| 摘要 |
PROBLEM TO BE SOLVED: To provide a power assist vehicle capable of traveling, avoiding an obstacle, without a driver's turning operation. SOLUTION: Operating force to be applied by a steering wheel is detected by a force sensor to measure strength and direction of the operating force (S1). The force to be applied to the center of a carriage body and moment of the force are computed on the basis of the measured strength and direction of the operating force (S2). A detection output value of an obstacle sensor is obtained to measure the distance to the obstacle and direction of the obstacle (S3). Strength and direction of the virtual impact force and moment of the force are computed on the basis of the distance to the obstacle and the direction of the obstacle (S4). The operating force and the virtual impact force are synthesized to compute the assist force to be required to avoid the obstacle (S5). Torque to be output from a motor is obtained (S6), and the amount of control is output for instruction to the motor driver to generate the obtained torque (S7). COPYRIGHT: (C)2007,JPO&INPIT
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