| 摘要 |
PROBLEM TO BE SOLVED: To provide a motorcycle capable of autonomously travelling. SOLUTION: This motorcycle is furnished with a motor 9 for oscillation to oscillate a swing arm and a motor 7 for steering to steer a rear wheel 4. Additionally, it is furnished with a gyro-sensor 22 to detect a bank angle, a speedometer 23 to detect travelling speed and a handle 15 to input travelling direction. An ECU 21 computes an oscillating angleξ<SB>0</SB>and a steering angleζ<SB>0</SB>necessary for controlling the motor 9 for oscillation and the motor 7 for steering based on data provided by the handle 15, the gyro-sensor 22 and the speed meter 23. The oscillating angle of the swing arm 3 and the steering angle of the rear wheel 4 are controlled by a motor controller 24 to be the computed oscillating angleξ<SB>0</SB>and the computed steering angleζ<SB>0</SB>. It is possible to handle the control for the motorcycle to autonomously travel as positional control and to realize control easy and stable as the oscillating angleξ<SB>0</SB>and the steering angleζ<SB>0</SB>are positional information. COPYRIGHT: (C)2006,JPO&NCIPI
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