MOVABLE BODY CONTROLLING DEVICE, METHOD FOR CONTROLLING MOVABLE BODY, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To improve the safety by suppressing unstable behavior of an inverted two-wheeled movable body.SOLUTION: A movable body controlling device includes determination means of determining a boarding state in which an object to be carried is loaded on an inverted two-wheeled movable body and a non-boarding state in which the object is not loaded, and control switching means of switching between a traction control condition of controlling drive so as to assist a user in pulling the inverted two-wheeled movable body and an inversion control condition of controlling inversion of the inverted two-wheeled movable body. When a switching instruction of switching from the traction control condition to the inversion control condition is issued and the determination result by the determination means changes from the non-boarding state to the boarding state, the control switching means switches to the inversion control condition to start the inversion control.