| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To enable a vehicle to be manipulated at manipulator's discretion to travel safely and comfortably even at a place where there is a step by estimating the intention of the manipulator based on an operating state and a travel command of the vehicle, and by selecting an execution or an inhibition of a control action adding drive torque for ascending and descending a step according to an estimated manipulating intention. <P>SOLUTION: The vehicle has a vehicle body, a drive wheel 12 rotatably mounted on the vehicle body, an input device 30 inputting the travel command and a vehicle control device controlling the drive torque given to the drive wheel 12 and controlling the posture of the vehicle body based on the travel command inputted by the input device 30. The vehicle control device is provided with a manipulating intention estimating means estimating the manipulating intention based on the operating state and the travel command of the vehicle 10, and execute or inhibit a step ascending and descending control adding the drive torque for ascending and descending the step according to the manipulating intention estimated by the manipulating intention estimating means. <P>COPYRIGHT: (C)2009,JPO&INPIT</p> |
