公开(公告)号：US08589059B2

公开(公告)日：2013-11-19

申请号：US13145701

申请日：2010-01-22

申请人： Katsunori Doi

发明人： Katsunori Doi

IPC分类号： G06G7/70

CPC分类号： G05D1/0891 ,  B60L15/20 ,  B60L2200/16 ,  B60L2260/34 ,  B62K11/007 ,  Y02T10/645 ,  Y02T10/72 ,  Y02T10/7275

摘要： When measurements by sensors are impossible, the angular position of the vehicle is estimated from the conditions including rotation of the drive wheel and the driving torque so that the vehicle may travel in an inverted-pendulum position even in case of a failure of measurements of the vehicular position of angle. To achieve the object, the vehicle has a drive wheel rotatably mounted beneath a vehicular body, and a control unit that controls the vehicular position of angle through control of drive torque imparted to the drive wheel. The control unit has a means to estimate the vehicular angular position with respect to a vertical position from the conditions of rotation of the drive wheel and the driving torque.

摘要翻译： 当通过传感器进行测量是不可能的时候，车辆的角度位置是由包括驱动轮的旋转和驱动扭矩的条件来估计的，使得即使在不能测量的情况下，车辆也可以倒立摆位置 车辆位置的角度。 为了实现该目的，车辆具有可旋转地安装在车体下方的驱动轮，以及控制单元，其通过控制施加到驱动轮的驱动转矩来控制车辆的角度位置。 控制单元具有从驱动轮的旋转条件和驱动转矩来估计相对于垂直位置的车辆角度位置的装置。

公开(公告)号：US08442753B2

公开(公告)日：2013-05-14

申请号：US12672769

申请日：2008-08-05

申请人： Katsunori Doi

发明人： Katsunori Doi

IPC分类号： G05D1/08 ,  B62K17/00 ,  B62K1/00

CPC分类号： B62K11/007

摘要： The gradient of a road surface is estimated with a change in the attitude of a vehicle also taken into consideration. As a result, the gradient of the road surface can be estimated with high accuracy, and this enables the vehicle to stably stop and travel independently of the gradient of the road surface. The vehicle has a drive wheel rotatably mounted on a vehicle body and also has a vehicle control device for controlling the attitude of the vehicle by controlling drive torque applied to the drive wheel. The vehicle control device estimates the gradient of the road surface based on the attitude of the vehicle and corrects the drive torque based on the gradient.

摘要翻译： 也考虑到车辆的姿态的变化来估计路面的坡度。 结果，可以高精度地估计路面的坡度，这使得车辆能够独立于路面的坡度而稳定地停止和行驶。 车辆具有可旋转地安装在车身上的驱动轮，并且还具有通过控制施加到驱动轮的驱动转矩来控制车辆姿态的车辆控制装置。 车辆控制装置基于车辆的姿态来估计路面的坡度，并根据梯度来校正驱动扭矩。

公开(公告)号：US08346441B2

公开(公告)日：2013-01-01

申请号：US12084388

申请日：2006-11-24

申请人： Nobuaki Miki ,  Munehisa Horiguchi ,  Katsunori Doi

发明人： Nobuaki Miki ,  Munehisa Horiguchi ,  Katsunori Doi

IPC分类号： B60R22/00 ,  E05F15/00 ,  G05D1/00 ,  G05D3/00 ,  G06F7/00 ,  G06F17/00

CPC分类号： B62D61/00 ,  B60N2/0244 ,  B60N2/04 ,  B60N2/06 ,  B60N2/0745 ,  B60N2/10 ,  B62D37/00 ,  B62K1/00 ,  B62K11/007 ,  G05D1/0891 ,  Y02T10/7258

摘要： A motor vehicle has a body, a wheel rotatably supported and coaxially disposed on the body, and an occupant riding portion supported by the body. The motor vehicle is provided with a body attitude detector for detecting an attitude of the body and a body attitude controller for controlling the body attitude detected by the body attitude detector, wherein, in response to an inertial force or a centrifugal force generated by acceleration, deceleration or a turning motion of the motor vehicle, the occupant riding portion is moved so as to balance the inertial force or the centrifugal force. The motor vehicle further includes an occupant attitude controller for controlling an attitude of the occupant riding portion in accordance with a detection value detected by the body attitude detector.

