PROBLEM TO BE SOLVED: To provide an inverted pendulum type vehicle which can properly estimate the presence or absence of an occupant in the vehicle and which can perform movement control in such a manner as to reflect the result of estimation.SOLUTION: An inverted pendulum type vehicle, which drives a movement part by an electric motor, comprises a riding/empty condition estimation part (first estimation part) 62 for estimating the presence or absence of an occupant in the vehicle, at least on the basis of an observed value of a flowing current of the electric motor. A control device 50 is configured to control an operation of the electric motor depending on the result of estimation performed by the estimation part 62.
【課題】乗員が搭乗しているか否かを適切に推定し、その推定結果を反映させて移動制御を行うことができる倒立振子型車両を提供する。【解決手段】電動モータにより移動部を駆動する倒立振子型車両は、少なくとも電動モータの通電電流の観測値に基づいて、車両に乗員が搭乗しているか否かを推定する乗車/空車推定部(第1推定部)62を備えており、制御装置50は、推定部62の推定結果に応じて前記電動モータの動作を制御するように構成されている。【選択図】図5
INVERTED PENDULUM TYPE VEHICLE
倒立振子型車両
2015-09-28
Patent
Electronic Resource
Japanese
IPC: | B62K Fahrräder , CYCLES |