Inverted pendulum type vehicle

An inverted pendulum type vehicle having at least a first travel operation unit capable of traveling on a floor surface, a first actuator that drives the first travel operation unit, a base body to which the first travel operation unit and the first actuator are installed, and a rider mounting section attached to the base body such that the rider mounting section is tiltable relative to a vertical direction, wherein the first travel operation unit is configured to be capable of traveling in all directions, including a longitudinal direction and a lateral direction relative to a rider on the rider mounting section, by a driving force of the first actuator, the inverted pendulum type vehicle comprising:

• a second travel operation unit, which is connected to the first travel operation unit or the base body with an interval provided from the first travel operation unit in the longitudinal direction and which is configured to be capable of traveling in all directions on a floor surface;
• a second actuator which generates a driving force for causing the second travel operation unit to travel at least in the lateral direction;
• and
• a control unit, which controls the first actuator and the second actuator so as to cause the first travel operation unit and the second travel operation unit to carry out travel motions thereof according to at least the tilt of the rider mounting section,
• wherein the control unit is configured to carry out turning control processing for controlling a travel velocity of the first travel operation unit and a travel velocity of the second travel operation unit in the lateral direction through the first actuator and the second actuator, respectively, to differ from each other so as to cause the inverted pendulum type vehicle to turn about a turn center on a rear side of a ground contact point of the first travel operation unit in a situation in which the rider on the rider mounting section has shifted his/her center of gravity to the right or left relatively with respect to the rider mounting section.

An inverted pendulum type vehicle having at least a first travel operation unit capable of traveling on a floor surface, a first actuator that drives the first travel operation unit, a base body to which the first travel operation unit and the first actuator are installed, and a rider mounting section attached to the base body such that the rider mounting section is tiltable relative to a vertical direction, wherein the first travel operation unit is configured to be capable of traveling in all directions, including a longitudinal direction and a lateral direction relative to a rider on the rider mounting section, by a driving force of the first actuator, the inverted pendulum type vehicle comprising:

• a second travel operation unit, which is connected to the first travel operation unit or the base body with an interval provided from the first travel operation unit in the longitudinal direction and which is configured to be capable of traveling in all directions on a floor surface;
• a second actuator which generates a driving force for causing the second travel operation unit to travel at least in the lateral direction;
• a control unit, which controls the first actuator and the second actuator so as to cause the first travel operation unit and the second travel operation unit to carry out travel motions thereof according to at least the tilt of the rider mounting section;
• and
• a total center of gravity offset estimating unit which estimates a lateral total center of gravity offset amount, which is an amount of a lateral relative movement of a total center of gravity of the rider and the inverted pendulum type vehicle with respect to the rider mounting section, the lateral total center of gravity offset amount being accrued due to the rider on the rider mounting section having shifted his/her center of gravity to the right or left relatively with respect to the rider mounting section,
• wherein the control unit is configured to carry out turning control processing for controlling a travel velocity of the first travel operation unit and a travel velocity of the second travel operation unit in the lateral direction through the first actuator and the second actuator, respectively, on the basis of a lateral total center of gravity offset amount estimated by the total center of gravity offset estimating unit so as to turn the inverted pendulum type vehicle about a turn center on a rear side of a ground contact point of the first travel operation unit in a situation in which the rider on the rider mounting section has shifted his/her center of gravity to the right or left relatively with respect to the rider mounting section.