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61. 发明申请

US20140188342A1 MOBILE VEHICLE 有权
标题翻译：移动车
公开(公告)号：US20140188342A1
公开(公告)日：2014-07-03
申请号：US14135749
申请日：2013-12-20
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Kazushi Akimoto
IPC分类号： B62D6/00
CPC分类号： B62K21/10
摘要： In a mobile vehicle 1A having a front wheel 3f and a rear wheel 3r, the steered wheel 3f can be steered by an actuator 8. A control device 15 controls the actuator 8 so as to stabilize the inclination angle φb in the roll direction of the vehicle body 2 and the steering angle δf of the steered wheel 3f. The control device 15 causes the sensitivity of the steering of the steered wheel 3f to the change in observed value of the inclination angle φb to be changed in accordance with the steering angle of the steered wheel 3f.
摘要翻译：在具有前轮3f和后轮3r的移动车辆1A中，转向轮3f可以由致动器8转向。控制装置15控制致动器8，以使倾斜角度＆b沿辊方向稳定和转向轮3f的转向角δf。控制装置15使转向轮3f的转向的灵敏度根据转向轮3f的转向角度而改变倾斜角度θ的观测值的变化。

62. 发明申请

US20140188341A1 MOBILE VEHICLE 有权
标题翻译：移动车
公开(公告)号：US20140188341A1
公开(公告)日：2014-07-03
申请号：US14135729
申请日：2013-12-20
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Kazushi Akimoto
IPC分类号： B62D6/00
CPC分类号： B62K21/10 , B62D6/003
摘要： In a mobile vehicle 1A having a front wheel 3f and a rear wheel 3r, the steered wheel 3f can be steered by an actuator 8. A control device 15 controls the actuator 8 so as to stabilize the inclination angle φb in the roll direction of the vehicle body 2 and the steering angle δf of the steered wheel 3f. The control device 15 causes a ratio between the sensitivity of the steering of the steered wheel 3f to the change in observed value of the inclination angle φb and the sensitivity of the steering of the steered wheel 3f to the change in observed value of the steering angle δf to be changed in accordance with the traveling speed of the mobile vehicle 1A.
摘要翻译：在具有前轮3f和后轮3r的移动车辆1A中，转向轮3f可以由致动器8转向。控制装置15控制致动器8，以使倾斜角度＆b沿辊方向稳定和转向轮3f的转向角δf。控制装置15使转向轮3f的转向灵敏度与倾斜角度θ的观测值的变化和转向轮3f的转向的灵敏度相对于转向角δf根据移动车辆1A的行驶速度而变化。

63. 发明申请

US20140129086A1 MOBILE VEHICLE 有权
标题翻译：移动车
公开(公告)号：US20140129086A1
公开(公告)日：2014-05-08
申请号：US14068870
申请日：2013-10-31
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Kazushi Akimoto
IPC分类号： B62D6/00
CPC分类号： B62D6/003 , B60W2030/043 , B60W2520/10 , B60W2520/18 , B60W2540/18 , B60W2710/207 , B60W2720/18 , B60Y2200/12 , B62J27/00 , B62K21/00
摘要： In a mobile vehicle 1 having a vehicle body 2, a front wheel 3f, and a rear wheel 3r, the steered wheel 3f can be steered by a steering actuator 8 about a steering axis Csf which is tilted backward. A control device 15 controls the steering actuator 8, on the basis of a dynamics model of the mobile vehicle 1A configured by a mass point system having an inverted pendulum mass point 123 and a ground surface mass point 124, so as to stabilize a motional state quantity of the inverted pendulum mass point 123 and a motional state quantity of the steering angle of the steered wheel 3f.
摘要翻译：在具有车体2，前轮3f和后轮3r的移动车辆1中，转向轮3f可以通过转向致动器8围绕向后倾斜的转向轴线Csf转向。控制装置15基于由具有倒立摆质点123和地面质点124的质点系统构成的移动车辆1A的动力学模型来控制转向致动器8，以便稳定运动状态倒立摆质量点123的数量和转向轮3f的转向角的运动状态量。

64. 发明授权

US08678124B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08678124B2
公开(公告)日：2014-03-25
申请号：US13777004
申请日：2013-02-26
申请人： Honda Motor Co., Ltd.
发明人： Toru Takenaka , Shinya Shirokura , Hideo Murakami , Makoto Araki
IPC分类号： B62D11/00
CPC分类号： B62K11/00 , B62K11/007
摘要： An inverted pendulum type vehicle includes a first control processor that adds up a basic velocity command in a longitudinal direction and a lateral direction based on an operation through a joystick and a desired center of gravity velocity addition amount in the longitudinal direction and the lateral direction based on the movement of the body weight of the rider, thereby determining a desired velocity. A longitudinal travel velocity command limiter sets a desired center of gravity velocity addition amount, which is based on the basic velocity command based on a longitudinal manipulated variable of the joystick and a center of gravity offset influence amount based on the movement of the body weight of the rider, to a smaller value as a basic turn angular velocity command value increases.
摘要翻译：倒立摆式车辆包括：第一控制处理器，其基于通过操纵杆的操作和纵向方向和横向方向上的期望重心加速度量，在纵向和横向方向上相加基本速度命令，关于骑手的体重的运动，从而确定期望的速度。纵向移动速度指令限制器基于基于操纵杆的纵向操作变量的基本速度命令和基于体重的移动的重心偏移影响量来设置期望的重心加速度加权量，作为基本旋转角速度指令值的骑乘者，以较小的值增加。

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