To maintain stability of a vehicle body, to improve control stability, and to achieve a stable running state in which a passenger does not feel discomfort, but has a comfortable ride feeling.
The vehicle includes: a steering wheel for steering a vehicle body; a driving wheel for driving the vehicle body; an inclination actuator device for inclining a steering part and a driving part in a turning direction; a lateral acceleration sensor for detecting the lateral acceleration acted on the vehicle body; and a control device for controlling the inclination of the vehicle body by controlling the inclination actuator device. The control device calculates an estimated lateral acceleration at an arbitrary position on a vehicle central axis based on the lateral acceleration detected by the lateral acceleration sensor, a distance from the center of the vehicle body in turning to the lateral acceleration sensor, and a ground surface inclination angle. The inclination of the vehicle body is controlled so that the estimated lateral acceleration becomes zero.
HAYASHI KOKI
YAMAMOTO SHINJI
Mamoru Shimizu
Makoto Kawai