| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To realize a stable traveling state and a stable posture control even if a vehicle contacts an obstacle by measuring a road surface gradient and recognizing the contact with an obstacle based on the comparison of an estimated value of the road surface gradient with a measured value of the road surface gradient. <P>SOLUTION: The vehicle comprises a driving wheel 12 fixed rotatably to the vehicle body and a vehicle controller, which controls the posture of the vehicle body by controlling driving torque given to the driving wheel 12. The vehicle controller estimates a road surface gradient, measures it, and recognizes the contact with an obstacle based on the comparison of an estimated value of the road surface gradient with a measured value of the road surface gradient. <P>COPYRIGHT: (C)2009,JPO&INPIT</p> |
