Patent ID: 8016060

Claim:
A vehicle comprising: a drive wheel arranged on a shaft: a seat unit; an attitude sensor for detecting angular acceleration of the seat unit based on a tilt of the seat unit; a balancer movably arranged with respect to the seat unit; a drive control unit for controlling to drive the drive wheel in accordance with a drive command from an occupant; an attitude control unit for executing an attitude control of the seat unit by moving the balancer in a direction where the seat unit tilts; and a main controller for calculating a torque T 1 required for tilting the seat unit at the detected angular acceleration and a torque T 2 required for moving the balancer forward, for comparing T 1 with T 2 max, T 2 max being the maximum value of the torque which can be generated by moving the balancer, and for outputting commands to the drive control unit and the attitude control unit based on the results of the comparison; wherein: when the calculated torque T 1 exceeds T 2 max, responsive to a command for T 2 max from the main controller, the attitude control unit moves the balancer to generate a reaction torque corresponding to T 2 max, and the main controller supplies an adjustment torque value T 3 for the drive wheel, required for the attitude control, to the drive control unit, wherein T 3 >(T 1 −T 2 max); when the calculated torque T 1 is equal to or smaller than T 2 max, the attitude control unit, responsive to a command for T 2 from the main controller, moves the balancer to generate a reaction torque corresponding to T 2 ; and the drive control unit controls the drive wheel to be driven in accordance with the drive command and the adjustment torque value T 3 .