Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Showa Corporation

Kazushi Akimoto

Toru Takenaka

Shinichiro Kobashi

Hideo Murakami

Hiroshi Gomi

Kazushi Hamaya

Yuichi Uebayashi

Takashi Matsumoto

Takahide Yoshiike

Yoichi Nishimura

Shinya Shirokura

Makoto Araki

Hironori Waita

Yoshinari Takemura

Taro Yokoyama

Hiroyuki Makino

Minami Asatani

Tomohiro Kawakami

Naoyuki Saito

Takashi Kudo

Kazumasa Ozaki

Shunichi Nakabayashi

Kenji Muto

Taihei Setoguchi

Keisuke Koitabashi

Wataru Yada

Taiki Iimura

Yoshinao Sodeyama

Osamu Kikuchi

Katsushi Tanaka

Yoshiki Takahashi

Joonheon Shin

Yusuke Yamamoto

Katsushi c/o Showa Corporation Tanaka

A cart includes a control unit configured to multiply a provisional target front and rear velocity by a correction coefficient thereby setting a target front and rear velocity and multiply a provisional target lateral velocity by the correction coefficient thereby setting a target lateral velocity if the provisional target front and rear velocity is equal to or higher than a front and rear velocity upper limit or if the provisional target lateral velocity is equal to or higher than a lateral velocity upper limit, set the provisional target front and rear velocity to the target front and rear velocity and set the provisional target lateral velocity to the target lateral velocity if the provisional target front and rear velocity is lower than the front and rear velocity upper limit and the provisional target lateral velocity is lower than the lateral velocity upper limit.

Cart

Provided is an inverted pendulum type vehicle. A controller () includes a reference desired motion determiner (), which sequentially determines a reference desired motion of a traveling motion unit () so as to stabilize the attitude of an object mounting unit (), high-frequency idling state amount calculators (), () and (), which calculate the high-frequency idling state amount of the traveling motion unit (), and a desired motion corrector (), which corrects the reference desired motion by a correction amount determined on the basis of the high-frequency idling state amount to reduce a high-frequency component of idling. The controller () controls an actuator unit () according to the desired motion obtained by correcting the reference desired motion.

Inverted pendulum type vehicle

The steering angles of front wheelsand rear wheelsof a vehiclecan be respectively controlled by a front wheel steering angle control actuatorand a rear wheel steering angle control actuator. If a steering wheelis operated in a turning direction of the vehiclewhile the vehicleis traveling in a straight line, then a controllerchanges the steering angle of the front wheelsto approach to a steering angle specified on the basis of an operation amount after the steering wheelis operated, and also controls the front wheel steering angle control actuatorand the rear wheel steering angle control actuatorto change the steering angles of the rear wheelsto the opposite direction of the turning direction of the vehicleimmediately after the steering wheelis operated.

Vehicle

A vehicle includes a vehicle frame, a steering swivel unit supported on a head pipe of the vehicle frame and angularly movable about a steering axis, a front wheel angularly movable in unison with the steering swivel unit, and an automatic steering mechanism for angularly moving the steering swivel unit, wherein the vehicle frame includes a main frame extending rearwardly from the head pipe, and the steering mechanism includes a steering motor for angularly moving the steering swivel unit, the steering motor being supported on the main frame.

A control device () of a mobile body () calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body () from a predetermined reference position with respect to the vehicle body (), and determines a control input for an actuator (), which can cause a moment in the roll direction to act on the vehicle body (), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device () controls the actuator () in accordance with the control input.

Mobile body

A control device () of a mobile body () calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (), and determines a control input for an actuator () which can cause a moment in the roll direction to act on the vehicle body () so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device () controls the actuator () in accordance with the control input.

In a mobile vehiclehaving a vehicle body, a front wheel, and a rear wheel, the steering control wheelcan be steered by a steering actuatorabout a steering axis Csf which is tilted backward. The steering actuatoris controlled by a control device. The height a, from a ground surface, of the intersection point Ef of the steering axis Csf of the steering control wheeland a virtual straight line connecting the ground contact point of the steering control wheeland the center of axle of the steering control wheelin a basic posture state of the mobile vehicleis set to satisfy a prescribed condition.

