JP6748211B2 - vehicle - Google Patents

Description

The present invention relates to a vehicle that can be propelled by an operating force of a driver, which performs posture control according to a traveling state such as a start or a road surface change.

A vehicle that has three or more wheels and at least one of the front wheel portion and the rear wheel portion that can be propelled by rotating the wheels by the operating force of a driver such as a bicycle configured of a pair of left and right wheels (hereinafter, A vehicle in which the front wheel portion is composed of a pair of wheels is referred to as a "front wheel two-wheel vehicle", and a vehicle in which the rear wheel portion is composed of a pair of wheels is referred to as a "rear wheel two-wheel vehicle") is referred to as a front wheel portion and a rear wheel portion. Compared to conventional two-wheeled bicycles, which are arranged one by one, it is usually stable against tilting and wobbling due to the three or more wheels, but is suitable for both low speed and medium and high speeds. It is difficult to perform various attitude control, and when turning on a curve, the rolling resistance becomes large due to an improper rotation speed difference between the pair of wheels, and it is difficult to bend.

Due to such a problem, Patent Document 1 discloses a three-wheel front-wheel two-wheel vehicle in which the entire link mechanism moves to the left and right in conjunction with steering of a steering wheel, and a link angle control device is used for link movement of the link mechanism. Is adjusted and the link angle control device is attached to the retaining part attached to the stem part and the link mechanism part, and the low speed range is controlled by the opening degree of the electric (electromagnetic) servo valve that controls from the vehicle body speed sensor of the wheel via the ECU. Discloses that the movable state of the link is set to be fixed, and the movable resistance of the link is set to be eliminated in the medium to high speed range, and the posture of the vehicle body is controlled by controlling the movable state of the link angle of the link mechanism. Has been done.

JP, 2010-184508, A

A three-wheel front-wheel two-wheel vehicle in which the right wheel and the left wheel in the front wheel portion have the same rotational force as in Patent Document 1 can improve stability against a change in posture when turning in a curve. it can. However, since a front two-wheel type vehicle or a rear two-wheel type vehicle including a three-wheel front two-wheel type vehicle as in Patent Document 1 has many ground contact points due to multiple wheels, when it is affected by a step surface or an inclined surface, It tends to incline. Further, since the front two-wheel type vehicle or the rear two-wheel type vehicle has a large ground contact area of the wheels, a large actuation force such as a pedaling force is required at the time of starting, so that the balance tends to be lost and wobble tends to occur. is there. For example, in the case of a front two-wheel vehicle, the center of gravity is poorly balanced especially on an uphill road, it is difficult to increase the speed, and wobbling tends to occur even at the time of starting such as rowing. As described above, the front-wheel two-wheel type vehicle or the rear-wheel two-wheel type vehicle does not have sufficient posture control for the posture change of the vehicle at both low speed and medium and high speed when tilting or wobbling occurs. There is a problem that it is difficult to ensure stability.

Therefore, an object of the present invention is to provide a pair of motors that independently control the rotational force of each of a pair of left and right wheels in at least one of the front wheel portion and the rear wheel portion at low speeds and medium and high speeds. A vehicle that can perform propulsion by rotating wheels by operating force of a driver by performing attitude control according to running conditions such as starting and road changes to ensure stability against attitude changes, and its vehicle And a control device used in the vehicle.

According to one aspect of the invention, there is provided a vehicle in which at least one of a front wheel portion and a rear wheel portion is composed of a pair of left and right wheels and which can be propelled by an operating force of a driver. The state of the vehicle is detected, and the rotational forces of the pair of wheels can be controlled independently of each other in response to the detection.

According to one embodiment of the present invention, a vehicle includes a battery, a motor that is connected to the battery and that controls the rotational force of one of the pair of wheels, and the other rotational force of the pair of wheels. A pair of motors composed of motors for controlling, a sensor for detecting a state and transmitting a state signal based on the detection, and a control signal for processing the state signal to control the pair of motors. And a motor driver that controls the power supply between the battery and the pair of motors based on a control signal transmitted from the body controller. The motor driver independently outputs the outputs of the pair of motors. The rotational force of each of the pair of wheels can be controlled independently of each other.

According to one embodiment of the present invention, in a vehicle, the sensor includes a tilt sensor that detects a tilt of the vehicle with respect to a vertical direction, and the vehicle body controller calculates a state signal transmitted from the sensor so as to correct the state. It can process and send control signals.

According to an embodiment of the present invention, in the vehicle, the sensor further includes an actuation force sensor for detecting an actuation force by a driver of the vehicle, and the vehicle body controller has a state transmitted from the sensor to correct the state. The control signal can be transmitted by processing the signal.

According to one embodiment of the present invention, in the vehicle, the sensor further includes a speed sensor for detecting the speed of the vehicle, and the vehicle body controller processes the status signal transmitted from the sensor so as to correct the status. Control signal can be transmitted.

According to one embodiment of the present invention, in a vehicle, at least one of the pair of motors has a function of a generator, and at least one of the pair of motors applies a reverse rotation torque to its wheels. In addition, the running energy of the vehicle can be recovered by the function of the generator and the electric power can be supplied to the battery via the motor driver.

According to one embodiment of the present invention, the vehicle is a front two-wheeled three-wheeled bicycle.

According to another aspect of the present invention, at least one of a front wheel portion and a rear wheel portion is configured by a pair of left and right wheels to control a vehicle which can be propelled by an operating force of a driver. The method includes a step of detecting the state of the vehicle, a step of performing a calculation process based on the detection, and a step of independently controlling the rotational force of each of the pair of wheels based on the calculation process.

According to an embodiment of the present invention, in a method for controlling a vehicle, the vehicle includes a battery, a pair of motors arranged on each of a pair of wheels, a sensor, a vehicle body controller, and a motor driver, and performs detection. The step includes the step of detecting the state of the vehicle by the sensor, the step of performing the arithmetic processing includes the step of performing the arithmetic processing by the vehicle body controller based on the detection by the sensor, and the rotational forces of the pair of wheels are The step of independently controlling is such that the motor driver controls the power supply between the battery and the pair of motors based on the arithmetic processing by the vehicle body controller, and controls the outputs of the pair of motors independently of each other. Controlling the torque of each of the wheels independently of each other.

According to an embodiment of the present invention, in a method for controlling a vehicle, the detecting step includes a step of detecting an inclination of the vehicle with respect to a vertical direction and a vehicle speed by a sensor, and a rotation of each of a pair of wheels. The step of controlling the forces independently of each other is such that when the inclination is detected and the speed is equal to or higher than a predetermined speed, a motor arranged on a wheel opposite to the inclination of the pair of wheels is mounted on the wheel. The step of giving a reverse rotation torque to it is included.

