| 主权项 |
1. A mobile body including a vehicle body having a seat section for an operator and freely tiltable in a roll direction with respect to a road surface, front and rear wheels disposed spaced apart from each other in a longitudinal direction of the vehicle body, an actuator capable of causing a moment in the roll direction to act on the vehicle body, and a control device configured to control the actuator, the control device comprising:
a center-of-gravity displacement degree index value determining section which determines a center-of-gravity displacement degree index value using an observed value of a motional state of the mobile body, the center-of-gravity displacement degree index value representing an estimate of a degree of displacement of a center of gravity of the operator seated on the seat section in a lateral direction of the vehicle body from a prescribed reference position with respect to the vehicle body; and a control input determining section which determines a control input for controlling the actuator in accordance with the determined center-of-gravity displacement degree index value in such a way as to reduce the degree of displacement of the center of gravity of the operator indicated by the determined center-of-gravity displacement degree index value, wherein the control device being configured to control the actuator in accordance with the determined control input. |
