Patent Description:
As disclosed in <CIT>, for example, a leaning vehicle has been known in the art including a vehicle body that can tilt with respect to the ground, a left wheel and a right wheel supporting the vehicle body, and a lean actuator that controls the tilting of the vehicle body. The leaning vehicle includes a link mechanism that links together the vehicle body, the left wheel and the right wheel. The vehicle body, the left wheel and the right wheel can rotate around an axis extending in the vehicle front-rear direction relative to the link mechanism. The leaning vehicle also includes a lock mechanism that locks the rotation of the vehicle body when parked, and a display section that indicates an abnormality of the lock mechanism. A leaning vehicle having the features of the preamble of claim <NUM> is shown in <CIT> and <CIT>, respectively. <CIT> was cited under Article <NUM>(<NUM>) EPC.

According to a leaning vehicle including a lean actuator, the lean actuator can be controlled to keep the vehicle body standing by itself. Hereinafter, keeping the vehicle body standing by itself by using the lean actuator will be referred to as standing assist. By providing standing assist when the vehicle is stopped, the vehicle body can be kept from leaning even if the rider does not put their feet on the ground. In addition, by providing standing assist when starting or traveling at low speeds, the vehicle body does not lean, making driving easier. Thus, the lean actuator provides standing assist to reduce the burden on the rider when starting, when traveling at low speeds, or when the vehicle is stopped.

Now, standing assist is a control performed by the lean actuator operating accordingly, but in a conventional leaning vehicle, the rider cannot know how the lean actuator is operating. There were cases where the operation of the lean actuator did not match with the driving operation of the rider. This may have made it difficult for the rider to drive the leaning vehicle desirably.

The present invention has been made in view of the above, and an object thereof is to provide a leaning vehicle that is easy for the rider to drive desirably while the lean actuator is operating, and, thus, to increase safety during driving.

To solve the aforementioned problem, a leaning vehicle having the features of claim <NUM> is provided. A leaning vehicle disclosed herein includes: a vehicle body frame including a head pipe; a left wheel arranged leftward relative to the head pipe; a right wheel arranged rightward relative to the head pipe; a left wheel support member supporting the left wheel; a right wheel support member arranged rightward of the left wheel support member and supporting the right wheel; a link member extending leftward and rightward of the vehicle body frame; a central link shaft extending in a vehicle front-rear direction that rotatably links the vehicle body frame to the link member; a left link shaft extending in the vehicle front-rear direction that rotatably links the left wheel support member to the link member; a right link shaft extending in the vehicle front-rear direction that rotatably links the right wheel support member to the link member; a lean actuator that applies a leftward or rightward torque around the central link shaft to the vehicle body frame; a display device; and a display control device that displays an image indicating a status of operation of the lean actuator on the display device.

With the leaning vehicle described above, as the image indicating the status of operation of the lean actuator is displayed on the display device, the rider can know the status of operation of the lean actuator by looking at the image. The rider can easily perform an operation in conformity with the operation of the lean actuator. Therefore, the rider can drive the leaning vehicle desirably while the lean actuator is operating.

The display control device may be configured to display information on whether the lean actuator is outputting a torque on the display device.

Thus, by looking at the display device, the rider can easily know whether the lean actuator is outputting a torque.

The display control device may be configured to display a direction of the torque output by the lean actuator on the display device.

Thus, by looking at the display device, the rider can easily know whether the lean actuator is outputting a leftward torque or a rightward torque.

The display control device may be configured to display a magnitude of the torque output by the lean actuator on the display device.

Thus, by looking at the display device, the rider can easily know the magnitude of the torque output by the lean actuator.

The display control device may be configured to display a degree of tilt of the vehicle body frame from a vertical line on the display device.

Thus, by looking at the display device, the rider can easily know the degree of tilt of the vehicle body frame.

The display control device may be configured to simultaneously display, on the display device, two or more of information on whether the lean actuator is outputting a torque, a direction of the torque output by the lean actuator, a magnitude of the torque output by the lean actuator, and a degree of tilt of the vehicle body frame from a vertical line.

Thus, by looking at the display device, the rider can simultaneously know two or more of information on whether the lean actuator is outputting a torque, the direction of the torque, the magnitude of the torque, and the degree of tilt of the vehicle body frame.

The leaning vehicle may include an abnormality detection device that detects an abnormality of the lean actuator. The display control device may be configured to, when the abnormality detection device detects an abnormality of the lean actuator, indicate on the display device that the abnormality has occurred.

Thus, when an abnormality occurs in the lean actuator, the rider can immediately know the abnormality by looking at the display device.