According to an embodiment of the present invention, in the method for controlling a vehicle, the detecting step includes a step of detecting a tilt of the vehicle with respect to a vertical direction, a vehicle speed, and an operating force of a driver of the vehicle by a sensor. , The step of controlling the rotational force of each of the pair of wheels independently of each other, when the inclination is detected, the speed is less than a predetermined speed, and the operating force is detected, the inclination of the pair of wheels is detected. On the contrary, the motors arranged on wheels located on the same side apply positive rotation torque to the wheels.

According to an embodiment of the present invention, in the method for controlling a vehicle, the detecting step includes a step of detecting a tilt of the vehicle with respect to a vertical direction, a vehicle speed, and an operating force of a driver of the vehicle by a sensor. , The step of controlling the rotational force of each of the pair of wheels independently of each other, when the inclination is detected, the speed is less than a predetermined speed, and the operating force is not detected, the inclination of the pair of wheels is changed. The step of applying a counter rotating torque to the wheel by means of a motor arranged on the wheel located on the opposite side is provided.

According to an embodiment of the present invention, in the method for controlling a vehicle, the detecting step includes a step of detecting a tilt of the vehicle with respect to a vertical direction, a vehicle speed, and an operating force of a driver of the vehicle by a sensor. , The step of controlling the rotational force of each of the pair of wheels independently of each other, when the inclination is not detected, the speed is less than a predetermined speed, and the operating force is detected, each of the pair of motors The step of applying a positive rotation torque to the wheel is included.

According to still another aspect of the present invention, the control device can be propelled by an operating force of the driver, in which at least one of the front wheel portion and the rear wheel portion is composed of a pair of left and right wheels. It is used in an existing vehicle to detect the state of the vehicle, and in response to the detection, the rotational force of each of the pair of wheels can be controlled independently of each other.

According to one embodiment of the present invention, the control device includes a battery, a motor that is connected to the battery, and controls a rotational force of one of the pair of wheels, and a rotational force of the other of the pair of wheels. A pair of motors configured to control the motor, a sensor that detects the state and sends a state signal based on the detection, and a control signal that controls the pair of motors by processing the state signal. A vehicle body controller for transmitting and a motor driver for controlling power supply between the battery and the pair of motors based on a control signal transmitted from the vehicle body controller.

According to one embodiment of the present invention, in the control device, the motor driver can control the output of each of the pair of motors independently of each other to control the rotational force of each of the pair of wheels independently of each other. ing.

According to one embodiment of the present invention, in the control device, the sensor includes a tilt sensor that detects a tilt of the vehicle with respect to the vertical direction, and the vehicle body controller outputs the status signal transmitted from the sensor to correct the status. The control signal can be transmitted by performing arithmetic processing.

According to one embodiment of the present invention, in the control device, the sensor further includes an operating force sensor for detecting an operating force by a driver of the vehicle, and the vehicle body controller is transmitted from the sensor to correct the state. The state signal is arithmetically processed and the control signal can be transmitted.

According to one embodiment of the present invention, in the control device, the sensor further includes a speed sensor for detecting the speed of the vehicle, and the vehicle body controller processes the status signal transmitted from the sensor so as to correct the status. Then, the control signal can be transmitted.

According to one embodiment of the present invention, in the control device, at least one of the pair of motors has a function of a generator, and at least one of the pair of motors applies a reverse rotation torque to its wheels. In addition, it is possible to provide the power to the battery via the motor driver by recovering the running energy of the vehicle by the function of the generator.

According to the present invention, by arranging a motor on each of the pair of wheels and controlling the output of each of the pair of motors independently of each other to control the rotational force of each of the pair of wheels independently of each other, the vehicle is started. By correcting the inclination of the vehicle due to time, changes in the road surface, or the like, it is possible to suppress fluctuation and perform posture control according to the traveling state. Further, the state of the vehicle is detected by the sensor, and the optimum independent rotational force can be generated for each of the pair of wheels by performing arithmetic processing based on the detection result. Further, in the case of performing the attitude control, the motor can be operated as a generator to recover the running energy of the vehicle and supply the electric power to the battery. Since the output of each of the pair of motors can be controlled independently of each other, one of the motors supplies electric power to the motor from the battery in order to give a positive rotation torque to the wheel, while the other motor Can be operated as a generator to give a reverse rotation torque to the wheels and also to supply electric power from the motor to the battery.

Other objects, features and advantages of the present invention will be apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings.

It is the schematic which looked at the vehicle as one embodiment of the present invention from the side. It is the schematic which looked at the vehicle of FIG. 1 from the front. FIG. 2 is a schematic view of the vehicle of FIG. 1 viewed from the front when the vehicle is leaning to the left as viewed from the driver. It is a figure showing the state where the motor in the control device used for the vehicle as one embodiment of the present invention was operated as an electric motor. It is a figure showing the state where the motor in the control device used for the vehicle as one embodiment of the present invention was made to operate as a dynamo. FIG. 3 is a diagram showing a flowchart of a method for controlling a vehicle as an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited to these embodiments.

1, 2A, and 2B show a vehicle 100 that is an embodiment of the present invention. The vehicle here means that at least one of the front wheel portion and the rear wheel portion is composed of a pair of left and right wheels, and the wheel on at least one of the front wheel portion and the rear wheel portion is rotated by the operating force of the driver. It is a vehicle that can be propelled. As such a vehicle, for example, there is a bicycle in which a driver can apply a pedaling force, which is an actuating force, to a pedal to rotate and propel a wheel. In the following embodiments, of the vehicles, a bicycle is particularly shown, but the invention can be applied to a vehicle that can be propelled by an operating force of a driver other than the bicycle. The vehicle 100 is a front-wheel two-wheel bicycle in which the front wheel portion of the front wheel portion and the rear wheel portion is composed of a pair of left and right wheels, and is a first wheel located on the right side when viewed from the driver disposed in the front wheel portion. The vehicle includes a wheel 101, a pair of left and right wheels having a second wheel 102 located on the left side when viewed from the driver, and a third wheel 103, which is a single wheel arranged at the rear wheel portion. In this case, the rear wheel portion may be provided with one or more wheels. The first wheel 101 and the second wheel 102 may be connected by a link mechanism 113. Further, the vehicle 100 is arranged on the battery 109 and the hub of the first wheel 101, and is arranged on the first motor 104 for controlling the rotational force of the first wheel 101 and the hub of the second wheel 102. And a pair of motors including a second motor 105 for controlling the rotational force of the second wheel 102. The pair of motors 104 and 105 are connected to the battery 109. The vehicle 100 shown in FIGS. 1, 2A, and 2B is a front-wheel two-wheeled three-wheel bicycle in which the front wheel portion is composed of a pair of left and right wheels, but the rear wheel portion is composed of a pair of left and right wheels. It may be a two-wheeled vehicle. Among rear-wheel two-wheeled vehicles, for example, in the case of a rear-wheeled two-wheeled bicycle, by adopting a differential gear (differential gear) on the rear wheels, it is possible to impart a rotational difference to the left and right wheels. Place a motor on each hub of each wheel.

