WO2001002920A1 - Apparatus and method for a pitch state estimator for a personal vehicle - Google Patents
Apparatus and method for a pitch state estimator for a personal vehicle Download PDFInfo
- Publication number
- WO2001002920A1 WO2001002920A1 PCT/US1999/029183 US9929183W WO0102920A1 WO 2001002920 A1 WO2001002920 A1 WO 2001002920A1 US 9929183 W US9929183 W US 9929183W WO 0102920 A1 WO0102920 A1 WO 0102920A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- signal
- pitch
- vehicle
- signals
- state
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/42—General characteristics of devices characterised by sensor means for inclination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0512—Pitch angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/18—Automatic control means
- B60G2600/187—Digital Controller Details and Signal Treatment
- B60G2600/1875—Other parameter or state estimation methods not involving the mathematical modelling of the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Gyroscopes (AREA)
- Seats For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Eletrric Generators (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Electrophonic Musical Instruments (AREA)
- Ignition Installations For Internal Combustion Engines (AREA)
- Navigation (AREA)
Abstract
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT99966070T ATE292816T1 (en) | 1999-06-30 | 1999-12-09 | DEVICE AND METHOD FOR ESTIMATING THE PITCH STATE OF A PASSENGER VEHICLE |
JP2001508659A JP4612980B2 (en) | 1999-06-30 | 1999-12-09 | Apparatus and method for a pitch measuring instrument for personal vehicles |
CA002377130A CA2377130C (en) | 1999-06-30 | 1999-12-09 | Apparatus and method for a pitch state estimator for a personal vehicle |
EP99966070A EP1190283B1 (en) | 1999-06-30 | 1999-12-09 | Apparatus and method for a pitch state estimator for a personal vehicle |
DE69924649T DE69924649T2 (en) | 1999-06-30 | 1999-12-09 | DEVICE AND METHOD FOR ASSESSING THE NICK-LEVEL CONDITION OF A PASSENGER VEHICLE |
MXPA01012685A MXPA01012685A (en) | 1999-06-30 | 1999-12-09 | Apparatus and method for a pitch state estimator for a personal vehicle. |
AU21703/00A AU778604B2 (en) | 1999-06-30 | 1999-12-09 | Apparatus and method for a pitch state estimator for a personal vehicle |
HK02106266A HK1044998A1 (en) | 1999-06-30 | 2002-08-26 | Apparatus and method for a pitch state estimator for a personal vehicle. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14200799P | 1999-06-30 | 1999-06-30 | |
US60/142,007 | 1999-06-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001002920A1 true WO2001002920A1 (en) | 2001-01-11 |
Family
ID=22498174
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1999/029183 WO2001002920A1 (en) | 1999-06-30 | 1999-12-09 | Apparatus and method for a pitch state estimator for a personal vehicle |
Country Status (13)
Country | Link |
---|---|
US (1) | US6332103B1 (en) |
EP (1) | EP1190283B1 (en) |
JP (1) | JP4612980B2 (en) |
KR (1) | KR100738152B1 (en) |
AT (1) | ATE292816T1 (en) |
AU (1) | AU778604B2 (en) |
CA (1) | CA2377130C (en) |
DE (1) | DE69924649T2 (en) |
HK (1) | HK1044998A1 (en) |
MX (1) | MXPA01012685A (en) |
MY (1) | MY122293A (en) |
TW (1) | TW490417B (en) |
WO (1) | WO2001002920A1 (en) |
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US9381967B2 (en) | 2012-10-16 | 2016-07-05 | Toyota Jidosha Kabushiki Kaisha | Inverted vehicle and its control method |
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US10502574B2 (en) | 2016-09-20 | 2019-12-10 | Waymo Llc | Devices and methods for a sensor platform of a vehicle |
US10802495B2 (en) | 2016-04-14 | 2020-10-13 | Deka Products Limited Partnership | User control device for a transporter |
US10864127B1 (en) | 2017-05-09 | 2020-12-15 | Pride Mobility Products Corporation | System and method for correcting steering of a vehicle |
US10908045B2 (en) | 2016-02-23 | 2021-02-02 | Deka Products Limited Partnership | Mobility device |
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US7275607B2 (en) | 1999-06-04 | 2007-10-02 | Deka Products Limited Partnership | Control of a personal transporter based on user position |
US7740099B2 (en) | 1999-06-04 | 2010-06-22 | Segway Inc. | Enhanced control of a transporter |
