INVERTED PENDULUM TYPE VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a vehicle that stably operates in a state according to an attitude of a floor surface.

SOLUTION: According to the vehicle 1, coordinate systems of a past estimated value and an instantaneous provisional value of two-dimensional floor inclination are matched by at least one of the "past estimated value" and the "instantaneous provisional value" of the two-dimensional floor inclination is performed coordinate conversion using a direction of the vehicle 1 or its changing rate. Then a new estimated value of the two-dimensional floor inclination is calculated by calculating a weighted average value or a low-pass filter value using the past estimated value and the instantaneous provisional value of the two-dimensional floor inclination.

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