| 摘要 |
PROBLEM TO BE SOLVED: To maintain stability of a vehicle body at turning, to improve control stability, and to achieve a stable running state in which a passenger does not feel discomfort, but has a comfortable ride feeling.SOLUTION: The vehicle includes: a vehicle body equipped with a steering part and a driving part that are mutually connected; a steering wheel for steering the vehicle body; a driving wheel for driving the vehicle body; an inclination actuator device for inclining the steering part and the driving part in a turning direction; a plurality of lateral acceleration sensors that are arranged at different positions regarding a cross direction, and detect the lateral acceleration acted on the vehicle body; and a control device for controlling the inclination of the vehicle body by controlling the inclination actuator device. The control device calculates an estimated lateral acceleration at a virtual lateral acceleration detection position based on the lateral acceleration detected by the plurality of lateral acceleration sensors, and controls the inclination of the vehicle body so that the estimated lateral acceleration becomes zero. |
