Traveling apparatus and method of controlling parallel two-wheeled vehicle
AssigneeToyota Jidosha Kabushiki Kaisha
InventorGousuke Nishikawa
Life of this patent
Estimating the term…
Abstract
A traveling apparatus is provided. The traveling apparatus includes: a driver configured to independently drive two wheels disposed in parallel; a chassis configured to connect the two wheels; a detector provided in the chassis configured to detect a posture angle of the chassis, rotating speed of the two wheels being set respectively based on information on the detected posture angle; and an empty vehicle controller configured to control a posture of a vehicle to stand the vehicle independently in a state of no rider on board. The empty vehicle controller limits or controls the posture angle at the start of the posture control of the vehicle.
Claims15
A traveling apparatus comprising:
- drive means for independently driving two wheels disposed in parallel,
- a chassis for connecting the two wheels,
- detection means provided in the chassis for detecting a posture angle of the chassis, rotating speed of the two wheels being set respectively based on information on the detected posture angle, and
- empty vehicle control means for controlling a posture of a vehicle to stand the vehicle independently in a state of no rider on board, wherein
- the empty vehicle control means limits or controls the posture angle at the start of the posture control of the vehicle.
A traveling apparatus comprising:
- drive means for independently driving two wheels disposed in parallel,
- a chassis for connecting the two wheels,
- detection means provided in the chassis for detecting a posture angle of the chassis, rotating speed of the two wheels being set respectively based on information on the detected posture angle,
- empty vehicle control means for controlling a posture of a vehicle to stand the vehicle independently in a state of no rider on board,
- riding control means for controlling the posture of the vehicle to stand the vehicle independently in a state of the rider on board, and
- riding detection means provided to the riding control means for detecting a state of the rider having completed boarding, wherein
- a function of turning the vehicle is stopped in a transition from the control by the empty vehicle control means to the control by the riding control means until the riding detection means detects the rider having completed the boarding.
A traveling apparatus comprising:
- drive means for independently driving two wheels disposed in parallel,
- a chassis for connecting the two wheels,
- detection means provided in the chassis for detecting a posture angle of the chassis, rotating speed of the two wheels being set respectively based on information on the detected posture angle,
- empty vehicle control means for controlling a posture of a vehicle to stand the vehicle independently in a state of no rider on board,
- riding control means for controlling the posture of the vehicle to stand the vehicle independently in a state of the rider on board, and
- riding detection means provided to the riding control means for detecting a state of the rider having completed boarding, wherein
- a function of turning the vehicle is stopped in a transition from the control by the riding control means to the control by the empty vehicle control means.
A method of controlling a parallel two-wheeled vehicle, the method being used in a transition between an empty state in which a posture of the parallel two-wheeled vehicle is controlled to stand the vehicle independently in a state of no rider on board and a riding state in which the posture of the parallel two-wheeled vehicle is controlled to stand the vehicle independently in a state of the rider on board, the method comprising the steps of:
- detecting a posture angle of the vehicle to control the posture;
- and
- limiting or controlling the posture angle at the start of the posture control of the vehicle in the empty state.
A method of controlling a parallel two-wheeled vehicle, the method being used in a transition between an empty state in which a posture of the parallel two-wheeled vehicle is controlled to stand the vehicle independently in a state of no rider on board and a riding state in which the posture of the parallel two-wheeled vehicle is controlled to stand the vehicle independently in a state of the rider on board, the method comprising the steps of:
- detecting a posture angle of the vehicle to control the posture;
- and
- stopping a function of turning the vehicle in the transition from the empty state to the riding state until detecting the rider having completed boarding.
A method of controlling a parallel two-wheeled vehicle, the method being used in a transition between an empty state in which a posture of the parallel two-wheeled vehicle is controlled to stand the vehicle independently in a state of no rider on board and a riding state in which the posture of the parallel two-wheeled vehicle is controlled to stand the vehicle independently in a state of the rider on board, the method comprising the steps of:
- detecting a posture angle of the vehicle to control the posture;
- and
- stopping a function of turning the vehicle in the transition from the riding state to the empty state.
A traveling apparatus comprising:
- a driver configured to independently drive two wheels disposed in parallel,
- a chassis configured to connect the two wheels,
- a detector provided in the chassis configured to detect a posture angle of the chassis, rotating speed of the two wheels being set respectively based on information on the detected posture angle, and
- an empty vehicle controller configured to control a posture of a vehicle to stand the vehicle independently in a state of no rider on board, wherein
- the empty vehicle controller limits or controls the posture angle at the start of the posture control of the vehicle.
A traveling apparatus comprising:
- a driver configured to independently drive two wheels disposed in parallel,
- a chassis configured to connect the two wheels,
- a detector provided in the chassis configured to detect a posture angle of the chassis, rotating speed of the two wheels being set respectively based on information on the detected posture angle,
- an empty vehicle controller configured to control a posture of a vehicle to stand the vehicle independently in a state of no rider on board,
- a riding controller configured to control the posture of the vehicle to stand the vehicle independently in a state of the rider on board, and
- a riding detector provided to the riding controller configured to detect a state of the rider having completed the boarding, wherein
- a function of turning the vehicle is stopped in a transition from the control by the empty vehicle controller to the control by the riding controller until the riding detector detects the rider having completed the boarding.
A traveling apparatus comprising:
- a driver configured to independently drive two wheels disposed in parallel,
- a chassis configured to connect the two wheels,
- a detector provided in the chassis configured to detect a posture angle of the chassis, rotating speed of the two wheels being set respectively based on information on the detected posture angle,
- an empty vehicle controller configured to control a posture of a vehicle to stand the vehicle independently in a state of no rider on board,
- a riding controller configured to control the posture of the vehicle to stand the vehicle independently in a state of the rider on board, and
- a riding detector provided to the riding controller configured to detect a state of the rider having completed the boarding, wherein
- a function of turning the vehicle is stopped in a transition from the control by the riding controller to the control by the empty vehicle controller.
Dependencies are inferred from the claim text.