PROBLEM TO BE SOLVED: To provide a walking assist vehicle that has improved safety without causing a user to feel a sense of discomfort.SOLUTION: A walking assist vehicle includes a substrate for supporting a user, a drive part for moving the substrate, a distance detection part for detecting a use distance from the substrate to the user, an acting force detection part for detecting acting force that the user applies to the substrate, and a movement control part for controlling the drive part based on the use distance or the acting force. The movement control part executes overturn prevention control to apply brake force to the drive part so as to decelerate the substrate when the use distance is larger than a predetermined distance threshold, and executes return assist control to retreat the substrate when the acting force is equal to or larger than a predetermined bearing force threshold even after a prescribed time.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2016,JPO&INPIT【課題】使用者に違和感を感じさせず、安全性を向上させた歩行補助車を提供する。【解決手段】使用者を支える基体と、基体を移動させる駆動部と、基体から使用者までの使用距離を検出する距離検出部と、使用者が基体に作用する作用力を検出する作用力検出部と、使用距離または作用力に基づいて駆動部を制御する移動制御部を備えた歩行補助車において、移動制御部は、使用距離が予め定められた距離しきい値より大きい場合、駆動部に制動力を作用させて基体を減速させる転倒防止制御を行い、作用力が一定時間後も予め定められた支持力しきい値以上である場合、基体を後退させる復帰アシスト制御を行うことを特徴とする。【選択図】 図1
