Patent ID: 11873053
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  A  G  Y | IPC B

Claim 0:
1. A control device for a mobile body, wherein the mobile body comprises a movement operation part that is movable on a floor surface, an actuator that drives the movement operation part, a seat part for an occupant, and a base to which the movement operation part, the actuator and the seat part are assembled, the control device executes a movement control of the movement operation part of the mobile body via the actuator according at least to a maneuver operation by the occupant riding on the seat part, and control device comprises:
a movement rotational force estimation part that obtains an observation data of a movement state of the mobile body and estimates a movement rotational force, which is a rotational force balanced with an inertial force in a yaw direction caused by a movement of the mobile body, based on the observation data;
a rotational driving force estimation part that obtains the observation data of a driving force output by the actuator or a state quantity related to the driving force and estimates a rotational driving force in the yaw direction applied from the actuator to the movement operation part based on the observation data;
an external force rotational force estimation part that estimates an external force rotational force, which is a rotational force due to an external force applied to the mobile body, by using the movement rotational force estimated by the movement rotational force estimation part and the rotational driving force estimated by the rotational driving force estimation part; and
a movement control part that performs the movement control of the movement operation part via the actuator so that a turning operation of the movement operation part is performed according to the external force rotational force estimated by the external force rotational force estimation part and the maneuver operation by the occupant.