PROBLEM TO BE SOLVED: To provide a control device of an inverted pendulum type vehicle, capable of surely notifying to an occupant by changing vehicle behavior, before self-supporting control becomes difficult to be continued.SOLUTION: A first control processing part 24 for controlling a first movement operation part 3 for driving based on state information acquired by at least state information acquiring means (70, 71, 72), comprises a target inclination command arithmetic operation part 35 for arithmetically operating a target inclination command M_cmd_xy of a base body 2 and an attitude control arithmetic operation part 34 for arithmetically operating a target translation speed (Vw1_cmd_xy) of a first movement operation part 3 for attaining a target inclination command M_cmd_xy, and when the state information falls on the outside of a predetermined self-supporting control adaptive range R, the target inclination command arithmetic operation part 35 sets a notification inclination command M_xy(=M1_xy+M2_xy), to be superimposed on the target inclination command M_cmd_xy.SELECTED DRAWING: Figure 4
【課題】自立制御が継続しづらくなる前に、車両挙動を変化させることで確実に乗員に通知を行うことができる倒立振子型車両の制御装置を提供する。【解決手段】少なくとも状態情報取得手段(70、71、72)により取得された状態情報に基づいて第1の移動動作部3を駆動制御する第1制御処理部24が、基体2の目標傾斜指令M_cmd_xyを演算する目標傾斜指令演算部35と、目標傾斜指令M_cmd_xyを達成するための第1の移動動作部3の目標並進速度(Vw1_cmd_xy)を演算する姿勢制御演算部34を有し、状態情報が所定の自立制御適応範囲Rを外れた場合、目標傾斜指令演算部35が通知用傾斜指令M_xy(=M1_xy+M2_xy)を設定して目標傾斜指令M_cmd_xyに重畳させる。【選択図】図4
INVERTED PENDULUM TYPE VEHICLE
倒立振子型車両
2016-05-23
Patent
Elektronische Ressource
Japanisch
IPC: | B62K Fahrräder , CYCLES |