| 摘要 |
<P>PROBLEM TO BE SOLVED: To stably perform vehicle attitude control even when a drive wheel slips. <P>SOLUTION: In traveling of the vehicle, whether or not the drive wheel slips is always monitored and when the slip is detected, the usual attitude control by the drive wheel is cut/separated and the attitude control for the slip state is performed. Namely, a balancer (weight body) movable in a longitudinal direction of the vehicle is arranged, when the vehicle is forwardly inclined by the slip, the balancer is rearwardly moved, and when the vehicle is rearwardly inclined, the balancer is forwardly moved, thereby the attitude control is performed. The detection of the slip determines whether or not it is in the slip state by comparing a ground-contact circumferential speed V2 of the drive wheel with a traveling speed V1 of the vehicle. <P>COPYRIGHT: (C)2008,JPO&INPIT |
