Patent ID: 8271185

Claim:
A vehicle comprising: a driving wheel; a vehicle body pivotally supported by a rotation shaft of the driving wheel; a balancer provided so as to be movable relative to the vehicle body; a balancer position sensor for detecting a position of the balancer; an input device operable by a driver of the vehicle to output command for a target acceleration; and a controller for determining a driving torque of the driving wheel and balancer thrust for moving the balancer, according to the commanded target acceleration, for outputting a command for the determined driving torque to a driving wheel actuator and for outputting a command for the determined balancer thrust to a balancer driving actuator, for determining a target position of the balancer according to the commanded target acceleration, for determining the balancer thrust according to the determined balancer target position and the detected balancer position, and for determining the driving torque according to the detected balancer position.