Abstract: A personal vehicle control device includes an operation portion for inputting an original command value related to a turning angle, an axis angle sensor for detecting physical quantities related to a roll angle and a turning angle, wheel sensors, and a control portion. The control portion executes at least one of a first calculation law in which an actual command value related to a rotation angular velocity for driving wheels is obtained on the basis of a roll angle and the original command value, and a second calculation law in which the actual command value is obtained on the basis of an integrated value of a difference and/or an integrated value which is an integral of a ratio between the command value related to the turning angle and the physical quantity related to the turning angle with respect to time and on the basis of the original command value.

Abstract: A personal vehicle control device includes an operation portion for inputting an original command value related to a turning angle, an axis angle sensor for detecting physical quantities related to a roll angle and a turning angle, wheel sensors, and a control portion. The control portion executes at least one of a first calculation law in which an actual command value related to a rotation angular velocity for driving wheels is obtained on the basis of a roll angle and the original command value, and a second calculation law in which the actual command value is obtained on the basis of an integrated value of a difference and/or an integrated value which is an integral of a ratio between the command value related to the turning angle and the physical quantity related to the turning angle with respect to time and on the basis of the original command value.