公开(公告)号：EP2910460B1

公开(公告)日：2018-02-21

申请号：EP12886689.4

申请日：2012-10-16

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： NAKAYAMA, Takahiro ,  KIDA, Yusuke ,  TAIRA, Tetsuya ,  BITOH, Hiroshi

IPC分类号： B62K17/00 ,  B62K3/00 ,  G05D1/08

CPC分类号： G05D13/62 ,  B62K3/00 ,  B62K11/007 ,  B62K17/00 ,  G05B9/02 ,  G05D1/08 ,  G05D1/0891

摘要： An inverted vehicle for which inversion control is performed comprises a first sensor that detects an angular speed around an axis inclined from a pitch axis by a first predetermined angle, a second sensor that detects an angular speed around an axis inclined from the pitch axis by a second predetermined angle, a third sensor that detects an angular speed around the pitch axis, a pitch-axis acceleration detection unit that detects an acceleration along the pitch axis, a roll-axis acceleration detection unit that detects an acceleration along a roll axis, a yaw-axis acceleration detection unit that detects an acceleration along the yaw axis, and a control unit that performs the inversion control based on the detected angular speeds. A control unit puts a specific safety function in motion based on a mutual relation among a first angular speed around the pitch axis calculated based on the angular speeds detected by the first and second sensors, a second angular speed around the pitch axis detected by the third sensor, and a third angular speed around the pitch axis calculated based on the detected accelerations.