Patent ID: 8577516

Claim:
A control device of an inverted pendulum type vehicle having a traveling motion unit capable of moving on a floor surface in all directions including a first direction and a second direction which are orthogonal to each other, an actuator which drives the traveling motion unit, a base body on which the traveling motion unit and the actuator are mounted, and a payload supporting part of an occupant which is attached to the base body so as to be tiltable with respect to vertical direction about two axes, about the axis in the first direction and about the axis in the second direction, comprising: a yaw rate measuring element which generates an output according to an actual yaw rate of a predetermined portion of the vehicle; a desired tilt angle determining element which determines a desired tilt angle of the payload supporting part at least in the second direction which is the lateral direction and at least according to a measured value of the yaw rate indicating by the output of the yaw rate calculating element; and a traveling motion unit controlling element which controls a traveling motion of the traveling motion unit so as to bring at least a tilt error which is an error between an actual tilt angle of the payload supporting part and a desired tilt angle determined by the desired tilt angle determining element close to 0.