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公开(公告)号：US11873053B2
公开(公告)日：2024-01-16
申请号：US17335067
申请日：2021-05-31
发明人： Kazumasa Ozaki , Shinya Shirokura
CPC分类号： B62K11/007 , B60L15/20 , B60L2200/16 , B60L2200/34 , B60L2240/22 , B60L2260/34 , B60L2260/42 , B60L2260/44
摘要： The disclosure provides a control device capable of smoothly performing a turning operation due to an external force for a mobile body having a movement operation part and a seat part of occupant. A control device which performs a movement control of movement operation parts a mobile body estimates a movement rotational force in the yaw direction according to a movement of the mobile body and a rotational driving force in the yaw direction according to a driving forces of an actuator, and estimates an external force rotational force, which is a rotational force in the yaw direction due to an external force applied to the mobile body, based on these estimation values. A turning operation of the mobile body is performed according to an estimation value of the external force rotational force and a maneuver operation of the mobile body.
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公开(公告)号：US20180173228A1
公开(公告)日：2018-06-21
申请号：US15840081
申请日：2017-12-13
发明人： Koichiro Wada , Yoshihiro Mori , Shinya Shirokura
IPC分类号： G05D1/00
CPC分类号： G05D1/0061 , B60W50/082 , B60W50/14 , B60W2540/04 , B60W2540/10 , B60W2540/12 , B60W2540/18 , G05D1/0088 , G05D2201/0213
摘要： A vehicle control device includes a travel control processing unit configured to control traveling of a host vehicle in accordance with either one of an automated driving mode, where a travel control for the vehicle is performed at least partially automatically by way of automated driving, and a manual driving mode, where traveling of the vehicle is performed based on an operating device which is operated by a vehicle occupant, and an operation amount acquisition unit configured to acquire an operation amount by which the operating device is operated by the vehicle occupant. On the basis of the operation amount acquired by the operation amount acquisition unit when switching from the manual driving mode to the automated driving mode, the travel control processing unit sets a first O/R threshold value for the operation amount at a time of canceling at least a portion of the automated driving mode.
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公开(公告)号：US09423795B2
公开(公告)日：2016-08-23
申请号：US14225489
申请日：2014-03-26
发明人： Makoto Araki , Makoto Hasegawa , Shinya Shirokura
CPC分类号： G05D1/0268 , B60L3/00 , B60L2200/12 , B60L2220/42 , B60L2240/18 , B60L2240/22 , B62H1/12 , B62K11/007 , B62K2207/04 , Y02T10/646
摘要： An inverted pendulum type vehicle configured to enable a user to control the vehicle by selecting a single control mode, even while other control modes are not selected. One control mode out of plural control modes of the vehicle is selected based on a detection result of an inclination state of an occupant riding section by an inclination sensor that is a fundamental constituent of the vehicle. Motion of a first actuator device and a second actuator device is controlled according to the one control mode selected.
摘要翻译： 一种倒立摆式车辆，其被配置为使得用户能够通过选择单个控制模式来控制车辆，即使在其他控制模式未被选择的情况下也是如此。 基于作为车辆的基本成分的倾斜传感器，乘员搭乘部的倾斜状态的检测结果来选择车辆的多个控制模式中的一个控制模式。 根据所选择的一个控制模式控制第一致动器装置和第二致动器装置的运动。
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公开(公告)号：US08744688B2
公开(公告)日：2014-06-03
申请号：US13771412
申请日：2013-02-20
发明人： Toru Takenaka , Shinya Shirokura
IPC分类号： B62K3/00 , B62D1/22 , B62H1/12 , B62K1/00 , B62K11/00 , B60B19/00 , B60B19/12 , B62D11/00 , B62D61/02 , A61G5/04
CPC分类号： B62H1/12 , A61G5/04 , A61G2203/42 , B60B19/00 , B60B19/003 , B60B19/12 , B60B19/125 , B62D1/22 , B62D11/003 , B62D61/02 , B62K1/00 , B62K11/00 , B62K11/007
摘要： An inverted pendulum type vehicle has a first travel operation unit and a second travel operation unit. A controller of the inverted pendulum type vehicle controls an actuator on the basis of a restricted desired value. The restricted desired value is obtained by restricting a basic desired value of the lateral travel velocity of the second travel operation unit by a limiting processor, the basic desired value being for bringing the actual turn angular velocity of the vehicle close to a desired value. The limit width of the limiting processor is variably set according to the actual travel velocity of the second travel operation unit.
摘要翻译： 倒立摆式车辆具有第一行驶操作单元和第二行驶操作单元。 倒立摆式车辆的控制器基于受限的期望值来控制致动器。 通过限制处理器限制第二行驶操作单元的横向移动速度的基本期望值来获得受限制的期望值，该基本期望值用于使车辆的实际转角速度接近期望值。 限制处理器的极限宽度根据第二行驶操作单元的实际行进速度可变地设定。
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公开(公告)号：US11975787B2
公开(公告)日：2024-05-07
申请号：US17131411
申请日：2020-12-22
发明人： Masaki Goto , Shinya Shirokura , Makoto Hasegawa , Kazumasa Ozaki
IPC分类号： G05D1/02 , B62J45/415 , B62K11/00
CPC分类号： B62K11/007 , B62J45/415
摘要： The control device (20) corrects a basic movement command for a mobile body (1), which is based on an operator's maneuvering operation, in accordance with a positional relationship between the mobile body and an obstacle, and performs movement control of the mobile body (1) in accordance with the corrected movement command. The control device (20) is configured to correct the basic movement command, when a distance d between the obstacle and the mobile body (1) has become a predetermined value d1 or less, to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body (1), and also configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance to be increased as the distance d is closer to the predetermined value d1.