Further, the vehicle 100 includes a sensor group that detects the state of the vehicle 100 and transmits a state signal based on the detection. As shown in FIG. 1, the state of the vehicle 100 includes, for example, the inclination of the vehicle 100 with respect to the vertical direction, the operating force of the driver of the vehicle 100, the speed of the vehicle 100, and the like, and the inclination sensor 106 and the operating force, respectively. It is detected by the sensor 107, the speed sensor 108, and the like.

3 and 4, at least one of the front wheel portion and the rear wheel portion is a pair of left and right wheels having a right wheel that is the first wheel 101 and a left wheel that is the second wheel 102. 1 shows a control device 117 used in the configured vehicle 100. The control device 117 is connected to the battery 109 and the battery 109, and includes a first motor 104 that controls the rotational force of the right wheel that is the first wheel 101, and a rotational force of the left wheel that is the second wheel 102. A pair of motors including a second motor 105 for controlling the vehicle, a tilt sensor 106, an operating force sensor 107, and a speed sensor 108, and detects the state of the vehicle 100. A sensor group for transmitting a signal 118, an actuating force signal 119, and a speed signal 120), and for receiving and arithmetically processing the status signals 118 to 120 to control the outputs of the first motor 104 and the second motor 105. A vehicle body controller 114 that transmits a control signal 121, a first motor driver 115 that controls power supply between the battery 109 and the first motor 104 based on the control signal 121 transmitted from the vehicle body controller 114, and A second motor driver 116 that controls power supply between the battery 109 and the second motor 105 is provided. In this way, the first motor driver 115 and the second motor driver 116 that have received the control signal 121 supply power from the battery 109 to the first motor 104 and the second motor 105 at certain timings, respectively. However, at a certain timing, electric power is supplied from the first motor 104 and the second motor 105 to the battery 109 so that the output of the first motor 104 and the output of the second motor 105 can be controlled independently of each other. It has become.

The first motor driver 115 and the second motor driver 116 may be integrated motor drivers, and further, the vehicle body controller 114, the first motor driver 115, and the second motor driver 116 may be Alternatively, it may be an integrated controller. Further, the vehicle body controller 114, the first motor driver 115, and the second motor driver 116 may be arranged on the steering wheel 112 which is a gripping portion of the driver of the vehicle 100, or when the vehicle 100 is a bicycle, It may be arranged under the saddle 111. In FIG. 3 and FIG. 4, the control signal 121 is transmitted from the vehicle body controller 114 to the first motor driver 115 and the second motor driver 116 by one signal line, respectively. By allowing 121 to have an authentication code for each of the first motor driver 115 and the second motor driver 116, the signal may be transmitted by one signal line, or may be wired or wireless. It may be an expression.

The inclination sensor 106 of the sensor group is operated by the electric power from the battery 109 and detects the inclination of the vehicle 100 with respect to the vertical direction. By including the inclination sensor 106, it is possible to detect wobbling in which the vehicle leans alternately to the left and right when the vehicle starts, changes in the road surface, and the like. Examples of the tilt sensor 106 include a tilt angle sensor and a gyro sensor. When the vehicle 100 is a bicycle as shown in FIG. 1, the tilt angle sensor, the gyro sensor, etc. may be arranged below the saddle 111. As shown in FIG. 2B, when the vehicle 100 leans to the left with respect to the vertical direction when viewed from the driver, the lean angle sensor detects the lean angle θ, or the gyro sensor detects the angular velocity with respect to the lean angle θ. Thus, the inclination of the vehicle 100 is detected. Further, as the inclination sensor 106, for example, there is a torque sensor, the torque sensor is arranged on each of the first wheel 101 and the second wheel 102, and the difference between the torques of the respective wheels detected by the respective torque sensors is calculated. The inclination of the vehicle 100 can also be detected by using it. Further, as the tilt sensor 106, for example, there is a steering angle sensor, the steering angle sensor is arranged on the steering wheel 112 which is a gripping portion of the driver, and the steering angle detected by the steering angle sensor is used. A tilt of 100 can be detected. It should be noted that the inclination sensor 106 does not matter whether the road surface on which the vehicle 100 is traveling is a horizontal road surface as shown in FIGS. 1, 2A and 2B or a road surface having an uphill or downhill slope. The inclination of the vehicle 100 with respect to the vertical direction can be detected.

The tilt sensor 106 generates a state signal (tilt signal 118) including the detected tilt and transmits it to the vehicle body controller 114. The vehicle body controller 114 receives the status signal (tilt signal 118), determines the tilt direction of the vehicle 100, corrects the tilt of the vehicle 100, and outputs the status signal (tilt signal 118) to return the posture to the vertical direction. Perform arithmetic processing. The first motor driver 115 and the second motor driver 116 are connected between the battery 109 and the first motor 104 and the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114, respectively. Control power supply. The output of the first motor 104 and the output of the second motor 105 are output to the battery 109 based on the control signal 121 transmitted from the vehicle body controller 114 by the first motor driver 115 and the second motor driver 116, respectively. Power supply between the first motor 104 and the second motor 105 is controlled so that they can be controlled independently of each other. The output of the first motor 104 and the output of the second motor 105, which are controlled independently of each other, respectively control the rotational force of the first wheel 101 and the rotational force of the second wheel 102 independently of each other. Thus, the inclination of the vehicle 100 is corrected and the posture is returned to the vertical direction. In this case, the first motor 104 and the second motor 105 can increase the rotational force of the wheels of the pair of wheels located on the same side with respect to the inclination, or on the opposite side with respect to the inclination. The rotational force of the wheels located at is reduced.

The operating force sensor 107 of the sensor group operates by electric power from the battery 109 and detects an operating force for propelling the vehicle 100 by the driver of the vehicle 100. When the vehicle 100 is a bicycle, the operating force sensor 107 includes a torque sensor. As shown in FIG. 1, a torque sensor is arranged on a shaft connecting a pair of left and right pedals 110, and the driver of the vehicle 100 detects the torque of the shaft that rotates when the driver steps on the pedals 110, and the torque generated by the driver is detected. Detects the pedal effort, which is the power. The operating force sensor 107 may be any sensor as long as it can detect the operating force applied by the driver of the vehicle 100.

