JP2011178196A - Coaxial motorcycle and control method of the same - Google Patents

Abstract

An object of the present invention is to provide a highly safe coaxial two-wheeled vehicle that can be easily dismounted.
A coaxial two-wheeled vehicle according to the present invention includes a drive unit, an auxiliary bar, and a control unit. The drive part 16 drives the two wheels 13 arranged coaxially. The auxiliary bar 14 is grounded on the front side of the wheel 13 when the passenger gets off the vehicle. The controller 12 reduces the control gain on the front side where the auxiliary bar 14 is provided when the auxiliary bar 14 is grounded, and controls the driving of the wheel 13 by the drive unit 16 according to the control gain.
[Selection] Figure 1

Description

  The present invention relates to a coaxial two-wheeled vehicle having two wheels arranged on the same axial center line and a control method thereof, and more particularly to a coaxial two-wheeled vehicle in which a person gets in a standing position and performs a traveling operation and a control method thereof.

  Patent Document 1 discloses a coaxial two-wheeled vehicle having a vehicle structure in which a passenger rides in a standing position. In the coaxial two-wheeled vehicle described in Patent Document 1, operations such as advancing, retreating, and turning to the left and right are performed by an instruction from the steering wheel, an instruction based on movement of the center of gravity of the occupant, and an instruction based on an inclination of a step on which the occupant rides.

  Such a standing-type coaxial two-wheeled vehicle has a structure that can be tilted back and forth, and moves forward and backward by tilting forward and backward by moving the center of gravity of the passenger. For this reason, the standing type coaxial two-wheeled vehicle is unstable in the front-rear structure. As a method of getting off from the coaxial two-wheeled vehicle, there are a method of getting off in a state where the inverted control is performed instead of a ground contact state, and a method of getting off the passenger backward by tilting the vehicle body backward.

  However, since the coaxial two-wheeled vehicle unintentionally moves back and forth in the state where the inverted control is performed, when the passenger tries to get off one leg, the center of gravity position of the passenger The vehicle will move and the vehicle will begin to reverse.

  In addition, in the method in which the vehicle body tilts backward and the occupant descends backward, when the passenger is performing a direction instruction operation by leaning the vehicle body forward and backward when boarding, if the vehicle body tilts more than a certain amount, There is a case of getting off at the opposite timing.

  Therefore, the coaxial two-wheeled vehicle described in Patent Document 1 is provided with auxiliary wheels, and the passenger can get off stably by getting on and off in a state where the auxiliary wheels are grounded.

JP 2004-074814 A

  In the coaxial two-wheeled vehicle described in Patent Document 1, the auxiliary wheel is provided in front of or behind the coaxial two-wheeled vehicle. When getting off, the auxiliary wheel is switched from the stored state to the grounded state. When getting off the vehicle, if the vehicle body is tilted to ground the auxiliary wheel, the gain is constant, so that the speed increases according to the tilt and the vehicle may run away.

  The present invention has been made against the background of such problems, and an object of the present invention is to provide a coaxial two-wheeled vehicle that can safely get off and a control method thereof.

  The coaxial two-wheeled vehicle according to the first aspect of the present invention includes a wheel driving unit that drives two wheels arranged coaxially, and an auxiliary that makes ground contact on the front side or the rear side of the wheel when the passenger gets off the vehicle. And a control unit that reduces a control gain on the side where the auxiliary bar is provided when the auxiliary bar is grounded, and controls driving of the wheel by the wheel driving unit according to the control gain. is there.

  A coaxial two-wheeled vehicle according to a second aspect of the present invention is the above-described coaxial two-wheeled vehicle, and the control unit grounds the auxiliary bar when detecting that the speed of the coaxial two-wheeled vehicle is zero. The vehicle body is tilted to the side where the auxiliary bar is provided.

