Patent ID: 11873053
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  A  G  Y | IPC B

Claim 8:
9. The control device for the mobile body according to claim 2, wherein the movement control part is configured to:
execute an operation control of the actuator according to a target turning speed of the mobile body determined according to the maneuver operation by the occupant in a state without external force where the external force rotational force estimated by the external force rotational force estimation part is zero, or where a magnitude of the
external force rotational force is less than a predetermined value, and execute the operation control of the actuator according to the target turning speed of the mobile body determined according to the external force rotational force in a state with external force where the external force rotational force estimated by the external force rotational force estimation part is not zero, or where a magnitude of the external force rotational force is greater than a predetermined value.