| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To maintain traveling in an erect attitude, even under situations where it is not possible to acquire the rotating state of a driving wheel, by estimating the rotating state of the driving wheel from the inclination state and driving torque of a body, when it is not possible to acquire the measurement value of a sensor. <P>SOLUTION: A vehicle is provided with a driving wheel 12, mounted on a body so as to be rotatable and a vehicle control device for controlling the attitude of the body, by controlling driving torque to be applied to the driving wheel 12, and the vehicle control device is provided with a rotation estimation means for estimating the rotating state of the driving wheel 12, on the basis of the inclination state and driving torque of the body. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
