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1. 发明申请

US20080164083A1 Vehicle 有权
标题翻译：车辆
公开(公告)号：US20080164083A1
公开(公告)日：2008-07-10
申请号：US11885872
申请日：2006-03-09
申请人： Nobuaki Miki , Munehisa Horiguchi , Takumi Tachibana , Fumihiko Sakakibara , Katsunori Doi , Toshio Fukuda , Takayuki Matsuno
发明人： Nobuaki Miki , Munehisa Horiguchi , Takumi Tachibana , Fumihiko Sakakibara , Katsunori Doi , Toshio Fukuda , Takayuki Matsuno
IPC分类号： B62K17/00 , B62K3/00 , B60L15/20
CPC分类号： B62K1/00 , B60L15/20 , B60L2200/34 , B60L2220/42 , B60L2220/46 , B60L2240/20 , B60L2240/421 , B60L2240/423 , B60L2260/34 , B62K11/007 , Y02T10/645 , Y02T10/646 , Y02T10/7275
摘要： A vehicle utilizing the attitude control of an inverted pendulum, wherein the attitude of the vehicle is dynamically controlled by moving a balancer. The inclination of a vehicle body is detected by a gyro-sensor, a torque T1 against the inclination of a boarding part is calculated by using the angular acceleration of the vehicle body, and a torque T2 for returning the boarding part in the opposite direction of an inclination direction by canceling that torque is generated by moving the balancer (B). Namely, a reaction torque T3 against the torque T2 is allowed to act on the boarding part by driving the balancer with the torque T2(>T1) in the inclination direction. The boarding part is pushed back in the opposite direction of the first inclination direction by the reaction torque T3. Since the boarding part is pushed back in the opposite direction, the angular acceleration of the vehicle body when the boarding part is tilted to the opposite side of a vertical line is detected by the gyro sensor, and the balancer is moved again in the opposite direction with the torque T2 corresponding to the angular acceleration.
摘要翻译：一种利用倒立摆的姿态控制的车辆，其中通过移动平衡器来动态地控制车辆的姿态。通过陀螺仪传感器检测车身的倾斜度，通过使用车身的角加速度来计算抵抗登机部的倾斜度的转矩T 1，以及用于使相对的车厢部分返回的转矩T 2 通过移动平衡器（B）来产生扭矩消除倾斜方向的方向。也就是说，通过以倾斜方向以扭矩T 2（> T 1）驱动平衡器，允许相对于转矩T 2的反作用转矩T 3作用于登机部。通过反作用转矩T 3将登机部沿第一倾斜方向的相反方向推回。由于登机部被向相反的方向推回，所以当通过陀螺传感器检测到登机部分倾斜到垂直线的相对侧时车身的角加速度，并且平衡器在相反方向上再次移动其扭矩T 2对应于角加速度。