The actuation force sensor 107 generates a state signal (actuation force signal 119) including the detected actuation force and transmits it to the vehicle body controller 114. The vehicle body controller 114 receives the status signals (tilt signal 118, actuation force signal 119), and corrects the tilt of the vehicle 100 to return the posture to the vertical direction. The status signals (tilt signal 118, actuation force signal 119). Is calculated. The first motor driver 115 and the second motor driver 116 are connected between the battery 109 and the first motor 104 and the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114, respectively. The power supply is controlled to supply power from the battery 109 to the first motor 104 and the second motor 105, or supply power from the first motor 104 and the second motor 105 to the battery 109. The output of the first motor 104 whose power supply is controlled and the output of the second motor 105 are controlled independently of each other as described above, and the rotational force of the first wheel 101 and the output of the second wheel 102 are controlled. The rotational force is controlled independently of each other to correct the inclination of the vehicle 100 and return the posture in the vertical direction.

The speed sensor 108 of the sensor group is operated by electric power from the battery 109, is arranged on the third wheel 103 which is a rear wheel as shown in FIG. 1, and determines the speed of the vehicle 100 from the rotation speed of the third wheel 103. Detect. The speed sensor 108 may be any sensor as long as it can detect the speed of the vehicle 100. The speed sensor 108 may be arranged on either the first wheel 101 or the second wheel 102.

The speed sensor 108 generates a state signal (speed signal 120) including the detected speed and transmits it to the vehicle body controller 114. The vehicle body controller 114 receives the status signals (tilt signal 118, actuation force signal 119, speed signal 120) and corrects the tilt to return the posture to the vertical direction. , The speed signal 120) is processed. The first motor driver 115 and the second motor driver 116 are connected between the battery 109 and the first motor 104 and the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114, respectively. The power supply is controlled to supply power from the battery 109 to the first motor 104 and the second motor 105, or supply power from the first motor 104 and the second motor 105 to the battery 109. The output of the first motor 104 whose power supply is controlled and the output of the second motor 105 are controlled independently of each other as described above, and the rotational force of the first wheel 101 and the output of the second wheel 102 are controlled. The rotational force is controlled independently of each other to correct the inclination of the vehicle 100 and return the posture in the vertical direction.

More specifically, when the vehicle 100 is wandering and the inclination is detected by the inclination sensor 106, the vehicle body controller 114 can control at least one of the first motor 104 and the second motor 105. In addition, the state signal (inclination signal 118) based on the inclination is arithmetically processed, and the first motor driver 115 and the second motor driver 116 are respectively based on the control signal 121 transmitted from the vehicle body controller 114, and the battery 109 Control the power supply between the first motor 104 and the second motor 105 to supply power from the battery 109 to the first motor 104 and the second motor 105, or By supplying electric power to the battery 109 from the first motor 104 and the second motor 105, the inclination is corrected and the posture is returned to the vertical direction. The first motor 104 and the second motor 105 control the amount of torque required for the first wheel 101 and the second wheel 102 and the time to apply the torque, respectively. The rotation torque can be applied to the wheels 101 and the second wheels 102 independently of each other. “Giving a positive rotation torque” of “giving a rotation torque” is to give a torque in the same direction as the rotation of the wheel in the traveling direction of the vehicle 100 to increase the rotation force of the wheel. "To give a reverse rotation torque" means to give a torque in a direction opposite to the rotation of the wheel in the traveling direction of the vehicle 100 to reduce the rotational force of the wheel. Even if the rotation speed of the wheel is zero, the motor can give the rotation torque to the wheel.

Specifically, when the vehicle leans to the left as viewed from the driver as shown in FIG. 2B (tilt angle θ in the case of FIG. 2B), the lean sensor 106 detects that the vehicle 100 leans to the left. Then, a state signal (tilt signal 118) based on the detection (tilt on the left side) is transmitted, and the vehicle body controller 114 arithmetically processes the state signal (tilt signal 118) based on the left side tilt. Supplies electric power from the battery 109 to the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114, and the second motor 105 applies a positive rotation torque to the second wheel 102 on the left side. By increasing the rotational force of the second wheel 102, or the first motor driver 115 supplies electric power from the battery 109 to the first motor 104 based on the control signal 121 transmitted from the vehicle body controller 114, The first motor 104 applies a reverse rotation torque to the first wheel 101 on the right side to reduce the rotational force of the first wheel 101, so that each of the first wheel 101 and the second wheel 102 is Are controlled independently of each other to correct the tilt to the left and return the posture in the vertical direction (tilt angle 0 in the case of FIG. 2A). When applying a reverse rotation torque to the first wheel 101 to reduce its rotational force, the first motor driver 115 operates the first motor 104 as a generator to generate the first wheel. Power may be supplied from the first motor 104 to the battery 109 by regeneratively braking 101. Further, when the vehicle leans to the right as seen from the driver, the lean sensor 106 detects that the vehicle 100 leans to the right, and a state signal (tilt signal 118) based on the detection (right lean). Then, the vehicle body controller 114 arithmetically processes the state signal (tilt signal 118) based on the right inclination, and the first motor driver 115 outputs the first signal from the battery 109 based on the control signal 121 transmitted from the vehicle body controller 114. Power is supplied to the first motor 104, and the first motor 104 applies a positive rotation torque to the first wheel 101 on the right side to increase the rotational force of the first wheel, or The motor driver 116 supplies electric power from the battery 109 to the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114, and the second motor 105 reversely rotates the left second wheel 102 in reverse torque. To reduce the rotational force of the second wheel 102, the rotational force of each of the first wheel 101 and the second wheel 102 is controlled independently of each other to correct the inclination to the right. Try to return the posture to the vertical direction. When applying a reverse rotational torque to the second wheel 102 to reduce the rotational force, the second motor driver 116 operates the second motor 105 as a generator to regenerate the second wheel 102. Power may be supplied from the second motor 105 to the battery 109 by braking.

When reverse rotation torque is applied to the wheels, the motor may be operated as an electric motor if the rotational force of the wheels needs to be greatly reduced in a short time. For example, in the inclination correction of the vehicle 100 when the vehicle 100 is leaning to the left, even if the first motor 104 is operated as a generator and the first wheel 101 is regeneratively braked, the inclination correction of the vehicle 100 will not catch up. If not present, the first motor 104 is operated as an electric motor so that the first motor 104 can give a large reverse rotational torque to the first wheel 101 to increase the rotational force of the first wheel 101. May be reduced. When a reverse rotation torque is applied to the wheels as described above, the motor is operated as a generator or an electric motor, or as a generator and then an electric motor. You can choose the method.

When the vehicle 100 is a bicycle with electric assist, the range that can be assisted depending on the speed of the vehicle 100 may be determined by the law or the like. Therefore, the first motor 104 depending on the speed of the vehicle 100, And the method of controlling the second motor 105 may be different. When the speed of the vehicle 100 detected by the speed sensor 108 is equal to or higher than a predetermined speed (for example, 24 km/h), the assist cannot be performed, and therefore, the vehicle is on the opposite side to the inclination detected by the inclination sensor 106. In order to reduce the turning force of the wheel in which it is located, the tilt is corrected by the motor applying counter-rotating torque to the wheel.

