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54 条记录 (耗时 0.022 秒)

    Inverted pendulum type vehicle
    22.
    发明公开
    Inverted pendulum type vehicle 有权
    倒立式车辆

    公开(公告)号：EP2664524A1

    公开(公告)日：2013-11-20

    申请号：EP13156772.9

    申请日：2013-02-26

    申请人： Honda Motor Co., Ltd.

    发明人： Takenaka, Toru ,  Shirokura, Shinya ,  Murakami, Hideo ,  Araki, Makoto

    IPC分类号： B62K1/00 ,  B62K3/00

    CPC分类号： B62K1/00 ,  B62K11/007

    摘要： An inverted pendulum type vehicle prevents a travel operation unit from running at a high velocity when not in contact with the ground. A ground contact point velocity detector integrates a ground contact point horizontal acceleration calculated by a ground contact point horizontal acceleration calculator so as to calculate the acceleration at the ground contact point of a wheel. A determiner calculates a ground contact point velocity. The determiner sets a velocity threshold value on the basis of the velocity difference between the ground contact point velocity and a first desired velocity. If the first desired velocity reaches the velocity threshold value or more, then the determiner decides that the wheel of a first travel operation unit is idling and restricts the setting of the first desired velocity by a first control processor to the velocity threshold value or less.

    摘要翻译： 倒立摆型车辆在不与地面接触时防止行驶操作单元高速行驶。 接地点速度检测器对由接地点水平加速度计算器计算出的接地点水平加速度进行积分，以计算车轮的接地点处的加速度。 确定器计算地面接触点速度。 确定器基于接地点速度与第一期望速度之间的速度差来设定速度阈值。 如果第一期望速度达到或大于速度阈值，则确定器确定第一行驶操作单元的车轮空转并且将由第一控制处理器设定的第一期望速度限制为速度阈值或更小。

    Inverted pendulum type vehicle
    23.
    发明公开
    Inverted pendulum type vehicle 有权
    倒立式车辆

    公开(公告)号：EP2664523A1

    公开(公告)日：2013-11-20

    申请号：EP13156526.9

    申请日：2013-02-25

    申请人： Honda Motor Co., Ltd.

    发明人： Takenaka, Toru ,  Shirokura, Shinya ,  Murakami, Hideo ,  Aeaki, Makoto

    IPC分类号： B62K1/00 ,  B62K17/00 ,  B60B19/00

    CPC分类号： B62D11/003 ,  B60B19/003 ,  B62H7/00 ,  B62K1/00 ,  B62K11/00 ,  B62K11/007 ,  B62K17/00 ,  Y02T10/7258

    摘要： An inverted pendulum type vehicle with a tiltable rider mounting section has a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions. In a situation wherein a predetermined representative point of the vehicle or the first travel operation unit is to be moved rightward or leftward, the traveling operations of the first travel operation unit and the second travel operation unit are controlled such that the travel velocity of the first travel operation unit and the travel velocity of the second travel operation unit in the lateral direction are different from each other.

    摘要翻译： 具有可倾斜骑乘者安装部分的倒立式车辆具有第一行驶操作单元和第二行驶操作单元，所述第一行驶操作单元和第二行驶操作单元沿纵向方向在它们之间设置有间隔并且能够在所有方向上行进。 在要使车辆的预定代表点或第一行驶操作单元向右或向左移动的情况下，控制第一行驶操作单元和第二行驶操作单元的行驶操作，使得第一行驶操作单元和第二行驶操作单元的行驶速度 行驶操作单元和第二行驶操作单元在横向上的行驶速度彼此不同。

    Vehicle control device
    25.
    发明公开
    Vehicle control device 有权
    车辆控制装置

    公开(公告)号：EP2135787A1

    公开(公告)日：2009-12-23

    申请号：EP09012452.0

    申请日：2006-12-21

    申请人： Honda Motor Co., Ltd.

