METHOD AND DEVICE FOR CONTROLLING DRIVE OF RIDING MOVABLE BODY, AND RIDING MOVABLE BODY

摘要

PROBLEM TO BE SOLVED: To properly assist a travel of a riding movable body with respect to a target object.SOLUTION: A riding movable body 1 includes a gyro sensor 21 for detecting a pitch angle of the body 1, a CPU 44 for controlling driving torques of respective wheels 3r and 3l by an inverted pendulum control based on the detected pitch angle detected by the gyro sensor 21, a target object detecting sensor 32 for detecting a distance between the riding movable body 1 and the target object exists around the body, and encoders 24r and 24l for detecting a traveling speed. The CPU 44 calculates an angle correction component of the pitch angle of the body according to the distance between the target object and the riding movable body 1, corrects the pitch angle by adding the calculated angle correction component to the detected pitch angle, performs the inverted pendulum control based on an added value corresponding to the corrected pitch angle, and controls the driving torques of the respective wheels 3r and 3l.