  A coaxial two-wheeled vehicle according to a third aspect of the present invention is the above-described coaxial two-wheeled vehicle, and includes a getting-off button for generating a getting-off control start signal, and the control unit is configured to receive the getting-off generated by the getting-off button. In accordance with a control start signal, the passenger getting off is detected, and the vehicle body is tilted to the side where the auxiliary bar is provided.

  A coaxial two-wheeled vehicle according to a fourth aspect of the present invention is the above-described coaxial two-wheeled vehicle, further comprising a detection unit that detects that the passenger is on board, and the passenger gets off after grounding the auxiliary bar. At this time, when the detection unit detects that the passenger is on board, the wheel is locked.

  A coaxial two-wheeled vehicle according to a fifth aspect of the present invention is the above-described coaxial two-wheeled vehicle, wherein the control unit determines whether or not the auxiliary bar is in a stored state, and the auxiliary bar is out. Is characterized in that the vehicle body is tilted in the direction in which the auxiliary bar is provided, and when the auxiliary bar is stored, the vehicle body is inclined in the direction in which the auxiliary bar is not provided.

  In the control method for the coaxial two-wheeled vehicle according to the sixth aspect of the present invention, the auxiliary bar is provided when the auxiliary bar provided on the front side or the rear side of two coaxially arranged wheels is pulled out and the auxiliary bar is grounded. Is reduced, and the driving of the wheel is controlled in accordance with the control gain.

  A control method for a coaxial two-wheeled vehicle according to a seventh aspect of the present invention is the control method described above, wherein when the speed of the coaxial two-wheeled vehicle is detected to be zero, the vehicle body is grounded to ground the auxiliary bar. It is inclined to the side where the auxiliary bar is provided.

  A control method for a coaxial two-wheeled vehicle according to an eighth aspect of the present invention is the control method described above, wherein a passenger getting off is detected according to a generated getting-off control start signal, and the vehicle body is provided with the auxiliary bar. It is characterized by tilting to the other side.

  A control method for a coaxial two-wheeled vehicle according to a ninth aspect of the present invention is the control method described above, wherein when the passenger gets off after touching the auxiliary bar, it is detected that the passenger is on board. In such a case, the wheel is locked.

  A control method for a coaxial two-wheeled vehicle according to a tenth aspect of the present invention is the control method described above, wherein it is determined whether or not the auxiliary bar is in a retracted state. The vehicle body is inclined in a direction in which the auxiliary bar is provided, and when the auxiliary bar is stored, the vehicle body is inclined in a direction in which the auxiliary bar is not provided.

  According to the present invention, it is possible to easily get off the vehicle, and to provide a highly safe coaxial two-wheeled vehicle and its control method.

1 is a schematic diagram showing a configuration of a coaxial two-wheeled vehicle according to a first embodiment. FIG. 3 is a diagram for explaining a state during travel of the coaxial two-wheeled vehicle according to the first embodiment. It is a figure explaining the state at the time of getting off of the coaxial two-wheeled vehicle which concerns on Embodiment 1. FIG. 1 is a diagram showing a configuration of a coaxial two-wheeled vehicle according to a first embodiment. 1 is a diagram showing a configuration of a coaxial two-wheeled vehicle according to a first embodiment. FIG. 3 is a diagram for explaining a control method for the coaxial two-wheeled vehicle according to the first embodiment. FIG. 3 is a diagram for explaining a control method for the coaxial two-wheeled vehicle according to the first embodiment. FIG. 3 is a flowchart for explaining a control method for the coaxial two-wheeled vehicle according to the first embodiment. FIG. 3 is a diagram for explaining a control method for the coaxial two-wheeled vehicle according to the first embodiment. FIG. 3 is a diagram for explaining a control method for the coaxial two-wheeled vehicle according to the first embodiment. FIG. 3 is a diagram for explaining a control method for the coaxial two-wheeled vehicle according to the first embodiment. FIG. 3 is a diagram for explaining a control method for the coaxial two-wheeled vehicle according to the first embodiment. FIG. 6 is a flowchart for illustrating a control method for a coaxial two-wheeled vehicle according to a second embodiment. FIG. 6 is a flowchart for illustrating a control method for a coaxial two-wheeled vehicle according to a third embodiment. FIG. 6 is a diagram for explaining a control method for a coaxial two-wheeled vehicle according to a third embodiment. FIG. 6 is a diagram for explaining a control method for a coaxial two-wheeled vehicle according to a third embodiment. FIG. 6 is a diagram for explaining a control method for a coaxial two-wheeled vehicle according to a third embodiment.

