US 12,275,481 B2
Inverted pendulum type vehicle, vehicle control system, vehicle control method, and non-transient computer-readable recording medium
Sachiko Yamamoto, Saitama (JP); Shinichiro Kobashi, Saitama (JP); and Misato Echizenya, Tokyo (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Nov. 7, 2022, as Appl. No. 17/982,455.
Claims priority of application No. 2021-194525 (JP), filed on Nov. 30, 2021.
Prior Publication US 2023/0166806 A1, Jun. 1, 2023
Int. Cl. B62K 11/00 (2006.01); B62K 1/00 (2006.01); G05D 1/43 (2024.01)
CPC B62K 11/007 (2016.11) [B62K 1/00 (2013.01); G05D 1/43 (2024.01)] 20 Claims
OG exemplary drawing
 
1. An inverted pendulum type vehicle that travels while balancing an inverted pendulum type body, the inverted pendulum type vehicle comprising:
an inertial measurement unit (IMU) that detects a three-dimensional inertial motion of its own vehicle; and
a hardware processor configured to:
recognize a driving operation of the own vehicle by a weight shift of an occupant under a balance control based on a detection result of the IMU; and
cause the own vehicle to start automatic movement on a predetermined route to a destination at a predetermined time, wherein
the hardware processor controls a moving wheel of the own vehicle to travel in a second direction in response to the weight shift in the second direction other than a traveling direction related to the predetermined route during execution of the automatic movement being greater than a threshold value.