MOBILE VEHICLE

摘要

A mobile vehicle 1A includes a front-wheel support mechanism 4 having a trail adjustment mechanism 9, a steering actuator 8 which generates a steering force for steering a front wheel 3f, a trail adjustment actuator 15 which generates a driving force for changing a trail of the front wheel 3f, and a control device 50. The control device 50 has a function of controlling the steering actuator 8 so as to stabilize the posture of a vehicle body 2, and a function of controlling the trail adjustment actuator 15 in accordance with an observed value of the vehicle speed.

主权项

1. A mobile vehicle having a vehicle body and a front wheel and a rear wheel arranged spaced apart from each other in a longitudinal direction of the vehicle body, the front wheel being a steered wheel which can be steered about a steering axis,
the mobile vehicle comprising: a front-wheel support mechanism configured to support the front wheel so as to be steerable about the steering axis and having a trail adjustment mechanism which makes a trail of the front wheel adjustable; a steering actuator which generates a steering force for steering the steered wheel; a trail adjustment actuator which generates a driving force for changing the trail of the front wheel; and a control device which controls the steering actuator and the trail adjustment actuator, wherein the control device is configured to include
a steering control section which controls the steering actuator so as to stabilize a posture of the vehicle body in accordance with at least an observed value of an inclination angle in a roll direction of the vehicle body, anda trail control section which controls the trail adjustment actuator in accordance with an observed value of a vehicle speed of the mobile vehicle such that at least the trail in a case where the observed value of the vehicle speed is zero becomes smaller than the trail in a case where the observed value of the vehicle speed is greater than a first prescribed speed.