Truck

A truck comprising:

• a body;
• a pair of left and right wheels provided on the body;
• left and right drive units which drive each of the wheels;
• a handle which is provided on the body and receives a user's operation;
• a sensor which detects a front-rear load and a moment about a vertical axis applied to the handle;
• and
• a control device which controls the drive units, wherein
• the control device is configured to:
• set a target front-rear velocity of the body based on the front-rear load, and
• set a target angular velocity of the body about a vertical axis based on the moment about the vertical axis, and
• in a case where a product of the target front-rear velocity and the target angular velocity is greater than a predetermined threshold, the control device performs correction processing on the target angular velocity so that the product of the target front-rear velocity and the target angular velocity is equal to or less than the threshold, and controls the drive units based on the corrected target angular velocity and the target front-rear velocity.

A truck comprising:

• a body;
• a pair of left and right wheels provided on the body;
• left and right drive units which drive each of the wheels;
• a handle which is provided on the body and receives a user's operation;
• a sensor which detects a front-rear load and a moment about a vertical axis applied to the handle;
• and
• a control device which controls the drive units, wherein
• the control device is configured to:
• set a target front-rear velocity of the body based on the front-rear load, and
• set a target angular velocity of the body about a vertical axis based on the moment about the vertical axis, and
• in a case where a product of the target front-rear velocity and the target angular velocity is greater than a predetermined threshold, the control device performs correction processing on the target front-rear velocity and the target angular velocity so that the product of the target front-rear velocity and the target angular velocity is equal to or less than the threshold, and controls the drive units based on a corrected target angular velocity and a corrected target front-rear velocity.