2. 发明授权

US08073575B2 Vehicle 失效
标题翻译：车辆
公开(公告)号：US08073575B2
公开(公告)日：2011-12-06
申请号：US11922356
申请日：2006-06-23
申请人： Takumi Tachibana , Nobuaki Miki , Munehisa Horiguchi , Fumihiko Sakakibara
发明人： Takumi Tachibana , Nobuaki Miki , Munehisa Horiguchi , Fumihiko Sakakibara
IPC分类号： G05D1/00
CPC分类号： G08G1/20 , B60L15/2009 , B60L15/32 , B60L2200/16 , B60L2200/34 , B60L2240/423 , B60L2250/20 , B60L2260/34 , B62K1/00 , B62K11/007 , G05D1/0295 , G05D2201/0212 , G08G1/165 , G08G1/166 , Y02T10/642 , Y02T10/72 , Y02T10/7275 , Y10T428/24967
摘要： To provide a vehicle which can move independently as an own independent vehicle and can run integrally in linkage with another vehicle. A plurality of single-seat vehicles which can move independently are combined and they move integrally while a predetermined formation is maintained through linkage among respective vehicles. One of all the vehicles moving in linkage serves as a host vehicle and an occupant in the host vehicle becomes a driver in the linkage moving. A host vehicle 1 runs with speed/direction according to running operation conducted by an occupant. Simultaneously therewith, the host vehicle 1 instructs following vehicles 2 to 4 to synchronize (follow) the host vehicle. The host vehicle 1 transmits a speed, a direction, and a relative position to the host vehicle to the following vehicles 2 to 4 as moving information in order to synchronize the following vehicles with the host vehicle (maintain linkage relationship). The following vehicles 2 to 4 move based upon a follow-up instruction and feed status information including speeds and directions of the following vehicles, and their own positions back to the host vehicle 1 as own vehicle information.
摘要翻译：提供能够独立地作为独立车辆移动并且可以与另一车辆联动地一体地运行的车辆。多个能够独立移动的单座车辆组合起来，并且通过各车辆之间的联动来维持预定的地面，它们一体地移动。所有连接起来的车辆中的一个作为主车辆，主车辆中的乘客成为联动机构中的驾驶员。主车1根据乘员进行的行驶操作，以速度/方向行驶。同时，主车辆1指示后续车辆2至4同步（跟随）主车辆。主车辆1将本车辆的速度，方向和相对位置作为移动信息发送到随后的车辆2至4，以使后续车辆与主车辆保持同步（保持联动关系）。以下车辆2至4基于随后的指令和包括以下车辆的速度和方向的进给状态信息以及它们自己的位置作为本车辆信息移动到主车辆1。

3. 发明授权

US08016060B2 Vehicle 有权
标题翻译：车辆
公开(公告)号：US08016060B2
公开(公告)日：2011-09-13
申请号：US11885872
申请日：2006-03-09
申请人： Nobuaki Miki , Munehisa Horiguchi , Takumi Tachibana , Fumihiko Sakakibara , Katsunori Doi , Toshio Fukuda , Takayuki Matsuno
发明人： Nobuaki Miki , Munehisa Horiguchi , Takumi Tachibana , Fumihiko Sakakibara , Katsunori Doi , Toshio Fukuda , Takayuki Matsuno
IPC分类号： B60L3/00
CPC分类号： B62K1/00 , B60L15/20 , B60L2200/34 , B60L2220/42 , B60L2220/46 , B60L2240/20 , B60L2240/421 , B60L2240/423 , B60L2260/34 , B62K11/007 , Y02T10/645 , Y02T10/646 , Y02T10/7275
摘要： A vehicle has a drive wheel, a seat, an attitude sensor, a balancer movable relative to the seat, a drive control, an attitude control for controlling the attitude of the seat by moving the balancer and a main controller. The main controller calculates a torque T1 for tilting the seat and a torque T2 for moving the balancer forward, compares T1 with T2max (the maximum torque which can be generated by the balancer), and outputs commands to the drive control and the attitude control. When the calculated torque T1 exceeds T2max, responsive to a command for T2max, the attitude control moves the balancer to generate a reaction torque corresponding to T2max, and the main controller supplies an adjustment torque value T3 for the drive wheel. The drive control controls the drive wheel in accordance with the drive command and the adjustment torque value T3.
摘要翻译：车辆具有驱动轮，座椅，姿态传感器，可相对于座椅移动的平衡器，驱动控制器，用于通过移动平衡器和主控制器来控制座椅姿态的姿势控制器。主控制器计算用于使座椅倾斜的扭矩T1和用于向前移动平衡器的扭矩T2，将T1与T2max（平衡器可产生的最大扭矩）进行比较，并将命令输出到驱动控制和姿态控制。当计算出的转矩T1超过T2max时，姿态控制响应于T2max的指令，移动平衡器以产生对应于T2max的反作用转矩，主控制器为驱动轮提供调整转矩值T3。驱动控制根据驱动指令和调整扭矩值T3控制驱动轮。