Mobile vehicle

A two-wheeled vehicleincludes a steering sectionwhich steers a front wheel. The steering section includes a steering shaft linkwhich turns about a first steering axistogether with a second steering axis, a front-wheel support sectionwhich turns the front wheelabout the second steering axis, and a first motorwhich causes the steering shaft linkto turn. A caster angle &#x3b8; based on the first steering axisis positive or 0. A trail tbased on the second steering axisis positive. When the two-wheeled vehicleis in a basic posture state on a ground surface, the intersection point Pof the second steering axisand the ground surfacelies in front of the intersection point Pof the first steering axisand the ground surface

A mobile vehicleA includes a front-wheel support mechanismhaving a trail adjustment mechanism, a steering actuatorwhich generates a steering force for steering a front wheel, a trail adjustment actuatorwhich generates a driving force for changing a trail of the front wheel, and a control device. The control devicehas a function of controlling the steering actuatorso as to stabilize the posture of a vehicle body, and a function of controlling the trail adjustment actuatorin accordance with an observed value of the vehicle speed.

In a mobile vehicleA having a front wheeland a rear wheel, the steered wheelcan be steered by an actuator. A control devicecontrols the actuatorso as to stabilize the inclination angle &#x3c6;b in the roll direction of the vehicle bodyand the steering angle &#x3b4;f of the steered wheel. The control devicecauses a ratio between the sensitivity of the steering of the steered wheelto the change in observed value of the inclination angle &#x3c6;b and the sensitivity of the steering of the steered wheelto the change in observed value of the steering angle &#x3b4;f to be changed in accordance with the traveling speed of the mobile vehicleA.

In a mobile vehicleA having a front wheeland a rear wheel, the steered wheelcan be steered by an actuator. A control devicecontrols the actuatorso as to stabilize the inclination angle &#x3c6;b in the roll direction of the vehicle bodyand the steering angle &#x3b4;f of the steered wheel. The control devicecauses the sensitivity of the steering of the steered wheelto the change in observed value of the inclination angle &#x3c6;b to be changed in accordance with the steering angle of the steered wheel

In a mobile vehiclehaving a vehicle body, a front wheel, and a rear wheel, the steered wheelcan be steered by a steering actuatorabout a steering axis Csf which is tilted backward. A control devicecontrols the steering actuator, on the basis of a dynamics model of the mobile vehicleA configured by a mass point system having an inverted pendulum mass pointand a ground surface mass point, so as to stabilize a motional state quantity of the inverted pendulum mass pointand a motional state quantity of the steering angle of the steered wheel

A controllerof a vehicleis equipped with a first control, which is configured to control a first actuatorso as to move a traveling motion unitaccording to tilting of an occupant mounting section, and a second control unit, which is configured to control, in a case where a turning command is output from a joystick, an electric motorsuch that a steering direction of a wheelviewed from above the vehiclebecomes tilted with respect to a direction of a moving velocity vector V of the traveling motion unit

Inverted pendulum type vehicle, and control method of inverted pendulum type vehicle

In an inverted pendulum type vehicle having a traveling motion unit, when a component about an axis in a second direction and a component about an axis in a first direction from within a tilt error between an actual tilt angle and a desired tilt angle of the payload supporting part are defined as &#x3b8;be_x_s and &#x3b8;be_y_s, respectively, and when a component in the first direction and a component in the second direction from within a traveling velocity of a representative point of the vehicle in a stationary state in which &#x3b8;be_x_s and &#x3b8;be_y_s are retained constant are defined as Vb_x_stb and Vb_y_stb, respectively, a traveling motion of the traveling motion unit is controlled so that a ratio of a magnitude of Vb_x_stb with respect to a magnitude of &#x3b8;be_x_s and a ratio of a magnitude of Vb_y_stb with respect to &#x3b8;be_y_s becomes a ratio different from each other.

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Wako, Japan

Kazushi Akimoto