To continue turn control even if any one of load sensor is failed.SOLUTION: A turn control method of an inverted two-wheel vehicle for performing turn control on the basis of output values of at least two load sensors which are arranged separately in left and right directions in order to detect load ratios of an occupant in left and right direction who boards on a step part 21 arranged at a bogie part 2 includes: a total sum calculation step (S120) for calculating a total sum of the output values of at least the two load sensors; and an abnormal-time turn control step (S150) for performing the turn control when the output value of the specified load sensor as any one of the load sensors is abnormal (S130: YES). In the abnormal-time turn control step (S150), the output value of the failed load sensor is estimated on the basis of the total sum and the output value of the other load sensor which is in a normal operation (S152).SELECTED DRAWING: Figure 5

    【課題】何れか1つの荷重センサが故障した場合でも旋回制御を継続する。【解決手段】台車部2に設けられたステップ部21に搭乗した搭乗者の左右方向における荷重比を検出するために左右に離して配置された少なくとも2つの荷重センサの出力値に基づいて旋回制御を実行する、倒立二輪車1の旋回制御方法は、少なくとも2つの荷重センサの出力値の総和を算出する総和算出ステップ(S120)と、少なくとも2つの荷重センサのうち何れか1つの荷重センサとしての特定荷重センサの出力値が異常となったときに(S130:YES)旋回制御を実行する異常時旋回制御ステップ(S150)と、を含む。異常時旋回制御ステップ(S150)では、故障した荷重センサの出力値を、上記総和と、他の正常に動作している荷重センサの出力値と、に基づいて推定する(S152)。【選択図】図5


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    Title :

    TURN CONTROL DEVICE OF INVERTED TWO-WHEEL VEHICLE


    Additional title:

    倒立二輪車の旋回制御方法


    Contributors:

    Publication date :

    2019-03-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62K Fahrräder , CYCLES



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