| 摘要 |
During vehicle operation, drive wheels are constantly monitored to see whether or not slip of drive wheels occurs and when slip is detected, posture control for slip conditions is performed by uncoupling normal posture control for the drive wheels. A balancer (weight body) which is movable in a longitudinal direction of the vehicle is provided, and posture control is performed by moving the balancer backward when the vehicle inclines forward due to slip and moving the balancer forward when the vehicle inclines backward. The detection of slip is through a comparison between the drive wheels circumferential speed V2 and a vehicle running speed V1. |
