Mobile object and program

Patent metadata

Field	Value
Publication number	US-2024239331-A1
Application number	US-202418599795-A
Country	US
Kind code	A1
Filing date	Mar 8, 2024
Priority date	Sep 10, 2021
Publication date	Jul 18, 2024
Grant date	—

Abstract

A mobile object includes: a first braking/driving torque application unit that applies first braking/driving torque to a right driving wheel; a second braking/driving torque application unit that applies second braking/driving torque to a left driving wheel; a right driven wheel and a left driven wheel each of which is constituted of a caster wheel; and a control unit that controls the first braking/driving torque application unit and the second braking/driving torque application unit. Moreover, the control unit is configured to perform turning, advancing/reversing and braking of the mobile object by controlling the first braking/driving torque and the second braking/driving torque or by controlling rotational speed of the right driving wheel and rotational speed of the left driving wheel.

First claim

What is claimed is:

1 . A mobile object comprising:
a first braking/driving torque application unit that applies first braking/driving torque to a right driving wheel; a second braking/driving torque application unit that applies second braking/driving torque to a left driving wheel; a right driven wheel and a left driven wheel each of which is constituted of a caster wheel; and a control unit that controls the first braking/driving torque application unit and the second braking/driving torque application unit, wherein the control unit is configured to perform turning, advancing/reversing and braking of the mobile object by controlling the first braking/driving torque and the second braking/driving torque or by controlling rotational speed of the right driving wheel and rotational speed of the left driving wheel.

2 . The mobile object as set forth in claim 1 , wherein
the control unit is further configured to: set basic braking/driving torque, which is a target value of the first braking/driving torque and the second braking/driving torque, based on a first operation amount and a traveling speed of the mobile object, the first operation amount being an amount of operation performed on the mobile object to accelerate or decelerate the mobile object; set a target rotational speed difference, which is a target value of a difference between the rotational speed of the right driving wheel and the rotational speed of the left driving wheel, based on a second operation amount that is an amount of operation performed on the mobile object to turn the mobile object; and set first target braking/driving torque and second target braking/driving torque by correcting the basic braking/driving torque based on the target rotational speed difference, the first target braking/driving torque being a target value of the first braking/driving torque, the second target braking/driving torque being a target value of the second braking/driving torque.

3 . The mobile object as set forth in claim 2 , wherein
the control unit is further configured to set the basic braking/driving torque so that the traveling speed of the mobile object becomes lower than or equal to a predetermined upper limit speed.

4 . The mobile object as set forth in claim 2 , wherein
the control unit is further configured to: set a target yaw rate, which is a target value of a yaw rate of the mobile object, based on only the second operation amount or based on both the second operation amount and the traveling speed of the mobile object; set the target rotational speed difference, which is a target value of the difference between the rotational speed of the right driving wheel and the rotational speed of the left driving wheel, based on a deviation between an actual yaw rate of the mobile object and the target yaw rate; set a first target rotational speed and a second target rotational speed based on the target rotational speed difference, the first target rotational speed being a target value of the rotational speed of the right driving wheel, the second target rotational speed being a target value of the rotational speed of the left driving wheel; set first correction torque by feedback control based on a deviation between an actual rotational speed of the right driving wheel and the first target rotational speed; set the first target braking/driving torque by correcting the basic braking/driving torque using the first correction torque; set second correction torque by feedback control based on a deviation between an actual rotational speed of the left driving wheel and the second target rotational speed; and set the second target braking/driving torque by correcting the basic braking/driving torque using the second correction torque.

5 . The mobile object as set forth in claim 4 , wherein
the control unit is further configured to set, based on a fact that the traveling speed of the mobile object is higher than or equal to a predetermined speed, the target rotational speed difference based on the deviation between the actual yaw rate of the mobile object and the target yaw rate.

6 . The mobile object as set forth in claim 2 , wherein
the control unit is further configured to: set a target steering angle, which is a target value of a turning angle of the right driven wheel and the left driven wheel, based on only the second operation amount or based on both the second operation amount and the traveling speed of the mobile object; set the target rotational speed difference, which is a target value of the difference between the rotational speed of the right driving wheel and the rotational speed of the left driving wheel, based on a deviation between an actual turning angle of the right driven wheel and the left driven wheel and the target steering angle; set a first target rotational speed and a second target rotational speed based on the target rotational speed difference, the first target rotational speed being a target value of the rotational speed of the right driving wheel, the second target rotational speed being a target value of the rotational speed of the left driving wheel; set first correction torque by feedback control based on a deviation between an actual rotational speed of the right driving wheel and the first target rotational speed; set the first target braking/driving torque by correcting the basic braking/driving torque using the first correction torque; set second correction torque by feedback control based on a deviation between an actual rotational speed of the left driving wheel and the second target rotational speed; and set the second target braking/driving torque by correcting the basic braking/driving torque using the second correction torque.

7 . The mobile object as set forth in claim 6 , wherein
the control unit is further configured to set, based on a fact that the traveling speed of the mobile object is lower than a predetermined speed, the target rotational speed difference based on the deviation between the actual turning angle of the right driven wheel and the left driven wheel and the target steering angle.

8 . A program for controlling a first braking/driving torque application unit and a second braking/driving torque application unit in a mobile object,
the mobile object comprising: the first braking/driving torque application unit that applies first braking/driving torque to a right driving wheel; the second braking/driving torque application unit that applies second braking/driving torque to a left driving wheel; and a right driven wheel and a left driven wheel each of which is constituted of a caster wheel, the program being configured to cause a computer to execute processes of performing turning, advancing/reversing and braking of the mobile object by controlling the first braking/driving torque and the second braking/driving torque or by controlling rotational speed of the right driving wheel and rotational speed of the left driving wheel.

Assignees

• Denso Corp

Inventors

• Kamio Shigeru
• Liu Haibo
• Kawai Keisuke
• Takagi Tatsuya
• Akama Sadahiro
• Horihata Harumi
• Kubota Masaru
• Kuroyanagi Youichi

Classifications

• B60W2720/30

  Wheel torque · CPC title

• B60W2720/28

  Wheel speed · CPC title

• B60W2720/14

  Yaw · CPC title

• B60W2710/20

  Steering systems · CPC title

• B60W2710/18

  Braking system · CPC title