| 摘要 |
An overturn prevention controller for a two-wheeled vehicle, enabling the vehicle to perform stable autonomous traveling by a rather simple control loop even if a zero-set error and offset noise occur. The two-wheeled vehicle has a body, a front wheel, an actuator (7) for steering the front wheel, a rear wheel, and a rear wheel drive part. The vehicle further has an angular velocity sensor (8) and a control means. The angular velocity sensor (8) has a detection shaft attached to a vehicle body, tilted downward a predetermined angle from the horizontal axis in the advance direction of the vehicle, and detecting the angular velocity (i) around the detection shaft. The control means outputs a steering angle command signal (Hr) for controlling the actuator. Since an angular velocity (i1) in the lateral tilt direction and an angular velocity (i2) in the azimuth direction are included in the angular velocity (i) detected by the angular velocity sensor, and the zero-set angle and the offset noise are included in the azimuth command, the motorcycle can be prevented from overturning.
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