The leaning vehicle includes: an actuator control device that executes a standing assist control of controlling the lean actuator to keep the vehicle body frame standing by itself; and a switch that switches ON/OFF the standing assist control. The display control device is configured to display the image indicating the status of operation of the lean actuator on the display device when the switch is ON, and display another image different from said image on the display device when the switch is OFF.

Thus, as the rider operates the switch to tum ON the standing assist control, the image on the display device is switched from another image to an image that indicates the status of operation of the lean actuator. Thus, the rider can know the status of operation of the lean actuator as needed. There is no need for a dedicated display device for displaying an image indicating the status of operation of the lean actuator. It is possible to reduce the number of display devices.

According to an aspect disclosed herein, but not claimed, the leaning vehicle may include: a speed sensor that detects a speed of the leaning vehicle; and an actuator control device that executes a standing assist control of controlling the lean actuator to keep the vehicle body frame standing by itself when the speed detected by the speed sensor is less than or equal to a threshold value. The display control device may be configured to display the image indicating the status of operation of the lean actuator on the display device when the speed detected by the speed sensor is less than or equal to the threshold value, and display another image different from said image on the display device when the speed is greater than the threshold value.

Thus, when the speed of the leaning vehicle is less than or equal to the threshold value, the standing assist control is executed automatically, and the image on the display device is automatically switched to an image indicating the status of operation of the lean actuator. Thus, the rider can know the status of operation of the lean actuator as needed. There is no need for a dedicated display device for displaying an image indicating the status of operation of the lean actuator. It is possible to reduce the number of display devices.

The leaning vehicle may include: a steering shaft supported by the head pipe; and a steering handle fixed to the steering shaft. The left wheel and the right wheel are a left front wheel and a right front wheel, respectively, arranged forward relative to the steering handle.

The leaning vehicle may include: a seat supported by the vehicle body frame; and a footrest supported by the vehicle body frame, arranged downward of the seat and supporting feet of a rider seated on the seat.

Another aspect of the present disclosure is a system for a leaning vehicle, wherein the system comprises the lean actuator and the display control device.

Hence, the system can be retrofitted to the leaning vehicle having the link member and the central link shaft. In addition, the system may comprise the display device.

According to the present invention, it is possible to provide a leaning vehicle that is easy for the rider to drive desirably while the lean actuator is operating.

One embodiment of a leaning vehicle will now be described with reference to the drawings. <FIG> is a left side view of a leaning vehicle <NUM> according to the present embodiment. <FIG> is a left side view of a part of the leaning vehicle <NUM>. <FIG> is a left side view of a part of the leaning vehicle <NUM>. <FIG> is a front view of a part of the leaning vehicle <NUM>. <FIG> is a plan view of a part of the leaning vehicle <NUM>.

The terms front, rear, left, right, up and down, as used in the description below, refer to these directions as seen from a virtual rider seated on a seat <NUM> while the leaning vehicle <NUM> is standing upright (standing upright as used herein refers to a state where a vehicle body frame <NUM> to be described below is standing upright) on a horizontal surface with no rider and no load thereon, unless specified otherwise. The designations F, B, L, R, U and D, as used in the figures, refer to front, rear, left, right, up and down, respectively. The vehicle up-down direction coincides with the vertical direction. The vehicle front-rear direction is orthogonal to the vehicle up-down direction. The vehicle left-right direction is orthogonal to the vehicle front-rear direction and the vehicle up-down direction.

As shown in <FIG> and <FIG>, the leaning vehicle <NUM> includes the vehicle body frame <NUM>, a link mechanism <NUM>, a left front wheel <NUM>, a right front wheel 3R (see <FIG>), a rear wheel <NUM>, a power unit <NUM>, the seat <NUM> and a storage box <NUM>. The leaning vehicle <NUM> is a three-wheel vehicle with two front wheels <NUM>, 3R and one rear wheel <NUM>.

As shown in <FIG>, the vehicle body frame <NUM> includes a head pipe <NUM>, a down frame <NUM> extending rearward and downward from the head pipe <NUM>, and a seat frame <NUM> extending rearward from the down frame <NUM>. The seat <NUM> is supported by the vehicle body frame <NUM>. Herein, the seat <NUM> is supported by the seat frame <NUM>. The storage box <NUM> is arranged downward of the seat <NUM>. The storage box <NUM> is supported by the seat frame <NUM>. As shown in <FIG>, a steering shaft <NUM> is rotatably supported by the head pipe <NUM>. A steering handle <NUM> is fixed to the steering shaft <NUM>.

