| 摘要 |
<p>When a value of an inclination sensor (20) is less than -5°, a target angle determination unit (211) sets an angle whereat a main body unit (10) inclines forward (ex., θ1=2°). When the value of the inclination sensor (20) is less than -5°, a inclination estimation unit (214) sets a new dead zone of ±5° with the -5° value of the inclination sensor (20) at the time that the dead zone is exceeded as a reference. In the present example, however, an adjustment of an assist force is not carried out when the value of the inclination sensor (20) becomes even smaller, and thus, the dead zone is set from -∞ to 0°. Thus, the target inclination angle θ1 is fixed to a second angle (θ1=2°) while the value of the inclination sensor (20) is (0)° or less.</p> |
