| 摘要 |
A traveling apparatus and a method for controlling thereof, in which an abrupt turn to make a rider fall down is prevented and stable traveling is obtained without fail, are provided. At a step [1] whether or not a turn operation is performed by means of a barycentric position of the rider, and the barycentric position is detected at a step [2] from a load sensor. Further, a turn velocity command is generated at a step [3]. Then, the barycentric position to which the centrifugal force is added is detected at a step [4], and it is judged at a step [5] whether or not the barycentric position is close to a tire. When it is close to the tire (Yes), processing to reduce the turn velocity is performed at a step [6]. Hereupon, such computation is performed that a sensor signal Éyaw from a gyroscopic sensor is set to É yaw †� É yaw × G É (GÉ is a value that changes in inverse proportion to the strength of the centrifugal force). When the barycentric position is not close to the tire (No), it is set to É yaw †�É yaw at a step [7]. Furthermore, a wheel rotational velocity command is supplied at a step [8] to set tire velocity of right and left wheels to Éyaw, and a turn of a vehicle is performed at a step [9]. |