As shown in <FIG>, the leaning vehicle <NUM> according to the present embodiment is a scooter. The leaning vehicle <NUM> includes a low footrest <NUM>. The footrest <NUM> is supported by the vehicle body frame <NUM>. Herein, the footrest <NUM> is supported by the down frame <NUM> (see <FIG>). The footrest <NUM> is arranged downward of the seat <NUM>. The footrest <NUM> is a platform for supporting the feet of the rider seated on the seat <NUM>.

As shown in <FIG>, the link mechanism <NUM> is a parallelogram link-type link mechanism. The link mechanism <NUM> is arranged upward relative to the left front wheel <NUM> and the right front wheel 3R. The link mechanism <NUM> includes an upper arm <NUM>, a lower arm <NUM>, a left arm <NUM> and a right arm <NUM>.

The upper arm <NUM> and the lower arm <NUM> extend leftward and rightward. The upper arm <NUM> and the lower arm <NUM> are examples of link members extending leftward and rightward of the vehicle body frame <NUM>. The lower arm <NUM> is arranged downward of the upper arm <NUM>. The upper arm <NUM> and the lower arm <NUM> are arranged forward of the head pipe <NUM> (see <FIG>). The upper arm <NUM> is rotatably linked to the head pipe <NUM> by a first central link shaft 21Cc extending in the vehicle front-rear direction. The lower arm <NUM> is rotatably linked to the head pipe <NUM> by a second central link shaft 22Cc extending in the vehicle front-rear direction.

In the present embodiment, as shown in <FIG>, another lower arm 22B is arranged rearward of the head pipe <NUM>. The lower arm 22B extends leftward and rightward. The lower arm 22B is arranged downward of the upper arm <NUM>. The lower arm 22B is rotatably linked to the head pipe <NUM> by a third central link shaft 23Cc (see <FIG>) extending in the vehicle front-rear direction. Note that another upper arm (not shown) may be arranged rearward of the head pipe <NUM>, and this upper arm may be rotatably linked to the head pipe <NUM> by another central link shaft (not shown) extending in the vehicle front-rear direction. Note however that the other upper arm and the other lower arm 22B arranged rearward of the head pipe <NUM> are optional.

As shown in <FIG>, the left arm <NUM> and the right arm <NUM> extend upward and downward. The left arm <NUM> is arranged leftward of the head pipe <NUM> and the right arm <NUM> is arranged rightward of the head pipe <NUM>. The right arm <NUM> is arranged rightward of the left arm <NUM>. The left arm <NUM> and the right arm <NUM> are arranged rearward of the upper arm <NUM> and the lower arm <NUM>. The left arm <NUM> and the right arm <NUM> are arranged forward of the lower arm 22B. The left arm <NUM> and the right arm <NUM> are rotatably linked to the upper arm <NUM>, the lower arm <NUM> and the lower arm 22B.

Specifically, the upper end portion of the left arm <NUM> is rotatably linked to the left end portion of the upper arm <NUM> by a first left link shaft 21Lc extending in the vehicle front-rear direction. The lower end portion of the left arm <NUM> is rotatably linked to the left end portion of the lower arm <NUM> by a second left link shaft 22Lc extending in the vehicle front-rear direction. The lower end of the left arm <NUM> is rotatably linked to the left end portion of the lower arm 22B by a third left link shaft (not shown) extending in the vehicle front-rear direction. The upper end portion of the right arm <NUM> is rotatably linked to the right end portion of the upper arm <NUM> by the first right link shaft 21Rc extending in the vehicle front-rear direction. The lower end portion of the right arm <NUM> is rotatably linked to the right end portion of the lower arm <NUM> by the second right link shaft 22Rc extending in the vehicle front-rear direction. The lower end portion of the right arm <NUM> is rotatably linked to the right end portion of the lower arm 22B by a third right link shaft (not shown) extending in the vehicle front-rear direction.

The leaning vehicle <NUM> includes, as front suspensions, a left suspension <NUM> and a right suspension 25R. In the present embodiment, the left suspension <NUM> and the right suspension 25R are telescopic suspensions. The upper end portion of the left suspension <NUM> and the upper end portion of the right suspension 25R are connected to the link mechanism <NUM>. The lower end portion of the left suspension <NUM> is connected to the left front wheel <NUM>, and the lower end portion of the right suspension 25R is connected to the right front wheel 3R. Specifically, the upper end portion of the left suspension <NUM> is connected to the lower end portion of the left arm <NUM> via a left bracket <NUM>. The upper end portion of the left suspension <NUM> is connected to the left arm <NUM> so as to be rotatable in the left-right direction of the vehicle body frame <NUM>. The upper end portion of the right suspension 25R is connected to the lower end portion of the right arm <NUM> via a right bracket 26R. The upper end portion of the right suspension 25R is connected to the right arm <NUM> so as to be rotatable in the left-right direction of the vehicle body frame <NUM>.

