| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To realize a stable traveling state and vehicle body attitude of a vehicle to a step of optional height and shape, by highly accurately estimating step resistance torque, by estimating the step resistance torque in consideration of even an attitude change of the vehicle body. <P>SOLUTION: This vehicle has a drive wheel 12 rotatably installed in the vehicle body, and a vehicle control device for controlling an attitude of the vehicle body by controlling driving torque applied to the drive wheel 12. The vehicle control device estimates the step resistance torque in consideration of the attitude change in the vehicle body, and corrects the driving torque in response to the step resistance torque. <P>COPYRIGHT: (C)2009,JPO&INPIT</p> |
