Kenichi Shirato,Shigeru Tsuji,Masayuki Kubo,Yoshitaka Hane
申请号：
US15185306
公开号：
US10052253B2
申请日:
2016.06.17
申请国别(地区):
US
年份:
2018
代理人:
摘要：
A support unit is connected to a shaft of a main wheel and thus is always maintained in parallel to or at a predetermined angle to a road surface, independently of an inclination angle of a main body. Accordingly, an incline estimating unit regards an inclination angle θ3 being a value in an inclination sensor as being equal to an inclination angle θ2 of the road surface (or in a case where the support unit is inclined a predetermined angle to the road surface, an angle from θ3 to the predetermined angle is subtracted from or added to the crossing angle) and outputs the estimated inclination angle θ2 of the road surface to a target inclination angle determining unit.
