| 摘要 |
<p>A self-supporting automatic vehicle capable of performing a self-supporting traveling while controlling the attitude of a body according to the request of a driver who is statically positioned on the body, wherein when the automatic vehicle such as a motorcycle (1) turns left or right as shown in Fig. 7, a body inclination sensor successively detects a body inclination amount necessary for coping with the acceleration thereof at that time, a torque according to the detected results is generated by an actuator to tilt the body (2) a specified amount by a gyro moment generated in a body attitude control means (6) so as to always align the inclination direction of the body (2) with the direction of a resultant force acting on the gravity center of the body, and a balance is maintained between a moment based on a centrifugal force, a moment based on a gravity, and the gyro moment from the body attitude control means (6) at that time, whereby the driver may be statically positioned on the body (2) without moving a weight.</p> |
