Vehicle control unit and vehicle

• US 20060038520A1
• Filed: 08/04/2005
• Published: 02/23/2006
• Est. Priority Date: 08/05/2004
• Status: Active Grant

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Hara, Nobuo, Negoro, Masanori
• Granted Patent: US 7,458,435 B2
• Time in Patent Office: Days
• US Class Current: 318/466
• CPC Class Codes: A63C 17/01 Skateboards A63C17/02 - A63C17/28 take precedence; rolling devices on skis A63C5/035
• CPC Class Codes: A63C 17/06 single-track type
• CPC Class Codes: A63C 17/12 with driving mechanisms

Abstract

A control unit controls a vehicle having a body to allow a user to step on, a power generator arranged to generate power that drives the body, and a first sensor and a second sensor. Each sensor preferably outputs a load value representing a load that has been applied to the body. The control unit preferably includes a processor arranged to output a command value associated with a bias of the load based on first and second load values that have been respectively detected by the first and second sensors, and a drive controller arranged to control the power generator in accordance with the command value.

Claims

1. A control unit for controlling a vehicle, the vehicle including a body to allow a user to step on, a power generator arranged to generate power that drives the body, and a first sensor and a second sensor, each sensor outputting a load value representing a load that has been applied to the body, the control unit comprising:

a processor arranged to output a command value associated with a bias of the load based on first and second load values that have been respectively detected by the first and second sensors;

a drive controller arranged to control the power generator in accordance with the command value.

2. The control unit of claim 1, wherein the processor calculates the bias of the load by reference to a midpoint between the first and second sensors.

3. The control unit of claim 1, wherein the processor calculates the ratio of at least one of the first and second load values to the sum of the first and second load values as the bias.

4. The control unit of claim 3, further comprising a memory that stores a map defining correspondence between the ratio and the command value, wherein the processor acquires the command value based on the ratio calculated and the map.

5. The control unit of claim 4, further comprising a state detector arranged to detect a drive state of the body, wherein the memory stores a first map for a first traveling direction and a second map for a second traveling direction, which is different from the first traveling direction, and the processor changes between the first and second maps according to the traveling direction as defined by the drive state detected and acquires the command value based on the ratio calculated and the map selected.

6. The control unit of claim 3, wherein the processor stores in advance an equation defining a relationship between the ratio and the command value and acquires the command value based on the ratio calculated and the equation.

7. The control unit of claim 1, further comprising a memory that stores an output command value and a threshold value defining a maximum allowable variation in the command value, wherein the processor generates the command value based on the ratio calculated, and if the command value has changed from a previous command value stored in the memory by more than the threshold value, the processor adds the threshold value to the previous command value and outputs the sum as a new command value.

8. The control unit of claim 7, wherein the memory further stores first and second threshold values, representing whether the user is on-board or off-board, for the first and second load values, respectively, and the processor compares the first load value with the first threshold value and also compares the second load value with the second threshold value, changes to a type of control processing among the different types of control processing to control the power generating section, based on a result of the comparison, and outputs the command value.

9. A vehicle comprising a body to allow a user to step on;

a power generator arranged to generate power that drives the body;

a first sensor and a second sensor, each of the first and second sensor outputting a load value representing a load that has been applied to the body; and

a control unit including;

a processor arranged to output a command value associated with a bias of the load based on first and second load values that have been respectively detected by the first and second sensors; and

a driver controller arranged to control the power generator in accordance with the command value.

10. The vehicle of claim 9, further comprising a first wheel and a second wheel that support the body, wherein at least one of the first and second wheels is dynamically coupled to the power generator.

11. The vehicle of claim 10, wherein the body has a board shape and is elongated in a direction in which the first and second wheels are arranged.

12. The vehicle of claim 11, wherein the first and second wheels are arranged so as to face each other with respect to an approximate center of the body.

13. The vehicle of claim 12, wherein the power generator drives the body in the direction in which the first and second wheels are arranged.

14. The vehicle of claim 10, wherein the vehicle is a skateboard.

15. A control unit for controlling a vehicle, the vehicle including a body to allow a user step on, a power generator arranged to generate power that drives the body, and a first sensor and a second sensor, each of the first and second sensor outputting a load value representing a load that has been applied to the body, the control unit comprising:

a processor arranged to output a command value based on first and second load values that have been respectively detected by the first and second sensors; and

a driver controller arranged to control the power generator in accordance with the command value.