| 摘要 |
In a mobile vehicle 1A having a front wheel 3f and a rear wheel 3r, the steered wheel 3f can be steered by an actuator 8. A control device 15 controls the actuator 8 so as to stabilize the inclination angle &phgr;b in the roll direction of the vehicle body 2 and the steering angle δf of the steered wheel 3f. The control device 15 causes a ratio between the sensitivity of the steering of the steered wheel 3f to the change in observed value of the inclination angle &phgr;b and the sensitivity of the steering of the steered wheel 3f to the change in observed value of the steering angle δf to be changed in accordance with the traveling speed of the mobile vehicle 1A. |