摘要翻译： 机动车辆具有主体，可旋转地支撑并同轴地设置在主体上的轮子和由身体支撑的乘员骑行部分。 机动车辆设置有用于检测身体姿态的身体姿态检测器和用于控制由身体姿态检测器检测到的身体姿态的身体姿态控制器，其中响应于由加速度产生的惯性力或离心力， 减速或机动车辆的转动运动，使乘员搭乘部移动，以平衡惯性力或离心力。 机动车辆还包括乘员姿态控制器，用于根据由身体姿态检测器检测到的检测值来控制乘员搭乘部的姿势。

公开(公告)号：US08165771B2

公开(公告)日：2012-04-24

申请号：US12439127

申请日：2007-08-31

申请人： Katsunori Doi

发明人： Katsunori Doi

IPC分类号： G06G1/00

CPC分类号： B62D61/00 ,  B60L11/00 ,  B60L2200/16 ,  B62D37/00 ,  B62K11/007

摘要： The center of gravity of a vehicle is estimated to obtain, a limit lateral acceleration alim (=aMin, aMax), and the vehicle turns in a target running state (V*, γ*) requested by an occupant provided the lateral acceleration a* does not exceed the limit lateral acceleration alim. On the other hand, if the requested running state (V*, γ*) exceeds the limit lateral acceleration aaim, an ideal target running state (V*, γ*) is limited to an actual target running state (V*˜, γ*˜) so that the lateral acceleration a* equals to the limit lateral acceleration aaim. Because turning speed and turning curvature are not limited more than necessary, it is possible to achieve maximum use of turning performance of the vehicle up to the limit thereof.

摘要翻译： 估计车辆的重心，获得极限横向加速度轮廓（= aMin，aMax），并且车辆转向由乘客请求的目标行驶状态（V *，γ*），提供横向加速度a * 不超过极限侧向加速度轮廓。 另一方面，如果所请求的行驶状态（V *，γ*）超过极限横向加速度aaim，则将理想目标行驶状态（V *，γ*）限制为实际目标行驶状态（V *〜，γ *〜），使横向加速度a *等于极限横向加速度aaim。 由于转弯速度和转弯曲率不限于必要的范围，因此能够最大限度地利用车辆的转向性能直至其极限。

公开(公告)号：US20100168993A1

公开(公告)日：2010-07-01

申请号：US12666989

申请日：2008-04-02

申请人： Katsunori Doi ,  Masao Ando ,  Masahiro Hasebe ,  Naoki Gorai ,  Koki Hayashi ,  Kayo Futamura ,  Takafumi Miyaki ,  Kazuhiro Kuno

发明人： Katsunori Doi ,  Masao Ando ,  Masahiro Hasebe ,  Naoki Gorai ,  Koki Hayashi ,  Kayo Futamura ,  Takafumi Miyaki ,  Kazuhiro Kuno

IPC分类号： G06F19/00

CPC分类号： B60L15/00 ,  B60L2200/16 ,  B62K11/007 ,  Y02T10/645

摘要： The disclosed vehicle includes: a drive wheel; a vehicle body rotatably supported at a rotational axis of the drive wheel; a riding section mounted in the vehicle body for movement relative to the vehicle body; and a running controller which controls running while adjusting the center of the vehicle body through rotation of the vehicle body about the rotational axis and movement of the riding section with respect to the vehicle body, based on a target running state.