The left suspension <NUM>, the left bracket <NUM> and the left arm <NUM> together form a left wheel support member <NUM> that supports the left front wheel <NUM>. The right suspension 25R, the right bracket 26R and the right arm <NUM> together form a right wheel support member 19R that supports the right front wheel 3R.

A center plate 27C is fixed to the lower end portion of the steering shaft <NUM>. As shown in <FIG>, the center plate 27C extends forward from the steering shaft <NUM>. A left plate <NUM> is fixed to the left bracket <NUM>. A right plate 27R is fixed to the right bracket 26R. The left plate <NUM>, the center plate 27C and the right plate 27R are linked to a tie rod <NUM> so as to be rotatable left and right. The steering shaft <NUM> is linked to the left arm <NUM> and the right arm <NUM> via the center plate 27C, the tie rods <NUM>, the left plate <NUM> and the right plate 27R.

As shown in <FIG>, the leaning vehicle <NUM> includes a roll angle control device <NUM> that controls the roll angle. Note that in the figures other than <FIG>, the roll angle control device <NUM> is not shown. The roll angle as used herein is the tilt angle θ (see <FIG>) of the vehicle body frame <NUM> from the vertical line. Note that in the present embodiment, the roll angle θ is equal to the angle between the axis of the head pipe <NUM> and the vertical line as viewed in the vehicle front view. The roll angle control device <NUM> controls the roll angle of the vehicle body frame <NUM> by adjusting the rotation of the upper arm <NUM> and the lower arm <NUM> relative to the vehicle body frame <NUM>. The roll angle control device <NUM> is configured to apply a torque to at least one of the upper arm <NUM> and the lower arm <NUM>. The roll angle control device <NUM> is connected to at least one of the upper arm <NUM> and lower arm <NUM>, and to the vehicle body frame <NUM>. In the present embodiment, the roll angle control device <NUM> is connected to the upper arm <NUM> and the head pipe <NUM>. Note however that there is no particular limitation thereto, and the roll angle control device <NUM> may be connected to the lower arm <NUM> and the head pipe <NUM>.

The roll angle control device <NUM> includes a case <NUM>, a lean actuator <NUM>, a gear 35A and a gear 35B arranged inside the case <NUM>, and an actuator control device <NUM> arranged inside the case <NUM>. The case <NUM> is supported by a support member <NUM> fixed to the head pipe <NUM>.

The lean actuator <NUM> is a power source that applies a torque around the first central link shaft 21Cc to the vehicle body frame <NUM>. The lean actuator <NUM> may apply a torque directly or indirectly to the vehicle body frame <NUM>. In the present embodiment, the lean actuator <NUM> applies a leftward or rightward torque to the upper arm <NUM>, thereby indirectly applying a rightward or leftward torque to the vehicle body frame <NUM>. In the present embodiment, the lean actuator <NUM> is an electric motor. Note however that the lean actuator <NUM> is not limited to an electric motor as long as the lean actuator <NUM> can generate power.

The lean actuator <NUM> is connected to the gear 35A, and the gear 35A is meshed with the gear 35B. The gear 35A and the gear 35B together form a decelerator. The gear 35B is fixed to an output shaft <NUM>. The output shaft <NUM> is a rotating shaft driven by the lean actuator <NUM> and is connected to the upper arm <NUM>. The torque of the lean actuator <NUM> is transmitted to the upper arm <NUM> via the gear 35A, the gear 35B and the output shaft <NUM>. When the lean actuator <NUM> is driven, a torque around the first central link shaft 21Cc (see <FIG>) is applied to the upper arm <NUM>. Since the upper arm <NUM> is linked to the vehicle body frame <NUM> so as to be rotatable around the first central link shaft 21Cc, when a torque around the first central link shaft 21Cc is applied to the upper arm <NUM>, a torque around the first central link shaft 21Cc is generated in the vehicle body frame <NUM>.

The leaning vehicle <NUM> includes an IMU (Inertial Measurement Unit) (not shown). The actuator control device <NUM> is communicatively connected to the IMU via a wire harness (not shown). The actuator control device <NUM> is configured to receive a signal from the IMU and control the lean actuator <NUM>.

