To provide a vehicle which is improved in turning performance, enabled in a stable turn, has a simple mechanism, and provides comfortable ride.
The vehicle has a vehicle body 2, wheels 4 and 5 attached rotatably to a vehicle body 2, the wheel 4 working a vehicle steering wheel for steering the vehicle body 2 and the wheel 5 working as a driving wheel attached rotatably to the vehicle body 2 to drive it, a motor 41 which drives the driving wheel, support members 22, 23, 24, and 25 connected to the vehicle body 2, a link mechanism L which is connected rotatably to the support members 23, 24, and 25 and tilts the vehicle body 2 in the direction of a turn, an actuator 31 which actuates the link mechanism L, and a control unit 100 which controls the driving torque of the motor 41 so that vertical angular acceleration generated by the rotation of the actuator 31 and acting on a grounding point of the wheel 5 that is the outside of a track of a turn when the vehicle body 2 makes the turn does not exceed vertical acceleration generated by the deadweight of the vehicle body 2 and acting on a grounding point of the wheel 5 that is the outside of the track of the turn when the vehicle body 2 makes the turn with respect to a grounding point of the wheel 5 that is the inside of the track of the turn when the vehicle body 2 makes the turn, and that is the center.
HAYASHI KOKI
YAMAMOTO SHINJI
Teiji Tanaka
Ryukichi Abe
Kenji Aoki