Specifically, when the speed of the vehicle 100 is equal to or higher than a predetermined speed and the vehicle 100 leans to the right, the tilt sensor 106 and the speed sensor 108 cause the vehicle 100 to lean to the right. That the vehicle 100 is at a predetermined speed or higher, and a state signal (tilt signal 118, speed signal 120) based on the detection is transmitted, and the vehicle body controller 114 transmits a state signal based on the right tilt ( The tilt signal 118) and the state signal (speed signal 120) based on the speed are arithmetically processed, and the second motor driver 116 transfers the battery 109 to the second motor 105 based on the control signal 121 transmitted from the vehicle body controller 114. By supplying electric power, the second motor 105 applies a reverse rotational torque to the second wheel 102 on the left side to reduce the rotational force of the second wheel 102, thereby correcting the inclination to the right side and vertically. Try to return the posture in the direction. In this case, the first motor 104 and the second motor 105 both give the reverse rotation torque to the first wheel 101 and the second wheel 102 respectively, but the reverse rotation torque of the second motor 105 The inclination to the right may be corrected by making it larger than the reverse rotation torque of the first motor 104. When the vehicle 100 leans to the left, the lean sensor 106 and the speed sensor 108 detect that the vehicle 100 leans to the left and that the vehicle 100 is at a predetermined speed or higher. , A state signal (tilt signal 118, speed signal 120) based on the detection is transmitted, and the vehicle body controller 114 outputs a state signal (tilt signal 118) based on the left tilt and a state signal (speed signal 120) based on the speed. After the arithmetic processing, the first motor driver 115 supplies electric power from the battery 109 to the first motor 104 based on the control signal 121 transmitted from the vehicle body controller 114, and the first motor 104 causes the right first wheel to move. By applying a reverse rotational torque to 101 to reduce the rotational force of the first wheel 101, the inclination to the left is corrected and the posture is returned to the vertical direction. In this case, both the first motor 104 and the second motor 105 give a reverse rotation torque to the first wheel 101 and the second wheel 102, respectively. The inclination to the right may be corrected by making it larger than the reverse rotation torque of the second motor 105.

In addition, the inclination sensor 106 and the speed sensor 108 detect the inclination of the vehicle 100 in the front-back direction with respect to the vertical direction, as in the case where the vehicle 100 is traveling uphill or downhill. , And when it is detected that the speed of the vehicle 100 is decreasing or increasing, the vehicle body controller 114 transmits a state signal (tilt signal 118, speed signal 120) based on the detection. , A state signal (tilt signal 118) based on the front-rear inclination, and a state signal (speed signal 120) based on the increasing/decreasing speed, and the first motor driver 115 and the second motor driver 116 respectively operate on the vehicle body. Based on the control signal 121 transmitted from the controller 114, the power supply between the battery 109, the first motor 104, and the second motor 105 is controlled, and if the speed of the vehicle 100 is decreasing, 1st motor 104 and 2nd motor 105 give positive rotation torque to 1st wheel 101 and 2nd wheel 102, respectively, and increase the rotational force and increase the speed of vehicle 100. In addition, when the speed of the vehicle 100 is increasing, the first motor 104 and the second motor 105 respectively cause the reverse rotation torque with respect to the first wheel 101 and the second wheel 102. May be applied to reduce the rotational force of the wheels 102 to reduce the speed of the vehicle 100.

Normally, the first motor 104 and the second motor 105 operate as electric motors, respectively, so that the electric energy (electric power) supplied from the battery 109 can be converted into kinetic energy (running energy of the vehicle 100). , The first wheel 101 and the second wheel 102 are controlled, but the first motor 104 and the second motor 105 can also operate as generators, respectively. The first motor 104 and the second motor 105, which operate as a generator, regeneratively brake the first wheel 101 and the second wheel 102, respectively, so that the first wheel 101 and the second wheel 102 respectively. It is possible to apply a reverse rotational torque to 102 to reduce the rotational force thereof, and at the same time, convert kinetic energy (running energy of vehicle 100) into electric energy (electric power) and recover it in battery 109. For example, when the inclination direction is on the right side and it is determined that the speed of the vehicle 100 is equal to or higher than the predetermined value, the second motor driver 116 determines whether the second speed is based on the control signal 121 transmitted from the vehicle body controller 114. Of the second wheel 102 is operated as a generator, and the second motor 105 regeneratively brakes the second wheel 102 on the left side to give a reverse rotation torque to the second wheel 102 to rotate the second wheel 102. While reducing the force, the traveling energy of the vehicle 100 is converted into electric power, and a current flows from the second motor 105 to the battery 109 so that the electric power is returned (supplied) from the second motor 105 to the battery 109. Alternatively, the traveling energy of the vehicle 100 may be recovered.

In the case where vehicle 100 is a bicycle with electric assist, assistance can be provided when the driver of vehicle 100 is applying a pedaling force, which is an operating force, so that first motor 104, and The method of controlling the second motor 105 may be different. When the speed of the vehicle 100 is less than the predetermined speed by the speed sensor 108 and the operating force is detected by the operating force sensor 107, the assist can be performed. Control the rotational force of the wheels located on the same side, and the motor applies a positive rotational torque to the wheels to correct the inclination.

Specifically, when the speed of the vehicle 100 is less than a predetermined speed and the operating force is detected and the vehicle 100 leans to the right, the tilt sensor 106 and the operating force sensor 107 and the speed sensor 108 detect that the vehicle 100 is leaning to the right, that there is an operating force by the driver, and that the vehicle 100 is below a predetermined speed, and a status signal ( The vehicle body controller 114 transmits a tilt signal 118, an actuation force signal 119, and a speed signal 120), and the vehicle body controller 114 outputs a right tilt-based state signal (tilt signal 118), a working force-based status signal (actuation force signal 119), and a speed. Based on the control signal 121 transmitted from the vehicle body controller 114, the first motor driver 115 controls the power supply between the battery 109 and the first motor 104. Then, the first motor 104 applies a positive rotation torque to the first wheel 101 on the right side to increase the rotational force of the first wheel 101, thereby correcting the inclination to the right side and posture in the vertical direction. To return. In this case, both the first motor 104 and the second motor 105 give a positive rotation torque to the first wheel 101 and the second wheel 102, respectively. The inclination to the right may be corrected by making it larger than the positive rotation torque of the second motor 105. When the vehicle 100 leans to the left, the lean sensor 106, the operating force sensor 107, and the speed sensor 108 indicate that the vehicle 100 is leaning to the left and that there is an operating force by the driver. And that the vehicle 100 detects that the vehicle speed is lower than a predetermined speed, and a state signal (tilt signal 118, actuation force signal 119, speed signal 120) based on the detection is transmitted, and the vehicle body controller 114 indicates a state based on the left tilt. The signal (inclination signal 118), the state signal based on the actuating force (actuating force signal 119), and the state signal based on the speed (speed signal 120) are arithmetically processed, and the second motor driver 116 is transmitted from the vehicle body controller 114. The electric power supply between the battery 109 and the second motor 105 is controlled based on the control signal 121, and the second motor 105 gives a positive rotation torque to the second wheel 102 on the left side to generate the second wheel. By increasing the rotational force of 102, the inclination to the left is corrected and the posture is returned to the vertical direction. In this case, both the first motor 104 and the second motor 105 give a positive rotation torque to the first wheel 101 and the second wheel 102 respectively, but the positive rotation torque of the second motor 105 is The inclination to the left side may be corrected by making it larger than the positive rotation torque of the first motor 104.

