Electric vehicle and method of controlling the same

An electric vehicle which travels by driving actuators, the electric vehicle comprising:

• a monitor unit configured to monitor external environment or internal environment of the electric vehicle;
• an alarm unit configured to output a vibration velocity signal indicating velocity and vibration, based on monitoring information obtained by the monitor unit, the velocity being changeable in a cycle, and the vibration being larger when the vibration velocity signal is based on the monitoring information on the external environment of the electric vehicle than when the vibration velocity signal is based on the monitoring information on the internal environment of the electric vehicle;
• a travel information generation unit configured to calculate a target travel velocity based on a steering direction and a control input provided by an operator of the electric vehicle, and generate travel control information for controlling the actuators based on the target travel velocity;
• and
• a control unit configured to control the actuators based on the travel control information,
• wherein the travel information generation unit is configured to regenerate the travel control information by adding the vibration velocity signal to the target travel velocity upon receiving the vibration velocity signal.

An electric vehicle which travels by driving actuators, the electric vehicle comprising:

• a monitor unit configured to monitor external environment or internal environment of the electric vehicle;
• an alarm unit configured to output a vibration velocity signal based on monitoring information obtained by the monitor unit, the vibration velocity signal indicating velocity which changes in a cycle;
• a travel information generation unit configured to calculate a target travel velocity based on a steering direction and a control input provided by an operator of the electric vehicle, and generate travel control information for controlling the actuators based on the target travel velocity;
• and
• a control unit configured to control the actuators based on the travel control information,
• wherein the target travel velocity includes a target translational travel velocity which is a target velocity of translational travel of the electric vehicle and a target rotational travel velocity which is a target velocity of rotational travel of the electric vehicle, and
• the travel information generation unit is configured to regenerate the travel control information by adding the vibration velocity signal to the target translational travel velocity in a direction of the target translational travel velocity upon receiving the vibration velocity signal,
• the alarm unit is configured to shift a rotational center of the target rotational travel velocity left of the electric vehicle when the monitor unit detects an obstacle right of the electric vehicle, the obstacle right of the electric vehicle being an example of the external environment, and
• the alarm unit is configured to shift the rotational center of the target rotational travel velocity right of the electric vehicle when the monitor unit detects an obstacle left of the electric vehicle, the obstacle left of the electric vehicle being an example of the external environment.

A method of controlling an electric vehicle which travels by driving actuators, the method comprising:

• monitoring external environment or internal environment of the electric vehicle to obtain monitoring information;
• outputting a vibration velocity signal indicating velocity and vibration, based on the monitoring information, the velocity being changeable in a cycle, and the vibration being larger when the vibration velocity signal is based on the monitoring information on the external environment of the electric vehicle than when the vibration velocity signal is based on the monitoring information on the internal environment of the electric vehicle;
• calculating a target travel velocity based on a steering direction and a control input provided by an operator of the electric vehicle, generating travel control information for controlling the actuators based on the target travel velocity, and upon receiving the vibration velocity signal, regenerating the travel control information by adding the vibration velocity signal to the target travel velocity;
• and
• controlling the actuators based on the travel control information.