To provide a traveling device of a small mobility capable of performing control corresponding to a mobility having a deformation mechanism.SOLUTION: A traveling device of a small mobility is a traveling device of a small mobility includes a deformation mechanism and includes a control unit. The control unit performs optimization calculation by adding n-component force for deformation in which driving force is distributed to m-component force for deformation when performing optimization calculation of 12-component force of a tire in which driving force is distributed to 6-component force of a vehicle having three degrees of freedom of translation and three degrees of freedom of rotation.SELECTED DRAWING: Figure 2

    【課題】変形機構を有するモビリティに対応した制御を行うことができる小型モビリティの走行装置を提供すること。【解決手段】小型モビリティの走行装置は、変形機構を備える小型モビリティの走行装置であって、制御部を備え、制御部が、並進3自由度および回転3自由度からなる車両6分力に駆動力分配を行ったタイヤ12分力の最適化計算を行う際に、変形m分力に駆動力分配を行った変形用n分力を追加して最適化計算を行う。【選択図】図2


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    Title :

    TRAVELING DEVICE OF SMALL MOBILITY


    Additional title:

    小型モビリティの走行装置


    Contributors:

    Publication date :

    2024-10-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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