Patent ID: 8340891
Filing Date: 2012-12-25
Classification: B60L,B62K,Y02T

Abstract:
1. A parallel two-wheeled vehicle control apparatus comprising: a drive unit that independently drives two wheels arranged on the same axis line in parallel; a rider detection unit that detects whether or not a foot of a rider is placed on a riding part that is connected to the wheels; a vehicle detection unit that detects a posture of a vehicle body; and a control unit that generates a control command to the drive unit and performs initial control to stabilize a change of a pitch axis angle of the vehicle as the vehicle changes from an empty state to a riding state, wherein the vehicle detection unit detects the pitch axis angle of the vehicle in the initial control only when placement of at least one foot of the rider on the riding part is detected by the rider detection unit, the control unit sets the pitch axis angle detected in the initial control to a temporary target pitch axis angle and gradually changes the temporary target pitch axis angle to a final target pitch axis angle, and the control unit performs processing to keep a rate of change of the target pitch axis angle constant.