Patent ID: 7138772
Filing Date: 2006-11-21
Classification: B60L,Y02T

Abstract:
1. An electrically movable vehicle comprising: wheel drive means for driving left and right wheels of the vehicle independently of each other, a command value input unit for obtaining a translation command value and a turning motion command value, a velocity command value calculating unit for calculating a translation velocity command value and a turn angular velocity command value at the center of gravity of the vehicle, and a control command value calculating unit for calculating control values for controlling the wheel drive means for the left and right wheels corresponding to the translation velocity command value and the turn angular velocity command value calculated by the velocity command value calculating unit, wherein the velocity command value calculating unit determines the translation velocity command value from only the translation motion command value obtained by the input unit, and determines the turning motion velocity command value from both the turning motion command value obtained by the input unit and a detected translation velocity.