MOVING OBJECT WITH TILT ANGLE ESTIMATING MECHANISM

摘要

To provide a moving body with a tilt angle estimating mechanism capable of estimating a tilt angle of a vehicle body with high accuracy. A moving body according to the present invention is a moving body including: an acceleration sensor for detecting an acceleration in two axial directions; a gyro sensor for detecting an angular velocity of a vehicle body; and a tilt angle estimating mechanism for estimating a tilt angle of the vehicle body. The tilt angle estimating mechanism includes: means for estimating a tilt angle in response to the acceleration sensor based on the acceleration detected by the acceleration sensor; means for estimating a second tilt angle based on the angular velocity detected by the gyro sensor; and means for estimating a tilt angle with a linear model equation of the moving body being regarded as an observer, in accordance with the tilt angle based on the acceleration sensor and the tilt angle based on the gyro sensor.