ⁇ 1 indicated by the angular velocity information output from the sensor 20, and thereby the angular velocity around the roll axis. Calculate Roll_0.
- the microcomputer 11 calculates the angular velocity Pitch_0 around the pitch axis by synthesizing the angular velocity of the pitch axis component at each of the angular velocities ⁇ 0 and ⁇ 1 detected by the sensors 19 and 20, respectively. To do.
- the angular velocity Pitch_0 around the pitch axis detected in the system 1 100 is the sum of the angular velocity ⁇ 0 detected by the sensor 19 and the angular velocity ⁇ 1 detected by the sensor 20, as shown in Expression (7). It is calculated by dividing the square root of 2 from the added value. That is, the microcomputer 11 divides the square root of 2 from the total value of the angular velocity ⁇ 0 indicated by the angular velocity information output from the sensor 19 and the angular velocity ⁇ 1 indicated by the angular velocity information output from the sensor 20 to obtain an angular velocity around the pitch axis. Pitch_0 is calculated.
- the microcomputer 11 sets the angular velocity Pitch_1 around the pitch axis to the angular velocity ⁇ 3 detected by the sensor 22, as shown in Expression (8).
- the microcomputer 11 sets the angular velocity Pitch_1 around the pitch axis detected in the system 2 200 as the angular velocity ⁇ 3 indicated by the angular velocity information output from the sensor 22, as shown in Expression (8).
- the microcomputer 11 also calculates an angular velocity Pitch_Acc used for comparison for detecting a failure related to angular velocity detection of the sensors 19, 20, and 22. As shown in Expression (9), the microcomputer 11 approximately calculates the angular velocity Pitch_Acc around the pitch axis based on the accelerations AccX, AccY, and AccZ of the X axis, the Y axis, and the Z axis.
- the microcomputer 11 calculates the sum of the squares of the square of the X-axis acceleration AccX, the square of the Y-axis acceleration AccY, and the square of the Z-axis acceleration AccZ (added value).
- a value of an inverse sine function obtained by dividing the square root from the X-axis acceleration AccX is calculated as an angular velocity Pitch_Acc around the pitch axis.
- FIG. 6 is a flowchart showing a sensor failure detection process of the control device 10 according to the embodiment of the present invention.
- the microcomputer 11 starts processing for detecting a sensor failure related to acceleration detection before determining a sensor failure related to angular velocity detection around the pitch axis using the angular velocity Pitch_Acc around the pitch axis (S1).
- the microcomputer 11 calculates the X-axis acceleration AccX′_0 based on the accelerations Acc0_left and Acc0_right indicated by the tilt axis acceleration information output from the sensors 19 and 20, respectively.
- the microcomputer 11 compares the X-axis acceleration AccX indicated by the X-axis acceleration information output from the sensor 21 with the calculated X-axis acceleration AccX'_0, and the respective accelerations AccX and AccX'_0 are within a predetermined range. It is determined whether or not they match (S2).
- “match within a predetermined range” may be a complete match, or may be a slightly different value but a difference smaller than a predetermined value (including a complete match).
- the microcomputer 11 activates a predetermined safety function corresponding to the abnormality related to acceleration detection for the inverted motorcycle 1. For example, the microcomputers 11 and 12 perform braking control so as to stop the inverted motorcycle 1.
- the microcomputer 11 outputs a signal notifying the sensor failure to the microcomputer 12, generates a command value so as to stop the inverted motorcycle 1 together with the microcomputer 12 that has received the signal, and generates inverters 13, 14. Output to. Further, a warning with a warning sound and a braking control for applying a physical brake may be performed.
- the microcomputer 11 sets the accelerations Acc0_left and Acc0_right indicated by the tilt axis acceleration information output from the sensors 19 and 20, respectively. Based on this, the Y-axis acceleration AccY′_0 is calculated. The microcomputer 11 compares the Y-axis acceleration AccY indicated by the Y-axis acceleration information output from the sensor 21 with the calculated Y-axis acceleration AccY'_0, and the respective accelerations AccY and AccY'_0 are within a predetermined range. In step S4.
