Title:
LEANING VEHICLE
Document Type and Number:
WIPO Patent Application WO/2024/048529
Kind Code:
A1
Abstract:
A vehicle body frame (5) of a leaning vehicle (1) inclines in a direction among the vehicle left and right directions which is the same as the turning direction at least when turning at a vehicle velocity (V) in a high-velocity region (AV2), and inclines in a direction among the vehicle left and right directions which is opposite to the turning direction when turning at a vehicle velocity in an ultra-low velocity region (AV1) lower than the high-velocity region (AV2). A control device (9) of the leaning vehicle (1) controls at least one of steering torque and driving torque applied by a torque application device (10), on the basis of at least information detected by a lean angle-related information detection device (6), a steering angle-related information detection device (7), and a wheel velocity-related information detection device (8), such that when a lean angle (φ) toward a direction among the vehicle left and right directions which is opposite to the turning direction is less than a positive first value during turning of the leaning vehicle at a vehicle velocity (V) in the ultra-low velocity region (AV1), the lean angle (φ) is increased in the direction among the vehicle left and right directions which is opposite to the turning direction while the leaning vehicle turns in the vehicle velocity (V) in the ultra-low velocity region (AV1).
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Inventors:
KOZU DAISUKE (JP)
HARA SUSUMU (JP)
HARA SUSUMU (JP)
Application Number:
PCT/JP2023/031021
Publication Date:
March 07, 2024
Filing Date:
August 28, 2023
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
International Classes:
B60W30/045; B60W10/04; B60W10/18; B60W10/20; B60W60/00; B62D6/00; B62K21/00
Domestic Patent References:
| WO2017090666A1 | 2017-06-01 | |||
| WO2017164342A1 | 2017-09-28 |
Foreign References:
| JP2018172073A | 2018-11-08 | |||
| JP2017177905A | 2017-10-05 | |||
| JP2017178188A | 2017-10-05 | |||
| JP2011195006A | 2011-10-06 |
Attorney, Agent or Firm:
ATEN IP ATTORNEYS (JP)
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