摘要翻译： 所公开的车辆包括：驱动轮; 车体，其被可旋转地支撑在所述驱动轮的旋转轴线处; 安装在所述车身中的用于相对于所述车体移动的搭乘部; 以及运行控制器，其基于目标运行状态，通过车体围绕旋转轴线的旋转和搭乘部相对于车身的运动来调节车身的中心来进行运行。

公开(公告)号：US20100017107A1

公开(公告)日：2010-01-21

申请号：US12518782

申请日：2007-12-26

申请人： Takafumi Miyake ,  Katsunori Doi

发明人： Takafumi Miyake ,  Katsunori Doi

IPC分类号： G06F19/00

CPC分类号： B62K17/00 ,  A61G5/041 ,  B62K11/007 ,  Y02T10/7258

摘要： A traveling vehicle (1) includes a vehicle body (2) that has an occupant mounting portion that mounts an occupant, and a wheel (8) that is provided on a shaft and rotatably supported on the vehicle body (2). The traveling vehicle (1) is characterized by including: occupant dismount detection means (152) that detects the occupant getting of the occupant mounting portion (3); and control means (100) that has a center of gravity position correcting function that holds a center of gravity position of the traveling vehicle (1) on a vertical line that passes through a center of the wheel (8), wherein the control means (100) cancels the center of gravity position correcting function if the occupant dismount detection means (152) detects the occupant getting off.

摘要翻译： 行驶车辆（1）包括具有安装乘员的乘员安装部的车体（2）和设置在轴上并可旋转地支撑在车体（2）上的车轮（8）。 行驶车辆（1）的特征在于包括：乘员下载检测单元（152），其检测乘员安装部（3）的乘员; 以及控制装置（100），其具有将行进车辆（1）的重心位置保持在通过车轮（8）的中心的垂直线上的重心位置校正功能，其中，控制装置 100）如果乘员拆卸检测装置（152）检测到乘员下车，则取消重心位置校正功能。

公开(公告)号：US20100017090A1

公开(公告)日：2010-01-21

申请号：US12439143

申请日：2007-08-31

申请人： Katsunori Doi

发明人： Katsunori Doi

IPC分类号： G06F19/00 ,  B62D61/00

CPC分类号： B62K5/10 ,  B62K11/007 ,  Y02T10/7258

摘要： During vehicle operation, drive wheels are constantly monitored to see whether or not slip of drive wheels occurs and when slip is detected, posture control for slip conditions is performed by uncoupling normal posture control for the drive wheels. A balancer (weight body) which is movable in a longitudinal direction of the vehicle is provided, and posture control is performed by moving the balancer backward when the vehicle inclines forward due to slip and moving the balancer forward when the vehicle inclines backward. The detection of slip is through a comparison between the drive wheels circumferential speed V2 and a vehicle running speed V1.

摘要翻译： 在车辆操作期间，不断地监视驱动轮以观察驱动轮是否滑动，并且当检测到滑动时，通过解除驱动轮的正常姿态控制来执行滑动条件的姿势控制。 设置有能够沿车辆的长度方向移动的平衡器（重量体），当车辆由于滑动而向前倾斜时向后移动平衡器，并且当车辆向后倾斜时向前移动平衡器，来进行姿势控制。 滑动检测是通过驱动轮圆周速度V2与车辆行驶速度V1之间的比较来进行的。

公开(公告)号：US08374774B2

公开(公告)日：2013-02-12

申请号：US12734800

申请日：2008-12-09

申请人： Katsunori Doi

发明人： Katsunori Doi

IPC分类号： B60L15/20 ,  B62K17/00 ,  B62K3/00

CPC分类号： B60L15/20 ,  B62K11/007 ,  Y02T10/645 ,  Y02T10/7275

摘要： When a vehicle climbs up/down a step, driving torque suitable for the step climbing operation is applied to a driving wheel, and the center of gravity of a vehicle body is moved in an upward direction of the step. Thus, a stable traveling state and stable posture of the vehicle body can be maintained both when climbing up a step and when climbing down a step, whereby an occupant can operate the vehicle safely and comfortably even on a place having steps. In view of this, the vehicle includes: a vehicle body; a driving wheel rotatably attached to the vehicle body; and a vehicle control apparatus for controlling driving torque that is applied to the driving wheel and controlling posture of the vehicle body. When climbing up/down a step on a road, the vehicle control apparatus controls a position of center of gravity of the vehicle body in accordance with the step.

