| 摘要 |
A vehicle in which the angle of tilt of a vehicle body due to acceleration can be reduced by ground engagement members. The vehicle is of an inverted pendulum type and causes assist wheels (15) to engage the ground when acceleration of the vehicle exceeds a predetermined threshold value to accelerate/decelerate the vehicle. The acceleration may be either requested acceleration or actual acceleration. The ground contact points of the assist wheels (15) are set so that higher the acceleration, the farther away the ground contact points from the ground contact points (reference position) of drive wheels (11) in the direction opposite to the direction of the acceleration. When the acceleration is within a predetermined range, the vehicle body tilts to a corresponding angle, and when the acceleration exceeds the predetermined threshold value, the assist wheels (15) engage the ground to prevent the vehicle body from tilting to a level equal to or greater than a predetermined value, and this realizes comfortable acceleration/deceleration. Further, target deceleration is limited based on the actual position of the assist wheels (15) to prevent an occurrence of a situation where acceleration that can not be responded is produced before the assist wheels (15) move. Further, in emergency braking, the assist wheels (15) are immediately engaged with the ground with the vehicle body held in an upright position or while the vehicle body is tilted to the direction opposite to the direction of acceleration, and this eliminates a time lag in braking which time lag is involved in rearward tilting operation necessary for the braking. |
