Patent ID: 11167750

Abstract:
A leaning vehicle includes a leaning body frame, a left inclining wheel, a right inclining wheel, an another inclining wheel, a linkage mechanism, a leaning posture control actuator, a left inclining wheel torque applying unit, a right inclining wheel torque applying unit, and an integrated control device. The integrated control device controls a left inclining wheel torque applied to a left inclining wheel and a right inclining wheel torque applied to a right inclining wheel based on a lean torque applied to the linkage mechanism by the leaning posture control actuator. Alternatively, the lean torque applied to the linkage mechanism by the leaning posture control actuator may be based on the left inclining wheel torque applied to the left inclining wheel by the left inclining wheel torque applying unit and the right inclining wheel torque applied to the right inclining wheel by the right inclining wheel torque applying unit.