Title:
TWO-WHEELED INVERTED PENDULUM DEVICE, METHOD FOR CONTROLLING SAME, AND CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2011/108029
Kind Code:
A1
Abstract:
A two-wheeled inverted pendulum device is provided with a drive means for driving wheels, a control means for generating torque command values for controlling drive torque of the drive means, and an attitude detecting means for detecting attitude information for a vehicle. Moreover, the two-wheeled inverted pendulum device is capable of traveling with an inverted state maintained. Furthermore, when the control means determines that a torque command value generated is not less than a predetermined value and thus is in a saturated state, and when the control means also determines, on the basis of attitude information detected by the attitude detecting means, that inversion control is in a failed state, then the control means performs control such that an occupant is made to alight from the vehicle.
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Inventors:
KOSAKA YUSUKE (JP)
OIKAWA SUSUMU (JP)
OIKAWA SUSUMU (JP)
Application Number:
PCT/JP2010/001556
Publication Date:
September 09, 2011
Filing Date:
March 05, 2010
Export Citation:
Assignee:
TOYOTA MOTOR CO LTD (JP)
KOSAKA YUSUKE (JP)
OIKAWA SUSUMU (JP)
KOSAKA YUSUKE (JP)
OIKAWA SUSUMU (JP)
International Classes:
B62K17/00; B62K3/00
Domestic Patent References:
| WO2008133001A1 | 2008-11-06 |
Foreign References:
| JP2008056169A | 2008-03-13 | |||
| JPH11500331A | 1999-01-12 | |||
| JP2006315666A | 2006-11-24 |
Other References:
See also references of EP 2543582A4
Attorney, Agent or Firm:
IEIRI, Takeshi (JP)
家入健 (JP)
家入健 (JP)
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Claims: