Abstract: The control device (20) corrects a basic movement command for a mobile body (1), which is based on an operator's maneuvering operation, in accordance with a positional relationship between the mobile body and an obstacle, and performs movement control of the mobile body (1) in accordance with the corrected movement command. The control device (20) is configured to correct the basic movement command, when a distance d between the obstacle and the mobile body (1) has become a predetermined value d1 or less, to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body (1), and also configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance to be increased as the distance d is closer to the predetermined value d1.

Abstract: The disclosure provides a control device capable of smoothly performing a turning operation due to an external force for a mobile body having a movement operation part and a seat part of occupant. A control device which performs a movement control of movement operation parts a mobile body estimates a movement rotational force in the yaw direction according to a movement of the mobile body and a rotational driving force in the yaw direction according to a driving forces of an actuator, and estimates an external force rotational force, which is a rotational force in the yaw direction due to an external force applied to the mobile body, based on these estimation values. A turning operation of the mobile body is performed according to an estimation value of the external force rotational force and a maneuver operation of the mobile body.

Abstract: In a vehicle control system, a running controller (120) that executes running control of a vehicle without depending on a driving operation of a vehicle occupant and a running device (44) that is a control target of the running controller and outputs a predetermined signal to the running controller are included, and the running controller stops the running control of the vehicle in a case in which the predetermined signal has been blocked from the running device.

Abstract: The disclosure provides a control device capable of smoothly performing a turning operation due to an external force for a mobile body having a movement operation part and a seat part of occupant. A control device which performs a movement control of movement operation parts a mobile body estimates a movement rotational force in the yaw direction according to a movement of the mobile body and a rotational driving force in the yaw direction according to a driving forces of an actuator, and estimates an external force rotational force, which is a rotational force in the yaw direction due to an external force applied to the mobile body, based on these estimation values. A turning operation of the mobile body is performed according to an estimation value of the external force rotational force and a maneuver operation of the mobile body.

Abstract: A moving body manipulation system is provided. A master device that manipulates a slave device includes an upper body support portion mounted on a base and foot mounts. A control device controls an operation of the master device so that a lateral position of the foot mount on a free leg side follows a foot on a free leg side of a manipulator and the upper body support portion moves relatively with respect to the foot mount on a support leg side together with the base to change a tilt posture or up-down direction position of each foot mount in response to a floor shape on the side of the slave device when the manipulator performs a walking operation on the master device.

Abstract: A moving body manipulation system is provided. A master device that manipulates a slave device includes an upper body support portion mounted on a base and foot mounts. When a manipulator on a master device performs a walking operation, a control device controls an operation of the master device so that a lateral position of the foot mount on a free leg side follows a foot on a free leg side of the manipulator and an upper body support portion relatively moves with respect to the foot mount on a support leg side along with the base while suppressing a lateral position of the base from deviating from a reference position.

Abstract: The control device (20) corrects a basic movement command for a mobile body (1), which is based on an operator's maneuvering operation, in accordance with a positional relationship between the mobile body and an obstacle, and performs movement control of the mobile body (1) in accordance with the corrected movement command. The control device (20) is configured to correct the basic movement command, when a distance d between the obstacle and the mobile body (1) has become a predetermined value d1 or less, to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body (1), and also configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance to be increased as the distance d is closer to the predetermined value d1.

Abstract: In a vehicle control system, a running controller (120) that executes running control of a vehicle without depending on a driving operation of a vehicle occupant and a running device (44) that is a control target of the running controller and outputs a predetermined signal to the running controller are included, and the running controller stops the running control of the vehicle in a case in which the predetermined signal has been blocked from the running device.

Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body (2) from a predetermined reference position with respect to the vehicle body (2), and determines a control input for an actuator (15), which can cause a moment in the roll direction to act on the vehicle body (2), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device (60) controls the actuator (15) in accordance with the control input.

Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (2), and determines a control input for an actuator (15) which can cause a moment in the roll direction to act on the vehicle body (2) so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device (60) controls the actuator (15) in accordance with the control input.

Abstract: A vehicle control device includes a travel control processing unit configured to control traveling of a host vehicle in accordance with either one of an automated driving mode, where a travel control for the vehicle is performed at least partially automatically by way of automated driving, and a manual driving mode, where traveling of the vehicle is performed based on an operating device which is operated by a vehicle occupant, and an operation amount acquisition unit configured to acquire an operation amount by which the operating device is operated by the vehicle occupant. On the basis of the operation amount acquired by the operation amount acquisition unit when switching from the manual driving mode to the automated driving mode, the travel control processing unit sets a first O/R threshold value for the operation amount at a time of canceling at least a portion of the automated driving mode.

