Control device of inverted pendulum type vehicle

A control device of an inverted pendulum type vehicle having a traveling motion unit capable of moving on a floor surface, an actuator which drives the traveling motion unit, a base body on which the traveling motion unit and the actuator are mounted, and a payload supporting part of an occupant assembled to the base body so as to be tiltable with respect to a perpendicular direction, comprising:

• a tilt angle measuring element which generates an output according to an actual tilt angle of the payload supporting part;
• a representative point velocity measuring element which generates an output according to a traveling velocity of a predetermined representative point of the vehicle;
• and
• a traveling motion unit controlling element which determines a manipulated variable for control which defines a driving force to be imparted to the traveling motion unit, and which controls the traveling motion of the traveling motion unit via the actuator according to the determined manipulated variable for control;
• wherein the traveling motion unit controlling element includes, as processing modes for determining the manipulated variable for control in a state where the occupant is aboard the payload supporting part, a first processing mode and a second processing mode, the second processing mode being the mode which is transited from the first processing mode in a case where a predetermined first condition is satisfied during carrying out of the processing of the first processing mode, and
• the traveling motion unit controlling element determines, in the first processing mode, the manipulated variable for control at least according to a tilt error, which is an error between a measured value of the actual tilt angle of the payload supporting part indicated by the output of the tilt angle measuring element and a predetermined desired tilt angle, and a velocity error, which is an error between a measured value of the traveling velocity of the representative point indicated by the output of the representative point velocity measuring element and a predetermined desired traveling velocity, so as to bring the tilt error and the velocity error closer to 0, and
• the traveling motion unit controlling element determines, in the second processing mode, the manipulated variable for control at least according to the tilt error, so as to make a sensitivity to change of the manipulated variable for control with respect to a change in the measured value of the traveling velocity of the representative point or in a component in a predetermined direction out of the measured value of the traveling velocity of the representative point relatively smaller than that in the first processing mode, and so as to bring at least the tilt error out of the tilt error and the velocity error closer to 0.