| 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,
one of the front wheel and the rear wheel being a steered wheel which can be steered about a steering axis tilted backward, the mobile vehicle comprising: a steering actuator which generates a steering force for steering the steered wheel; and a control device which controls the steering actuator, wherein the control device is configured to control the steering actuator so as to stabilize controlled state quantities including a first motional state quantity and a second motional state quantity, the first motional state quantity being a motional state quantity of an inclination angle in a roll direction of the vehicle body and including at least a value of the inclination angle, the second motional state quantity being a motional state quantity of a steering angle of the steered wheel and including at least a value of the steering angle, and, when a steering angular acceleration of the steered wheel steered by the steering actuator or a torque about the steering axis applied to the steered wheel from the steering actuator is defined as a reference quantity, the control device is configured to control the steering actuator such that a magnitude of sensitivity Ra1 of a change in value of the reference quantity to a change in observed value of the inclination angle in the roll direction of the vehicle body becomes smaller as a magnitude of an observed value of the steering angle of the steered wheel from a non-steered state thereof becomes larger. |
