| 摘要 |
The vehicle includes a vehicle body having a steering section and a drive section connected together; a steerable wheel which steers the vehicle body; a drive wheel which drives the vehicle body; an inclination actuator apparatus for inclining the steering section or the drive section in a turning direction; a plurality of sensors which detect lateral accelerations; yaw angular velocity detection means; vehicle speed detection means; and a control apparatus which controls the inclination of the vehicle body by controlling the inclination actuator apparatus. The control apparatus performs feedback control on the basis of the lateral accelerations, calculates a link angular velocity predicted value from the derivative value of the yaw angular velocity and the vehicle speed, and controls the inclination of the vehicle body by performing feedforward control while using the calculated link angular velocity predicted value. |