Embodiment 1 FIG.
Initially, the control method of the coaxial two-wheeled vehicle concerning this invention is demonstrated using FIG. 1, 2A, 2B. The coaxial two-wheeled vehicle according to the present invention is particularly characterized by control when a passenger gets off the vehicle. FIG. 1 is a schematic diagram showing a configuration of a coaxial two-wheeled vehicle 10 according to the present embodiment. FIG. 1 is a left side view of the coaxial two-wheeled vehicle 10. As shown in FIG. 1, the coaxial two-wheeled vehicle 10 includes a step 11, a control unit 12, wheels 13, an auxiliary bar 14, and a handle 15.

  The coaxial two-wheel vehicle 10 according to the present embodiment can operate operations such as advancing, retreating, and turning left and right by moving the center of gravity of the passenger. When the passenger moves the center of gravity to the front side of the coaxial two-wheeled vehicle 10 and tilts the coaxial two-wheeled vehicle 10 forward, the forward movement operation is executed. Further, when the passenger moves the center of gravity to the rear side of the coaxial two-wheeled vehicle 10 and tilts the coaxial two-wheeled vehicle 10 backward, the backward movement operation is executed.

  In the example shown in FIG. 1, the auxiliary bar 14 is provided on the front side of the wheel 13. FIG. 2A shows a state where a passenger is riding on the coaxial two-wheeled vehicle 10 and traveling. As shown in FIG. 2A, when the passenger is on the coaxial two-wheeled vehicle 10, the auxiliary bar 14 is stored in the vicinity of the step 11 so as not to contact the ground. A predetermined interval is provided between the auxiliary bar 14 and the ground in consideration of traveling on a level difference or traveling on a slope. Thereby, the coaxial two-wheeled vehicle 10 can be sufficiently tilted, and acceleration / deceleration can be sufficiently performed.

  FIG. 2B shows a state when the passenger gets off the coaxial two-wheeled vehicle 10. As shown in FIG. 2B, when the passenger gets off, the auxiliary bar 14 is pulled out. Then, the coaxial two-wheel vehicle 10 is grounded to the ground by inclining toward the front side where the auxiliary bar 14 is provided. In this state, the passenger can get off safely from the coaxial two-wheeled vehicle when getting off the vehicle rearward.

  Conventionally, when the vehicle body is tilted forward in order to ground the auxiliary bar 14 when getting off, the gain is constant, so that the speed increases according to the tilt and the vehicle may run away. The present invention provides a coaxial motorcycle 10 with higher safety by controlling the gain at this time.

  Here, with reference to FIG. 3A and 3B, the detailed structure of the coaxial two-wheeled vehicle 10 is demonstrated. 3A and 3B are diagrams showing the configuration of the coaxial two-wheel vehicle 10 according to the present embodiment. 3A is a front view of the coaxial two-wheel vehicle 10 as viewed from the traveling direction side, and FIG. 3B is a left side view. In FIGS. 3A and 3B, the left side of the sheet corresponds to the right side as viewed from the passenger side. In the following description, the right member as viewed from the passenger side is described with “R” and the left member with “L”. In FIG. 3A, illustration of the auxiliary bar 14 is omitted for explanation.

