MOBILE AND CONTROL METHOD OF MOBILE

摘要

To enable execution of processing for eliminating a slip by detecting the occurrence of a slip between rotary bodies and a road surface. An inverted pendulum type vehicle (1) includes encoders (17L, 17R) that detect a physical quantity representing a rotational state of each of wheels (10L, 10R) and outputs a signal corresponding to a magnitude of the detected physical quantity; a rate gyro (18) that detects a physical quantity representing a turning state of the vehicle (1) on the road surface with which the wheels (10L, 10R) are in contact, and outputs a signal corresponding to a magnitude of the detected physical quantity; a predicted value calculation unit (101) that calculates a predicted value of a turning parameter representing a turning amount of the vehicle (1) by use of an output signal of each of the encoders (17L, 17R); and a slip detection unit (102) that detects the occurrence of a slip of the wheels (10L, 10R) by comparing the predicted value obtained by the predicted value calculation unit (101) with an actual measured value of the turning parameter obtained by receiving an output signal of the rate gyro (18).