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Electric vehicle and method of controlling the same

  • US 8,706,332 B2
  • Filed: 05/27/2010
  • Issued: 04/22/2014
  • Est. Priority Date: 06/02/2009
  • Status: Active Grant
First Claim
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1. An electric vehicle comprising:

  • a control input measurement unit configured to measure a magnitude and a direction of a control input provided by an operator to said electric vehicle;

    an obstacle measurement unit configured to measure a position vector of an obstacle in relation to said electric vehicle as an origin;

    a target movement velocity calculation unit configured to calculate a target movement velocity of said electric vehicle, the target movement velocity being based on the magnitude and direction of the control input measured by said control input measurement unit;

    an obstacle avoidance velocity calculation unit configured to calculate, based on the position vector determined by said obstacle measurement unit, an obstacle avoidance velocity at which said electric vehicle is moved away from said obstacle; and

    an assisting movement velocity calculation unit configured to (i) calculate an assisting movement velocity for moving said electric vehicle based on a net velocity of the target movement velocity and the obstacle avoidance velocity, (ii) calculate an upper limit Y to a magnitude of the calculated assisting movement velocity based on the target movement velocity, (iii) and output information on an assisting movement velocity equal to or smaller than the upper limit Y when the calculated assisting movement velocity exceeds the upper limit;

    wherein said assisting movement velocity calculation unit is configured to calculate the upper limit Y based on an angle between a direction of the target movement velocity and a direction of the net velocity.

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