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US6633829B2 (en) * | 2001-07-26 | 2003-10-14 | Northrop Grumman Corporation | Mechanical rotation axis measurement system and method |
US6925413B2 (en) * | 2001-12-14 | 2005-08-02 | Robert Bosch Gmbh | Method and system for detecting a spatial movement state of moving objects |
JP4511344B2 (en) | 2002-06-11 | 2010-07-28 | デカ・プロダクツ・リミテッド・パートナーシップ | Wheelchairs propelled by users and methods for propelling wheelchairs |
US7900725B2 (en) | 2002-06-11 | 2011-03-08 | Segway Inc. | Vehicle control by pitch modulation |
US7690452B2 (en) | 2002-06-11 | 2010-04-06 | Deka Products Limited Partnership | Vehicle control by pitch modulation |
US6782315B2 (en) * | 2002-06-19 | 2004-08-24 | Ford Global Technologies, Llc | Method and apparatus for compensating misalignments of a sensor system used in a vehicle dynamic control system |
US7210544B2 (en) | 2002-07-12 | 2007-05-01 | Deka Products Limited Partnership | Control of a transporter based on attitude |
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US6961643B1 (en) * | 2005-02-02 | 2005-11-01 | Tru Trak Flight Systems, Inc | System and method for gyro enhanced vertical flight information |
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US20090254244A1 (en) * | 2008-04-04 | 2009-10-08 | Li Xu | System and Method for Detecting a Pitch Rate Sensor Fault |
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JP6022946B2 (en) * | 2010-02-26 | 2016-11-09 | セグウェイ・インコーポレイテッド | Apparatus and method for controlling a vehicle |
US8666575B2 (en) * | 2010-03-05 | 2014-03-04 | Toyota Jidosha Kabushiki Kaisha | Inverted two-wheel apparatus, and control method and control program thereof |
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US10000215B2 (en) | 2016-04-13 | 2018-06-19 | GM Global Technology Operations LLC | Detection and reconstruction of pitch rate sensor fault |
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US5860480A (en) * | 1997-04-08 | 1999-01-19 | Caterpillar Inc. | Method and apparatus for determining pitch and ground speed of an earth moving machines |
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1999
- 1999-12-09 DE DE69924649T patent/DE69924649T2/en not_active Expired - Lifetime
- 1999-12-09 AT AT99966070T patent/ATE292816T1/en not_active IP Right Cessation
- 1999-12-09 KR KR1020017016896A patent/KR100738152B1/en not_active IP Right Cessation
- 1999-12-09 AU AU21703/00A patent/AU778604B2/en not_active Ceased
- 1999-12-09 JP JP2001508659A patent/JP4612980B2/en not_active Expired - Fee Related
- 1999-12-09 EP EP99966070A patent/EP1190283B1/en not_active Expired - Lifetime
- 1999-12-09 US US09/458,148 patent/US6332103B1/en not_active Expired - Lifetime
- 1999-12-09 MX MXPA01012685A patent/MXPA01012685A/en active IP Right Grant
- 1999-12-09 WO PCT/US1999/029183 patent/WO2001002920A1/en not_active Application Discontinuation
- 1999-12-09 CA CA002377130A patent/CA2377130C/en not_active Expired - Lifetime
-
2000
- 2000-02-10 TW TW089102379A patent/TW490417B/en not_active IP Right Cessation
- 2000-02-15 MY MYPI20000540A patent/MY122293A/en unknown
-
2002
- 2002-08-26 HK HK02106266A patent/HK1044998A1/en not_active IP Right Cessation
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US5701965A (en) * | 1993-02-24 | 1997-12-30 | Deka Products Limited Partnership | Human transporter |
US5860480A (en) * | 1997-04-08 | 1999-01-19 | Caterpillar Inc. | Method and apparatus for determining pitch and ground speed of an earth moving machines |
Cited By (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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Publication number | Publication date |
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EP1190283B1 (en) | 2005-04-06 |
EP1190283A1 (en) | 2002-03-27 |
CA2377130A1 (en) | 2001-01-11 |
JP2003504600A (en) | 2003-02-04 |
DE69924649D1 (en) | 2005-05-12 |
KR100738152B1 (en) | 2007-07-10 |
MY122293A (en) | 2006-04-29 |
AU778604B2 (en) | 2004-12-09 |
AU2170300A (en) | 2001-01-22 |
MXPA01012685A (en) | 2002-06-04 |
JP4612980B2 (en) | 2011-01-12 |
DE69924649T2 (en) | 2006-03-09 |
US6332103B1 (en) | 2001-12-18 |
CA2377130C (en) | 2009-08-25 |
HK1044998A1 (en) | 2002-11-08 |
ATE292816T1 (en) | 2005-04-15 |
KR20020019935A (en) | 2002-03-13 |
TW490417B (en) | 2002-06-11 |
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