- the microcomputer 11 activates a predetermined safety function corresponding to the abnormality related to acceleration detection for the inverted motorcycle 1. For example, the microcomputer 11 stops the inverted motorcycle 1 as described above.
- the microcomputer 11 and the Z-axis acceleration AccZ indicated by the Z-axis acceleration information output from the sensor 19 and the sensor 20 Is compared with the Z-axis acceleration AccZ′_0 indicated by the Z-axis acceleration information output from the A-axis, and it is determined whether or not the respective accelerations AccZ and AccZ′_0 match within a predetermined range (S6).
- the microcomputer 11 activates a predetermined safety function corresponding to the abnormality related to acceleration detection for the inverted motorcycle 1. For example, the microcomputer 11 stops the inverted motorcycle 1 as described above.
- the microcomputer 11 starts a process of detecting a sensor failure related to the angular velocity detection around the pitch axis (S8).
- the microcomputer 11 calculates the angular velocity Pitch_0 around the pitch axis based on the angular velocities ⁇ 0 and ⁇ 1 indicated by the angular velocity information output from the sensors 19 and 20, respectively. Further, the microcomputer 12 outputs the angular velocity information output from the sensor 22 to the microcomputer 11. The microcomputer 11 compares the calculated angular velocity Pitch_0 around the pitch axis with the angular velocity Pitch_1 around the pitch axis indicated by the angular velocity information output from the microcomputer 12, and determines whether the respective angular velocities Pitch_0 and Pitch_1 match within a predetermined range. (S9).
- each of the microcomputers 11 and 12 maintains the inverted control of the inverted motorcycle 1. That is, the microcomputer 11 generates a command value so as to maintain the inverted state of the inverted motorcycle 1 based on the calculated angular velocity Pitch_0 around the pitch axis, and outputs the command value to the inverters 13 and 14.
- the microcomputer 12 generates a command value so as to maintain the inverted state of the inverted motorcycle 1 based on the angular velocity Pitch_1 around the pitch axis indicated by the angular velocity information output from the sensor 22, and outputs the command value to the inverters 15 and 16. .
- the microcomputers 11 and 12 perform the inverted control of the inverted motorcycle 1.
- the microcomputer 11 uses the X-axis acceleration information AccX and the Y-axis acceleration AccY indicated by the X-axis acceleration information and Y-axis acceleration information output from the sensor 21 and the Z-axis acceleration information output from the sensor 19, respectively.
- An angular velocity Pitch_Acc around the pitch axis is calculated based on the indicated Z acceleration AccZ. Then, the microcomputer 11 compares the difference value between the angular velocity Pitch_0 around the pitch axis and the angular velocity Pitch_Acc around the pitch axis with the difference value between the angular velocity Pitch_1 around the pitch axis and the angular velocity Pitch_Acc around the pitch axis. It is determined whether or not the difference value between the angular velocities Pitch_Acc is larger than the difference value between the angular velocities Pitch_0 and the angular velocities Pitch_Acc (S11).
- the microcomputer 11 activates a predetermined safety function corresponding to an abnormality related to angular velocity detection in the system 2 200. For example, the microcomputer 11 performs control to stop the inverted motorcycle 1 as described above while maintaining the inverted motorcycle 1 based on the angular velocity Pitch_0 around the pitch axis obtained as described above. Specifically, the microcomputer 11 generates a command value so as to stop the inverted motorcycle 1 and outputs the command value to the inverters 13 and 14. Further, the microcomputer 11 may block the output from the inverters 15 and 16 of the second system 200 to the motors 17 and 18.
- the microcomputer 11 outputs a signal notifying the microcomputer 12 of the sensor failure, and the microcomputer 12 outputs a signal to the relay circuit as described above according to the signal.
- the control of the motors 17 and 18 from the system 200 may be suppressed. Further, according to this, when a failure of one system is determined, it is possible to maintain the inverted control from the other system without stopping the inverted motorcycle 1 immediately.
