Abstract: [Task] To perform turning with smaller limiting quantities (larger limiting values). [Means of Solving the Problem] A position of center of gravity of a whole vehicle is estimated, then a limit lateral acceleration alim, aMin, aMax) depending on the position of center of gravity is obtained, and the vehicle turns within a limit in which a lateral acceleration a* obtained from a target running state (V* , ?* ) requested by an occupant does not exceed the limit lateral acceleration alim. That is, if a target running state (V* , ?* ) that does not exceed the limit lateral acceleration alim, has been given (requested) by the occupant, the vehicle turns in the given target running state. On the other hand, if a target running state (V* , ?* ) exceeding the limit lateral acceleration alim, has been given, an ideal target running state (V* , ?* ) is limited to an actual target running state (V* ˜, ?* ˜) so that the lateral acceleration a* equals to the limit lateral acceleration alim.

Abstract: An inverted vehicle in which the angle of tilt of a vehicle body due to acceleration can be reduced by ground engagement members. The vehicle causes assist wheels to engage the ground when acceleration of the vehicle exceeds a predetermined threshold value to accelerate/decelerate the vehicle. The acceleration may be either requested acceleration or actual acceleration. The ground contact points of the assist wheels are set so that higher the acceleration, the farther away the ground contact points are from the ground contact points of the drive wheels, in the direction opposite to the direction of the acceleration. When the acceleration is within a predetermined range, the vehicle body tilts to a corresponding angle, and when the acceleration exceeds the predetermined threshold value, the assist wheels engage the ground to prevent the vehicle body from tilting beyond a predetermined value.

Abstract: A vehicle provides upstanding and tilted (standstill for allowing a user to get on an off the vehicle) positions without movement of the vehicle. In the vehicle, even if the vehicle body tilts, a riding section is moved in the forward-backward direction to bring the vehicle to an orientation where the center of gravity (P) of the vehicle body is on a vertical line (V) passing through ground contact points (S1) or drive wheels (12). This controls the tilt angle of the vehicle body and the position of the riding section (13) so that the center of gravity (P) does not move. Thus, the upright position and the tilted position of the vehicle are achieved without movement of the vehicle (without rotation of the wheels). Further, influences such as an error in parameters and disturbance are compensated for by a balancer that moves in the forward-backward direction.

Abstract: A transverse two-wheeled vehicle has an increased turning limit value. A turning limit estimation system obtains a turning limit value and a center-of-gravity position adjustment system improves the obtained turning limit value. The turning limit estimation system obtains values for turning limit and turning stability by estimating a center-of-gravity position and a lateral acceleration. In the center-of-gravity position adjustment system, the turning limit value is increased by causing the estimated center-of-gravity position to move toward a centripetal direction. The mechanism for moving the center of gravity to is one or more of i) a vehicle body tilt mechanism, ii) a weight movement mechanism, and iii) a seat parallel movement mechanism. Accordingly, particularly a vehicle with two wheels narrowly spaced and a high center of gravity, can make a faster and smaller turn, and driving performance, stability, and security of the turning operation are improved.

Abstract: A vehicle whose attitude can be controlled even if the position of the actual center of gravity of the vehicle is not aligned with the position of the designed center of gravity or moved. The effect of the displacement of the actual center of gravity of the vehicle from the designed center of gravity is detected as the torque value produced by the displacement of the center of gravity of the vehicle as shown in FIGS. 1 (a), 1 (b). As shown in FIGS. 1 (c) to 1 (e), the displacement of the center of gravity of the vehicle is corrected according to the detected torque value due to one of the correction of body reference angle, movement of balancer, and movement of seat so that the actual center of gravity of the vehicle is aligned with the design center of gravity of the vehicle.

Abstract: The disclosed vehicle has posture control of an inverted pendulum which provides good riding comfort. A balancer target position ?* (calculated value) is determined according to target acceleration ?* indicated by an occupant. Driving thrust SB of a balancer 134 is determined by state feedback control so that a current balance position ? (measured value) becomes closer to the determined balancer target position ?*, and the balancer 134 is driven. An output TW of a driving wheel actuator 52 is determined from the current balancer position ? (measured value) resulting from driving of the balancer 134. Since a driving torque is determined from an actual position of the balancer 134, stable upright posture control can be implemented even in a transient state which lasts until the balancer 134 reaches the target position.

