[Problem]A problem to be solved by the present teaching is to make it possible to assist a leaning vehicle in a stopped state to stand by itself and make it easy to start a leaning vehicle and make it easy to walk the leaning vehicle.[Solution to Problem]A lean control device 17 is capable of executing at least gravity compensation control C1 and self-standing assist control C2. When a condition for a switch of control is satisfied, the lean control device 17 instructs an actuator 16 to conduct a switch between the gravity compensation control C1 and the self-standing assist control C2. The output torque, at least when the leaning vehicle 1 is at a stop and when the gravity compensation control C1 is being executed, is greater than zero and smaller than a leaning moment. The output torque, at least when the leaning vehicle 1 is at a stop, when the vehicle body 11 leans at an angle within a substantially self-standing range and when the self-standing assist control C2 is being executed, is greater than the leaning moment. The leaning moment is a moment that acts on the vehicle body due to gravity when the vehicle body 11 leans.
LEAN CONTROL DEVICE AND LEANING VEHICLE
LEAN-STEUERVORRICHTUNG UND NEIGEFAHRZEUG
DISPOSITIF DE COMMANDE D'INCLINAISON ET VÉHICULE INCLINABLE
2023-04-05
Patent
Electronic Resource
English
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