| 摘要 |
<P>PROBLEM TO BE SOLVED: To dynamically control the posture of a vehicle by moving a balancer in the vehicle which utilizes the posture control by an inverted pendulum. <P>SOLUTION: When a moving torque T1 of an occupant A is at a specified torque value or lower, the posture control by the moving of the balancer B is performed. In the meantime, when the moving torque T1 of the occupant A becomes larger than the specified torque value, the balancer B is moved by an angular acceleration which generates a reactive force corresponding to the specified torque value, and the posture of the occupant A is controlled by decelerating the torque of a driving wheel 11 by a reactive torque portion which is short for returning the occupant A in the vertical line direction. Under this performing configuration, as the specified torque value, a maximum torque value T2max which is obtained by the moving of the balancer B is used. <P>COPYRIGHT: (C)2007,JPO&INPIT |