  The coaxial two-wheeled vehicle 10 includes steps 11L and 11R, a control unit 12, wheels 13L and 13R, an auxiliary bar 14, a handle 15, driving units 16L and 16R, and a get-off button 17. Here, the example provided with the parallel link mechanism containing the vehicle body upper member U, the vehicle body lower member D, and the side member S is demonstrated. In the present specification, the pitch axis is an axis corresponding to the axles of the pair of wheels 13L and 13R, the roll axis is an axis passing through the center of the vehicle body 12 and parallel to the traveling direction of the vehicle, The yaw axis is an axis that passes through the center of the vehicle body 12 and is perpendicular to the road surface on which the vehicle travels.

  The coaxial two-wheeled vehicle 10 includes two wheels 13L and 13R arranged on the same axis. The two wheels 13L and 13R are arranged in parallel. The wheels 13L and 13R are independently provided with driving means 16L and 16R such as motors. The drive means 16L and 16R are connected by a vehicle body. The vehicle body has a parallel link mechanism including a vehicle body upper member U, a vehicle body lower member D, and a side member S divided into left and right parts. The side member S supports the wheels 13L and 13R so as to be rotatable.

  Auxiliary bars 14L and 14R are provided on the upper side of the vehicle main body so that the passengers ride in a standing position when traveling. The auxiliary bar 14 is divided into left and right in the vehicle width direction of the vehicle body. A handle 15 is provided between the steps 14L and 14R. The handle 15 is tiltable in the roll axis direction with respect to the vehicle body, and the handle 15 and the steps 14L and 14R are connected by a link mechanism (not shown) so as to be perpendicular to each other. .

  An auxiliary bar 14 is provided on the front side of the wheel 13 between the wheels 13L and 13R. In the present embodiment, the auxiliary bar 14 is connected to the vehicle body. When the passenger gets off, the auxiliary bar 14 is pulled out and protrudes forward from the coaxial two-wheeled vehicle 10. The auxiliary bar 14 can also be provided on the rear side of the wheel 13.

  The auxiliary bar 14 may be provided so as to be movable up and down with respect to the step 11, or may be connected so as to be rotatable around a connection point between the auxiliary bar 14 and the vehicle body. Further, the auxiliary bar 14 can be expanded and contracted, and the storage state / non-storage state may be switched by manually pulling out. Note that switching between the storage state / non-storage state of the auxiliary bar 14 can be performed by a motor or the like.

  Further, the coaxial two-wheel vehicle 10 has a sensor (such as a proximity sensor) (not shown) that detects whether the auxiliary bar 14 is grounded. When the passenger gets off after the auxiliary bar 14 is securely grounded, it is possible to perform the getting-off operation more safely.

  Although not shown here, the coaxial two-wheeled vehicle 10 includes a sensor (such as a gyro sensor) that measures a tilt angular velocity or a tilt angle for performing an inversion control, and a sensor (encoder) that can measure a wheel rotation angle or a rotation angular velocity. , Resolver, etc.).

  The control unit 12 controls the driving units 16L and 16R according to information such as the inclination (posture angle) of the main body of the coaxial two-wheeled vehicle 10 detected by a sensor such as a gyroscope and the load on the vehicle. Specifically, the control unit 12 multiplies a signal obtained based on the attitude angle of the coaxial two-wheel vehicle 10 by a predetermined control gain, and calculates the driving amount of the wheel 13 for maintaining the inverted state.

  The control unit 12 maintains the inverted state by controlling the driving means 16L and 16R according to the calculated momentum and controlling the rotational driving of the wheels 13L and 13R. By moving the center of gravity of the occupant, it is possible to control forward, reverse, stop, etc. while maintaining an inverted state.

  4 and 5 are diagrams for explaining the control method of the coaxial two-wheel vehicle 10 according to the first embodiment. 4 and 5, the horizontal axis indicates the angle at which the vehicle body of the coaxial two-wheel vehicle 10 tilts forward, and the vertical axis indicates the value of the control gain. During normal traveling, as shown in FIG. 4, the control gain is a constant value regardless of the attitude angle. On the other hand, as shown in FIG. 5, when the auxiliary bar 14 is grounded when getting off, the coaxial two-wheeled vehicle 10 reduces the control gain on the side where the auxiliary bar 14 is provided. In this example, the control gain is reduced according to the forward tilt angle. Thus, by reducing the control gain, the coaxial motorcycle 10 can be prevented from running out of control and the auxiliary bar 14 can be safely grounded.

