Vehicle control by pitch modulation

• US 7,757,794 B2
• Filed: 12/17/2008
• Issued: 07/20/2010
• Est. Priority Date: 06/11/2002
• Status: Expired due to Term

• Current Assignee: Segway Incorporated (Ninebot Ltd.)
• Original Assignee: Segway Incorporated (Ninebot Ltd.)
• Inventors: Field, J. Douglas, Robinson, David W., Heinzmann, John D., Lund, Jeremy B., Stevens, Jon M.
• Primary Examiner(s): Morris; Lesley
• Assistant Examiner(s): Scharich; Marc A
• Application Number:
  US12/337,249
• Publication Number:
  US 20090099762A1
• Time in Patent Office: 580 Days
• Field of Search: 180/6.2, 180/6.48, 180/6.5, 180/7.1, 180/21, 180/65.1, 180/218, 180/271, 180/282, 180/290, 280 5502- 5512, 701/124
• US Class Current: 180/6.5
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 15/2045 for optimising the use of energy
• CPC Class Codes: B60L 2200/24 Personal mobility vehicles
• CPC Class Codes: B60L 2200/34 Wheel chairs
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/463 Torque
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 50/20 using propulsion power generated by humans or animals
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• 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 17/00 Cycles not otherwise provided for
• CPC Class Codes: B62K 5/01 Motorcycles with four or more wheels specially adapted for disabled riders B62K5/003
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A method for fore-aft stabilization of a vehicle for motion in a specified direction over an underlying surface. The vehicle has at least one forward wheel and at least one aft wheel, and the forward wheel is characterized by a force normal to the instantaneous direction of motion of the vehicle. A motor actuator drives each aft wheel, and a controller governs the motor actuator or motor actuators in such a manner as to dynamically stabilize the vehicle, according to a uniform control law, when the forward wheel is in contact with the underlying surface or not. A torque is applied to the aft wheel on the basis of vehicle pitch or the force on the forward wheel normal to the direction of motion. Additionally, a periodic rotational modulation may be applied to the aft wheel, and a stabilizing torque provided based on a detected response, either of vehicle pitch or of normal force on the front wheel. Left and right motor actuators may independently control left and right aft wheels to continue turns as governed by user steering, whether or not forward wheels are in contact with the ground.

Claims

1. A vehicle comprising:

a plurality of wheels, including at least one forward wheel and at least two aft wheels;

at least one motor actuator that drives the aft wheels;

a user input device;

a controller that controls the at least one motor actuator such that a direction imparted on the at least one forward wheel by the user input device is replicated by differential rotation of the aft wheels; and

a rotational transducer that generates a signal to input to a yaw controller in response to rotation of the user input device.

2. A vehicle according to claim 1, wherein the controller may disregard information received from the user input device.

3. A vehicle according to claim 1, wherein the direction imparted on the at least one forward wheel by the user input device is in response to rotation of the user input device.

4. A vehicle according to claim 3, wherein the user input device is a handlebar.

5. A vehicle according to claim 1, wherein the user input device is coupled to the at least one forward wheel by a mechanical linkage.

6. A method for controlling a vehicle comprising:

controlling a direction of at least one forward wheel of the vehicle with a user input device;

generating a signal with a rotational transducer in response to rotation of the user input device to input to a controller for driving the aft wheels of the vehicle; and

driving at least two aft wheels of the vehicle with at least one motor actuator by differential rotation of the aft wheels to replicate the direction imparted on the at least one forward wheel.

7. The method of claim 6, comprising rotating the user input device to control the direction of the at least one forward wheel of the vehicle.

8. The method of claim 6, comprising coupling the at least one user input device to the at least one forward wheel of the vehicle by a mechanical linkage.

9. The method of claim 6, comprising generating a signal in response to the user input device that is input to a controller for controlling the direction of the at least one forward wheel.

10. A vehicle comprising:

a plurality of wheels, including at least one forward wheel and at least two aft wheels;

at least one motor actuator that drives the aft wheels;

a user input device coupled to the at least one forward wheel by a mechanical linkage; and

a controller that controls the at least one motor actuator such that a direction imparted on the at least one forward wheel by the user input device is replicated by differential rotation of the aft wheels.

11. A vehicle according to claim 10, wherein the controller may disregard information received from the user input device.

12. A vehicle according to claim 10, wherein the direction imparted on the at least one forward wheel by the user input device is in response to rotation of the user input device.

13. A vehicle according to claim 12, wherein the user input device is a handlebar.

14. A method for controlling a vehicle comprising:

controlling a direction of at least one forward wheel of the vehicle with a user input device;

coupling the user input device to the at least one forward wheel of the vehicle by a mechanical linkage; and

driving at least two aft wheels of the vehicle with at least one motor actuator by differential rotation of the aft wheels to replicate the direction imparted on the at least one forward wheel.

15. The method of claim 14, comprising rotating the user input device to control the direction of the at least one forward wheel of the vehicle.

16. The method of claim 14, comprising generating a signal in response to the user input device that is input to a controller for controlling the direction of the at least one forward wheel.