To allow a vehicle to stop on a steep slope for a long time and to maintain a stable stop state irrespective of a road surface gradient without applying load to only a part of a drive circuit in a driving motor without deteriorating the driving motor by moving the vehicle back and forth slightly, when the vehicle stops on a steep hill.
The vehicle comprises a driving wheel 12 mounted rotatably to the vehicle body, the driving motor, which drives the driving wheel 12, and a vehicle controller, which controls the posture of the vehicle body by controlling driving torque given to the driving wheel 12. The vehicle controller moves the driving wheel 12 back and forth by rotating the driving wheel 12 when the vehicle stops on a slope whose gradient is larger than a predetermined threshold value.
COPYRIGHT: (C)2009,JPO&INPIT
| JP200738962A | ||||
| JP20051554A | ||||
| JP2007336785A |
Mamoru Shimizu
Makoto Kawai