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公开(公告)号：US20210197918A1
公开(公告)日：2021-07-01
申请号：US17131411
申请日：2020-12-22
发明人： Masaki Goto , Shinya Shirokura , Makoto Hasegawa , Kazumasa Ozaki
IPC分类号： B62K11/00 , B62J45/415
摘要： The control device (20) corrects a basic movement command for a mobile body (1), which is based on an operator's maneuvering operation, in accordance with a positional relationship between the mobile body and an obstacle, and performs movement control of the mobile body (1) in accordance with the corrected movement command. The control device (20) is configured to correct the basic movement command, when a distance d between the obstacle and the mobile body (1) has become a predetermined value d1 or less, to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body (1), and also configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance to be increased as the distance d is closer to the predetermined value d1.
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公开(公告)号：US20160375948A1
公开(公告)日：2016-12-29
申请号：US15184397
申请日：2016-06-16
发明人： Toru Takenaka , Kazushi Akimoto , Yuichi Uebayashi , Shinya Shirokura , Tomohiro Kawakami , Makoto Araki
IPC分类号： B62K5/10 , B60G17/018 , B62K5/08 , B60G17/016
CPC分类号： B62K5/10 , B60G17/0162 , B60G17/018 , B60G2400/0511 , B60G2400/25 , B60G2800/0124 , B60K11/00 , B60W30/02 , B62D9/02 , B62J2099/002 , B62K5/01 , B62K5/05 , B62K5/08 , B62K2207/02 , G01B2210/18 , G05D1/0891 , G05D2201/0213
摘要： A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body (2) from a predetermined reference position with respect to the vehicle body (2), and determines a control input for an actuator (15), which can cause a moment in the roll direction to act on the vehicle body (2), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device (60) controls the actuator (15) in accordance with the control input.
摘要翻译： 移动体（1）的控制装置（60）计算出重量位移度指标值，其表示操作者在车体的横向方向上的重心位移的估计值（2 ）相对于车体（2）从预定的基准位置，并且确定用于致动器（15）的控制输入，其可以导致在滚动方向上的力矩作用在车身（2）上，从而 在存在这种位移的状态下增加由重心位移度指标值表示的操作者的重心位移的程度。 控制装置（60）根据控制输入控制致动器（15）。
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公开(公告)号：US09139224B2
公开(公告)日：2015-09-22
申请号：US14225564
申请日：2014-03-26
CPC分类号： B62D11/001 , B62K11/007
摘要： An inverted pendulum type vehicle enabled to easily execute a turning motion with a configuration of a low cost. An inverted pendulum type vehicle includes a second moving motion unit disposed with an interval from a first moving motion unit and configured to be capable of moving in all directions on a floor surface. A brake device is configured to be capable of generating a brake force imparted to the second moving motion unit. A control unit is provided for determining the presence/absence of a request for turning motion of the vehicle, and, when there is a request for the turning motion, to control the motion of the brake device so as to impart a braking force to the second moving motion unit.
摘要翻译： 一种倒立摆式车辆，能够以低成本构造容易地执行转动运动。 倒立摆式车辆包括第二运动单元，该第二运动单元以与第一移动运动单元相隔的间隔设置，并且能够在地板表面上沿所有方向移动。 制动装置被构造成能够产生施加到第二移动单元的制动力。 提供一种控制单元，用于确定是否存在车辆转向运动的请求，并且当存在转向运动的请求时，控制制动装置的运动以便向车辆的运动施加制动力 第二移动运动单元。
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公开(公告)号：US08751110B2
公开(公告)日：2014-06-10
申请号：US13771375
申请日：2013-02-20
发明人： Toru Takenaka , Shinya Shirokura , Makoto Araki
IPC分类号： B62D11/00
CPC分类号： B62D11/003 , B60B19/003 , B62K11/007
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. 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 so as to cause the vehicle to turn about a turn center at the rear of a ground contact point of the first travel operation unit.
摘要翻译： 具有可倾斜骑行者安装部的倒立摆式车辆包括第一行驶操作单元和第二行驶操作单元，该第一行驶操作单元和第二行驶操作单元沿纵向设置在它们之间并且能够在所有方向上行进的间隔。 在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 行驶操作单元和第二行驶操作单元在横向方向上的行驶速度彼此不同，以使车辆绕第一行驶操作单元的接地接触点的后方的转弯中心转动。
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公开(公告)号：US10112675B2
公开(公告)日：2018-10-30
申请号：US15060024
申请日：2016-03-03
发明人： Toru Takenaka , Kazushi Akimoto , Yuichi Uebayashi , Shinya Shirokura , Tomohiro Kawakami , Makoto Araki
摘要： A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (2), and determines a control input for an actuator (15) which can cause a moment in the roll direction to act on the vehicle body (2) so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device (60) controls the actuator (15) in accordance with the control input.
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