Electric vehicle and method for controlling the same
First Claim
1. An electric vehicle comprising:
- a body portion;
an operating section that detects an operating direction and an operating amount of an inputted operation;
an obstacle sensor that detects obstacles existing in a vicinity of the body portion;
an obstacle determination section that forms a search region extending from the body portion in the operating direction and determines an obstacle existing in the search region among the obstacles detected by the obstacle sensor as an obstacle to be avoided; and
a control section that controls a movement of the body portion so that the body portion avoids the obstacle to be avoided determined by the obstacle determination section, whereinthe obstacle determination section changes a shape of the search region depending on a magnitude of the operating amount or a magnitude of an operating force calculated based on the operating direction and the operating amount,the electric vehicle further comprises;
a virtual repulsive force calculation section that calculates a virtual repulsive force to move the body portion away from the obstacle to be avoided determined by the obstacle determination section; and
a resultant force calculation section that calculates a resultant force composed of the operating force calculated based on the operating direction and the operating amount of the inputted operation, and the virtual repulsive force, andthe control section controls the movement of the body portion so that the body portion moves in a direction of the resultant force.
1 Assignment
0 Petitions
Accused Products
Abstract
An electric wheelchair includes a body portion, an operating section to detect an operation by an operator, an obstacle sensor to detect an obstacle existing in the vicinity of the body portion, an obstacle determination section to form a search region extending from the body portion in an operating direction, and to determine an obstacle existing in the search region, as the obstacle to be avoided, a virtual repulsive force calculation section to calculate a virtual repulsive force to move the body portion away from the obstacle determined by the obstacle determination section, a resultant force calculation section to calculate a resultant force composed of an operating force and the virtual repulsive force, and a control section to control a movement of the body portion so that the body portion is moved in a direction of the resultant force.
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Citations
18 Claims
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1. An electric vehicle comprising:
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a body portion; an operating section that detects an operating direction and an operating amount of an inputted operation; an obstacle sensor that detects obstacles existing in a vicinity of the body portion; an obstacle determination section that forms a search region extending from the body portion in the operating direction and determines an obstacle existing in the search region among the obstacles detected by the obstacle sensor as an obstacle to be avoided; and a control section that controls a movement of the body portion so that the body portion avoids the obstacle to be avoided determined by the obstacle determination section, wherein the obstacle determination section changes a shape of the search region depending on a magnitude of the operating amount or a magnitude of an operating force calculated based on the operating direction and the operating amount, the electric vehicle further comprises; a virtual repulsive force calculation section that calculates a virtual repulsive force to move the body portion away from the obstacle to be avoided determined by the obstacle determination section; and a resultant force calculation section that calculates a resultant force composed of the operating force calculated based on the operating direction and the operating amount of the inputted operation, and the virtual repulsive force, and the control section controls the movement of the body portion so that the body portion moves in a direction of the resultant force. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method for controlling an electric vehicle having an obstacle sensor and an operating section, comprising:
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detecting obstacles existing in a vicinity of a body portion using the obstacle sensor; detecting an operating direction and an operating amount of an inputted operation using the operating section; forming a search region extending from the body portion in the operating direction using an obstacle determination section, and determining an obstacle existing in the search region among the obstacles detected using the obstacle sensor as an obstacle to be avoided using the obstacle determination section; and controlling a movement of the body portion using a control section so that the body portion avoids the obstacle to be avoided, wherein a shape of the search region formed using the obstacle determination section is changed depending on a magnitude of the operating amount or a magnitude of an operating force calculated based on the operating direction and the operating amount, the method further comprises; calculating a virtual repulsive force to move the body portion away from the obstacle to be avoided determined using the obstacle determination section; and calculating a resultant force composed of the operating force calculated based on the operating direction and the operating amount, and the virtual repulsive force, and the movement of the body portion is controlled using the control section so that the body portion moves in a direction of the resultant force.
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Specification