Invention Grant
- Patent Title: Inverted vehicle and its control method
- Patent Title (中): 倒车及其控制方法
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Application No.: US14435665Application Date: 2012-10-16
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Publication No.: US09381967B2Publication Date: 2016-07-05
- Inventor: Takahiro Nakayama , Yusuke Kida , Tetsuya Taira , Hiroshi Bitoh
- Applicant: Takahiro Nakayama , Yusuke Kida , Tetsuya Taira , Hiroshi Bitoh
- Applicant Address: JP Toyota-Shi
- Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
- Current Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
- Current Assignee Address: JP Toyota-Shi
- Agency: Kenyon & Kenyon LLP
- International Application: PCT/JP2012/006614 WO 20121016
- International Announcement: WO2014/061057 WO 20140424
- Main IPC: G06F17/10
- IPC: G06F17/10 ; B62K3/00 ; B62K17/00 ; G05D1/08 ; G05B9/02 ; G05D13/62

Abstract:
An inverted vehicle comprises a first sensor that detects an angular speed around an axis inclined from a pitch axis by a first predetermined angle, a second sensor that detects an angular speed around an axis inclined from the pitch axis by a second predetermined angle, a third sensor that detects an angular speed around the pitch axis, an acceleration detection unit that detects accelerations along the axes, and a control unit that performs the inversion control based on the detected angular speeds. A control unit puts a specific safety function in motion based on a mutual relation among a first angular speed around the pitch axis calculated based on the angular speeds detected by the first and second sensors, a second angular speed around the pitch axis detected by the third sensor, and a third angular speed around the pitch axis calculated based on the detected accelerations.
Public/Granted literature
- US20150259021A1 INVERTED VEHICLE AND ITS CONTROL METHOD Public/Granted day:2015-09-17
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