摘要翻译： 当车辆上升/下降时，适用于踏步操作的驱动转矩被施加到驱动轮，并且车体的重心沿台阶的向上方向移动。 因此，既可以在踏上台阶的同时又能够一步一步地保持车体的稳定的行驶状态和稳定的姿态，由此即使在具有台阶的地方，乘员也能够安全，舒适地操作车辆。 鉴于此，车辆包括：车身; 可旋转地附接到车体的驱动轮; 以及车辆控制装置，用于控制施加到驱动轮的驱动扭矩和控制车体的姿势。 当在道路上爬升/下降时，车辆控制装置根据该步骤控制车体的重心位置。

公开(公告)号：US20110264350A1

公开(公告)日：2011-10-27

申请号：US13063149

申请日：2009-10-16

申请人： Katsunori Doi

发明人： Katsunori Doi

IPC分类号： B60L15/20

CPC分类号： B62K17/00 ,  B60L15/20 ,  B60L2200/16 ,  B60L2260/34 ,  B62D37/00 ,  B62K11/007 ,  Y02T10/645 ,  Y02T10/7275

摘要： Disclosed is a vehicle which makes it possible to control the vehicle traveling state and the vehicle attitude with a high degree of precision, even when the vehicle is traveling quickly, and affords safe and pleasant travel for a range of traveling conditions, by the appropriate correction of the drive torque of a drive wheel in response to the traveling velocity of the vehicle and the position of the center of gravity of the vehicle body. For this purpose, the vehicle comprises a drive wheel rotatably mounted on the vehicle body, and a vehicle control device for controlling the drive torque imparted to the drive wheel to control the attitude of the vehicle. The vehicle control device causes the center of gravity of the vehicle body to move relative to the drive wheel by an amount corresponding to the rotational angular velocity of the drive wheel in the direction of travel of the drive wheel.

摘要翻译： 公开了一种能够以高精度控制车辆行驶状态和车辆姿态的车辆，即使车辆快速行驶，也可以通过适当的校正来提供一定范围的行驶条件下的安全和愉快的行驶 响应于车辆的行进速度和车体的重心位置，驱动轮的驱动扭矩。 为此，车辆包括可旋转地安装在车体上的驱动轮，以及用于控制施加到驱动轮的驱动转矩以控制车辆姿态的车辆控制装置。 车辆控制装置使得车体的重心相对于驱动轮移动相当于驱动轮在驱动轮的行进方向上的旋转角速度的量。

公开(公告)号：US20110098884A1

公开(公告)日：2011-04-28

申请号：US12672769

申请日：2008-08-05

申请人： Katsunori Doi

发明人： Katsunori Doi

IPC分类号： B60W10/30 ,  B60W10/04

CPC分类号： B62K11/007

摘要： The gradient of a road surface is estimated with a change in the attitude of a vehicle also taken into consideration. As a result, the gradient of the road surface can be estimated with high accuracy, and this enables the vehicle to stably stop and travel independently of the gradient of the road surface. The vehicle has a drive wheel rotatably mounted on a vehicle body and also has a vehicle control device for controlling the attitude of the vehicle by controlling drive torque applied to the drive wheel. The vehicle control device estimates the gradient of the road surface based on the attitude of the vehicle and corrects the drive torque based on the gradient.

摘要翻译： 也考虑到车辆的姿态的变化来估计路面的坡度。 结果，可以高精度地估计路面的坡度，这使得车辆能够独立于路面的坡度而稳定地停止和行驶。 车辆具有可旋转地安装在车身上的驱动轮，并且还具有通过控制施加到驱动轮的驱动转矩来控制车辆姿态的车辆控制装置。 车辆控制装置基于车辆的姿态来估计路面的坡度，并根据梯度来校正驱动扭矩。