In this case, electric power is supplied from the battery 109 to the motor giving the positive rotation torque. For example, when the inclination direction is on the right side, the speed of the vehicle 100 is less than a predetermined value, and there is an actuating force, the vehicle body controller 114 may increase the rotational force of the first wheel 101 on the right side. On the basis of the transmitted control signal 121, the first motor driver 115 causes a current to flow from the battery 109 to the motor that increases the rotational force of the first wheel 101, that is, the first motor 104, so that the battery 109 outputs the first current. The motor 104 is supplied with electric power so that the first motor 104 gives a positive rotation torque to the first wheel 101.

When the speed of the vehicle 100 is less than the predetermined speed by the speed sensor 108 and the operating force is not detected by the operating force sensor 107, the assist cannot be performed. The motor that controls the rotational force of the wheel located on the opposite side applies reverse rotational torque to the wheel to correct the inclination. A specific method of correcting the inclination is the same as the method when the speed of the vehicle 100 is equal to or higher than a predetermined speed.

In this case, a motor that applies a reverse rotation torque to the wheels is operated as a generator to regeneratively brake the wheels, so that the running energy of the vehicle 100 is recovered by the motor to the battery 109. Power may be returned (supplied). For example, when the inclination direction is on the right side, the speed of the vehicle 100 is less than the predetermined value, and it is determined that there is no operating force, the second motor driver 116 causes the control signal transmitted from the vehicle body controller 114. Based on 121, a motor that reduces the rotational force of the second wheel 102 on the left side, that is, the second motor 105 is operated as a generator to regeneratively brake the second wheel, so that the running energy of the vehicle 100 is reduced. Of the second motor 105, a current flows from the second motor 105 to the battery 109 to return (supply) electric power from the second motor 105 to the battery 109, while a second motor that operates as a generator 105 may apply reverse rotation torque to the second wheel 102.

Further, when the inclination is not detected by the inclination sensor 106 and the vehicle 100 is not wobbling, the speed of the vehicle 100 detected by the speed sensor 108 is less than a predetermined speed, and the operating force is detected by the operating force sensor 107. Since the vehicle body controller 114 can assist if detected, the vehicle body controller 114 arithmetically processes the state signals (tilt signal 118, actuating force signal 119, speed signal 120), and the first motor driver 115 and the second motor driver 115. The motor drivers 116 each control the electric power supplied from the battery 109 based on the control signal 121 transmitted from the vehicle body controller 114 to supply electric power to the first motor 104 and the second motor 105, By controlling the output of the first motor 104 and the output of the second motor 105 independently of each other, the first motor 104 and the second motor 105 respectively control the first wheel 101 and the second wheel 101. A positive rotation torque is applied to the wheel 102 to increase the rotational force of the first wheel 101 and the second wheel 102.

When the driver starts driving the vehicle 100, the posture of the vehicle 100 tends to be unstable. Therefore, when the driver starts driving the vehicle 100, the first motor 104 and the second motor 105 apply a slight rotational torque to the first wheel 101 and the second wheel 102, respectively. The posture of the vehicle 100 may be stabilized. In this case, it is determined whether or not the driving of the vehicle 100 is started by using the actuating force sensor 107 and the speed sensor 108, and when the tilt is detected by the tilt sensor 106, the determination is made according to the detection. Thus, the first motor 104 and the second motor 105 may slightly give the rotational torque to the first wheel 101 and the second wheel 102, respectively.

Specifically, when the vehicle 100 is stopped and the driver is not applying an operating force and the vehicle 100 is leaning to the right, the inclination sensor 106, the operating force sensor 107, and The speed sensor 108 detects that the vehicle 100 is leaning to the right, that there is no operating force by the driver, and that the vehicle 100 is stopped, and a state signal (tilt signal 118) based on the detection is detected. , The operating force signal 119, the speed signal 120), and the vehicle body controller 114 transmits a state signal based on the inclination on the right side (inclination signal 118), a state signal based on the operating force (operating force signal 119), and a state based on the speed. The signal (speed signal 120) is arithmetically processed to determine that the driving of the vehicle 100 is started, and the first motor driver 115 and the second motor driver 116 respectively send control signals transmitted from the vehicle body controller 114. Based on 121, the electric power supplied from the battery 109 is controlled to supply the electric power to the first motor 104 and the second motor 105. Then, the first motor 104, which controls the rotational force of the first wheel 101 on the right side, slightly applies a positive rotation torque to the first wheel 101 so that the first wheel 101 is in the same traveling direction as the vehicle 100. The second motor 105, which slightly rotates in the direction, controls the rotational force of the second wheel 102 on the left side, slightly applies a reverse rotational torque to the second wheel 102 to move the second wheel 102. By slightly rotating the vehicle 100 in the direction opposite to the traveling direction, the inclination to the right is corrected and the posture is returned to the vertical direction. In this case, which one of the first motor 104 gives a slight forward rotation torque to the first wheel 101 and the second motor 105 gives a little reverse rotation torque to the second wheel 102. Either control may be used. When the vehicle 100 leans to the left, the lean sensor 106, the actuation force sensor 107, and the speed sensor 108 indicate that the vehicle 100 leans to the left and that there is no actuation force by the driver. Also, it detects that the vehicle 100 is stopped, and transmits a state signal (tilt signal 118, actuation force signal 119, speed signal 120) based on the detection, and the body controller 114 indicates a state based on the left tilt. The signal (tilt signal 118), the operating force-based state signal (operating force signal 119), and the speed-based state signal (speed signal 120) are arithmetically processed to determine that the vehicle 100 is at the start of operation. The first motor driver 115 and the second motor driver 116 control the electric power supplied from the battery 109 based on the control signal 121 transmitted from the vehicle body controller 114, respectively, and The electric power is supplied to the second motor 105. Then, the second motor 105 for controlling the rotational force of the second wheel 102 on the left side slightly gives a positive rotation torque to the second wheel 102 so that the second wheel 102 is in the same traveling direction as the vehicle 100. The first motor 104, which slightly rotates in the direction and controls the rotational force of the first wheel 101 on the right side, slightly applies a reverse rotational torque to the first wheel 101 to move the first wheel 101. By slightly rotating the vehicle 100 in the direction opposite to the traveling direction, the inclination to the left is corrected and the posture is returned to the vertical direction. In this case, whether the second motor 105 gives a slight forward rotation torque to the second wheel 102 or the first motor 104 gives a little reverse rotation torque to the first wheel 101. Either control may be used. When the vehicle 100 is a bicycle, a sensor such as a load cell is further installed under the saddle 111, and whether or not the driver gets on the vehicle 100 based on the detection of the load by the sensor such as the load cell, that is, It is determined whether or not the driving of the vehicle 100 is started, and when the inclination is detected by the inclination sensor 106, the first motor 104 and the second motor 105 respectively operate as described above. A slight rotational torque may be applied to the first wheel 101 and the second wheel 102.

