CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a control device of an inverted pendulum type vehicle allowing an occupant to easily perform a getting-on action or a getting-off action.

SOLUTION: A moving operation part control means 50 of this inverted pendulum type vehicle 1 in which the occupant gets on a footrest part 3 at his standing attitude determines a target inclined angle for a transition time when a parallel direction of a right footrest part 3R and a left footrest part 3L of the footrest part 3 is inclined to a horizontal direction for a period when at least only one foot of the occupant is placed on the footrest part 3 in a mode for the transition time when the occupant gets on/off. The moving operation part control means 50 controls a moving operation of a moving operation part 5 so that an actual inclined angle of the footrest part 3 may be close to the target inclined angle.

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