4. 发明申请

US20100030397A1 Vehicle 失效
标题翻译：车辆
公开(公告)号：US20100030397A1
公开(公告)日：2010-02-04
申请号：US11922356
申请日：2006-06-23
申请人： Takumi Tachibana , Nobuaki Miki , Munehisa Horiguchi , Fumihiko Sakakibara
发明人： Takumi Tachibana , Nobuaki Miki , Munehisa Horiguchi , Fumihiko Sakakibara
IPC分类号： G06F17/00
CPC分类号： G08G1/20 , B60L15/2009 , B60L15/32 , B60L2200/16 , B60L2200/34 , B60L2240/423 , B60L2250/20 , B60L2260/34 , B62K1/00 , B62K11/007 , G05D1/0295 , G05D2201/0212 , G08G1/165 , G08G1/166 , Y02T10/642 , Y02T10/72 , Y02T10/7275 , Y10T428/24967
摘要： To provide a vehicle which can move independently as an own independent vehicle and can run integrally in linkage with another vehicle. A plurality of single-seat vehicles which can move independently are combined and they move integrally while a predetermined formation is maintained through linkage among respective vehicles. One of all the vehicles moving in linkage serves as a host vehicle and an occupant in the host vehicle becomes a driver in the linkage moving. A host vehicle 1 runs with speed/direction according to running operation conducted by an occupant. Simultaneously therewith, the host vehicle 1 instructs following vehicles 2 to 4 to synchronize (follow) the host vehicle. The host vehicle 1 transmits a speed, a direction, and a relative position to the host vehicle to the following vehicles 2 to 4 as moving information in order to synchronize the following vehicles with the host vehicle (maintain linkage relationship). The following vehicles 2 to 4 move based upon a follow-up instruction and feed status information including speeds and directions of the following vehicles, and their own positions back to the host vehicle 1 as own vehicle information.
摘要翻译：提供能够独立地作为独立车辆移动并且可以与另一车辆联动地一体地运行的车辆。多个能够独立移动的单座车辆组合起来，并且通过各车辆之间的联动来维持预定的地面，它们一体地移动。所有连接起来的车辆中的一个作为主车辆，主车辆中的乘客成为联动机构中的驾驶员。主车1根据乘员进行的行驶操作，以速度/方向行驶。同时，主车辆1指示后续车辆2至4同步（跟随）主车辆。主车辆1将本车辆的速度，方向和相对位置作为移动信息发送到随后的车辆2至4，以使后续车辆与主车辆保持同步（保持联动关系）。以下车辆2至4基于随后的指令和包括以下车辆的速度和方向的进给状态信息以及它们自己的位置作为本车辆信息移动到主车辆1。

5. 发明授权

US08014919B2 Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：US08014919B2
公开(公告)日：2011-09-06
申请号：US12308944
申请日：2007-06-29
申请人： Fumihiko Sakakibara , Masao Ando , Nobuaki Miki , Hisanori Shirai , Munehisa Horiguchi , Akira Mizuno
发明人： Fumihiko Sakakibara , Masao Ando , Nobuaki Miki , Hisanori Shirai , Munehisa Horiguchi , Akira Mizuno
IPC分类号： G06F7/00
CPC分类号： B60C19/001 , B60C3/06 , B60C11/0058 , B60G3/01 , B60G7/006 , B60G17/015 , B60G17/016 , B60G2200/144 , B60G2200/46 , B60G2200/462 , B60G2202/413 , B60G2204/414 , B60G2206/1116 , B60G2400/106 , B60G2400/204 , B60G2400/208 , B60G2400/34 , B60G2400/39 , B60G2400/41 , B60G2400/822 , B60G2800/21 , Y02T10/862
摘要： A vehicle control device and a vehicle are provided with compatibility between high grip performance and fuel efficiency. When a camber angle of a wheel is adjusted as a negative camber, the ground contact pressure on a first tread is increased and the ground contact pressure on a second tread is decreased, thus providing the high grip performance. On the other hand, when the camber angle of the wheel is adjusted as a positive camber, the ground contact pressure on the first tread is decreased and the ground contact pressure on the second tread is increased, thereby reducing rolling resistance and achieving fuel saving. By adjusting the camber angle of the wheel, compatibility can be provided between high grip performance and fuel saving which otherwise conflict with each other.
摘要翻译：车辆控制装置和车辆具有高抓地性能和燃料效率之间的兼容性。当车轮的外倾角调整为负弯道时，第一胎面上的接地压力增加，并且第二胎面上的接地压力降低，从而提供高抓地力性能。另一方面，当将车轮的外倾角调节为正外倾角时，第一胎面上的接地压力降低，并且第二胎面上的接地压力增加，从而降低滚动阻力并实现节省燃料。通过调整车轮的外倾角，可以提供高抓地力性能与省油之间的兼容性，否则会相互冲突。

