| 摘要 |
PROBLEM TO BE SOLVED: To achieve a stable traveling state superior in ride comfort, without feeling a sense of incongruity by an occupant, while maintaining stability of a vehicle body and improving turning performance, since the vehicle body can be smoothly inclined in the turning direction.SOLUTION: This vehicle includes a steering device 41a for inputting steering command information, an inclining actuator device for inclining a steering part 11 or a driving part 20 in the turning direction, a steering actuator device 65 for changing a steering angle of a steered wheel 12F based on the steering command information input from the steering device, a driving actuator device for driving a pair of right-left driving wheels, and sensors 44 for detecting lateral acceleration acting on the vehicle body. Differential torque is generated to generate the yaw moment in the opposite direction of the turning direction when the steering command information is input, and when the sensors detect the lateral acceleration of turning in the turning direction, the differential torque is released, and a steering angle of the steered wheel is changed in the turning direction. |
