Patent ID: 8000925

Claim:
A moving body, comprising: an acceleration sensor for detecting an acceleration in two axial directions; a gyro sensor for detecting an angular velocity of a vehicle body; and a tilt angle estimating mechanism for estimating a tilt angle of the vehicle body, wherein the tilt angle estimating mechanism includes: a device for estimating a first tilt angle based on the acceleration detected by the acceleration sensor; a device for estimating a second tilt angle based on the angular velocity detected by the gyro sensor according to a linear model equation of the moving body; and a device for estimating a tilt angle by executing feedback control so that the second tilt angle follows the first tilt angle, with the first tilt angle being set as a reference value for an observer, wherein the moving body is an inverted two-wheeled vehicle and the feedback control is at least in part based on an external force observer that uses a value of an external force as a state quantity.