- the sensor 19 or the sensor 20 of the system 1 system 100 has an axis inclined 45 ° with respect to the pitch axis. It is determined that a failure has occurred in which the angular velocity cannot be detected normally (S13).
- the microcomputer 12 activates a predetermined safety function corresponding to an abnormality related to angular velocity detection in the system 1 system 100.
- the microcomputer 12 performs control so as to stop the inverted motorcycle 1 as described above while maintaining the inverted motorcycle 1 based on the angular velocity Pitch_1 around the pitch axis obtained as described above.
- the microcomputer 11 outputs a signal notifying the microcomputer 12 of a sensor failure.
- the microcomputer 12 generates a command value so as to stop the inverted motorcycle 1 and outputs the command value to the inverters 15 and 16.
- the microcomputer 12 may block the output from the inverters 13 and 14 of the 1-system 100 to the motors 17 and 18.
- this is realized by providing a relay circuit between the inverters 13 and 14 and the motors 17 and 18 and outputting a signal for cutting off the connection between the inverters 13 and 14 and the motors 17 and 18 to the relay circuit.
- the microcomputer 11 may inhibit the control of the motors 17 and 18 from the 1-system 100 by outputting a signal to the relay circuit as described above. Further, according to this, when a failure of one system is determined, it is possible to maintain the inverted control from the other system without stopping the inverted motorcycle 1 immediately.
- the determination may be confirmed by a single determination of S12 or S13. If the same determination is continued for a predetermined time, the determination is determined. Also good. For example, as shown in FIG. 7, a failure occurs in the sensor 19 or the sensor 20 in which the angular velocity of the axis inclined 45 ° with respect to the pitch axis cannot be normally detected, and based on the angular velocities ⁇ 0 and ⁇ 1 detected by the sensors 19, 20 Assume that the calculated angular velocity Pitch_0 around the pitch axis is larger than normal (4415 [msec] in FIG. 7). In this case, the determination in step S13 is made. If the predetermined time is 20 msec and the determination in step S13 continues for 20 msec (4435 [msec] in FIG. 7), the determination in step S13 is confirmed.
- the microcomputer 11 performs rotation matrix calculation for the angular velocity ⁇ 2 around the pitch axis. And calculate the angular velocities of each component of the pitch axis and the two axes inclined by 45 °, compare each of the calculated angular velocities with the angular velocities ⁇ 0 and ⁇ 1, and detect the angular velocities ⁇ 0 or ⁇ 1 where the difference becomes larger What is necessary is just to specify the sensor to perform as a failure sensor.
- the angular velocities of the pitch axis and the roll axis are derived from the angular velocities detected by the two sensors 19 and 20 arranged in the “C” shape.
- the resolution of the angular velocity obtained thereby is said to decrease.
- the angular velocity detection axis is inclined by 45 °, and therefore the angular velocity of the pitch axis obtained therefrom is about 0.7 times. Therefore, a minute change amount may be obtained as a large change amount. Therefore, when this is not taken into consideration, there is a problem in that failure detection accuracy is reduced because comparison verification is performed at an angular velocity having a difference in resolution.
- the sensor abnormality is diagnosed on the basis of the correlation between the angular velocities around the pitch axis calculated based on the acceleration detected in (1). According to this, by comparing and verifying with the angular velocity calculated from the acceleration whose resolution is not lowered, it is possible to determine which of the first sensor 19 and 20 and the second sensor 22 is out of order. Since it is made to identify, a failure sensor can be identified, without reducing accuracy. That is, according to the present embodiment, the cost can be reduced without reducing the failure detection accuracy.
- one sensor 22 out of the sensors 19, 20, and 22 is arranged to detect the angular velocity with the pitch axis as a detection axis, and therefore the rotation matrix calculation is performed for the sensor 22. Therefore, the angular velocity of the pitch axis can be detected. Therefore, it is possible to simplify the process and reduce the processing time.
- the inverted mobile object to be controlled is an inverted motorcycle
- the number of wheels is not limited to this.
- the number of components (inverters and motors) corresponding thereto is also changed.
