| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To correct a metered value of a step by a step metering sensor, based on the history of estimates of a step resistance torque, more effectively use the step sensor by enabling detection of an abnormality thereof and realize a safe and comfortable travel even on places having steps. <P>SOLUTION: A vehicle comprises a vehicle body, drive wheels rotatably mounted on the vehicle body, a step metering sensor that meters steps on the road and a vehicle control unit that controls the postures of the drive wheels and the vehicle body while controlling a drive torque attached to the drive wheels. The vehicle control unit is equipped with a step resistance torque estimating means that estimates the degree of a step resistance torque that shows the degree of a resistance due to a step at the time of moving up and down a step, thus calibrating the metered value of the step by means of the step metering sensor, based on the estimated value of the step resistance torque. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
