Patent ID: 8666575

Claim:
A travel method comprising the steps of: providing an inverted two-wheel apparatus that travels while keeping an inverted state, the inverted two-wheel apparatus comprising: drive means that drives wheels; control means that generates a torque command value to control drive torque of the drive means; and detecting posture information of a vehicle with a posture detection means; and performing control with the control means to dismount an occupant upon judgment that, (1) when accelerating in a forward direction, the torque command value that is generated is a maximum value, which means that the torque command value is in a saturation state, and a pitch angle of a vehicle body is generated in a forward-inclined direction and a pitch angular velocity is generated at a front of a traveling direction, which means that inverted control is in a failure state based on the posture information detected by the posture detection means, or (2) when decelerating in a backward direction, the torque command value that is generated is a maximum value, which means that the torque command value is in a saturation state, and a pitch angle of a vehicle body is generated in a backward-inclined direction and a pitch angular velocity is generated at a rear of a traveling direction, which means that inverted control is in a failure state based on the posture information detected by the posture detection means.