Traveling apparatus and method of controlling the same

• US 20070084662A1
• Filed: 10/11/2006
• Published: 04/19/2007
• Est. Priority Date: 10/13/2005
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Oikawa, Susumu
• Granted Patent: US 7,783,392 B2
• Time in Patent Office: Days
• US Class Current: 180/272
• CPC Class Codes: A63C 17/08 single-wheel type with single axis
• CPC Class Codes: A63C 17/12 with driving mechanisms
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: B62K 5/10 with means for inwardly inclining the vehicle body on bends
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A traveling apparatus is provided with two wheels parallel each of which is driven independently, being controlled to be stable in an anteroposterior direction between the two wheels and traveling. The traveling apparatus includes a mechanism estimating an inclination of a plane where a pitch angular velocity sensor is horizontally installed with respect to a horizontal plane by using a sensor measuring a tilt of a vehicle body in a roll axis direction and a mechanism calculating a correct pitch angle by obtaining a yaw rate mixed in the pitch angular velocity sensor based on the estimated inclination and a turn velocity of the vehicle body and by canceling the yaw rate mixed.

Claims

1. A traveling apparatus including two wheels provided parallel each of which is driven independently, being controlled to be stable in an anteroposterior direction between said two wheels and traveling, comprising:

means for estimating an inclination of a plane where a pitch angular velocity sensor is horizontally installed with respect to a horizontal plane by using a sensor measuring a tilt of a vehicle body in a roll axis direction; and

means for calculating a correct pitch angle by obtaining a yaw rate mixed in said pitch angular velocity sensor based on said estimated inclination and a turn velocity of said vehicle body and by canceling the yaw rate mixed.

2. A traveling apparatus including two wheels provided parallel each of which is driven independently, having a link structure in which a vehicle body is divided in two of upper and lower portions maintained parallel between said two wheels, being controlled to be stable in an anteroposterior direction between said two wheels and traveling, comprising:

means for calculating a tilt angle of a turning plane with respect to the horizontal plane by adding a value measured by a roll axis tilt sensor to a roll angle formed between said turning plane and the vehicle body and obtained based on measurement of a state inside said vehicle body and geometrical calculations, when said vehicle makes a turn being inclined toward the roll axis direction with respect to a traveling plane.

3. A traveling apparatus according to claim 2, further comprising:

means for calculating a correct pitch angle by obtaining a yaw rate mixed in a pitch angular velocity sensor based on said obtained roll angle formed by the horizontal plane and the vehicle body, the calculated tilt angle formed between the horizontal plane and the turning plane, and a turn velocity of said vehicle body and by canceling the yaw rate mixed.

4. A method of controlling a traveling apparatus including two wheels provided parallel each of which is driven independently, being controlled to be stable in an anteroposterior direction between said two wheels and traveling, comprising the steps of:

estimating an inclination of a plane where a pitch angular velocity sensor is horizontally installed with respect to a horizontal plane by using a sensor measuring a tilt of a vehicle body in a roll axis direction;

obtaining a yaw rate mixed in said pitch angular velocity sensor based on said estimated inclination and a turn velocity of said vehicle body; and

calculating a correct pitch angle by canceling the yaw rate mixed.

5. A method of controlling a traveling apparatus including two wheels provided parallel each of which is driven independently, having a link structure in which a vehicle body is divided in two of upper and lower portions maintained parallel between said two wheels, being controlled to be stable in an anteroposterior direction between said two wheels and traveling, comprising the steps of:

obtaining a roll angle formed between said turning plane and the vehicle body based on measurement of a state inside said vehicle body and geometrical calculations; and

calculating a tilt angle of a turning plane with respect to the horizontal plane by adding a value measured by a roll axis tilt sensor to the roll angle, when said vehicle body makes a turn being inclined toward the roll axis direction with respect to a traveling plane.

6. A method of controlling a traveling apparatus according to claim 5, further comprising the steps of:

obtaining a yaw rate mixed in a pitch angular velocity sensor based on said obtained roll angle formed between the horizontal plane and the vehicle body, the calculated tilt angle formed between the horizontal plane and the turning plane, and a turn velocity of said vehicle body; and

calculating a correct pitch angle by canceling the yaw rate mixed.

7. A traveling apparatus including two wheels provided parallel each of which is driven independently, being controlled to be stable in an anteroposterior direction between said two wheels and traveling, comprising:

a mechanism estimating an inclination of a plane where a pitch angular velocity sensor is horizontally installed with respect to a horizontal plane by using a sensor measuring a tilt of a vehicle body in a roll axis direction; and

a mechanism calculating a correct pitch angle by obtaining a yaw rate mixed in said pitch angular velocity sensor based on said estimated inclination and a turn velocity of said vehicle body and by canceling the yaw rate mixed.

8. A traveling apparatus including two wheels provided parallel each of which is driven independently, having a link structure in which a vehicle body is divided in two of upper and lower portions maintained parallel between said two wheels, being controlled to be stable in an anteroposterior direction between said two wheels and traveling, comprising:

a mechanism calculating a tilt angle of a turning plane with respect to the horizontal plane by adding a value measured by a roll axis tilt sensor to a roll angle formed between said turning plane and the vehicle body and obtained based on measurement of a state inside said vehicle body and geometrical calculations, when said vehicle body makes a turn being inclined toward the roll axis direction with respect to a traveling plane.