| 主权项 |
1. A mobile vehicle including
a vehicle body having a boarding section for an operator and inclinable in a roll direction with respect to a road surface, two wheels disposed spaced apart from each other in a lateral direction on at least one of a front side and a rear side of the vehicle body, and a roll driving mechanism having an actuator and causing a roll driving moment as a road surface reaction force moment in the roll direction to act on the vehicle body in accordance with a driving force output by the actuator, the mobile vehicle having a characteristic that, while traveling, a turning behavior changes in accordance with a shift in the lateral direction of a body weight of the operator seated on the boarding section, and having a characteristic that, while being stopped, in the case where the vehicle body is inclined in the roll direction in a state where the roll driving moment acted on the vehicle body by the roll driving mechanism is zero, the inclination of the vehicle body further increases by a gravitational force moment which is a moment in the roll direction acting on the vehicle body because of gravitational force, the mobile vehicle comprising a control device which controls the actuator of the roll driving mechanism in such a way as to change the roll driving moment at least in accordance with an observed value of a vehicle body roll angle which is an inclination angle in the roll direction of the vehicle body, wherein the control device is configured to control the actuator of the roll driving mechanism such that, at least in a case where an actual vehicle speed of the mobile vehicle is higher than a first prescribed vehicle speed, function characteristics of the roll driving moment implemented by the control of the actuator of the roll driving mechanism by the control device with respect to the vehicle body roll angle have following properties A, B, and C: property A: a magnitude of roll driving moment sensitivity defined by the function characteristics can be classified as large and small, the magnitude of the roll driving moment sensitivity becomes small in a first vehicle body roll angle area which is one range of the vehicle body roll angle, and the magnitude of the roll driving moment sensitivity becomes large in a second vehicle body roll angle area which is a range of the vehicle body roll angle larger than an upper limit of the first vehicle body roll angle area and in a third vehicle body roll angle area which is a range of the vehicle body roll angle smaller than a lower limit of the first vehicle body roll angle area; property B: the roll driving moment in each of the second and third vehicle body roll angle areas is a moment in a direction of causing the observed value of the vehicle body roll angle to approach within the first vehicle body roll angle area; and property C: the magnitude of the roll driving moment sensitivity in the first vehicle body roll angle area is smaller than a magnitude of gravitational force moment sensitivity, and the magnitude of the roll driving moment sensitivity in each of the second and third vehicle body roll angle areas is larger than the magnitude of the gravitational force moment sensitivity. |
