A tricycle that allows riding in adequate conditions over any type of terrain is disclosed, the tricycle having a structural frame onto which a seat and several pedals are incorporated, equipped with a rolling assembly made up of one rear wheel and two parallel front wheels, with the front wheels incorporated into two mounting forks equipped with several respective stems projecting upwards.

A leaning vehicle including a vehicle body, front and rear wheels, a leaning mechanism that causes the vehicle body and the front and rear wheels to lean left or right when the leaning vehicle turns left or right, a lean actuator, a support stand, a detection device that detects a getting on intention input and or a getting off intention input, which respectively indicate that a rider of the leaning vehicle intends to get on and off the leaning vehicle, and a control device configured to control the lean actuator to thereby control a lean angle of the vehicle body while the vehicle body is in motion, based on a manipulation that the rider performs for turning in the left or right direction, and control the lean angle of the vehicle body while the leaning vehicle is not in motion, based on a detection result of the detection device.

A leaning vehicle including a vehicle body, front and rear wheels, a leaning mechanism that causes the vehicle body and the front and rear wheels to lean left or right when the leaning vehicle turns left or right, a lean actuator, a support stand, a detection device that detects a getting on intention input and or a getting off intention input, which respectively indicate that a rider of the leaning vehicle intends to get on and off the leaning vehicle, and a control device configured to control the lean actuator to thereby control a lean angle of the vehicle body while the vehicle body is in motion, based on a manipulation that the rider performs for turning in the left or right direction, and control the lean angle of the vehicle body while the leaning vehicle is not in motion, based on a detection result of the detection device.

This invention relates to a rolling motor vehicle with three or four wheels, comprising a frame 6 that extends from a forecarriage 8, which supports at least two front wheels 10′,10″, to a rear 12 which supports one or more rear wheels 14. The frame 6 defines an accommodating area 15 for a driver P. The forecarriage 8 in turn comprises: —a forecarriage frame 16; —at least one pair of front wheels 10′,10″ kinematically connected to each other and to the forecarriage frame 16 by means of a rolling kinematic mechanism 20 which enables the front wheels to roll in a synchronous and specular manner, each wheel 10′,10″ being connected to said rolling kinematic mechanism 20 by means of a respective axle journal 60, said axle journal 60 being mechanically connected to a rotation pin 68 of the wheel in order to support it rotatably around an axis of rotation R′-R′, R″-R″; —a roll control system 100 of the motor vehicle; —suspension means 90 which guarantee each axle journal 60 at least one spring suspension movement with respect to said rolling kinematic mechanism 20. The roll control system comprises a rod 110, which connects the two front wheels directly to each other at the respective axle journals 60 at its two ends by means of hinging means 72,73,74 which enable said rod 110 to passively follow the movements of the axle journals 60, the roll movements of the two front wheels and of the respective axle journals causing changes in the lying position of said rod 110 with respect to a vertical projection plane, which is transverse to a centre line plane M-M of the motor vehicle. The rod 110 is usable directly or indirectly by the driver P as a command element of the roll control system 100 to control the rolling movements of the two front wheels without having to put his feet on the ground, adjusting the lying position of the rod 110 itself with his own body. Said command element 110, 120 is disposed so as to be accessible and maneuverable by the driver P from the accommodating area 15.

This invention relates to a rolling motor vehicle with three or four wheels, comprising a frame 6 that extends from a forecarriage 8, which supports at least two front wheels 10′,10″, to a rear 12 which supports one or more rear wheels 14. The frame 6 defines an accommodating area 15 for a driver P. The forecarriage 8 in turn comprises: —a forecarriage frame 16; —at least one pair of front wheels 10′,10″ kinematically connected to each other and to the forecarriage frame 16 by means of a rolling kinematic mechanism 20 which enables the front wheels to roll in a synchronous and specular manner, each wheel 10′,10″ being connected to said rolling kinematic mechanism 20 by means of a respective axle journal 60, said axle journal 60 being mechanically connected to a rotation pin 68 of the wheel in order to support it rotatably around an axis of rotation R′-R′, R″-R″; —a roll control system 100 of the motor vehicle; —suspension means 90 which guarantee each axle journal 60 at least one spring suspension movement with respect to said rolling kinematic mechanism 20. The roll control system comprises a rod 110, which connects the two front wheels directly to each other at the respective axle journals 60 at its two ends by means of hinging means 72,73,74 which enable said rod 110 to passively follow the movements of the axle journals 60, the roll movements of the two front wheels and of the respective axle journals causing changes in the lying position of said rod 110 with respect to a vertical projection plane, which is transverse to a centre line plane M-M of the motor vehicle. The rod 110 is usable directly or indirectly by the driver P as a command element of the roll control system 100 to control the rolling movements of the two front wheels without having to put his feet on the ground, adjusting the lying position of the rod 110 itself with his own body. Said command element 110, 120 is disposed so as to be accessible and maneuverable by the driver P from the accommodating area 15.

