An autonomous tilting three-wheeled vehicle comprises a pair of front wheels coupled to a tiltable chassis by a mechanical linkage, such that the pair of wheels and the chassis are configured to tilt in unison with respect to a roll axis of the chassis. An electronic controller of the autonomous vehicle controls a tilt actuator to selectively tilt the chassis. Optionally, a steering actuator is coupled to the front wheels and controlled by the electronic controller to selectively steer the wheels. A sensor configured to measure orientation-dependent information may be coupled to the chassis by a gimbal configured to compensate for vehicle tilt. In some examples, the autonomous vehicle comprises an autonomous delivery robot.

A three-wheeled vehicle may include one rear wheel and two front wheels coupled to a tiltable chassis, such that tilting of the chassis causes a corresponding tilting of the three wheels. The tiltable chassis includes a tiltable body coupled to a non-tilting frame by a pair of rotatable joints, such that the tiltable body is configured to rotate relative to the frame. A fore-and-aft connecting beam of the tiltable body extends beneath the frame to accommodate a battery compartment or other storage on top of the frame. A front tower extends upward from a front end of the connecting beam, above the frame, to couple to a tilt linkage and seat post of the vehicle. A rear tower extends upward from a rear end of the connecting beam to retain the rear wheel.

The present disclosure relates to a front chassis system of a tilting vehicle, and a front chassis system of a tilting vehicle. The system includes at least: a front swing arm-LH connected to and provided at a vehicle body and a front steering wheel-LH, and a front swing arm-RH connected to and provided at the vehicle body and a front steering wheel-RH; a front shock absorber-LH connected to and provided at the front swing arm-LH, and a front shock absorber-RH connected to and provided at the front swing arm-RH; a front tilt bar rotatably connected to and provided at the vehicle body, and connected to and provided at the front shock absorber-LH and the front shock absorber-RH; at least one front elastic roller provided at the vehicle body; and a steering device linked to and provided at a steering wheel part assembled on the vehicle body.

A three wheeled vehicle is provided that can include a frame, a steerable front wheel secured to a front end of the frame, a first trailing wheel arm having a first rear wheel secured thereto and a second trailing wheel arm having a second rear wheel secured thereto, and a central suspension joint secured to the frame on which the first and second trailing wheel arm is rotatably secured on either side of the frame. Further, the vehicle can include a horizontal linkage pivotably connected on the frame at the midsection beneath the first and second trailing wheel arms and linked to an underside of the first and second trailing wheel arm between the first wheel and the central suspension joint proximal to a first end of the horizontal linkage and between the second wheel and the central suspension joint proximal to a second end of the horizontal linkage, respectively.

A resisting force change mechanism includes a first portion and a second portion configured to change a resisting force against relative displacement. The first portion is supported on any one of a first side member, a second side member, a first cross member, and a second cross member of a link mechanism where at least a portion thereof is superposed on one member at all times. The first portion is aligned with the one member and a steering shaft at the front. The second portion is supported on any other one of the body frame, the first side member, the second side member, the first cross member, and the second cross member that is displaced relative to the one member on which the first portion is supported. The second portion is located at a position where at least a portion thereof is superposed on the other member at all times.

A vehicle of the present disclosure may include at least one pair of opposing wheels coupled to a tiltable central chassis by a four-bar linkage or the like, such that the wheels are configured to tilt in unison with the central chassis. A steering actuator and/or a tilting actuator may be discretely controllable by an electronic controller of the vehicle. The controller may include processing logic configured to maintain alignment between a median plane of the chassis and a net force vector caused by gravity and any induced centrifugal forces. Various control algorithms may be utilized to steer the vehicle along a desired path, either autonomously or semi-autonomously.

An apparatus for pivotally fixing a non-driven wheel assembly to a vehicle frame is disclosed. The apparatus provides a trough through which non-driven wheel assembly components can be passed and protected. In one embodiment, the trough is circular in shape and is fully enclosed by the apparatus. In other embodiments, the trough has various shapes and comprises retaining members to secure and protect non-driven wheel assembly components. A suspension system interface is provided that allows the apparatus to suspend the non-driven wheel assembly. Openings used to pivotally and rigidly fix a mounting plate, suspension system, pivotal axes, and fender assemblies are also disclosed and claimed herein.

A rolling type vehicle includes a pair of left and right front wheels and has a vehicle body capable of rolling. The rolling type vehicle includes a pair of left and right arm members supported in a swingable manner by the vehicle body on inner sides in the transverse direction for supporting the left and right front wheels in a steerable manner on outer sides in the transverse direction. A pair of left and right knuckle members are supported by transversely outer end portions of the left and right arm members in a swingable manner and which are steered together with the left and right front wheels, respectively. A regulating member for regulating the turning angle of each front wheel is provided between the transversely outer end portion of at least one of the left and right arm members and the knuckle member supported by the transversely outer end portion.

A suspension apparatus includes a first tube and a second tube that are telescopic and that are disposed on a vehicle body side and on a wheel side, respectively; a cylinder that is provided in the first tube; a rod that is provided in the second tube; a piston that is provided on the rod, slidingly contacts with an inner circumferential surface of the cylinder, and forms a first gas chamber on a side of the first tube; a coil spring configured to urge the first tube and the second tube in an extension direction; and a spring receiving member that is disposed at a position on a second tube side from a movable region of the piston, the coil spring being disposed between the spring receiving member and the second tube.

A vehicle of the present disclosure may include at least one pair of opposing wheels coupled to a tiltable central chassis by a four-bar linkage or the like, such that the wheels are configured to tilt in unison with the central chassis. A steering actuator and/or a tilting actuator may be discretely controllable by an electronic controller of the vehicle. The controller may include processing logic configured to maintain alignment between a median plane of the chassis and a net force vector caused by gravity and any induced centrifugal forces. Various control algorithms may be utilized to steer the vehicle along a desired path, either autonomously or semi-autonomously.