Patent ID: 8500221
Filing Date: 2013-08-06
Classification: B60T,B62K

Abstract:
1. A traveling apparatus comprising: a driver that independently drives two wheels arranged in parallel; a housing to couple the two wheels, the housing including a detector that detects a posture angle of the housing, the traveling apparatus traveling by setting a drive torque of each of the two wheels in accordance with information about the detected posture angle; a braking device that brakes the two wheels directly in response to a braking command; and a controller configured to determine a target vehicle speed in response to the braking command for the two wheels to control the traveling apparatus to stably follow a target vehicle angle, a target vehicle angular velocity, and the determined target vehicle speed, and the controller controlling at least one of the driver and the braking device to carry out braking and the controller stabilizing the posture angle during braking by controlling a braking torque generated by the braking device and the drive torque set by the driver, when a deceleration torque generated according to the target vehicle speed is larger than a predetermined value, the controller is configured to carry out braking of the two wheels by using a combination of the driver and the braking device.