US 8,412,414 B2Granted

Coaxial two-wheeled vehicle and its control method

AssigneeToyota Jidosha Kabushiki Kaisha

InventorSusumu Oikawa

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Abstract

To provide a coaxial two-wheeled vehicle capable of performing a turning movement with stability and its control method. A coaxial two-wheeled vehicle in accordance with the present invention includes drive means to drive two coaxially-arranged wheels, turning reference-input input means to input a turning reference input, and control means to control the drive means according to a turning gain based on a turning reference-input input by the turning reference-input input means to thereby perform a turning movement. The control means preferably brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward speed greater than or equal to a first speed, and sets the turning gain to a value greater than zero when a vehicle speed is substantially zero.

Claims11

Dependent claims

A coaxial two-wheeled vehicle comprising:

drive means to drive two coaxially-arranged wheels;
turning command input means to input a turning command;
and control means to control the drive means according to a turning gain based on a turning command input by the turning command input means to thereby perform a turning movement, wherein the control means brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward velocity greater than or equal to a first velocity, and sets the turning gain to a value greater than zero when a vehicle velocity is substantially zero, wherein the control means has a forward traveling mode and a backward traveling mode with regard to the turning gain, in the forward traveling mode, the control means brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward velocity greater than or equal to the first velocity, and sets the turning gain to a value greater than zero when the vehicle velocity is substantially zero, and in the backward traveling mode, assuming that a forward direction is positive and a backward direction is negative, the turning gain is increased as a vehicle velocity value increases, and set to substantially zero when the vehicle velocity is substantially zero.

A control method for a coaxial two-wheeled vehicle to make the coaxial two-wheeled vehicle perform a turning movement by controlling drive means according to a turning gain based on a turning command input by a turning command input means,

wherein the turning gain is brought to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward velocity greater than or equal to a first velocity, and the turning gain is set to a value greater than zero when a vehicle velocity is substantially zero,
wherein the turning gain has a forward traveling mode and a backward traveling mode,
in the forward traveling mode, a control means brings the turning gain to substantially zero when the coaxial two-wheeled vehicle is in a backward traveling state with a backward velocity greater than or equal to the first velocity, and sets the turning gain to a value greater than zero when a vehicle velocity is substantially zero, and
in the backward traveling mode, assuming that a forward direction is positive and a backward direction is negative, the turning gain is increased as a vehicle velocity value increases, and set to substantially zero when the vehicle velocity is substantially zero.

1 more element

Dependencies are inferred from the claim text.