Patent ID: 8521396
Filing Date: 2013-08-27
Classification: B62J,B62K,B62M

Abstract:
1. A control device of an inverted pendulum type vehicle having a traveling motion unit capable of moving on a floor surface, an actuator which drives the traveling motion unit, a base body on which the traveling motion unit and the actuator are mounted, and a payload supporting part of an occupant which is attached to the base body so as to be tiltable with respect to vertical direction at least about an axis in one direction, comprising: a traveling motion unit controlling element which includes as operational modes of the vehicle for controlling the traveling motion unit, a mode for transition period comprising at least one mode of a mode for boarding action which is a transitory operational mode at a time the occupant intends to board the payload supporting part and a mode for dismounting action which is a transitory operational mode at a time the occupant intends to dismount from the payload supporting part, and a during-boarding mode which is the operational mode in a state where the occupant is aboard the payload supporting part, and which controls the traveling motion of the traveling motion unit in each operational mode via the actuator; wherein the traveling motion unit controlling element controls, in the during-boarding mode, the traveling motion of the traveling motion unit so as to bring at least an actual tilt angle of the payload supporting part close to a predetermined first desired tilt angle, and controls, in the mode for transition period, at least in a part of a period in the period from start until end of the mode for transition period, the traveling motion of the traveling motion unit so that a sensitivity of change of traveling velocity of the traveling motion unit or a sensitivity of change of traveling acceleration of the traveling motion unit with respect to change of at least the tilt angle about the axis in the one direction out of the actual tilt angle of the payload supporting part in the mode for transition period to be smaller than that in the during-boarding mode.