| 摘要 |
PROBLEM TO BE SOLVED: To provide a method of stabilizing front to rear direction of a vehicle with respect to a movement on a ground surface in a specific direction.SOLUTION: A vehicle includes at least one front wheel and at least one rear wheel, and the front wheel is characterized by a force perpendicular to an instantaneous force of a vehicle movement. A motor actuator drives each rear wheel, and a controller rules one or more motor actuators so as to dynamically stabilize the vehicle whether the front wheel contacts a ground surface or not according to a regular control rule. Torque is applied to the rear wheel on the basis of a vehicle pitch or a force applied to the front wheel and perpendicular to a moving direction. Furthermore, a periodic rotational modulation is applied to the rear wheel, so that the torque stabilized on the basis of a detected response to either the vehicle pitch or the perpendicular force applied to the front wheel is transmitted. The right and left motor actuators independently control a right rear wheel and a left rear wheel, respectively to cause the rear wheels to continue turning as ruled by user's steering whether the front wheel contacts the ground or not. |