- the detection axes of the sensors 19 and 20 are symmetric with respect to the pitch axis and inclined at the same angle (45 °) in different directions is exemplified, but the present invention is not limited to this angle.
- the angle may be other than 45 °, and the detection axes of the sensor 19 and the sensor 20 may be inclined at different angles from the pitch axis.
- the pitch axis component and the roll axis component may be extracted by performing rotation matrix calculation according to the angle.
- the Z-axis acceleration AccZ_0 detected by the sensor 19 is exemplified as the Z-axis acceleration AccZ.
- the Z-axis acceleration AccZ′_0 detected by the sensor 20 is used as the Z-axis acceleration AccZ. It is good.
- step S6 the Z-axis acceleration AccZ indicated by the Z-axis acceleration information output from the sensor 20 is compared with the Z-axis acceleration AccZ_0 indicated by the Z-axis acceleration information output from the sensor 19. That's fine.
- the angular velocity Pitch_0 based on the angular velocity detected by the sensors 19 and 20 and the sensor 22 detect
- the present invention is not limited to this as long as the abnormality diagnosis of the sensor is performed based on the mutual relationship between the angular velocity Pitch_1 and the angular velocity Pitch_Acc based on the acceleration detected by the sensors 19 and 21.
- the majority comparison may be performed based on whether or not the respective angular velocities Pitch_0, Pitch_1, and Pitch_Acc match within a predetermined range.
Abstract
Description
10 制御装置
11、12 マイコン
13、14、15、16 インバータ
17、18 モータ
19、20、21、22 センサ
100、200 システム
Claims (9)
- 倒立制御される倒立型移動体であって、
前記倒立型移動体のヨー軸に直交する平面上で前記倒立型移動体のピッチ軸から第1の所定角度傾斜させた軸周りの角速度を検出する第1のセンサと、
前記倒立型移動体のヨー軸に直交する平面上で前記倒立型移動体のピッチ軸から第2の所定角度傾斜させた軸周りの角速度を検出する第2のセンサと、
前記倒立型移動体のピッチ軸周りの角速度を検出する第3のセンサと、
前記倒立型移動体のピッチ軸の加速度を検出するピッチ軸加速度検出部と、
前記倒立型移動体のロール軸の加速度を検出するロール軸加速度検出部と、
前記倒立型移動体のヨー軸の加速度を検出するヨー軸加速度検出部と、
前記第1のセンサ、前記第2のセンサ、及び前記第3のセンサのそれぞれが検出した角速度に基づいて前記倒立制御を行う制御部と、を備え、