Abstract: During vehicle operation, drive wheels are constantly monitored to see whether or not slip of drive wheels occurs and when slip is detected, posture control for slip conditions is performed by uncoupling normal posture control for the drive wheels. A balancer (weight body) which is movable in a longitudinal direction of the vehicle is provided, and posture control is performed by moving the balancer backward when the vehicle inclines forward due to slip and moving the balancer forward when the vehicle inclines backward. The detection of slip is through a comparison between the drive wheels circumferential speed V2 and a vehicle running speed V1.

Abstract: A motor vehicle (1) having a body (2), a wheel (5) rotatably supported and coaxially disposed on the body (2), and an occupant riding portion (3) supported by the body (2) and mounted with an occupant, the motor vehicle including: body attitude detection means (121, 122) for detecting an attitude of the body; and body attitude control means (120) for controlling the body attitude detected by the body attitude detection means (121, 120), wherein, in response to an inertial force or a centrifugal force generated by acceleration, deceleration or a turning motion of the motor vehicle (1), the occupant riding portion (3) is moved so as to balance the inertial force or the centrifugal force. The motor vehicle (1) further includes occupant attitude control means (130) for controlling an attitude of the occupant riding portion (3) in accordance with a detection value detected by the body attitude detection means (121, 122).

Abstract: A traveling vehicle (1) includes a vehicle body (2) that has an occupant mounting portion that mounts an occupant, and a wheel (8) that is provided on a shaft and rotatably supported on the vehicle body (2). The traveling vehicle (1) is characterized by including: occupant dismount detection means (152) that detects the occupant getting of the occupant mounting portion (3); and control means (100) that has a center of gravity position correcting function that holds a center of gravity position of the traveling vehicle (1) on a vertical line that passes through a center of the wheel (8), wherein the control means (100) cancels the center of gravity position correcting function if the occupant dismount detection means (152) detects the occupant getting off.

Abstract: Enabled is to lighten the load on a rider and to make the rider senses a turning state at the turning time of a transverse two-wheeled vehicle. A transverse acceleration (a) at a turn controlling time is detected to make a next inclination control in accordance with the magnitude of the acceleration. (a) In the case of an acceleration (a)?a predetermined threshold (a0), the vehicle is left uninclined to prevent the vehicle body from being unnecessarily inclined and rocked against a small centrifugal force, thereby to improve the riding comfortableness. (b) In the case of the acceleration (a)>the threshold (a0), a riding portion is inclined such that the inclination angle ?1 may become the larger as the acceleration (a) becomes the higher. This can reduce the load on the rider against the centrifugal force.

Abstract: By bending and stretching a link mechanism, both left and right wheels of a vehicle can be inclined toward inside of cornering to generate a camber thrust as a lateral force, i.e. an increase in cornering force. Further, by bending and stretching the link mechanism, the passenger compartment can be inclined in accordance with inclination of a connecting link, and thus the center of gravity of the vehicle can be moved toward its inner wheel during cornering. By preventing lifting of the inner wheel during cornering, cornering performance is improved. Because the passenger compartment is inclined toward the inner wheel during cornering, centrifugal force is less likely to be felt by the occupant.

Abstract: A vehicle utilizing the attitude control of an inverted pendulum, wherein the attitude of the vehicle is dynamically controlled by moving a balancer. The inclination of a vehicle body is detected by a gyro-sensor, a torque T1 against the inclination of a boarding part is calculated by using the angular acceleration of the vehicle body, and a torque T2 for returning the boarding part in the opposite direction of an inclination direction by canceling that torque is generated by moving the balancer (B). Namely, a reaction torque T3 against the torque T2 is allowed to act on the boarding part by driving the balancer with the torque T2(>T1) in the inclination direction. The boarding part is pushed back in the opposite direction of the first inclination direction by the reaction torque T3.