Overturn prevention control device for two-wheel vehicle

An overturn prevention control device for a two-wheel vehicle having a vehicle body, a steerable front wheel provided at a front end of the vehicle body, an actuator that steers the front wheel, a rear wheel provided at a rear end of the vehicle body, and a rear-wheel driving portion that drives the rear wheel, the overturn prevention control device comprising:

• an angular velocity sensor having a detection axis, being mounted on the vehicle body such that the detection axis is downwardly inclined at a predetermined angle relative to a forward direction of the vehicle body, and arranged to detect an angular velocity ω about the detection axis, the predetermined angle being set such that the angular velocity ω detected by the angular velocity sensor includes an angular velocity ω1 in a lateral direction of inclination of the vehicle body and an angular velocity ω2 in an azimuthal direction;
• and
• a control unit arranged to output a steering angle command signal δr to control the actuator;
• wherein
• the control unit includes an integration unit arranged to integrate the angular velocity ω to obtain a first angle signal and a steering-angle-signal generating unit arranged to generate the steering angle command signal δr using a deviation between the first angle signal and an externally provided second angle signal;
• and
• the first angle is controlled by the control unit so as to be close to the second angle by inputting of the steering angle command signal δr into the actuator.