To enable a vehicle to travel safely and comfortably, even at a place with a step, by increasing acceleration of the vehicle, immediately prior to reaching a rising step, moving the center of gravity of a vehicle body to the upper step side of the step, to thereby always maintain stable vehicle movement, even when the vehicle advances to the rising step at a high speed.
This vehicle has a vehicle body, driving wheels 12 rotatably attached to the vehicle body, and a vehicle controller for controlling the driving torque applied to the driving wheels 12 to control the attitude of the vehicle body, wherein the vehicle controller increases the acceleration of the vehicle and moves the center of gravity of the vehicle body to the upper step side of the step.
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Mamoru Shimizu
Makoto Kawai