6. 发明申请

US20090281691A1 Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：US20090281691A1
公开(公告)日：2009-11-12
申请号：US12308944
申请日：2007-06-29
申请人： Fumihiko Sakakibara , Masao Ando , Nobuaki Miki , Hisanori Shirai , Munehisa Horiguchi , Akira Mizuno
发明人： Fumihiko Sakakibara , Masao Ando , Nobuaki Miki , Hisanori Shirai , Munehisa Horiguchi , Akira Mizuno
IPC分类号： G06F19/00 , B62D17/00
CPC分类号： B60C19/001 , B60C3/06 , B60C11/0058 , B60G3/01 , B60G7/006 , B60G17/015 , B60G17/016 , B60G2200/144 , B60G2200/46 , B60G2200/462 , B60G2202/413 , B60G2204/414 , B60G2206/1116 , B60G2400/106 , B60G2400/204 , B60G2400/208 , B60G2400/34 , B60G2400/39 , B60G2400/41 , B60G2400/822 , B60G2800/21 , Y02T10/862
摘要： A vehicle control device and a vehicle are provided with compatibility between high grip performance and fuel efficiency. When a camber angle of a wheel is adjusted as a negative camber, the ground contact pressure on a first tread is increased and the ground contact pressure on a second tread is decreased, thus providing the high grip performance. On the other hand, when the camber angle of the wheel is adjusted as a positive camber, the ground contact pressure on the first tread is decreased and the ground contact pressure on the second tread is increased, thereby reducing resistance and achieving fuel saving. By adjusting the camber angle of the wheel, compatibility can be provided between high grip performance and fuel saving which otherwise conflict with each other.
摘要翻译：车辆控制装置和车辆具有高抓地性能和燃料效率之间的兼容性。当车轮的外倾角调整为负弯道时，第一胎面上的接地压力增加，并且第二胎面上的接地压力降低，从而提供高抓地力性能。另一方面，当车轮的外倾角调节为正外倾角时，第一胎面上的接地压力降低，并且第二胎面上的接地压力增加，从而降低阻力并实现节省燃料。通过调整车轮的外倾角，可以提供高抓地力性能与省油之间的兼容性，否则会相互冲突。