As shown in <FIG>, a power unit <NUM> is pivotally supported on the vehicle body frame <NUM>. The power unit <NUM> is connected to the rear wheel <NUM> so that power can be transmitted therebetween. The power unit <NUM> generates driving force for traveling. The power unit <NUM> provides power to the rear wheel <NUM>. The power unit <NUM> may include an internal combustion engine or may include an electric motor. In the present embodiment, the power unit <NUM> includes an internal combustion engine (hereinafter referred to as an "engine").

The leaning vehicle <NUM> includes left and right rear suspensions <NUM>. The left rear suspension <NUM> is arranged leftward of the rear wheel <NUM> and the right rear suspension <NUM> is arranged rightward of the rear wheel <NUM>. Each rear suspension <NUM> includes an upper support portion <NUM> pivotably supported on the vehicle body frame <NUM> and a lower support portion <NUM> pivotably supported on the rear wheel <NUM>. Herein, the upper support portion <NUM> is pivotably supported on the seat frame <NUM> via a bracket 13B. The lower support portion <NUM> is pivotably supported on a bracket 4B mounted on the axle of the rear wheel <NUM>.

The leaning vehicle <NUM> includes a control panel <NUM> (see <FIG>). The control panel <NUM> is arranged upward of the head pipe <NUM>. The control panel <NUM> is arranged rearward of a central portion 15C of the steering handle <NUM>. Note however that there is no particular limitation on the position of the control panel <NUM> as long as the control panel <NUM> is in a position where it is visible and operable by the rider seated on the seat <NUM>. As shown in <FIG>, the control panel <NUM> according to the present embodiment includes a display device <NUM> and switches 42A to 42D. The control panel <NUM> also includes a display control device <NUM> that controls the display device <NUM>.

The display device <NUM> can display the speed of the leaning vehicle <NUM>, the engine speed and the amount of fuel, etc.. The display device <NUM> is capable of displaying an image showing the status of operation of the lean actuator <NUM>. There is no particular limitation on the form of the display device <NUM>. The display device <NUM> may, for example, include a liquid crystal display or an organic EL display. The display device <NUM> may include LEDs.

With the leaning vehicle <NUM> according to the present embodiment, with the provision of the actuator control device <NUM> that controls the lean actuator <NUM>, it is possible to control the roll angle when the leaning vehicle <NUM> is traveling and when the leaning vehicle <NUM> is stopped. There is no particular limitation on the control performed by the actuator control device <NUM>. The actuator control device <NUM> can perform the standing assist control as follows.

The standing assist control is a control of keeping the vehicle body frame <NUM> standing upright when the leaning vehicle <NUM> is starting, traveling slowly, or stopped at a stoplight, etc. For example, when the leaning vehicle <NUM> is traveling slowly, if the rider puts their weight to the left, the vehicle body frame <NUM> is subjected to a leftward force. As it is, the vehicle body frame <NUM> will lean leftward. The actuator control device <NUM> detects the tilt of the vehicle body frame <NUM> based on the signal from the IMU. When the actuator control device <NUM> detects the tilt of the vehicle body frame <NUM>, the actuator control device <NUM> controls the lean actuator <NUM> to eliminate the tilt. Specifically, the actuator control device <NUM> controls the lean actuator <NUM> so that the roll angle of the vehicle body frame <NUM> becomes zero. When the vehicle body frame <NUM> leans leftward, the actuator control device <NUM> controls the lean actuator <NUM> so as to apply a rightward torque to the vehicle body frame <NUM>. When the vehicle body frame <NUM> leans rightward, the actuator control device <NUM> controls the lean actuator <NUM> so as to apply a leftward torque to the vehicle body frame <NUM>.

The display control device <NUM> is configured to display an image showing the status of operation of the lean actuator <NUM> (hereinafter referred to as an actuator operation image) on the display device <NUM>. In the present embodiment, as the actuator operation image, the display control device <NUM> simultaneously displays information on whether the lean actuator <NUM> is outputting a torque, the direction of the torque output by the lean actuator <NUM>, the magnitude of the torque output by the lean actuator <NUM>, and the degree of tilt of the vehicle body frame <NUM> from the vertical line on the display device <NUM>.

<FIG> is a diagram of an example of the actuator operation image displayed on the display device <NUM>. The image includes a display area <NUM> in which an image of a vehicle <NUM> is displayed, a display area <NUM> in which a leftward arrow <NUM> is displayed, and a display area <NUM> in which a rightward arrow 62R is displayed.

