| 摘要 |
<p>The present invention provides a self-supporting vehicle capable of running in a self-supporting manner while controlling an attitude of a vehicle body in accordance with a requirement of a driver who stays still with respect to the vehicle body. When a two-wheeled vehicle (1) makes a left turn or a right turn as shown in Figs. 7, a vehicle body inclination sensor always detects a vehicle body inclination amount which corresponds to an acceleration at that time, an actuator generates a rotation torque corresponding to a result of this detection, a vehicle body (2) is inclined by a predetermined amount using a gyro moment generated in a vehicle body attitude control unit (6), an inclination direction of the vehicle body (2) is always brought into coincidence with a direction of a resultant force applied to the center of gravity of the vehicle body, and the vehicle can make a left turn while maintaining a balance between a moment based on a current centrifugal force, a moment based on the gravity and a gyro moment from the vehicle body attitude control unit (6). What A driver of the vehicle should do is only to stay still in the vehicle body (2) without transferring his or her weight. <IMAGE></p> |