A leaning vehicle includes a caliper and an electric motor supported at a same position in a vehicle body frame. Provided that a position opposed to a pad in a plate when a left front wheel is located in an uppermost end in the vehicle-body-frame upward direction in a movable region of the left front wheel and a right front wheel is located in a lowermost end in the vehicle-body-frame downward direction in a movable region of the right front wheel is defined as a left leaning end portion position and a position opposed to the pad in the plate when the left front wheel is located in the lowermost end in the vehicle-body-frame downward direction in the movable region of the left front wheel and the right front wheel is located in the uppermost end in the vehicle-body-frame upward direction in the movable region of the right front wheel is defined as a right leaning end portion position, the electric motor is disposed in a motor disposition region spaced away from a movable region of the plurality of link members by a distance equal to or smaller than a distance between the left leaning end portion position and the right leaning end portion position.

A leaning vehicle includes a caliper and an electric motor supported at a same position in a vehicle body frame. Provided that a position opposed to a pad in a plate when a left front wheel is located in an uppermost end in the vehicle-body-frame upward direction in a movable region of the left front wheel and a right front wheel is located in a lowermost end in the vehicle-body-frame downward direction in a movable region of the right front wheel is defined as a left leaning end portion position and a position opposed to the pad in the plate when the left front wheel is located in the lowermost end in the vehicle-body-frame downward direction in the movable region of the left front wheel and the right front wheel is located in the uppermost end in the vehicle-body-frame upward direction in the movable region of the right front wheel is defined as a right leaning end portion position, the electric motor is disposed in a motor disposition region spaced away from a movable region of the plurality of link members by a distance equal to or smaller than a distance between the left leaning end portion position and the right leaning end portion position.

A system includes: sensors that includes a position sensor to determine a vehicle speed, an angular displacement sensor to determine a roll angle corresponding to an angular displacement of the vehicle in a roll direction and a roll rate corresponding to an angular velocity of the vehicle in the roll direction, and a steering torque sensor to determine a steering torque applied to a steering handle of the vehicle; and a stabilizing unit coupled to the sensors. The stabilizing unit: determines a synthesized torque based on the roll angle, the roll rate, and the vehicle speed; determines a tuning parameter based on a comparison of the synthesized torque and the steering torque; determines a stabilizing torque based on the tuning parameter and the synthesized torque; and provides an actuating signal corresponding to the stabilizing torque for applying the stabilizing torque to the steering handle of the vehicle.

A system includes: sensors that includes a position sensor to determine a vehicle speed, an angular displacement sensor to determine a roll angle corresponding to an angular displacement of the vehicle in a roll direction and a roll rate corresponding to an angular velocity of the vehicle in the roll direction, and a steering torque sensor to determine a steering torque applied to a steering handle of the vehicle; and a stabilizing unit coupled to the sensors. The stabilizing unit: determines a synthesized torque based on the roll angle, the roll rate, and the vehicle speed; determines a tuning parameter based on a comparison of the synthesized torque and the steering torque; determines a stabilizing torque based on the tuning parameter and the synthesized torque; and provides an actuating signal corresponding to the stabilizing torque for applying the stabilizing torque to the steering handle of the vehicle.

A leaning vehicle configured to lean leftward and rightward when turning left and right, respectively. The leaning vehicle has a vehicle body frame, a seat supported by the vehicle body frame, left and right front wheel units located at left and right sides of the vehicle body frame and including left and right front wheels, respectively, and a front-portion cover located on the vehicle body frame between the seat and the left and right front wheel units, for covering a front of a driver seated on the seat. The front-portion cover includes a light transmitting part that is made of a light transmissive material, and is so sized as to allow the driver seated on the seat to visually recognize therethrough at least a part of the left front wheel unit and at least a part of the right front wheel unit when the leaning vehicle leans leftward or rightward.