  An exit button 17 is provided on the top of the handle 15. When the getting-off button 17 is pressed, a getting-off control start signal is generated. Upon receiving the getting-off control start signal, the control unit 12 detects the passenger getting off, pulls out the auxiliary bar 14, and tilts the vehicle body of the coaxial two-wheel vehicle 10 to the front side where the auxiliary bar 14 is provided.

  Although not shown here, not only the drive unit 16 of the coaxial two-wheel vehicle 10 is controlled, but also a warning sound generating means for generating a warning sound from the system when the getting-off operation is started, and a lighting means for lighting the LED By providing the above, the passenger's intention to get off the vehicle increases and the vehicle can get off smoothly.

  Here, a control method of the coaxial two-wheel vehicle 10 according to the present embodiment will be described with reference to FIGS. FIG. 6 is a flowchart for explaining a control method of coaxial two-wheeled vehicle 10 according to the present embodiment. 7 to 7D are diagrams for explaining the control method of the coaxial two-wheel vehicle according to the first embodiment.

  As shown in FIG. 6, first, when the getting-off button 17 is pressed (S1), the getting-off operation is started (S2). In S2, the auxiliary bar 14 is switched from the storage state (FIG. 7A) to the non-storage state (FIG. 7B) so that the auxiliary bar 14 is grounded. Then, it is determined whether or not the auxiliary bar 14 is lowered (S3).

  When the auxiliary bar 14 is not lowered (No in S3), the process returns to S2 and the dismounting operation is started again. That is, in the coaxial two-wheeled vehicle 10, the getting-off operation is performed only when the auxiliary bar 14 is lowered. Thereby, the danger of the fall at the time of alighting can be avoided.

  When the auxiliary bar 14 is lowered (S3 Yes), the LED provided on the coaxial two-wheeled vehicle 10 is turned on or a sound is emitted from a speaker or the like to notify the surroundings that the vehicle is getting off (S4). . Then, it is determined whether or not the current vehicle body speed of the coaxial two-wheel vehicle 10 is 0 m / s, that is, whether or not it is in a stopped state (S5).

  When the vehicle body speed of the coaxial two-wheel vehicle 10 is not 0 m / s (S5 No), the coaxial two-wheel vehicle 10 is stopped (S6). When the vehicle body speed of the coaxial two-wheel vehicle 10 is 0 m / s (S5 Yes), as described above, the inversion control by the control unit 12 is executed (S7). At this time, the coaxial two-wheel vehicle 10 is tilted to the front side where the auxiliary bar 14 is provided, and the control gain is controlled according to the attitude angle. Thereby, the runaway of the coaxial two-wheeled vehicle 10 can be stopped, and the auxiliary bar 14 can be safely grounded as shown in FIG. 7C.

  Thereafter, whether or not the auxiliary bar 14 is grounded is determined by a proximity sensor or the like (S8). Whether the auxiliary bar 14 is grounded can be confirmed by confirming the grounding of the auxiliary bar 14 by confirming the inclination angle (pitch angle) of the coaxial two-wheel vehicle 10 around the pitch axis.

  When the auxiliary bar 14 is not grounded (S8 No), the coaxial two-wheel vehicle 10 is further tilted forward (S7). When the auxiliary bar 14 is grounded (S8 Yes), the inversion control by the control unit 12 is released and the wheel 13 is locked so as not to rotate (S9). As a result, the coaxial two-wheeled vehicle 10 does not move back and forth, and can safely get off the coaxial two-wheeled vehicle 10 (FIG. 7D). When getting off the coaxial two-wheeled vehicle 10, the LED may be turned on or a sound may be emitted as in S4.

