| 摘要 |
PROBLEM TO BE SOLVED: To enable an unmanned two-wheeler to more stably travel straight or turn with an intended turning radius.SOLUTION: If a body of an unmanned two-wheeler with attitude control is inclined when the unmanned two-wheeler with attitude control to travel straight or turn without falling down, an inclination angle is found by a pitch angular speed sensor, and a steering wheel is steered in a direction of falling down so that a centrifugal force to balance against a falling down force based on the inclination is generated, and falling down is prevented. However, if a turning angular speed sensor generates output because of some reason even when the unmanned two-wheeler travels straight, this output indicating the turning is determined to be an erroneous output caused by an accidental error of an inclination sensor, and the output of the pitch angular speed sensor is corrected so that the output of the turning angular speed sensor becomes zero. When the unmanned two-wheeler turns, the turning angle is found by the turning angular speed sensor, and at the same time, the body is inclined inward to generate a falling down force by making the pitch angular velocity sensor determine that the body is inclined inward, and steering the steering wheel. The steering wheel is steered in the direction of inward inclination to generate the centrifugal force balancing against the falling down force, and the turning angle on the basis of inertia forces at the start of steering and at the time of acceleration/deceleration is corrected to the steering angle at the time. |