Abstract: A device that can stably and accurately estimate the roll angle of a vehicle body during various states of movement of the vehicle body. A roll angle estimated value calculation portion calculates an estimated value of the roll angle by integrating a value obtained by correcting an estimated value of roll angle velocity of a vehicle body by use of a correction value, or by correcting a value obtained by integrating an estimated value of roll angle velocity by use of a correction value. The correction value is calculated by use of a detection value of speed of the vehicle body in the traveling direction, detection values of angular velocity and acceleration detected by sensors mounted on the vehicle body, a previous estimated value of the roll angle, and a previous estimated value of the pitch angle of the vehicle body.

Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body (2) from a predetermined reference position with respect to the vehicle body (2), and determines a control input for an actuator (15), which can cause a moment in the roll direction to act on the vehicle body (2), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device (60) controls the actuator (15) in accordance with the control input.

Abstract: An inverted pendulum type vehicle includes a control device for controlling a plurality of electric motors, and a portable device, such as a portable telephone, for displaying a center-of-gravity display point indicating the position of a center of gravity and outputting a command for moving the vehicle. The control device controls a first actuator device and a second actuator device so as to move the vehicle according to the command output from the portable device and the tilting of an occupant boarding member. Such inverted pendulum type vehicle makes it possible to learn how to steer the inverted pendulum type vehicle.

Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (2), and determines a control input for an actuator (15) which can cause a moment in the roll direction to act on the vehicle body (2) so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device (60) controls the actuator (15) in accordance with the control input.

Abstract: An inverted pendulum type vehicle configured to enable a user to control the vehicle by selecting a single control mode, even while other control modes are not selected. One control mode out of plural control modes of the vehicle is selected based on a detection result of an inclination state of an occupant riding section by an inclination sensor that is a fundamental constituent of the vehicle. Motion of a first actuator device and a second actuator device is controlled according to the one control mode selected.

Abstract: An inverted pendulum type vehicle capable of dissipating the dissociation of vehicle steering intention of a user and a vehicle motion condition. When a base tilts toward a first designated direction, gravity center shift effect amount Vofs_x is corrected by a gravity center shift correction amount Vdep_x calculated according to the tilting amount. The gravity center shift correction amount Vdep_x with respect to a second designated direction is determined so as to increase as the tilting amount toward the first designated direction of the base. Further, the gravity center shift effect amount Vdep_x determined by tilting toward the first designated direction of the base is controlled to a threshold value or less.

Abstract: Provided is an inverted pendulum type vehicle capable of properly estimating whether or not a rider is thereon and controlling the travel of the vehicle by reflecting the result of the estimation. An inverted pendulum type vehicle 1, in which a traveling unit is driven by electric motors 31R, 31L, includes an occupied/unoccupied estimating unit (a first estimating unit) 62, which estimates whether or not a rider is on the vehicle 1 based on the observation values of the energizing currents of the electric motors 31R, 31L. A control unit 50 controls the operations of the electric motors 31R, 31L according to the estimation result of the estimating unit 62.

Abstract: An inverted pendulum type vehicle capable of improving consistency of the intention of an operator and the motion condition of the vehicle. When a low frequency component of an estimate value Vb_estm1_y of the translational speed in the Y-axis direction of a vehicle system center of gravity of the entirety deviates from a dead zone of a processing unit and movement of the waist of an operator is sudden enough to generate a high frequency component in Vb_estm1_y, a target turning angular velocity ?z_cmd_gc is set to a positive value or a negative value depending on the deviation amount, and a turning suppression factor K?z is adjusted to 0. Therefore, motion of actuator devices of a vehicle is controlled so that turning of the vehicle is suppressed and the vehicle system center of gravity of the entirety is translated to +Y-axis direction.

Abstract: An inverted pendulum type vehicle for improving the steering performance and the comfort of the vehicle. A control device of an inverted pendulum type vehicle including a moving motion unit driven by an actuator device controls the actuator device so that the position of the center of gravity of the entirety of an occupant riding on an occupant riding section and the vehicle is shifted from the position of a balance state in the request direction of movement of the center of gravity of the occupant recognized from a predetermined kind of state of the vehicle.