| 摘要 |
Object To provide an inverted pendulum type vehicle that makes it possible to turn the vehicle easily even in a state in which no steering operation is performed. Solving Means A control device 21 of a vehicle 1 sets a target turning angular velocity Éz_cmd to a nonzero value not only when a predetermined steering operation is performed but also at least in an external force application state in which an external force for turning the vehicle 1 about a yaw axis is applied to the vehicle 1, and controls a first actuator device 8 and a second actuator device such that a second moving operation part 4 has a different velocity from a first moving operation part 3 in a left-right direction. |
