Mobile body and method for controlling same

Patent metadata

Field	Value
Publication number	US-12372973-B2
Application number	US-202318451413-A
Country	US
Kind code	B2
Filing date	Aug 17, 2023
Priority date	Mar 21, 2023
Publication date	Jul 29, 2025
Grant date	Jul 29, 2025

Abstract

A mobile body includes a body, a front wheel and a rear wheel rotatably coupled to the front side and the rear side of the body respectively, a front wheel driving unit and a rear wheel driving unit coupled to the body and the front wheel and the rear wheel to transmit a driving force to the front wheel and the rear wheel respectively, a body angle acquisition unit to acquire a degree at which the body is tilted, and a processor. When a forward movement signal is input, the processor controls the front wheel driving unit so that when an inclination of the body to the ground is greater than a forward movement inclination threshold, the front wheel rotates at a speed based on a control value corresponding to an angular velocity of the body. As the angular velocity increases, the control value decreases.

First claim

What is claimed is:

1. A mobile body comprising:
a body;
a front wheel coupled to a front side of the body and configured to rotate relative to the body;
a rear wheel coupled to a rear side of the body and configured to rotate relative to the body;
a front wheel driver coupled to the body and the front wheel and configured to transmit a front driving force to the front wheel;
a rear wheel driver coupled to the body and the rear wheel and configured to transmit a rear driving force to the rear wheel;
a body angle detector disposed at the body and configured to acquire a body angle at which the body is tilted relative to a ground; and
a processor connected to the body angle detector, the front wheel driver, and the rear wheel driver,
wherein the processor is configured to, based on receiving a forward movement signal, control the front wheel driver to rotate the front wheel at a first speed based on the body angle being greater than a forward movement inclination threshold, the first speed being determined based on a control value corresponding to an angular velocity of the body calculated from information acquired by the body angle detector, and
wherein the control value corresponding to the angular velocity of the body decreases based on the angular velocity of the body increasing.

2. The mobile body of claim 1 , wherein the processor is configured to calculate a rate of change of the control value over time and control the front wheel driver to thereby cause the front wheel to rotate, based on the calculated rate of change being greater than 0, at a speed that is determined based on a value obtained by processing the control value through a flattening low-pass filter.

3. The mobile body of claim 2 , wherein the processor is configured to calculate the rate of change by using a value obtained by processing the control value through a noise-elimination low-pass filter.

4. The mobile body of claim 2 , wherein the processor is configured to, based on the calculated rate of change being less than or equal to 0, control the front wheel driver to thereby rotate the front wheel at a speed based on a control value that has not been processed through the flattening low-pass filter.

5. The mobile body of claim 1 , wherein the angular velocity of the body and the control value corresponding to the angular velocity of the body have a linear correlation with each other.

6. The mobile body of claim 1 , wherein, the processor is configured to, based on receiving a backward movement signal, control the rear wheel driver to rotate the rear wheel at a speed based on a control value corresponding to an angular velocity of the body.

7. The mobile body of claim 6 , wherein the processor calculates a rate of change of the control value over time and controls the rear wheel driver to thereby cause the rear wheel to rotate, based on the calculated rate of change being greater than 0, at a speed that corresponds to a value obtained by processing the control value through a flattening low-pass filter.

8. The mobile body of claim 7 , wherein a first degree to which the flattening low-pass filter attenuates the control value based on the body angle calculated from information obtained by the body angle detector being greater than a backward movement inclination threshold, is greater than a second degree to which the flattening low-pass filter attenuates the control value based on the body angle being less than or equal to the backward movement inclination threshold.

9. The mobile body of claim 7 , wherein the processor is configured to calculate the rate of change by using a value obtained by processing the control value through a noise-elimination low-pass filter.

10. The mobile body of claim 7 , wherein the processor is configured to, based on the calculated rate of change being less than or equal to 0, control the rear wheel driver to rotate the rear wheel at a speed that is determined based on a control value that has not been processed through the flattening low-pass filter.

11. A method for controlling a mobile body, wherein the mobile body includes a body, a front wheel coupled to a front side of the body and configured to rotate relative to the body, and a rear wheel coupled to a rear side of the body and configured to rotate relative to the body, the method comprising:
acquiring a body angle relative to a ground;
calculating an angular velocity of the body from the body angle; and
rotating the front wheel at a speed based on a control value corresponding to the angular velocity of the body based on (i) a forward movement signal being input and (ii) the body angle being greater than a forward movement inclination threshold,
wherein the control value corresponding to the angular velocity of the body decreases based on the angular velocity of the body increasing.

12. The method of claim 11 , further comprising calculating a rate of change of the control value over time, wherein the rotating of the front wheel comprises:
processing the control value through a flattening low-pass filter, and
rotating the front wheel at a speed based on a value that has been processed through the flattening low-pass filter based on the calculated rate of change being greater than 0.

13. The method of claim 12 , wherein the calculating of the rate of change comprises calculating a rate of change of a value obtained by processing the control value through a noise-elimination low-pass filter.

14. The method of claim 12 , wherein the rotating of the front wheel comprises:
based on the calculated rate of change being less than or equal to 0, rotating the front wheel at a speed based on a control value that has not been processed through the flattening low-pass filter.

15. The method of claim 11 , wherein the angular velocity of the body and the control value corresponding to the angular velocity of the body have a linear correlation with each other.

16. The method of claim 11 , further comprising rotating the rear wheel at a speed based on the control value based on a backward movement signal being input.

17. The method of claim 16 , further comprising calculating a rate of change of the control value over time, wherein the rotating of the rear wheel comprises:
processing the control value through a flattening low-pass filter, and
rotating the rear wheel at a speed based on a value that has been processed through the flattening low-pass filter based on the calculated rate of change being greater than 0.

18. The method of claim 17 , wherein a first degree to which the flattening low-pass filter attenuates the control value based on the body angle being greater than a backward movement inclination threshold, is greater than a second degree to which the flattening low-pass filter attenuates the control value based on the body angle being less than or equal to the backward movement inclination threshold.

19. The method of claim 17 , wherein the calculating of the rate of change comprises calculating a rate of change of a value obtained by processing the control value through a noise-elimination low-pass filter.

20. The method of claim 17 , wherein the rotating of the rear wheel comprises:
based on the calculated rate of change being less than or equal to 0, rotating the rear wheel at a speed based on a control value that has not been processed through the flattening low-pass filter.

Assignees

• Hyundai Motor Co Ltd
• Kia Corp
• Mobinn Inc

Inventors

• Chung Hoon
• Choi Jin
• Jo Sun Myoung

Classifications

• G05D1/435

  resulting in a change of level, e.g. negotiating lifts or stairs · CPC title

• G05D1/495

  to ensure stability · CPC title

• B60Y2300/18008

  related to particular drive situations · CPC title

• B60W2050/0056

  Low-pass filters · CPC title

• B60W2710/081

  Speed · CPC title