Subsequently, at least one of the front wheel portion and the rear wheel portion is configured by a pair of wheels including a right wheel that is the first wheel 101 and a left wheel that is the second wheel 102. A method for controlling the vehicle 100 that can be propelled by the operating force of will be described. The method includes the steps of detecting the state of the vehicle 100 and controlling the rotational forces of the pair of wheels 101, 102 independently of each other in response to the detection.

FIG. 5 shows a method of controlling a vehicle 100 having a pair of motors each of which is arranged on each of a pair of wheels and is composed of a first motor 104 on the right side and a second motor 105 on the left side. This will be described in detail using a flowchart. In STEP 100, the detection results of the tilt sensor 106, the actuation force sensor 107, and the speed sensor 108 included in the vehicle 100 are read. Next, in STEP 101, whether or not the vehicle 100 is tilted is determined based on the detection result from the tilt sensor 106. When it is determined that there is no inclination, in STEP 102, it is determined whether the speed of the vehicle 100 is higher or lower than a predetermined speed based on the detection result from the speed sensor 108. When it is determined that the vehicle speed is low, the presence or absence of the operating force by the driver is determined in STEP 103 based on the detection result from the operating force sensor 107. When it is determined that there is an actuating force, in STEP 104, the right motor and the left motor apply forward rotation torque to the right wheel and the left wheel, respectively.

When it is determined in STEP 101 that the vehicle is inclined, it is determined in STEP 105 whether or not the vehicle 100 is at the start of driving. Whether or not the operation is started may be determined based on the detection results of the operating force sensor 107 and the speed sensor 108.

When it is determined in STEP 105 that the driving is not started, the inclination direction of the vehicle 100 is determined in STEP 106. Even when the vehicle 100 turns left or right, the vehicle 100 inclines with respect to the vertical direction. However, when it is determined that the vehicle 100 is turning left or turning right instead of being staggered, steps 107 to 116 described below are performed. The step is set not to be performed.

When it is determined in STEP 106 that the inclination is on the left side, the inclination to the left is corrected to return the posture to the vertical direction, but the motor on the right side and the motor on the left side depending on the speed and operating force of the vehicle 100. The motor control method is different. In STEP 107, it is determined whether the speed of the vehicle 100 is higher or lower than a predetermined speed based on the detection result from the speed sensor 108. If it is determined that the speed is higher than the predetermined speed, in STEP 108, the right motor is set to the right wheel. On the other hand, reverse rotation torque is applied to reduce the rotational force of the wheel on the right side to correct the inclination to the left side. In this case, the right motor and the left motor both apply reverse rotation torque to the right wheel and left wheel, respectively, but the reverse rotation torque of the right motor is greater than the reverse rotation torque of the left motor. The inclination to the left may be corrected by increasing the angle. When applying the reverse rotation torque, the motor may be operated as a generator to regeneratively brake the wheels. When it is determined in STEP 107 that the speed is low, in STEP 109, the presence or absence of the operating force by the driver is determined based on the detection result from the operating force sensor 107. When it is determined that there is no operating force, in STEP 110, the right motor applies a reverse rotational torque to the right wheel to reduce the rotational force of the right wheel, thereby correcting the inclination to the left. .. In this case, the right motor and the left motor both apply reverse rotation torque to the right wheel and left wheel, respectively, but the reverse rotation torque of the right motor is greater than the reverse rotation torque of the left motor. The inclination to the left may be corrected by increasing the angle. When applying the reverse rotation torque, the motor may be operated as a generator to regeneratively brake the wheels. Further, the left motor may slightly apply a positive rotation torque to the left wheel to slightly increase the rotational force of the left wheel. When it is determined in STEP109 that there is an actuating force, in STEP111, the left motor imparts a positive rotational torque to the left wheel to increase the rotational force of the left wheel, and thereby the left wheel is moved to the left side. Correct tilt. In this case, the right motor and the left motor both give a positive rotation torque to the right wheel and the left wheel, respectively, but the positive rotation torque of the left motor is greater than that of the right motor. The inclination to the left may be corrected by increasing the angle.

When it is determined in STEP 106 that the inclination is on the right side, the inclination to the right is corrected to return the posture to the vertical direction. However, the speed and operating force of the vehicle 100 cause the right motor and the left motor to move. The motor control method is different. In STEP 112, it is determined whether the speed of the vehicle 100 is higher or lower than a predetermined speed based on the detection result from the speed sensor 108. If it is determined that the speed is higher than the predetermined speed, in STEP 113, the left motor is changed to the left wheel. On the other hand, reverse rotation torque is applied to reduce the rotational force of the wheel on the left side to correct the inclination to the right side. In this case, the right motor and the left motor both apply reverse rotation torque to the right wheel and left wheel, respectively, but the reverse rotation torque of the left motor is greater than the reverse rotation torque of the right motor. The inclination to the right may be corrected by making it larger. When applying the reverse rotation torque, the motor may be operated as a generator to regeneratively brake the wheels. When it is determined in STEP 112 that the vehicle speed is low, in STEP 114, the presence or absence of the operating force by the driver is determined based on the detection result from the operating force sensor 107. When it is determined that there is no actuation force, in STEP 115, the left motor imparts a reverse rotation torque to the left wheel to reduce the rotation force of the left wheel, thereby correcting the inclination to the right. .. In this case, the right motor and the left motor both apply reverse rotation torque to the right wheel and left wheel, respectively, but the reverse rotation torque of the left motor is greater than the reverse rotation torque of the right motor. The inclination to the right may be corrected by making it larger. When applying the reverse rotation torque, the motor may be operated as a generator to regeneratively brake the wheels. Further, the right motor may slightly apply a positive rotation torque to the right wheel to slightly increase the rotational force of the right wheel. If it is determined in STEP 114 that there is an actuating force, in STEP 116, the right motor imparts a positive rotation torque to the right wheel to increase the rotation force of the right wheel, and Correct tilt. In this case, the right motor and the left motor both give a positive rotation torque to the right wheel and the left wheel, respectively, but the positive rotation torque of the right motor is larger than that of the left motor. The inclination to the right may be corrected by making it larger.