  Thus, according to the present invention, when getting off the coaxial two-wheeled vehicle 10, it is possible to prevent the coaxial two-wheeled vehicle 10 from going out of control due to the movement of the occupant's posture. As a result, it is possible to easily get off the vehicle, and to realize a highly safe coaxial two-wheeled vehicle and its control method.

Embodiment 2. FIG.
A control method of the coaxial two-wheel vehicle 10 according to the second embodiment of the present invention will be described with reference to FIG. FIG. 8 is a flowchart for explaining ten control methods according to the present embodiment. In the present embodiment, when the inversion control is performed in the first embodiment (S7), the gain control is not performed (S17).

  In the present embodiment, it is confirmed that the auxiliary bar 14 has been lowered (S13), and the getting-off operation is executed only when the auxiliary bar 14 is lowered. Further, when the vehicle body speed becomes 0 m / s (S15 Yes), the inversion control is performed to tilt the coaxial two-wheel vehicle 10 in the direction in which the auxiliary bar 14 is provided.

  Thereafter, it is confirmed whether or not the auxiliary bar 14 is grounded (S18). When the auxiliary bar 14 is grounded, the motor control of the wheel 13 is turned off and the wheel 13 is locked (S19). Thus, since the passenger can get off from the coaxial two-wheeled vehicle 10 in a state where the auxiliary bar 14 is completely grounded and does not perform the inversion control, safety can be improved.

Embodiment 3 FIG.
A control method for the coaxial two-wheeled vehicle 10 according to the third embodiment of the present invention will be described with reference to FIGS. FIG. 9 is a flowchart for explaining a control method of coaxial two-wheeled vehicle 10 according to the present embodiment. 10A to 10C are diagrams for explaining a control method of coaxial two-wheel vehicle 10 according to the present embodiment.

  In the present embodiment, the control method of the coaxial two-wheeled vehicle 10 enables safe getting off by selecting two getting-off operations. That is, in the control method according to the present embodiment, as described in the first embodiment, the coaxial two-wheeled vehicle 10 is tilted in the direction in which the auxiliary bar 14 is provided, and the vehicle is dismounted while the auxiliary bar 14 is grounded. The method includes lowering the passenger backward by inclining the coaxial two-wheel vehicle 10 to the rear side where the auxiliary bar 14 is not provided.

  When traveling by the coaxial two-wheeled vehicle 10, it is necessary to keep the auxiliary bar 14 stored in consideration of acceleration / deceleration, traveling performance such as a step, and a slope. For this reason, when an abnormal situation occurs during traveling, or when it is necessary to get off suddenly and the get-off button 17 is pressed, there is no time to lower the auxiliary bar 14. In such a case, the getting-off operation is changed.

  In S21, when the getting-off button 17 is ON or an abnormal situation occurs, the getting-off operation is started (S22). Then, it is determined whether or not the auxiliary bar 14 is lowered (S23). When the auxiliary bar 14 is lowered (S23 Yes), the same operations as the flow shown in FIG. 6 and the operations shown in FIGS. 7A to 7D are then executed (S24 to S29).

  On the other hand, as shown in FIG. 10A, when the auxiliary bar 14 is in the housed state (No in S23), it is notified that the vehicle is getting off by lighting the LED (S30). When the vehicle speed of the coaxial two-wheeled vehicle 10 is 0 m / s (S31 Yes), the inverted two-wheeled vehicle 10 is tilted to the rear side where the auxiliary bar 14 is not provided (S33). As a result, the state shown in FIG. 10B is obtained. Thereafter, the inversion control is turned off, the wheel 13 is locked (S34), and the coaxial two-wheeled vehicle 10 can be descended backward (FIG. 10C).

  As described above, in the present embodiment, when two getting-off operations are selected, not only the getting-off start by the passenger's intention to get off but also the control unit 12 needs to detect some abnormality and end the control. In addition, it is possible to guide the passenger to get off safely by starting the getting-off operation. Moreover, the effect of reducing damage to the coaxial two-wheeled vehicle 10 can also be obtained.

