Patent ID: 8068976

Claim:
A coaxial two-wheel vehicle comprising: a drive means that drives two wheels arranged coaxially; a detection means that obtains get-on/off information indicating whether an occupant is on the vehicle or not, and attitude information of the vehicle; and a control means that performs attitude control by controlling drive of the wheels performed by the drive means based on a control gain, the attitude information obtained by the detection means and a command value, wherein the control means controls the drive means by switching to a mode in which a control gain set with respect to an occupied state is used if the control means determines that the vehicle is in the occupied state based on the get-on/off information obtained by the detection means, while switching to a mode in which a control gain set with respect to an unoccupied state is used if the control means determines that the vehicle is in the unoccupied state, respectively, the detection means obtains a vehicle pitch angle and a vehicle pitch angular velocity as the attitude information, the control means controls the drive means according to the obtained vehicle pitch angle by switching a command value to a target pitch angle corresponding to an occupied state if the control means determines that the vehicle is in the occupied state, while switching the command value to a target pitch angle corresponding to an unoccupied state if the control means determines that the vehicle is in the unoccupied state, respectively, and the control means controls the drive means by setting a command value in which a target pitch angular velocity is defined as substantially zero if the control means determines that the vehicle is in an unoccupied state.