When the vehicle body frame <NUM> is tilted from the vertical line, the display area <NUM> displays the vehicle <NUM> tilted from the vertical line. Note that since the display device <NUM> is viewed by the rider seated on the seat <NUM>, the image of the vehicle <NUM> displayed on the display device <NUM> is a mirror image of the leaning vehicle <NUM> with left and right reversed. When the vehicle body frame <NUM> of the leaning vehicle <NUM> is tilted leftward, the vehicle <NUM> is displayed tilted leftward, and when the vehicle body frame <NUM> is tilted rightward, the vehicle <NUM> is displayed tilted rightward. Here, the greater the degree of tilt of the vehicle body frame <NUM> from the vertical line (in other words, the greater the roll angle), the greater the degree of tilt of the vehicle <NUM> from the vertical line. Thus, the direction and degree of tilt of the vehicle body frame <NUM> from the vertical line is displayed in the display area <NUM>.

When the vehicle body frame <NUM> is tilted rightward, the lean actuator <NUM> outputs a leftward torque. As shown in <FIG>, when the lean actuator <NUM> is outputting a leftward torque, part or whole of the leftward arrow <NUM> is displayed in solid black <NUM> and the entire rightward arrow 62R is displayed in solid white. When the lean actuator <NUM> is outputting a rightward torque, part or all of the rightward arrow 62R is displayed in solid black <NUM> and the entire leftward arrow <NUM> is displayed in solid white. When the lean actuator <NUM> is not outputting a torque, the entire leftward arrow <NUM> and the entire rightward arrow 62R are displayed in solid white. Therefore, based on the presence or absence of solid black <NUM> in the leftward arrow <NUM> and the rightward arrow 62R, it is possible to know information on whether the lean actuator <NUM> is outputting a torque and the direction of the torque output by the lean actuator <NUM>. Thus, the information of whether the lean actuator <NUM> is outputting a torque and the direction of the torque output by the lean actuator <NUM> are displayed in the display areas <NUM> and <NUM>.

Here, in the leftward arrow <NUM> and the rightward arrow 62R, the greater the torque output by the lean actuator <NUM>, the greater the area of solid black <NUM>. Based on the area of solid black <NUM>, it is possible to know the magnitude of the torque output by the lean actuator <NUM>. Thus, the magnitude of the torque output by the lean actuator <NUM> is displayed in the display areas <NUM> and <NUM>.

<FIG> is a diagram showing another example of an actuator operation image. This image shows a center block <NUM>, a left block <NUM> and a right block <NUM>. In this image, the left block <NUM> is displayed in solid black when the lean actuator <NUM> is outputting a leftward torque, and the right block <NUM> is displayed in solid black when the lean actuator <NUM> is outputting a rightward torque. When the lean actuator <NUM> is not outputting a torque, the left block <NUM> and the right block <NUM> are displayed in solid white. This image displays information on whether the lean actuator <NUM> is outputting a torque and the direction of the torque output by the lean actuator <NUM>.

Note that the actuator operation images described above are only an example. Needless to say, the actuator operation image is not limited to the image examples.

Now, when the actuator control device <NUM> is not performing the standing assist control, the rider does not need to know the status of operation of the lean actuator <NUM>. Therefore, when the rider turns ON/OFF the standing assist control, the display image on the display device <NUM> is switched automatically. For example, assume that the switch 42A (see <FIG>) is the switch for switching ON/OFF the standing assist control. When the rider turns ON the switch 42A, the standing assist control by the actuator control device <NUM> is initiated, and when the rider turns OFF the switch 42A, the standing assist control by the actuator control device <NUM> is terminated. The display control device <NUM> displays the actuator operation image on the display device <NUM> when the switch 42A is ON and displays another image different from the actuator operation image on the display device <NUM> when the switch 42A is OFF. For example, the display control device <NUM> may display the speed of the leaning vehicle <NUM>, the engine speed and the amount of fuel, etc., on the display device <NUM> when the switch 42A is OFF.

