| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a vehicle with sufficient accessibility, ensuring that an attitude limitation means is previously made in the suitable state before inverse pendulum control is stopped, that inverse pendulum control is successively stopped regardless of a road surface shape, and that the vehicle body is maintained in the stable state even if inverse pendulum control is stopped, immediately responding to emergency stop at abnormality and getting out requirement by an occupant, and being safely used. <P>SOLUTION: The vehicle has: a drive wheel rotatably mounted to the vehicle body; an attitude restriction means for restricting an attitude angle of the vehicle body; and a vehicle control device for controlling the attitude of the vehicle body by controlling drive torque given to the drive wheel. The vehicle control device is provided with: a road surface shape obtaining means for obtaining the road surface shape; a restriction value forecasting means for forecasting a restriction value of the attitude angle according to the obtained road surface shape; and a restriction value control means for controlling a position and/or an angle, and/or a shape of the attitude restriction means according to the forecasted restriction value. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
