Patent ID: 8583338

Claim:
A control device of an inverted pendulum type vehicle having a travelling motion unit capable of moving on a floor surface, an actuator which drives the travelling motion unit, and a base body mounted with the travelling motion unit and the actuator, comprising: a tilt angle measuring element configured to generate an output according to an actual tilt angle of the base body; a desired value determining member configured to determine at least either a desired travelling velocity or a desired propulsive force of the vehicle; and a travelling motion unit controller configured to determine a manipulated variable for control which is configured to define a driving power to be applied to the travelling motion unit, and to control the travelling motion of the travelling motion unit via the actuator according to the determined manipulated variable for control; wherein the travelling motion unit controller is configured to determine one of a boarding mode where an occupant is aboard the vehicle and a guiding mode where the vehicle is guided by an operator walking on the floor surface as an operation mode of the vehicle, and to determine the manipulated variable for control so as to satisfy at least either the desired travelling velocity or the desired propulsive force of the vehicle determined based on whether the operation mode of the vehicle is the boarding mode or the guiding mode by the desired value determining member while maintaining a measured value of the tilt angle of the base body at a predefined value of a desired tilt angle determined based on whether the operation mode of the vehicle is the boarding mode or the guiding mode.