While the standing assist control is turned ON/OFF manually according to the invention, it may be turned ON/OFF automatically depending on the speed of the leaning vehicle <NUM> in an example not covered by the claims. Where the standing assist control is switched ON/OFF automatically, the displayed image on the display device <NUM> may be switched automatically accordingly. As shown in <FIG>, the leaning vehicle <NUM> includes a speed sensor <NUM> to detect the speed of the leaning vehicle <NUM>. In one other embodiment, the actuator control device <NUM> is configured to execute the standing assist control when the speed detected by the speed sensor <NUM> is less than or equal to a threshold value, and to cancel the standing assist control when the speed becomes greater than the threshold value. Note that the speed being less than or equal to the threshold value includes the case where the speed is zero. The actuator control device <NUM> executes the standing assist control when the leaning vehicle <NUM> is traveling slowly and when it is stopped. The display control device <NUM> causes the actuator operation image to be displayed on the display device <NUM> when the speed detected by the speed sensor <NUM> is less than or equal to the threshold value, and causes another image different from the actuator operation image to be displayed on the display device <NUM> when the speed is greater than the threshold value. As a result, when the standing assist control is started, the displayed image on the display device <NUM> is automatically switched to the actuator operation image, and when the standing assist control is finished, the displayed image on the display device <NUM> is automatically switched to another image.

As shown in <FIG>, the leaning vehicle <NUM> according to the present embodiment includes an abnormality detection device <NUM> for detecting an abnormality of the lean actuator <NUM>. The display control device <NUM> is configured to, when the abnormality detection device <NUM> detects an abnormality of the lean actuator <NUM>, display on the display device <NUM> that the abnormality has occurred. The display control device <NUM> may display an image indicating the occurrence of an abnormality of the lean actuator <NUM> on the display device <NUM> together with the actuator operation image, or may display an image indicating the occurrence of an abnormality of the lean actuator <NUM> on the display device <NUM> instead of the actuator operation image.

As described above, the leaning vehicle <NUM> according to the present embodiment, an image indicating the status of operation of the lean actuator <NUM> is displayed on the display device <NUM>. By looking at the display device <NUM>, the rider can know the status of operation of the lean actuator <NUM>. The rider can intuitively understand the status of the standing assist control. Thus, it is easier for the rider to perform an operation in conformity with the operation of the lean actuator <NUM>. The rider can drive the leaning vehicle <NUM> desirably while the lean actuator <NUM> is operating.

According to the present embodiment, information on whether the lean actuator <NUM> is outputting a torque is displayed on the display device <NUM>. By looking at the display device <NUM>, the rider can easily know whether the lean actuator <NUM> is outputting a torque. For example, before the leaning vehicle <NUM> decelerates to a stop, the rider can know that standing assist is being provided. The rider can stop the leaning vehicle <NUM> with confidence.

According to the present embodiment, the direction of the torque output by the lean actuator <NUM> is displayed on the display device <NUM>. By looking at the display device <NUM>, the rider can easily know the direction of the torque output by the lean actuator <NUM>. The rider can intuitively understand the operation of the lean actuator <NUM>.

According to the present embodiment, the magnitude of the torque output by the lean actuator <NUM> is displayed on the display device <NUM>. By looking at the display device <NUM>, the rider can easily know the magnitude of the torque output by the lean actuator <NUM>. For example, if the torque output by the lean actuator <NUM> is large, the rider can refrain from abrupt maneuvers (e.g., suddenly turning the acceleration grip for rapid acceleration) so as to stabilize the attitude of the leaning vehicle <NUM>. The rider can drive the leaning vehicle <NUM> desirably.

According to the present embodiment, the degree of tilt of the vehicle body frame <NUM> from the vertical line is displayed on the display device <NUM>. By looking at the display device <NUM>, the rider can easily know the degree of tilt of the vehicle body frame <NUM>. For example, if the degree of tilt of the vehicle body frame <NUM> is large, the rider can refrain from abrupt maneuvers so as to stabilize the attitude of the leaning vehicle <NUM>. The rider can drive the leaning vehicle <NUM> desirably.

According to the present embodiment, information on whether the lean actuator <NUM> is outputting a torque, the direction of the torque output by the lean actuator <NUM>, the magnitude of the torque output by the lean actuator <NUM>, and the degree of tilt of the vehicle body frame <NUM> from the vertical line are displayed at the same time on the display device <NUM>. Thus, the rider can more specifically understand the status of the standing assist control.

According to the present embodiment, when an abnormality occurs in the lean actuator <NUM>, the abnormality detection device <NUM> detects the abnormality and indicates on the display device <NUM> that an abnormality has occurred in the lean actuator <NUM>. The rider can immediately know an abnormality of the lean actuator <NUM>. Therefore, the rider can take appropriate action, such as stopping driving the leaning vehicle <NUM>.

As mentioned above, the display control device <NUM> displays the actuator operation image on the display device <NUM> when the switch 42A for switching ON/OFF the standing assist control is ON, and displays another image different from the actuator operation image on the display device <NUM> when the switch 42A is OFF. Thus, the rider can know the status of operation of the lean actuator <NUM> as needed. With a single display device <NUM>, it is possible to selectively display both the actuator operation image and another image. The number of display devices can be reduced compared to where a dedicated display device for displaying the actuator operation image is provided.

