US 12,441,291 B2
Electric moving machine
Takayuki Enomoto, Wako (JP); and Yasuhiro Nakada, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Nov. 3, 2022, as Appl. No. 17/980,078.
Claims priority of application No. 2021-212929 (JP), filed on Dec. 27, 2021.
Prior Publication US 2023/0202450 A1, Jun. 29, 2023
Int. Cl. B60W 10/08 (2006.01); B60W 10/02 (2006.01); B60W 50/029 (2012.01)
CPC B60W 10/08 (2013.01) [B60W 10/02 (2013.01); B60W 50/029 (2013.01); B60W 2050/0295 (2013.01)] 8 Claims
OG exemplary drawing
 
1. An electric moving machine comprising:
a plurality of wheels provided to a vehicle body;
traveling motors each provided for the corresponding wheel and configured to drive the corresponding wheel; and
a driving-unit control device that includes a processor and is configured to control driving of each of the traveling motors, wherein
at least two of the wheels are provided on each of a right lateral side of the vehicle body and a left lateral side of the vehicle body,
the driving-unit control device,
in a case in which an error is detected in some of the traveling motors during traveling, stops the traveling motors with an error detected, determines a combination of traveling motors to improve a balance of driving force in a traveling direction which broke due to the stopping of the traveling motors, and as a control, based on the combination, in a case in which an error is detected in one or some of the traveling motors driving of the wheels on the right lateral side and in one or some of the traveling motors driving the wheels on the left lateral side, and when the wheels driven by the traveling motors with an error detected are located to be symmetrical with respect to the traveling direction, does not stop the traveling motors with no error detected.