Pitch-propelled vehicle

A method of operating a vehicle having an elongated board, the method comprising:

• providing a vehicle comprising:
• a board having an elongated dimension and a shorter dimension perpendicular to the elongated dimension;
• a first ground-contacting member coupled with the board and configured to rotate about a first axis that is parallel to the shorter dimension;
• a second ground-contacting member coupled with the board and configured to rotate about a second axis parallel to the shorter dimension, wherein the first and second ground-contacting members are adjacent to each other such that when at rest the first ground-contacting member and the second ground-contacting member have a resting alignment with respect to each other;
• one or more deflection sensors coupled with the drive elements, wherein the deflection sensors determine a misalignment value of the first and second ground-contacting members by measuring a distance that the alignment of the first ground-contacting member and the second ground-contacting member deviates from the resting alignment;
• and
• one or more motorized drive elements coupled with the first and the second ground-contacting members;
• and
• with the drive elements:
• determining a base rotational speed based on a pitch of the board about the first axis;
• determining a tilt of the board about the elongated dimension based on the misalignment value;
• and
• if the tilt exceeds a threshold value, causing the first ground-contacting member to rotate at a first velocity and the second ground-contacting member to rotate at a second velocity, wherein a difference between the first velocity and the second velocity is based on the tilt.

A motorized skateboard-like vehicle for carrying a user, the vehicle comprising:

• a board having an elongated dimension and a shorter dimension perpendicular to the elongated dimension;
• a first ground-contacting member coupled with the board and configured to rotate about a first axis that is parallel to the shorter dimension;
• a second ground-contacting member coupled with the board and configured to rotate about a second axis parallel to the shorter dimension, wherein the first and second ground-contacting members are adjacent to each other such that when at rest the first ground-contacting member and the second ground-contacting member have a resting alignment with respect to each other;
• one or more deflection sensors coupled with the drive elements, wherein the deflection sensors determine a misalignment value of the first and second ground-contacting members by measuring a distance that the alignment of the first ground-contacting member and the second ground-contacting member deviates from the resting alignment, and further wherein the board forms a perimeter around the first and second ground-contacting members;
• a plurality of distance sensors positioned on a bottom surface of the board and configured to measure a distance between the bottom of the board and a surface below the board;
• and
• one or more motorized drive elements coupled with the first and the second ground-contacting members, wherein the drive elements:
• determine a base rotational speed based on a pitch of the board about the first axis;
• determine a tilt of the board about the elongated dimension based on the misalignment value;
• and
• if the tilt exceeds a threshold value, cause the first ground-contacting member to rotate at a first velocity and the second ground-contacting member to rotate at a second velocity, wherein a difference between the first velocity and the second velocity is based on the tilt.