| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a vehicle which can certainly tilt a vehicle body in a specific direction at an inverted pendulum control stop including an emergency stop by adding thrust to an active weighing part for a predetermined period of time immediately after the inverted pendulum control stop, and moving the active weighing part, and tilting the vehicle body in the specific direction by the movement of the gravity point thereof, is sufficed in only fixing a stopper to the vehicle body simply mounted to one side of the vehicle body so as to reduce the weight and size of the vehicle, and achieves sufficient access performance and safety use. <P>SOLUTION: The vehicle includes: a drive wheel 12 which is rotatably mounted to the vehicle body; the active weighing part mounted so as to move with respect to the vehicle body; and a vehicle control device which controls a posture of the vehicle body by controlling a position of drive torque given to the drive wheel 12 and the active weighing part. The vehicle control device tilts the vehicle body in the specific direction by adding the thrust to the active weighing part, and moving the active weighing part with respect to the vehicle body for the predetermined period of time immediately after the posture control of the vehicle body stop. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
