Vehicle and vehicle control system

Patent metadata

Field	Value
Publication number	US-12337698-B2
Application number	US-202318375703-A
Country	US
Kind code	B2
Filing date	Oct 2, 2023
Priority date	Apr 2, 2021
Publication date	Jun 24, 2025
Grant date	Jun 24, 2025

Abstract

A vehicle includes a vehicle-body frame, a seat, wheels, a power source to generate a force to drive one of the wheels, a controller, and an inclination sensor to detect an inclination, in at least one of pitch or roll of the vehicle-body frame. The controller is configured or programmed to control a vehicle speed in at least one of a direction of advancing or reversing of the vehicle generated by driving the one wheel by the force from the power source depending on the inclination of the vehicle-body frame detected by the inclination sensor.

First claim

What is claimed is:

1. A vehicle comprising:
a vehicle-body frame;
a seat attached to the vehicle-body frame to allow an occupant to sit thereon;
at least three wheels including front and rear wheels rotatably attached to the vehicle-body frame;
a power source to generate a force to drive at least one of the three wheels;
a controller configured or programmed to control driving of the at least one wheel by the power source based on an operation or a remote operation by the occupant, or autonomously; and
an inclination sensor to detect an inclination, in at least one of pitch or roll of the vehicle-body frame; wherein
the controller is configured or programmed to control a vehicle speed in at least one of a direction of advancing or a direction of reversing the vehicle generated by the driving of the at least one wheel by the force from the power source depending on the inclination of the vehicle-body frame detected by the inclination sensor.

2. The vehicle according to claim 1 , wherein the controller is configured or programmed to control the vehicle speed such that the larger the inclination of the vehicle-body frame, the lower an upper limit of the vehicle speed becomes.

3. The vehicle according to claim 1 , wherein the controller is configured or programmed to lower an upper limit of the vehicle speed in the reversing direction of the vehicle when the inclination in pitch detected by the inclination sensor is in a direction with a front portion of the vehicle located higher than a rear portion, and is not smaller than a first threshold.

4. The vehicle according to claim 1 , wherein the controller is configured or programmed to lower an upper limit of the vehicle speed in the reversing direction of the vehicle as the inclination in pitch increases within a predetermined pitch range if the inclination in pitch is in a direction with a front portion of the vehicle located higher than a rear portion.

5. The vehicle according to claim 1 , wherein the controller is configured or programmed to lower an upper limit of the vehicle speed in the advancing direction or the reversing direction of the vehicle if the inclination in roll detected by the inclination sensor is not smaller than a second threshold.

6. The vehicle according to claim 1 , wherein the controller is configured or programmed to lower an upper limit of the vehicle speed in the advancing direction or the reversing direction of the vehicle as the inclination in roll increases within a predetermined roll range.

7. The vehicle according to claim 1 , further comprising:
a handlebar to steer the front wheel or wheels; and
a steering detector to detect steering by the handlebar; wherein
the controller is configured or programmed to control the vehicle speed using at least one of a direction of steering or a steering angle detected by the steering detector.

8. The vehicle according to claim 1 , wherein
the controller is configured or programmed to stop the driving of the at least one wheel by the power source when the vehicle speed of the vehicle has reached an automatic-stop speed; and
the automatic-stop speed is set to a value higher than an upper limit of the vehicle speed depending on the inclination, and set depending on the inclination of the vehicle-body frame detected by the inclination sensor.

9. The vehicle according to claim 1 , wherein
the controller is configured or programmed to control an upper limit of the vehicle speed depending on the inclination of the vehicle-body frame detected by the inclination sensor; and
the upper limit of the vehicle speed is controlled such that the larger the inclination of the vehicle-body frame, the lower the upper limit of the vehicle speed becomes, and the upper limit of the vehicle speed is set to a minimum value, other than zero, when the inclination is larger than a third threshold.

10. The vehicle according to claim 1 , wherein the controller includes a false-detection determiner configured or programmed to determine whether a detection value from the inclination sensor is a false detection and, if the false-detection determiner has determined that the detection value is a false detection, to fix an upper limit of the vehicle speed of the vehicle to a constant speed regardless of the detection value from the inclination sensor.

11. The vehicle according to claim 10 , wherein the constant speed is lower than the upper limit of the vehicle speed used when the vehicle-body frame is not inclined.

12. A vehicle control system comprising:
a controller to control a vehicle including a vehicle-body frame, a seat attached to the vehicle-body frame to allow an occupant to sit thereon, at least three wheels including front and rear wheels rotatably attached to the vehicle-body frame, and a power source to generate a force to drive at least one of the wheels; wherein
the controller is configured or programmed to:
control driving of the at least one wheel by the power source based on an operation or a remote operation by the occupant, or autonomously;
acquire from an inclination sensor provided on the vehicle information indicating an inclination, in at least one of pitch or roll of the vehicle-body frame; and
control a vehicle speed in at least one of a direction of advancing or a direction of reversing the vehicle generated by the driving of the at least one wheel by the force from the power source depending on the inclination of the vehicle-body frame acquired from the inclination sensor.

Assignees

• Yamaha Motor Co Ltd

Inventors

• Yoshihara Masanori
• Sawada Masaki

Classifications

• B60L2240/642

  Slope of road · CPC title

• B60L2240/12

  Speed · CPC title

• B60L2200/34

  Wheel chairs · CPC title

• A61G5/04

  motor-driven (A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023) · CPC title

• B60L15/2009

  for braking · CPC title