| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve safety of an inverted moving body which performs desired traveling while maintaining an inverted state according to a traveling operation by an occupant. <P>SOLUTION: The moving body controller 110 includes: a state detection means 123 for detecting a state amount of the inverted moving body; a state estimation means 131 for calculating at least one of the state amount of the inverted moving body and the attitude angle of the occupant on the basis of the detected state amount, a disturbance torque estimated value generated at a driving wheel 410, an operation torque estimated value generated around the driving wheel and the driving torque of the driving wheel; a disturbance torque estimation means 132 for calculating a disturbance torque estimated value on the basis of at least one of the calculated state amount and the attitude angle of the occupant and the driving torque of the driving wheel; an operation torque estimation means 133 for calculating the operation torque estimated value on the basis of at least one of the calculated state amount and the attitude angle of the occupant; and a state determination means for determining whether the combination of the disturbance torque and operation torque of the driving wheel is in an instable state or not, on the basis of the disturbance torque estimated value, the operation torque estimated value, and the driving torque of the driving wheel. <P>COPYRIGHT: (C)2013,JPO&INPIT |
