A vehicle includes a vehicle-body frame, a seat, wheels, a power source to generate a force to drive one of the wheels, a controller, and an inclination sensor to detect an inclination, in at least one of pitch or roll of the vehicle-body frame. The controller is configured or programmed to control a vehicle speed in at least one of a direction of advancing or reversing of the vehicle generated by driving the one wheel by the force from the power source depending on the inclination of the vehicle-body frame detected by the inclination sensor.

A propulsion assist device connected to a manual wheelchair to provide driving force is disclosed. The propulsion assist device provides sufficient driving force and braking force while using the motor by the self-energizing effect. The propulsion assist device can be easily connected to manual wheelchairs without the need for bending over. The self-energizing effect is provided in a mechanical way, and the risk of failure is low due to the simple structure of the device. The propulsion assist device is economically priced, enabling the elderly and disabled to improve their self-esteem as members of society and engage in safer and more active social activities.

A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.

A driving system for use in an electric wheelchair includes at least one electric motor, a battery to supply power to the at least one electric motor, a controller configured or programmed to control operation of the at least one electric motor, a speed sensor to output a signal regarding a travel speed of the electric wheelchair, and a current sensor to output a signal regarding a current flowing through an electric path between the at least one electric motor and the battery. The controller is configured or programmed to obtain a current value of a charging current generated by regenerative braking to charge the battery and to decelerate the travel speed of the electric wheelchair based on the current value.

A control method, which is to be performed by a computer to control an electric vehicle that includes an operation component, includes: setting a traveling mode of the electric vehicle to a manual mode in which the electric vehicle travels in a direction and at a speed that are based on an operation performed on the operation component by an occupant of the electric vehicle; determining whether a passage having a width that satisfies a predetermined condition is present within a detection range, the detection range being set in a vicinity of the electric vehicle and being based on the operation; and when the passage is determined to be present, switching the traveling mode of the electric vehicle from the manual mode to a passage mode in which the electric vehicle autonomously travels along the passage.

A mobility device that can accommodate speed sensitive steering, adaptive speed control, a wide weight range of users, an abrupt change in weight, traction control, active stabilization that can affect the acceleration range of the mobility device and minimize back falls, and enhanced redundancy that can affect the reliability and safety of the mobility device.