Patent ID: 9056629
Filing Date: 2015-06-16
Classification: A61G,B62D,G05B,Y02T

Abstract:
1. A personal vehicle control device for controlling a personal vehicle which includes a vehicle body including a seating portion which is configured so that a user is to be seated, a right-hand side wheel provided at the vehicle body and provided on a right side as the user seated on the seating portion faces a front of the vehicle, and a left-hand side wheel provided at the vehicle body and provided on a left side as the user seated on the seating portion faces the front of the vehicle, the personal vehicle control device comprising: an operation portion for inputting an original command value which includes a command value related to a turning angle of the vehicle body; an axis angle sensor for detecting a physical quantity related to a roll angle relative to a roll axis of the vehicle body and a physical quantity related to a turning angle relative to a yaw axis of the vehicle body; a right-hand side wheel sensor for detecting a physical quantity related to a rotation angular velocity of the right-hand side wheel; a left-hand side wheel sensor for detecting a physical quantity related to a rotation angular velocity of the left-hand side wheel; and a control portion executing a first calculation law in which a roll angle is determined on the basis of the physical quantity related to the roll angle detected by the axis angle sensor and in which an actual command value related to a rotation angular velocity for driving the right-hand side wheel and the left-hand side wheel is determined on the basis of the determined roll angle and the original command value, and a second calculation law in which an integrated value of a difference between the command value related to the turning angle inputted from the operation portion and the physical quantity related to the turning angle detected by the axis angle sensor with respect to time or an integrated value which is an integral of a ratio between the command value related to the turning angle inputted from the operation portion and the physical quantity related to the turning angle detected by the axis angle sensor with respect to time is determined, and in which the actual command value is determined so that the difference between the command value and the physical quantity is reduced or the ratio between the command value and the physical quantity is set to be close to one on the basis of the determined integrated value and the original command value, wherein the control portion determines whether a time period during which the integrated value is equal to or less than a predetermined value continues for a predetermined time and resets the integrated value to be zero in a case where the time period during which the integrated value is equal to or less than the predetermined value continues for the predetermined time.