    发明人： Takenaka, Toru ,  Urabe, Hiroyuki ,  Toyoshima, Takayuki ,  Kono, Hiroshi

    IPC分类号： B60W30/02 ,  B60R16/02 ,  B60T8/174 ,  B60T8/1755 ,  B60W10/00 ,  B60W10/04 ,  B60W10/10 ,  B60W10/12 ,  B60W10/18 ,  B60W30/00 ,  B60W40/10

    CPC分类号： B60T8/17552 ,  B60T2230/02 ,  B60W10/04 ,  B60W10/10 ,  B60W10/18 ,  B60W40/10 ,  B60W40/101 ,  B60W2050/0033 ,  B60W2050/0034 ,  B60W2520/20 ,  B60W2530/20 ,  B62D6/003

    摘要： A basic required manipulated variable Mfbdmd_a is determined on the basis of a state amount error, which is the difference between a state amount of a motion of an actual vehicle 1 and a reference state amount, then a driving/braking force manipulation control input Fxfbdmd_n of a wheel is determined on the basis of the above basic required manipulated variable. At this time, a change in a driving/braking force operation control input Fxdmd_n of a front wheel and a rear wheel, respectively, of a particular set is made to be proportional to a change in the basic required manipulated variable Mfbdmd_a, and the ratio (gain) of a change in Fxdmd_n with respect to a change in Mfbdmd_a is made to change on the basis of gain adjustment parameters, such as side slip angles βf_act and βr_act. This makes it possible to properly control a motion of the actual vehicle to a desired motion by properly manipulating a road surface reaction force acting on a front wheel of the vehicle and a road surface reaction force acting on a rear wheel.

    摘要翻译： 基本要求操作量Mfbdmd_a基于作为实际车辆1的运动的状态量与基准状态量之间的差异的状态量误差来确定，然后基于作为车辆1的驱动/制动力操纵控制输入Fxfbdmd_n 基于上述基本所需操纵变量来确定车轮。 此时，分别使特定组的前轮和后轮的驱动/制动力操作控制输入Fxdmd_n的变化与基本所需操作变量Mfbdmd_a的变化成比例，并且比率 根据侧滑角βf_act，βr_act等增益调整参数，使Fxdmd_n相对于Mfbdmd_a的变化的变化（增益）变化。 这使得可以通过适当地操纵作用于车辆的前轮的路面反作用力和作用于后轮的路面反作用力来将实际车辆的运动适当地控制为期望的运动。

    Inverted pendulum type vehicle
    28.
    发明公开
    Inverted pendulum type vehicle 有权
    倒立式车辆

    公开(公告)号：EP2597022A1

    公开(公告)日：2013-05-29

    申请号：EP12193402.0

    申请日：2012-11-20

    申请人： Honda Motor Co., Ltd.

    发明人： Shirokura, Shinya ,  Murakami, Hideo ,  Takenaka, Toru

    IPC分类号： B62K1/00 ,  B62K17/00

    CPC分类号： B62D61/02 ,  B60B19/003 ,  B62D57/00 ,  B62K1/00 ,  B62K17/00 ,  Y02T10/7258

    摘要： An inverted pendulum type vehicle having a tiltable rider mounting section includes a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions, and an operation device which outputs a turn command. In the case where the turn command is output from the operation device in a situation wherein at least the first travel operation unit is traveling in the longitudinal direction or at rest, the moving velocity of the ground contact point of the first travel operation unit and the moving velocity of the ground contact point of the second travel operation unit in the lateral direction of a rider are controlled to have velocities that are different from each other.

    摘要翻译： 具有可倾斜骑乘者安装部分的倒立型车辆包括：第一行驶操作单元和第二行驶操作单元，它们沿纵向方向在它们之间设置有间隔并且能够在所有方向上行进;以及操作装置 它输出一个转弯命令。 在至少第一行驶操作单元正在纵向或静止行驶的情况下，在从操作装置输出转向指令的情况下，第一行驶操作单元的接地点与第一行驶操作单元的接地点的移动速度 将第二行驶操作单元的接地点在骑车人的横向上的移动速度控制为具有彼此不同的速度。