To realize a stable traveling state and a stable posture control even if a vehicle gets into contact with an obstacle by correcting an estimated value of a road surface gradient when the vehicle contacts an obstacle to remove an error arising from the contact with an obstacle from an estimated value to prevent wrong ascending torque from being given.
The vehicle comprises a driving wheel 12 mounted rotatably to the vehicle body 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 is provided with a gradient estimating means, which estimates a road surface gradient periodically, and a contact recognizing means, which recognizes whether or not the vehicle contacts an obstacle, and an estimate value correction means, which corrects the road surface gradient estimated by the gradient estimating means to the road surface gradient estimated before the contact with an obstacle when the contact recognizing means recognizes a contact with an obstacle.
COPYRIGHT: (C)2009,JPO&INPIT
| JP2024048173 | vehicle |
| WO/2008/140140 | AN INLINE-BOARD-TYPE ROLLER-SKI |
| JP5136377 | Mobile body and its maintenance method |
| JP4015713A | ||||
| JP2003271243A | ||||
| JP2009025989A | ||||
| JP2004129435A |
Mamoru Shimizu
Makoto Kawai