Patent ID: 8224524
Filing Date: 2012-07-17
Classification: A63C,B62K,G05D

Abstract:
1. A vehicle including first and second rotary bodies in contact with a road surface, and a vehicle body supported by the first and second rotary bodies, the first and second rotary bodies being arranged so that a straight line connecting between a contact where the first rotary body and the road surface are in contact with each other and a contact where the second rotary body and the road surface are in contact with each other is non-parallel to a back-and-forth direction of the vehicle, and being rotationally driven in the back-and-forth direction of the vehicle, the vehicle comprising: a rotation sensor that detects a rotational state of each of the first and second rotary bodies; a turning sensor that detects a physical quantity representing a turning state of the vehicle on the road surface, and outputs a signal corresponding to a magnitude of the detected physical quantity; a calculation unit that calculates a predicted value of a turning parameter representing a turning amount of the vehicle by use of a difference between first and second physical quantities which represent the rotational states of the first and second rotary bodies, respectively, and which are obtained based on an output of the rotation sensor; and a slip detection unit that detects occurrence of a slip of the first or second rotary body by comparing the predicted value with an actual measured value of the turning parameter obtained by receiving an output signal of the turning sensor.