INVERTED PENDULUM-TYPE VEHICLE CONTROLLER

摘要

Disclosed is an inverted pendulum-type vehicle controller that allows the vehicle to be simply manoeuvred, and makes it possible to enhance the manoeuvrability thereof. Under established predetermined conditions, a control unit (50) of an inverted pendulum-type vehicle (1) successively determines target velocities in such a way as to keep constant the magnitude of the target velocity at a predetermined representative point in a predetermined time period or the magnitude of a velocity to be maintained which constitutes the magnitude of a predetermined direction component from the target velocity, at a value which is the same as the magnitude of the velocity to be maintained in relation to the target velocity determined immediately prior to the beginning of this period, and controls the movement actuation of a movement actuation portion (5) in response to the determined target velocities.