7. 发明申请

US20100023213A1 VEHICLE CONTROL DEVICE 有权
标题翻译：车辆控制装置
公开(公告)号：US20100023213A1
公开(公告)日：2010-01-28
申请号：US12518449
申请日：2007-12-18
申请人： Akira Mizuno , Hisanori Shirai , Munehisa Horiguchi , Fumihiko Sakakibara , Minoru Abe , Takashi Naito , Masao Ando
发明人： Akira Mizuno , Hisanori Shirai , Munehisa Horiguchi , Fumihiko Sakakibara , Minoru Abe , Takashi Naito , Masao Ando
IPC分类号： G06F19/00 , B60G17/016
CPC分类号： B60G7/006 , B60C3/06 , B60C11/00 , B60C19/001 , B60G3/26 , B60G7/003 , B60G17/016 , B60G17/0161 , B60G17/018 , B60G17/0195 , B60G2200/18 , B60G2200/46 , B60G2200/462 , B60G2200/464 , B60G2204/148 , B60G2204/182 , B60G2206/1116 , B60G2400/05142 , B60G2400/823 , B60G2400/824 , B60G2400/843 , B60G2401/16 , B60G2401/176 , B60G2600/0422 , B60G2600/70 , B60G2800/182 , B60G2800/21 , B62D17/00 , Y02T10/862
摘要： A vehicle control device which can at least provide compatibility between a high grip performance and fuel efficiency or compatibility between quietness and fuel efficiency is provided. When a camber angle of a wheel 2 is adjusted to a negative camber, ground contact in a first tread 21 is increased and ground contact in a second tread 22 is decreased. Accordingly, the high grip performance or the quietness is provided. On the other hand, when the camber angle of the wheel 2 is adjusted to a positive camber, the ground contact in the first tread 21 is decreased and the ground contact in the second tread 22 is increased. Accordingly, a rolling resistance becomes low, and fuel saving is achieved. In this manner, by adjusting the camber angle of the wheel 2, the compatibility can be provided between conflicting performances of the high grip performance or the quietness and the fuel saving.
摘要翻译：提供一种车辆控制装置，其能够至少提供高抓地性能和燃料效率之间的兼容性或者安静性和燃料效率之间的兼容性。当车轮2的外倾角被调节到负弯道时，第一胎面21中的接地接触增加，并且第二胎面22中的接地接触减小。因此，提供高抓地力性能或安静性。另一方面，当车轮2的外倾角被调节到正外倾角时，第一胎面21中的接地接触减小，并且第二胎面22中的接地接触增加。因此，滚动阻力变低，节省燃料。以这种方式，通过调整车轮2的外倾角，可以在高抓地力性能，安静性和节省燃料的冲突性能之间提供兼容性。

8. 发明授权

US08170792B2 Vehicle control device 有权
标题翻译：车辆控制装置
公开(公告)号：US08170792B2
公开(公告)日：2012-05-01
申请号：US12518449
申请日：2007-12-18
申请人： Akira Mizuno , Hisanori Shirai , Munehisa Horiguchi , Fumihiko Sakakibara , Minoru Abe , Takashi Naito , Masao Ando
发明人： Akira Mizuno , Hisanori Shirai , Munehisa Horiguchi , Fumihiko Sakakibara , Minoru Abe , Takashi Naito , Masao Ando
IPC分类号： G01C21/00
CPC分类号： B60G7/006 , B60C3/06 , B60C11/00 , B60C19/001 , B60G3/26 , B60G7/003 , B60G17/016 , B60G17/0161 , B60G17/018 , B60G17/0195 , B60G2200/18 , B60G2200/46 , B60G2200/462 , B60G2200/464 , B60G2204/148 , B60G2204/182 , B60G2206/1116 , B60G2400/05142 , B60G2400/823 , B60G2400/824 , B60G2400/843 , B60G2401/16 , B60G2401/176 , B60G2600/0422 , B60G2600/70 , B60G2800/182 , B60G2800/21 , B62D17/00 , Y02T10/862
摘要： A vehicle control device which can at least provide compatibility between a high grip performance and fuel efficiency or compatibility between quietness and fuel efficiency is provided. When a camber angle of a wheel 2 is adjusted to a negative camber, ground contact in a first tread 21 is increased and ground contact in a second tread 22 is decreased. Accordingly, the high grip performance or the quietness is provided. On the other hand, when the camber angle of the wheel 2 is adjusted to a positive camber, the ground contact in the first tread 21 is decreased and the ground contact in the second tread 22 is increased. Accordingly, a rolling resistance becomes low, and fuel saving is achieved. In this manner, by adjusting the camber angle of the wheel 2, the compatibility can be provided between conflicting performances of the high grip performance or the quietness and the fuel saving.
摘要翻译：提供一种车辆控制装置，其能够至少提供高抓地性能和燃料效率之间的兼容性或者安静性和燃料效率之间的兼容性。当车轮2的外倾角被调节到负弯道时，第一胎面21中的接地接触增加，并且第二胎面22中的接地接触减小。因此，提供高抓地力性能或安静性。另一方面，当车轮2的外倾角被调节到正外倾角时，第一胎面21中的接地接触减小，并且第二胎面22中的接地接触增加。因此，滚动阻力变低，节省燃料。以这种方式，通过调整车轮2的外倾角，可以在高抓地力性能，安静性和节省燃料的冲突性能之间提供兼容性。

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