  In the above embodiment, step 11 may be provided with a step sensor including a load sensor. The step sensor detects whether or not the passenger's foot is on each step 11 and supplies a detection signal to the control unit 12 when the foot is on. The control unit 12 can detect whether a passenger's foot is on one or both of the steps 11.

  When the passenger gets off after the auxiliary bar 14 is grounded, if the step sensor detects that the passenger is on board, the motor of the drive unit 16 is turned off and the wheel 13 is locked. Can do. Thereby, the coaxial two-wheeled vehicle 10 can be stopped until a passenger gets off, and can get off safely.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. In the above-described example, the example in which the handle is provided has been described, but the handle may not be provided.

  In addition, when the occupant panics, the above control method can be used as a brake for responding to the panic. As a result, even if a beginner who is not yet familiar with the operation of the coaxial two-wheeled vehicle is likely to run out of control, he can safely stop and get off.

DESCRIPTION OF SYMBOLS 10 Coaxial two-wheeled vehicle 11 Step 12 Control part 13 Wheel 14 Auxiliary bar 15 Handle 16 Drive part 17 Get-off button

Claims (10)

A wheel drive unit for driving two wheels arranged coaxially;
An auxiliary bar that contacts the front side or the rear side of the wheel when the passenger gets off;
A control unit for reducing the control gain on the side where the auxiliary bar is provided when the auxiliary bar is grounded, and for controlling the driving of the wheel by the wheel driving unit according to the control gain;
Equipped with a coaxial motorcycle.   2. The control unit according to claim 1, wherein when the speed of the coaxial two-wheeled vehicle is detected to be zero, the control unit tilts the vehicle body toward the side where the auxiliary bar is provided in order to ground the auxiliary bar. The described coaxial motorcycle. A getting-off button for generating a getting-off control start signal,
The said control part detects a passenger's getting-off according to the said getting-off control start signal produced | generated by the said getting-off button, and leans a vehicle body to the side in which the said auxiliary bar was provided. The coaxial motorcycle described in 1. A detection unit for detecting that the passenger is on board,
The wheel is locked when the passenger detects that the passenger is on board when the passenger gets off after the auxiliary bar is grounded. The coaxial two-wheeled vehicle according to any one of the above.   The control unit determines whether or not the auxiliary bar is stored, and when the auxiliary bar is out, the control unit tilts the vehicle body in a direction in which the auxiliary bar is provided, and the auxiliary bar is stored. 5. The coaxial two-wheel vehicle according to claim 1, wherein the vehicle body is tilted in a direction in which the auxiliary bar is not provided. Pull out the auxiliary bar provided on the front side or the rear side of the two wheels arranged coaxially,
A control method for a coaxial two-wheeled vehicle, wherein when the auxiliary bar is grounded, a control gain on a side where the auxiliary bar is provided is reduced, and driving of the wheel is controlled according to the control gain.   The coaxial two-wheeled vehicle according to claim 6, wherein when detecting that the speed of the coaxial two-wheeled vehicle is zero, the vehicle body is inclined toward the side where the auxiliary bar is provided in order to ground the auxiliary bar.   The coaxial two-wheeled vehicle according to claim 6 or 7, wherein a passenger's getting-off is detected in accordance with the generated getting-off control start signal, and the vehicle body is tilted to the side where the auxiliary bar is provided.   9. When the passenger gets off after touching the auxiliary bar, the wheel is locked when it is detected that the passenger is on board. The control method of the coaxial two-wheeled vehicle as described in a term. Determining whether the auxiliary bar is in the stowed state;
When the auxiliary bar is out, tilt the vehicle body in the direction in which the auxiliary bar is provided,
The method for controlling a coaxial two-wheeled vehicle according to any one of claims 6 to 9, wherein when the auxiliary bar is housed, the vehicle body is tilted in a direction in which the auxiliary bar is not provided.

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