Vehicle

A vehicle comprising:

• a drive wheel;
• a vehicle body rotatably supported at a rotational axis of the drive wheel;
• a riding section mounted on the vehicle body for movement relative to the vehicle body;
• target acquisition means for acquiring a target running state;
• drive means for driving the drive wheel;
• riding section movement means for moving the riding section relative to the vehicle body;
• and
• running control means for controlling running while adjusting position of center of gravity of the vehicle body by controlling at least one of the drive by the drive means and the movement of the riding section by the riding section movement means, based on the target running state and wherein:
• the running control means determines drive torque of the drive wheel based on a low-frequency component of a change in the target running state, and determines movement thrust force for moving the riding section relative to the vehicle body based on a high-frequency component of the change in the target running state.

The vehicle according to claim, further comprising:

• target inclination angle determination means for determining a target inclination angle achieved through rotation of the vehicle body based on the acquired low-frequency component of the target running state;
• and
• target position determination means for determining, based on the target running state and the target inclination angle, a target position to which the riding section is moved relative to the vehicle body;
• and wherein:
• the running control means determines drive torque of the drive wheel based on the determined target inclination angle, and movement thrust force for moving the riding section based on the determined target position.

A vehicle comprising:

• a drive wheel;
• a vehicle body rotatably supported at a rotational axis of the drive wheel;
• a riding section mounted on the vehicle body for movement relative to the vehicle body;
• target acquisition means for acquiring a target running state;
• drive means for driving the drive wheel;
• riding section movement means for moving the riding section;
• vehicle speed detection means for detecting a vehicle speed;
• and
• running control means for controlling running while adjusting center of gravity of the vehicle body by controlling at least one of the drive by the drive means and the movement of the riding section by the riding section movement means, based on the target running state, and wherein:
• the running control means controls at least one of the drive and the movement of the riding section so that an angle of rotation of the vehicle body increases in proportion to the vehicle speed.

A vehicle comprising:

• a drive wheel;
• a vehicle body rotatably supported at a rotational axis of the drive wheel;
• a riding section mounted on the vehicle body for movement relative to the vehicle body;
• target acquisition means for acquiring a target running state;
• drive means for driving the drive wheel;
• riding section movement means moving the riding section relative to the vehicle body;
• determination means for determining drive torque of the drive wheel and movement thrust force for moving the riding section based on the acquired target running state;
• and
• running control means for controlling running while adjusting center of gravity of the vehicle body by controlling the drive by the drive means with the determined drive torque and controlling the movement of the riding section by the riding section movement means with the determined movement thrust force;
• and wherein:
• when directions of a drive torque required for vehicle body posture control and drive torque required for vehicle running control are different from each other, the determination means determines, based on the acquired target running state, one of the drive torques as the drive torque of the drive wheel, and determines the movement thrust force based on the other drive torque and the target running state.

A vehicle comprising:

• a drive wheel;
• a vehicle body rotatably supported at a rotational axis of the drive wheel;
• a riding section mounted on the vehicle body for movement relative to the vehicle body;
• target acquisition means for acquiring a target running state;
• drive means for driving the drive wheel;
• riding section movement means moving the riding section relative to the vehicle body;
• disturbance detection means for detecting a disturbance acting on the vehicle body;
• and
• running control means for controlling running while adjusting center of gravity of the vehicle body by controlling, based on the target running state, at least one of the drive by the drive means and the movement of the riding section by the riding section movement means;
• and wherein:
• the running control means determines drive torque of the drive wheel based on a high-frequency component of the disturbance, and determines movement thrust force for moving the riding section based on the acquired target running state and a low-frequency component of the detected disturbance.

A vehicle comprising:

• a drive wheel;
• a vehicle body rotatably supported at a rotational axis of the drive wheel;
• a riding section mounted on the vehicle body for movement relative to the vehicle body;
• target acquisition means for acquiring a target running state;
• drive means for driving the drive wheel;
• riding section movement means for moving the riding section relative to the vehicle body;
• running control means for controlling running while adjusting center of gravity of the vehicle body by controlling at least one of the drive by the drive means and the movement of the riding section by the riding section movement means, based on the target running state;
• and
• first failure detection means for detecting a failure of the drive means;
• and wherein:
• when the failure of the drive means is detected, the running control means determines movement thrust force for moving the riding section based on a running acceleration of the vehicle and an inclination angle of the vehicle body, and performs posture control by adjusting the center of gravity of the vehicle body with the movement thrust force.

A vehicle comprising:

• a drive wheel;
• a vehicle body rotatably supported at a rotational axis of the drive wheel;
• a riding section mounted on the vehicle body for movement relative to the vehicle body;
• target acquisition means for acquiring a target running state;
• drive means for driving the drive wheel;
• riding section movement means for moving the riding section;
• running control means for controlling running while adjusting center of gravity of the vehicle body by controlling at least one of the drive by the drive means and the movement of the riding section by the riding section movement means, based on the target running state;
• and
• second failure detection means for detecting a failure of the riding section movement means;
• and wherein:
• when the failure of the riding section movement means is detected, the running control means determines drive torque of the drive wheel based on a position of the riding section, and performs posture control by adjusting center of gravity of the vehicle body with the drive torque.