VEHICLE
申请(专利)号： JP20070337623
专利号： JP2009154806A 主分类号： B62K17
申请权利人： EQUOS
RESEARCH CO LTD 公开国代码： JP 优先权国家： JP
摘 要：
<P>PROBLEM TO BE SOLVED: To realize a stable traveling state and vehicle body attitude of a vehicle to a step of optional height and shape, by highly accurately estimating step resistance torque, by estimating the step resistance torque in consideration of even an attitude change of the vehicle body.
<P>SOLUTION: This vehicle has a drive wheel 12 rotatably installed in the vehicle body, and a vehicle control device for controlling an attitude of the vehicle body by controlling driving torque applied to the drive wheel 12. The vehicle control device estimates the step resistance torque in consideration of the attitude change in the vehicle body, and corrects the driving torque in response to the step resistance torque. <P>COPYRIGHT: (C)2009,JPO&INPIT 主权项：
車両と、
申请日： 2007-12-27 公开公告日： 2009-07-16
分类号： B62K17;
B60L15/20; B62K3 发明设计人： DOI KATSUNORI
申请国代码： JP
优先权： 20071227 JP
2007337623
摘 要 附 图：
該車体に回転可能に取り付けられた駆動輪と、
該駆動輪に付与する駆動トルクを制御して前記車体の姿勢を制御する車両制御装置とを有し、
該車両制御装置は、路面の段差を昇降するとき
权 利 要 求 说 明 书
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VEHICLE
