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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
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
A leaning posture control device 200 controls a leaning posture of a left-right-inclined-wheel-equipped leaning vehicle including a lean body frame 15, a left inclined wheel 3a, a right inclined wheel 3b, and another inclined wheel 5. The leaning posture control device 200 controls a torque of at least one of the left inclined wheel 3a or the right inclined wheel 3b arranged in a left-right direction of the vehicle so as to suppress a change in a lean of the lean body frame 15 in a left direction of the vehicle while the lean body frame 15 is leaned in the left direction or a change in a lean of the lean body frame in a right direction of the vehicle while the lean body frame is leaned in the right direction, 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 3a, the right inclined wheel 3b, and the another inclined wheel 5 disposed ahead of or behind the left inclined wheel 3a and the right inclined wheel 3b.
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