PROBLEM TO BE SOLVED: To solve such a problem that a difference occurs between an assumed travelling locus and an actual travelling locus in turning, in existing travel control for a travelling device, such as an inverted two-wheel vehicle including an independent drive wheel on the right and left sides thereof.SOLUTION: A travelling device includes a control part that, when a turning instruction is received, rotatably drives a first drive wheel by adding a first correction amount calculated based on information on the center of gravity of an occupant to a first rotation amount of the first drive wheel calculated based on the turning instruction and rotatably drives a second drive wheel by adding a second correction amount calculated based on the information on the center of gravity of the occupant to a second rotation amount of the second drive wheel calculated based on the turning instruction.SELECTED DRAWING: Figure 2
【課題】左右に独立した駆動輪を備える倒立二輪車のような走行装置の従前の走行制御では、旋回時において想定する走行軌跡と実際の走行軌跡に差異が生じていた。【解決手段】旋回指示を受け付けた場合に、当該旋回指示に基づいて算出する第1駆動輪の第1回転量に、搭乗者の重心情報に基づいて算出する第1補正量を加味して第1駆動輪を回転駆動し、当該旋回指示に基づいて算出する第2駆動輪の第2回転量に、搭乗者の重心情報に基づいて算出する第2補正量を加味して第2駆動輪を回転駆動する制御部を備える走行装置を提供する。【選択図】図2
TRAVELLING DEVICE, METHOD FOR CONTROLLING TRAVELLING DEVICE AND PROGRAM FOR CONTROLLING TRAVELLING DEVICE
走行装置、走行装置の制御方法および走行装置の制御プログラム
2017-11-09
Patent
Electronic Resource
Japanese
IPC: | B62K Fahrräder , CYCLES |
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