When it is determined in STEP 105 that the vehicle 100 is at the start of driving, the inclination direction of the vehicle 100 is determined in STEP 117. When it is determined in STEP 117 that the inclination is on the left side, in STEP 118, the right motor slightly applies a reverse rotational torque to the right wheel to cause the right wheel to move in a direction opposite to the traveling direction of the vehicle 100. Direction, and/or the left motor slightly applies positive rotation torque to the left wheel to slightly rotate the left wheel in the same direction as the traveling direction of the vehicle 100. By doing so, the inclination to the left is corrected and the posture is returned to the vertical direction. When it is determined in STEP 117 that the inclination is on the right side, in STEP 119, the left motor slightly applies reverse rotational torque to the left wheel so that the left wheel is in the traveling direction of the vehicle 100. The right wheel is slightly rotated in the opposite direction, and/or the right motor slightly applies a positive rotation torque to the right wheel so that the right wheel is slightly moved in the same direction as the traveling direction of the vehicle 100. By rotating to, the inclination to the right is corrected and the posture is returned to the vertical direction.

In a vehicle in which at least one of the front wheel portion and the rear wheel portion is composed of a pair of left and right wheels and which can be rotated and propelled by an operating force of a driver, in addition to a bicycle having three or more wheels, Includes wheelchairs, wheelbarrows, etc.

While the above description has been made with respect to specific embodiments, it will be apparent to those skilled in the art that the present invention is not limited thereto and that various changes and modifications can be made within the principle of the present invention and the scope of the appended claims. is there.

100 Vehicle 101 First Wheel 102 Second Wheel 103 Third Wheel 104 First Motor 105 Second Motor 106 Inclination Sensor 107 Actuation Force Sensor 108 Speed Sensor 109 Battery 110 Pedal 111 Saddle 112 Handle 113 Link Mechanism 114 Body Controller 115 First motor driver 116 Second motor driver 117 Control device 118 Tilt signal 119 Actuating force signal 120 Speed signal 121 Control signal

Claims (13)

A vehicle in which at least one of a front wheel portion and a rear wheel portion is composed of a pair of left and right wheels , and the vehicle is one of a front wheel portion and a rear wheel portion when a driver pedals a pedal to apply an operating force. of rotating the at least one being adapted to be able to promote,
The state of the vehicle including the actuation force applied by pedaling the pedal is detected, and the rotational force of each of the pair of wheels can be independently controlled in response to the detection. vehicle. A battery,
A pair of motors connected to the battery and configured to control the rotational force of one of the pair of wheels, and a motor configured to control the other rotational force of the pair of wheels; ,
A sensor for detecting the state and transmitting a state signal based on the detection,
A vehicle body controller that arithmetically processes the state signal and transmits a control signal for controlling the pair of motors,
A motor driver that controls power supply between the battery and the pair of motors based on the control signal transmitted from the vehicle body controller;
The vehicle according to claim 1, wherein outputs of the pair of motors are controlled independently of each other by the motor driver, and rotational forces of the pair of wheels can be controlled independently of each other. Said sensor, viewed contains an actuation force sensor for detecting the actuating force applied by pedaling the pedals, the vehicle body controller, calculating the state signal transmitted from the sensor to correct the condition The vehicle according to claim 2 , wherein the vehicle can be processed to transmit the control signal. The sensor further includes an inclination sensor that detects an inclination of the vehicle with respect to the vertical direction, and the vehicle body controller arithmetically processes the state signal transmitted from the sensor so as to correct the state, and the control signal. The vehicle according to claim 3 , wherein the vehicle can be transmitted. The sensor may further include a speed sensor for detecting the speed of the vehicle, and the vehicle body controller may perform arithmetic processing on the status signal sent from the sensor to correct the status and send the control signal. The vehicle according to claim 3 or 4, wherein: At least one of the pair of motors has a function of a generator, at least one of the pair of motors can give a reverse rotation torque to its wheels, and the function of the generator The vehicle according to any one of claims 2 to 5, wherein the traveling energy of the vehicle can be recovered and electric power can be supplied to the battery via the motor driver. At least one of the front wheel and the rear wheel portion is a vehicle configured from a pair of left and right wheels, at least one of the front wheel and the rear wheel portion by the driver gives an actuation force by pedaling A control device used in a vehicle capable of being rotated and propelled,
The state of the vehicle including the actuation force applied by pedaling the pedal is detected, and the rotational force of each of the pair of wheels can be independently controlled in response to the detection. Control device. A battery,
A pair of motors connected to the battery and configured to control the rotational force of one of the pair of wheels, and a motor configured to control the other rotational force of the pair of wheels; ,
A sensor for detecting the state and transmitting a state signal based on the detection,
A vehicle body controller that arithmetically processes the state signal and transmits a control signal for controlling the pair of motors,
The control device according to claim 7, further comprising: a motor driver that controls electric power supply between the battery and the pair of motors based on the control signal transmitted from the vehicle body controller. 9. The control device according to claim 8, wherein the motor driver is configured to control outputs of the pair of motors independently of each other to control rotational forces of the pair of wheels independently of each other. .. Said sensor, viewed contains an actuation force sensor for detecting the actuating force applied by pedaling the pedals, the vehicle body controller, calculating the state signal transmitted from the sensor to correct the condition The control device according to claim 8 or 9 , wherein the control device is capable of processing and transmitting the control signal. Wherein the sensor further comprises a tilt sensor for detecting the inclination with respect to the vertical direction of the vehicle, the vehicle body controller, the control signal the status signal transmitted processing to from the sensor to correct the condition The control device according to claim 10 , wherein the control device is capable of transmitting The sensor may further include a speed sensor for detecting the speed of the vehicle, and the vehicle body controller may perform arithmetic processing on the status signal sent from the sensor to correct the status and send the control signal. The control device according to claim 10 or 11, wherein: At least one of the pair of motors has a function of a generator, at least one of the pair of motors can give a reverse rotation torque to its wheels, and the function of the generator The control device according to any one of claims 8 to 12, wherein the traveling energy of the vehicle can be recovered and electric power can be supplied to the battery via the motor driver.

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