Vehicle

A vehicle comprising:

• a vehicle body frame;
• a seat arranged above the vehicle body frame and supporting hips of a user;
• a lifting apparatus provided between the vehicle body frame and the seat, for lifting and lowering the seat between a low position and a high position;
• a seat position sensor that detects a position of the seat with respect to the vehicle body frame;
• at least one drive unit which is provided at the vehicle body frame and is capable of translating in all directions on a floor surface and capable of turning;
• a direction input device which receives a direction input corresponding to at least front, rear, left, and right directions inputted by a user;
• a mode switching operator which receives a mode switching input corresponding to mode switching performed by the user;
• and
• a control device which controls the drive unit based on signals from the direction input device and the mode switching operator, wherein
• the direction input device includes a movement direction switch and a tilt angle sensor provided at the vehicle body frame to detect a tilt angle of the vehicle body frame, and
• the control device is configured to:
• switch a travel mode of the drive unit between a translation mode and a turning mode based on the mode switching input,
• control the drive unit so that the drive unit translates with respect to the floor surface based on a signal from the direction input device when the translation mode is selected,
• control the drive unit so that the drive unit turns with respect to the floor surface based on a signal corresponding to a left or right direction from the direction input device when the turning mode is selected,
• control the at least one drive unit based on inverted pendulum control and drive the drive unit to translate or turn in a same direction as the tilt angle based on the tilt angle when the seat is at the high position;
• and
• control the at least one drive unit based on the signal from the direction input device when the seat is at the low position.