Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration
Reexamination Certificate
2007-08-28
2011-11-01
Hurley, Kevin (Department: 3611)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Indication or control of braking, acceleration, or deceleration
C180S210000
Reexamination Certificate
active
08050837
ABSTRACT:
In an inverted pendulum type mobile unit that performs inverted pendulum stabilization control and traveling control based on a velocity target value as an input variable, a change in tilt angle of a vehicle body occurring during traveling is smoothed. The target value generating portion in the inverted pendulum type mobile unit generates the velocity target value VREFof the mobile unit and the tilt angular rate target value ωREFof the vehicle body so that a second-order time derivative of VREFis continuous and ωREFis continuous with respect to time. The controller in the inverted pendulum type mobile unit calculates a torque command value Tcomfor the motor drivers using VREFand ωREFas a control target to allow the mobile unit to travel at VREFwhile maintaining the state where the gravity center of the vehicle body or the gravity center of total mass of the vehicle body and a subject supported on the vehicle body is located above the rotation center of the wheels.
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Hurley Kevin
Kenyon & Kenyon LLP
Toyota Jidosha & Kabushiki Kaisha
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