PERSONAL VEHICLE CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a personal vehicle control device wherein the sliding-down of a vehicle body in a cant travel is promptly corrected even when a roll angle is large and wherein straight traveling performance of the vehicle body is secured.SOLUTION: A personal vehicle control device includes: an operation part 14 for inputting an original instruction value including an instruction value related to a turn angle; an axis angle sensor 51 for detecting physical quantities related to a roll angle and the turn angle; a right wheel sensor 53R; a left wheel sensor 53L; and a control part 2. The control part 2 executes at least one of a first arithmetic rule for obtaining an actual instruction value related to a rotation angular velocity for driving a right wheel and a left wheel based on the roll angle and the original instruction value, and a second arithmetic rule for obtaining the actual instruction value based on the original instruction value and an integral value obtained by time-integrating a difference and/or a ratio between the instruction value related to the turn angle and the physical quantity related to the turn angle.