To make a vehicle safely and comfortably travel by stably keeping an attitude of a vehicle body by suppressing energy consumption by enhancing the responsiveness and accuracy of the attitudinal control of the vehicle body over a wide range of control.
This vehicle has the vehicle body, a driving wheel rotatably installed in the vehicle body, an active weight part installed in the vehicle body so as to be movable in the longitudinal direction, a plurality of actuators for moving the active weight part, an operation device for inputting a travel command, and a vehicle control device for controlling the attitude of the vehicle body by controlling driving torque applied to the driving wheel and a position of the active weight part in response to the travel command inputted from the operation device. The vehicle control device properly uses the plurality of actuators according to the division of a control parameter.
TAKAHASHI MUNEHIRO
OKADA MASANORI
HOSOKAWA TSUKASA
Mamoru Shimizu
Makoto Kawai