前記制御部は、前記第1のセンサ及び前記第2のセンサのそれぞれで検出した角速度に基づいて算出した前記倒立型移動体のピッチ軸周りの第1角速度と、前記第3のセンサが検出した前記倒立型移動体のピッチ軸周りの第2角速度と、前記ピッチ軸加速度検出部、前記ロール軸加速度検出部、及び前記ヨー軸加速度検出部のそれぞれで検出した加速度に基づいて算出した前記倒立型移動体のピッチ軸周りの第3角速度の相互関係に基づいて、特定の安全機能を発動する、
倒立型移動体。 - 前記制御部は、前記第1のセンサ及び前記第2のセンサのそれぞれが検出した角速度に基づいて前記倒立制御を行う第1の制御部と、前記第3のセンサが検出した角速度に基づいて前記倒立制御を行う第2の制御部と含み、
前記制御部は、前記第3のセンサが異常であると判断した場合、前記第1の制御部及び前記第2の制御部のうち、前記第1の制御部によって前記倒立型移動体の倒立制御を行い、
前記制御部は、前記第1のセンサ又は前記第2のセンサが異常であると判断した場合、前記第1の制御部及び前記第2の制御部のうち、前記第2の制御部によって前記倒立型移動体の倒立制御を行う、
請求項1に記載の倒立型移動体。 - 前記安全機能は、前記倒立型移動体を停止させる制動機能である、
請求項1又は2に記載の倒立型移動体。 - 前記第1のセンサは、さらに前記倒立型移動体のピッチ軸から第2の所定角度傾斜させた軸の加速度を検出し、
前記第2のセンサは、さらに前記倒立型移動体のピッチ軸から第1の所定角度傾斜させた軸の加速度を検出し、
前記倒立型移動体は、前記ヨー軸加速度検出部を第1のヨー軸加速度検出部として有するとともに、さらに前記倒立型移動体のヨー軸の加速度を検出する第2のヨー軸加速度検出部を有し、
前記制御部は、
前記第1のセンサ及び前記第2のセンサのそれぞれで検出した加速度に基づいて算出した前記倒立型移動体のピッチ軸の加速度と、前記ピッチ軸加速度検出部が検出した前記倒立型移動体のピッチ軸の加速度の比較、
前記第1のセンサ及び前記第2のセンサのそれぞれで検出した加速度に基づいて算出した前記倒立型移動体のロール軸の加速度と、前記ロール軸加速度検出部が検出した前記倒立型移動体のロール軸の加速度の比較、及び、
前記第1のヨー軸加速度検出部が検出した前記倒立型移動体のヨー軸の加速度と、前記第2のヨー軸加速度検出部が検出した前記倒立型移動体のヨー軸の加速度の比較を行い、
それらの比較結果に基づいて、前記安全機能を発動する、
請求項1乃至3のいずれか1項に記載の倒立型移動体。 - 前記第1のセンサは、前記第1のヨー軸加速度検出部を有し、
前記第2のセンサは、前記第2のヨー軸加速度検出部を有し、
前記倒立型移動体は、前記ピッチ軸加速度検出部及び前記ロール軸加速度検出部を有する第4のセンサを有する、
請求項4に記載の倒立型移動体。 - 前記制御部は、前記第1角速度と前記第2角速度が所定範囲内で一致しない場合、前記第1角速度と前記第3角速度の差分値となる第1差分値と、前記第2角速度と前記第3角速度の差分値となる第2差分値を比較し、
前記第2差分値が前記第1差分値よりも大きい場合、前記第3のセンサが異常であると判断し、
前記第2差分値が前記第1差分値よりも大きくない場合、前記第1のセンサ又は前記第2のセンサが異常であると判断する、
請求項2に記載の倒立型移動体。 - 前記制御部は、所定の時間の間、前記第1角速度と前記第2角速度が所定範囲内で一致せず、かつ、前記第1差分値と前記第2差分値の比較結果が一致し続ける場合、前記第1のセンサ又は前記第2のセンサ、もしくは、前記第3のセンサが異常であると判断する、
請求項6に記載の倒立型移動体。 - 前記第1の所定角度及び前記第2の所定角度のそれぞれは、相互にピッチ軸を対称として異なる方向に同一角度傾斜した角度となる、
請求項1乃至7のいずれか1項に記載の倒立型移動体。 - 倒立型移動体のヨー軸に直交する平面上で前記倒立型移動体のピッチ軸から第1の所定角度傾斜させた軸周りの角速度を検出する第1のセンサと、前記倒立型移動体のヨー軸に直交する平面上で前記倒立型移動体のピッチ軸から第2の所定角度傾斜させた軸周りの角速度を検出する第2のセンサと、前記倒立型移動体のピッチ軸周りの角速度を検出する第3のセンサのそれぞれが検出した角速度に基づいて倒立制御を行う倒立型移動体の制御方法であって、
前記倒立型移動体のピッチ軸の加速度、前記倒立型移動体のロール軸の加速度、及び前記倒立型移動体のヨー軸の加速度を検出し、
前記第1のセンサ及び前記第2のセンサのそれぞれで検出した角速度に基づいて算出した前記倒立型移動体のピッチ軸周りの第1角速度と、前記第3のセンサが検出した前記倒立型移動体のピッチ軸周りの第2角速度と、前記検出した前記倒立型移動体のピッチ軸、ロール軸、及びヨー軸のそれぞれの加速度に基づいて算出した前記倒立型移動体のピッチ軸周りの第3角速度の相互関係に基づいて、特定の安全機能を発動する、
制御方法。
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