Patent ID: 8583342

Claim:
A control device of an inverted pendulum type vehicle having a traveling motion unit capable of moving on a floor surface, an actuator which drives the traveling motion unit, a base body on which the traveling motion unit and the actuator are mounted, and a payload supporting part of an occupant fixed to the base body so as to be tiltable with respect to a perpendicular direction, comprising: a desired velocity determining element which is an element configured to sequentially determine a desired representative point velocity which is a desired value of a traveling velocity of a predetermined representative point of the vehicle, and which performs a velocity retaining processing being a process for determining the desired representative point velocity so as to stably retain a target-of-retaining velocity magnitude amount which is a magnitude of the desired representative point velocity in a predetermined period of time, or a magnitude of a component in the predetermined direction of the desired representative point velocity, to a value identical to the target-of-retaining velocity magnitude amount in relation to the desired representative point velocity determined immediately before the start of the period when a predetermined condition is unsatisfied, in the case where the predetermined condition is satisfied in the state where the desired representative point velocity having at least a component in a predetermined direction of a magnitude not 0 is determined; and a traveling motion unit control element which controls a traveling motion of the traveling motion unit through the actuator, so as to bring at least an actual traveling velocity of the representative point and an actual tilt angle of the payload supporting part, respectively, closer to the desired representative point velocity determined by the desired velocity determining element and a desired tilt angle of a predetermined value of the payload supporting part.