Patent ID: 9346511
Filing Date: 2016-05-24
CPC Classification: B60B,B60L,B62K,Y02T

Claim Text:
1. An inverted pendulum vehicle comprising: moving motion units configured to be capable of moving in all directions on a floor surface; actuator devices that drive the moving motion units; a base that incorporates the moving motion units and the actuator devices; an occupant riding section incorporated into the base so as to be tiltable with respect to a vertical direction; an inclination state detector detecting the inclination state of the occupant riding section; and a controller configured to control motion of the actuator devices based on a detection result of the inclination state of the occupant riding section by the inclination state detector; wherein the controller is configured to extract a designated frequency component of a command value or an observed value of a designated state variable determined according to the detection result of the inclination state of the occupant riding section by the inclination state detector, to determine a turning factor defining a turning condition of the vehicle based on the extraction result of the designated frequency component and to control motion of the actuator devices so that the turning condition of the vehicle is controlled based on the turning factor, and that the turning of the vehicle is suppressed when a high frequency component is extracted as the designated frequency component.