A leaning vehicle, including a vehicle body, one steerable front wheel and two rear wheels, or two steerable front wheels and one or two rear wheels, a suspension mechanism, a steering mechanism, a steering controller, and an up-down direction acceleration detector attached to the vehicle body or the suspension mechanism. The two steerable front wheels or the two rear wheels are arranged side by side to form a left-right pair of wheels. The up-down direction acceleration detector detects an acceleration in an up-down direction of the leaning vehicle or the vehicle body, generated as one wheel in the left-right pair of wheels passes a bump or a pothole in a road. The steering controller so controls the one or two steerable front wheels that the one or two steerable front wheels are in a free-steering state, so as to swivel around a steering axis freely, based on the detected acceleration.

A leaning vehicle including a vehicle body, a steerable front wheel set swivelable around an axis extending in an up-down direction, a rear wheel set, a turn operation input device that receives a turn operation and transmits the turn operation non-mechanically, a leaning device including a lean actuator that leans the vehicle body, the steerable front wheel set and the rear wheel set to a leftward or rightward direction, and a centripetal force generator including a centripetal force generation actuator, which outputs a controllable torque to thereby generate an additional centripetal force that acts on the steerable front wheel set and the rear wheel set during a turn of the leaning vehicle. The controller controls the torque while controlling the lean actuator in accordance with the received turn operation, to thereby control a leaning condition of the vehicle body during the turn and to control generation of the additional centripetal force.

A target steering angle determining section determines a target steering angle based on the operation amount of the steering gear. A target angle setting section sets a target angle of a steered wheel. A control state switching section switches between an enabled state in which steering control is performed to deflect the steered wheel such that an actual steering angle reaches the target angle and a disabled state in which the steering control is not performed. When the steering control state is switched to the enabled state, the target angle setting section sets the target angle to an angle that was brought closer to the actual steering angle from the target steering angle. After the steering control state is switched to the enabled state, the target angle setting section brings the target angle closer to the target steering angle as time passes.

A saddle type vehicle includes two front wheels, a left front wheel supporting member and a right front wheel supporting member which are turned around a left front wheel turning axis and a right front wheel turning axis respectively, and an upper lean arm and a lower lean arm which are rotated around an axis perpendicular to a vehicle width direction. The upper arm is connected to the left and right members via first and second connecting parts. The lower arm is connected to the left and right members via third and fourth connecting parts. The first and third parts are provided in the left front wheel turning axis. The second and fourth parts are provided in the right front wheel turning axis. A distance between the first and second parts is equal to the distance between the third and fourth parts.

The present steerable wheel assembly incorporates a lean-to-steer mechanism into an inner race of a roller bearing, while a wheel is mounted to an outer race of the roller bearing. A shaft extending from the mechanism is attached to a body, and the mechanism acts to steer the outer race and the wheel about a vertical steering axis when the shaft is tilted about a horizontal axis. The mechanism can be a pivot joint, providing a linear steering response, or can be a lean-to-steer mechanism that provides a non-linear response where the steering action is not proportionally responsive to tilting over the expected range of tilting.

The present steerable wheel assembly incorporates a lean-to-steer mechanism into an inner race of a roller bearing, while a wheel is mounted to an outer race of the roller bearing. A shaft extending from the mechanism is attached to a body, and the mechanism acts to steer the outer race and the wheel about a vertical steering axis when the shaft is tilted about a horizontal axis. The mechanism can be a pivot joint, providing a linear steering response, or can be a lean-to-steer mechanism that provides a non-linear response where the steering action is not proportionally responsive to tilting over the expected range of tilting.

A tiltable vehicle is configured to transform between an autonomous mode and a rideable mode by pivoting the handlebars and steering column of the vehicle about a pitch axis. In the autonomous mode, the steering column is folded back toward the chassis and a tiltable chassis of the vehicle is prevented from tilting. In the rideable mode, the steering column is unfolded and the chassis is free to tilt. In some examples, a tiltable vehicle includes features beneficial for vehicle-sharing, such as parking devices or a basket. These features may be included on any suitable vehicle and are not limited to use on transforming vehicles.

The present disclosure relates to autonomous driving vehicles and methods for improving stability and occupant comfort of the same. The vehicle includes: a frame member; a cabin, movable with respect to and independent from the frame member; wheels; at least one suspension between the wheels and frame member; actuation device configured to control at least the orientation of the cabin with respect to the frame member; a perception module comprising perception sensors and algorithm configured to at least identify road boundaries and obstacles in the vicinity of the vehicle; and a planning module configured to plan the motions of the steering means using information from at least the perception module.

A front fork (4) of a motor vehicle, comprising a first lining (24), a first stem (28) and a second lining (48), wherein the first stem (28) slides axially inside the first lining (24) along a first sliding axis, the first stem (28) and the first lining (24) are associated one to one hub (32) for rotatably housing the rotation pin of an axle journal of a wheel and the other to a steering column (40) by means of a bracket (44), or vice versa, the second lining (48) is integral in rotation with the first lining (24), is arranged so that, with respect to a projection plane perpendicular to the first sliding axis, the projection area of the first lining (24) is eccentrically contained in the projection area of the second lining (48), and is integrally attached to said hub (32) or to said steering column (40).

A front fork (4) of a motor vehicle, comprising a first lining (24), a first stem (28) and a second lining (48), wherein the first stem (28) slides axially inside the first lining (24) along a first sliding axis, the first stem (28) and the first lining (24) are associated one to one hub (32) for rotatably housing the rotation pin of an axle journal of a wheel and the other to a steering column (40) by means of a bracket (44), or vice versa, the second lining (48) is integral in rotation with the first lining (24), is arranged so that, with respect to a projection plane perpendicular to the first sliding axis, the projection area of the first lining (24) is eccentrically contained in the projection area of the second lining (48), and is integrally attached to said hub (32) or to said steering column (40).