J102012 倒立振子型車両と操縦者の制動時における運動解析

Abstract

An inverted pendulum vehicle controlled by the movement of driver's center of gravity, such as Winglet or Segway are one of the Personal Mobility Vehicles (PMV). PMV is sometimes expected to be used in pedestrian spaces. When a driver makes a sudden operation, the driver has the potential to lose his balance according to the characteristics of the vehicle control. It is because that the vehicle control cannot follow the movement of the driver. Therefore, we aim to achieve the vehicle control which is friendly to the driver. For the basic study, we investigate the relationships between the behavior of a driver and an inverted pendulum vehicle at the time of braking. In this study, the coupling model of the vehicle and human is built using Multibody Dynamics. The vehicle is expressed by 2 rigid bodies (tire and body) and a human is expressed by 8 rigid bodies (foot, lower leg, femoral, body, head, upper arm, lower arm, and hand). We give braking control commands to the driver model. By the numerical simulation, we simulated the behavior of the center of gravity of a driver and the velocity of the vehicle. We carried out the parametric study by varying the braking operation of the driver and the moving velocity at the start of braking operation. As the result, it was found that the acceleration in braking operation is more important than the vehicle velocity at the start of braking.