LEANING POSTURE CONTROL DEVICE FOR LEANING VEHICLE HAVING LEFT AND RIGHT INCLINED WHEELS MOUNTED THEREON AND LEANING VEHICLE HAVING LEFT AND RIGHT INCLINED WHEELS MOUNTED THEREON

摘要

A leaning posture control device controls a leaning posture of a left-right-inclined-wheel-equipped leaning vehicle. The leaning posture control device controls a torque of at least one of a left inclined wheel or a right inclined wheel arranged in a left-right direction of the vehicle so as to suppress a change in a lean of the lean body frame in a left direction or right direction of the vehicle while the lean body frame is leaned, based on a physical quantity concerning side-slip, in the left direction of the vehicle or in the right direction of the vehicle, of the left inclined wheel, the right inclined wheel, and another inclined wheel disposed ahead of or behind the left inclined wheel and the right inclined wheel.