Mobile body

A mobile body including a vehicle body having a boarding section for an operator and freely tiltable in a roll direction with respect to a road surface, front and rear wheels disposed spaced apart from each other in a longitudinal direction of the vehicle body, an actuator capable of causing a moment in the roll direction to act on the vehicle body, and a control device configured to control the actuator, the control device comprising:

• a center-of-gravity displacement degree index value determining section which determines a center-of-gravity displacement degree index value using an observed value of a motional state of the mobile body, the center-of-gravity displacement degree index value representing an estimate of a degree of displacement of a center of gravity of the operator boarded on the boarding section in a lateral direction of the vehicle body from a predetermined reference position with respect to the vehicle body;
• and
• a control input determining section which determines a control input for controlling the actuator in accordance with the determined center-of-gravity displacement degree index value in such a way as to increase the degree of displacement of the center of gravity of the operator indicated by the determined center-of-gravity displacement degree index value in a state where the center of gravity of the operator boarded on the boarding section is displaced from the predetermined reference position,
• wherein
• the control device is configured to control the actuator in accordance with the determined control input,
• the observed value of the motional state used in the center-of-gravity displacement degree index value determining section includes an observed value of an inclination state quantity representing a state of inclination of the vehicle body,
• the center-of-gravity displacement degree index value determining section is configured to sequentially determine the center-of-gravity displacement degree index value, and also includes a section which calculates an estimate of the inclination state quantity through a dynamics computation using the determined center-of-gravity displacement degree index value, and the center-of-gravity displacement degree index value determining section is configured to update the center-of-gravity displacement degree index value based on a deviation between the calculated value of the inclination state quantity and the observed value of the inclination state quantity.