Patent ID: 8838338
Filing Date: 2014-09-16
Classification: B60W,B60Y,B62D,B62J,B62K

Abstract:
1. A mobile vehicle having a vehicle body and a front wheel and a rear wheel arranged spaced apart from each other in a longitudinal direction of the vehicle body, one of the front wheel and the rear wheel being a steered wheel which can be steered about a steering axis tilted backward, the mobile vehicle comprising: a steering actuator which generates a steering force for steering the steered wheel; and a control device which controls the steering actuator, wherein the control device is configured to control the steering actuator so as to stabilize controlled state quantities including a motional state quantity of a steering angle of the steered wheel and a motional state quantity of an inverted pendulum mass point in a case where dynamics of the mobile vehicle is equivalently transformed to a dynamics model which is expressed by dynamics of a mass point system which is made up of the inverted pendulum mass point and a ground surface mass point, wherein the inverted pendulum mass point moves in a horizontal direction above a ground surface, with which the mobile vehicle comes into contact, in accordance with an inclination angle in a roll direction of the vehicle body, and the steering angle of the steered wheel, and wherein the ground surface mass point moves horizontally on the ground surface, with which the mobile vehicle comes into contact, in accordance with the steering angle of the steered wheel, independently of the inclination angle in the roll direction of the vehicle body.