Patent ID: 8731754

Claim:
A controller for a motorised vehicle of a type having at least two wheels driven by a motor arrangement, the controller comprising: a user-actuated input control module comprising a user actuated control element and an output, the input control module capable of providing control signals at said output; and a control unit having an input operably coupled to the output of the control module for receipt of the control signals, the control unit comprising: an acceleration control unit configured to determine, as a result of said control signals, a centripetal force factor corresponding to a centripetal force currently acting on said motorised vehicle and configured to calculate an acceleration limit for said motorised vehicle in dependence on said centripetal force factor, wherein said acceleration control unit is configured to apply said acceleration limit by modifying a response of said controller to said control signals, such that said motorised vehicle does not exceed said acceleration limit; wherein said motor arrangement drives at least a left wheel and a right wheel and said control signals comprise a demand speed and a demand spin, wherein said demand speed of said motorised vehicle is given by a mean of a demanded left wheel velocity and a demanded right wheel velocity, wherein said demand spin of said motorised vehicle is given by a mean difference of said demanded left wheel velocity and said demanded right wheel velocity, and wherein said acceleration control unit calculates said centripetal force factor in dependence on a product of said demand speed and said demand spin.