INVERTED TWO-WHEEL APPARATUS, AND CONTROL METHOD AND CONTROL PROGRAM THEREOF

• US 20110282532A1
• Filed: 03/05/2010
• Published: 11/17/2011
• Est. Priority Date: 03/05/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kosaka, Yusuke, Oikawa, Susumu
• Granted Patent: US 8,666,575 B2
• Time in Patent Office: Days
• US Class Current: 701/22
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

An inverted two-wheel apparatus includes drive means that drives wheels; control means that generates a torque command value to control drive torque of the drive means; and posture detection means that detects posture information of a vehicle. The inverted two-wheel apparatus is able to travel while keeping an inverted state. Furthermore, the control means performs control to dismount an occupant upon judgment that the torque command value that is generated is equal to or more than a predetermined value, which means in a saturation state, and inverted control is in a failure state based on the posture information detected by the posture detection means.

Claims

1. An inverted two-wheel apparatus that travels while keeping an inverted state, the inverted two-wheel apparatus comprising:

drive means that drives wheels;

control means that generates a torque command value to control drive torque of the drive means; and

posture detection means that detects posture information of a vehicle;

wherein the control means performs control to dismount an occupant upon judgment that the torque command value that is generated is equal to or more than a predetermined value, which means in a saturation state, and inverted control is in a failure state based on the posture information detected by the posture detection means.

2. The inverted two-wheel apparatus according to claim 1, wherein the control means executes other velocity control that is separated from the inverted control upon judgment that the torque command value that is generated is equal to or more than a predetermined value, which means in a saturation state, and inverted control is in a failure state based on the posture information detected by the posture detection means.

3. The inverted two-wheel apparatus according to claim 1, further comprising vehicle velocity detection means that detects vehicle velocity,

wherein the control means controls the drive means to put the vehicle into a stopped state upon judgment that the torque command value that is generated is equal to or more than a predetermined value, which means a saturation state, inverted control is in a failure state based on the posture information detected by the posture detection means, and the vehicle velocity detected by the vehicle velocity detection means is equal to or lower than a predetermined velocity.

4. The inverted two-wheel apparatus according to claim 2, wherein the control means executes the velocity control that gradually decreases vehicle velocity.

5. The inverted two-wheel apparatus according to claim 1, further comprising:

vehicle velocity detection means that detects vehicle velocity; and

rotation detection means that detects rotation information of the wheels, wherein the control means comprises;

a controller that generates a velocity command value based on the posture information detected by the posture detection means, the vehicle velocity detected by the vehicle velocity detection means, and the rotation information detected by the rotation detection-means; and

a velocity controller that generates the torque command value based on the velocity command value generated by the controller and the rotation information detected by the rotation detection means.

6. A control method of an inverted two-wheel apparatus that travels while keeping an inverted state, the method comprising:

generating a torque command value to control drive torque of drive means that drives wheels;

detecting posture information of a vehicle; and

executing control to dismount an occupant upon judgment that the torque command value that is generated is equal to or more than a predetermined value, which means in a saturation state, and inverted control is in a failure state based on the posture information that is detected.

7. A control program of an inverted two-wheel apparatus that travels while keeping an inverted state, the control program causing a computer to execute the following processing:

generating a torque command value to control drive torque of drive means that drives wheels; and

executing control to dismount an occupant upon judgment that the torque command value that is generated is equal to or more than a predetermined value, which means in a saturation state, and inverted control is in a failure state based on the posture information of the vehicle.

8. An inverted two-wheel apparatus that travels while keeping an inverted state, the inverted two-wheel apparatus comprising:

wheel drive units that drives wheels;

a control device that generates a torque command value to control drive torque of the wheel drive units; and

a posture sensor that detects posture information of a vehicle,

wherein the control device executes control to dismount an occupant upon judgment that the torque command value that is generated is equal to or more than a predetermined value, which means in a saturation state, and inverted control is in a failure state based on the posture information detected by the posture sensor.

9. An inverted two-wheel apparatus that travels while keeping an inverted state, the inverted two-wheel apparatus comprising:

drive means that drives wheels;

control means that generates a torque command value to control drive torque of the drive means; and

posture detection means that detects posture information of a vehicle;

wherein the control means performs control to decrease vehicle velocity upon judgment that the torque command value that is generated is equal to or more than a predetermined value, which means in a saturation state, and inverted control is in a failure state based on the posture information detected by the posture detection means.