Vehicle and its control method

A control method of a vehicle that moves by inverted pendulum control, the vehicle comprising a rider seat on which a rider rides, a chassis disposed below the rider seat, and a wheel rotatably attached to the chassis, a forward movable bar that protrudes forward beyond the chassis and rotates with respect to the chassis, and a footstep rotatably supported on the forward movable bar, on which a foot of the rider is put, the control method comprising:

• rotationally driving a forward movable bar protruding forward from the chassis;
• and
• changing the vehicle to an inverted state by raising a footstep so that the footstep moves away from a ground, or changing the vehicle to a stable state by lowering the footstep so that the footstep touches the ground by rotationally driving the forward movable bar, the footstep being attached to the forward movable bar, a foot of the rider being put on the footstep.

A control method of a vehicle that moves by inverted pendulum control, the vehicle comprising a rider seat on which a rider rides, a chassis disposed below the rider seat, a wheel rotatably attached to the chassis, a forward movable bar protruding forward from the chassis, a footstep attached to the forward movable bar, on which a foot of the rider is put, and a backward movable bar protruding backward from the chassis, the control method comprising:

• rotationally driving the forward movable bar and the backward movable bar in synchronization with each other;
• changing the footstep and the backward movable bar from a state where the footstep and the backward movable bar are in contact with the ground to a state where the footstep and the backward movable bar are away from the ground, or changing the footstep and the backward movable bar from a state where the footstep and the backward movable bar are away from the ground to a state where the footstep and the backward movable bar are in contact with the ground by rotationally driving the forward movable bar and the backward movable bar in synchronization with each other.