As described above, in an example not covered by the claims, the actuator control device <NUM> may be configured to perform the standing assist control when the speed of the leaning vehicle <NUM> detected by the speed sensor <NUM> is less than or equal to a threshold value and to not perform the standing assist control when the speed of the leaning vehicle <NUM> is greater than the threshold value. The display control device <NUM> may display an actuator operation image on the display device <NUM> when the speed of the leaning vehicle <NUM> detected by the speed sensor <NUM> is less than or equal to the threshold value and display another image on the display device <NUM> when the speed of the leaning vehicle <NUM> is greater than the threshold value. Thus, the rider can know the status of operation of the lean actuator <NUM> as needed. Since a single display device <NUM> can selectively display both the actuator operation image and another image, it is possible to reduce the number of display devices.

While an embodiment of the leaning vehicle has been described above, the embodiment is merely an example. Various other embodiments are possible.

As described above, actuator operation images shown in <FIG> and <FIG> are merely examples. Actuator operation images that the display control device <NUM> displays on the display device <NUM> may be other images. The display control device <NUM> may display, as the actuator operation image on the display device <NUM>, only one of, or simultaneously two or three of, information on whether the lean actuator <NUM> is outputting a torque, the direction of the torque output by the lean actuator <NUM>, the magnitude of the torque output by the lean actuator <NUM>, and the degree of tilt of the vehicle body frame <NUM> from the vertical line. The display control device <NUM> may switch between a plurality of actuator operation images to be displayed on the display device <NUM>.

In the actuator operation images shown in <FIG> and <FIG>, instead of solid black, a solid color other than solid black may be used. Instead of using the solid black and solid white display for the arrows <NUM> and 62R in the actuator operation image of <FIG>, the size of the arrows <NUM> and 62R may be varied depending on the magnitude of the torque output by the lean actuator <NUM>. In the actuator operation image of <FIG>, a blinking display may be used instead of the solid black display.

While the status of the operation of the lean actuator <NUM> is displayed by graphics in the actuator images of <FIG> and <FIG>, letters, numbers or symbols may be displayed in addition to, or instead of, the graphics. For example, the presence or absence of the torque of the lean actuator <NUM> and the direction of the torque output by the lean actuator <NUM> may be displayed in letters. The magnitude of the torque output by the lean actuator <NUM> or the degree of tilt of the vehicle body frame <NUM> may be displayed in numbers.

The leaning vehicle <NUM> in the embodiment described above is a scooter. However, the form of vehicle of the leaning vehicle is not limited to a scooter.

Claim 1:
A leaning vehicle (<NUM>) comprising:
a vehicle body frame (<NUM>) including a head pipe (<NUM>);
a left wheel (<NUM>) arranged leftward relative to the head pipe (<NUM>);
a right wheel (3R) arranged rightward relative to the head pipe (<NUM>);
a left wheel support member (<NUM>) supporting the left wheel (<NUM>);
a right wheel support member (19R) arranged rightward of the left wheel support member (<NUM>) and supporting the right wheel (3R);
a link member (<NUM>) extending leftward and rightward of the vehicle body frame (<NUM>);
a central link shaft (21Cc) extending in a vehicle front-rear direction that rotatably links the vehicle body frame (<NUM>) to the link member (<NUM>);
a left link shaft (21Lc) extending in the vehicle front-rear direction that rotatably links the left wheel support member (<NUM>) to the link member (<NUM>);
a right link shaft (21Rc) extending in the vehicle front-rear direction that rotatably links the right wheel support member (19R) to the link member (<NUM>);
a lean actuator (<NUM>) that is configured to apply a leftward or rightward torque around the central link shaft (21Cc) to the vehicle body frame (<NUM>);
a display device (<NUM>); and
a display control device (<NUM>) that is configured to display an image indicating a status of operation of the lean actuator (<NUM>) on the display device (<NUM>)
characterized by
the leaning vehicle (<NUM>) comprising:
an actuator control device (<NUM>) that is configured to execute a standing assist control of controlling the lean actuator (<NUM>) to keep the vehicle body frame (<NUM>) standing by itself; and
a switch (42A) that is configured to switch ON/OFF the standing assist control,
wherein the display control device (<NUM>) is configured to display the image indicating the status of operation of the lean actuator (<NUM>) on the display device (<NUM>) when the switch (42A) is ON, and display another image different from said image on the display device (<NUM>) when the switch (42A) is OFF.