JP6694117B2 - Motorcycle - Google Patents

Description

  The present invention relates to a motorcycle having a structure in which a rear frame supporting a rear wheel swings with respect to an intermediate frame.

  For example, the motorcycle described in Patent Document 1 has a configuration in which a front frame that rotatably supports a front wheel and a rear frame that rotatably supports a rear wheel are swingably supported by an intermediate frame. The swinging of the rear wheels with respect to the intermediate frame steers the rear wheels. The motorcycle of Patent Document 1 includes an actuator that causes the rear frame to swing relative to the intermediate frame. Furthermore, the motorcycle of Patent Document 1 includes a control device that controls this actuator.

US Pat. No. 7,497,294

  The motorcycle of Patent Document 1 has a seat for an occupant to sit on. Motorcycles may have a luggage carrier for loading luggage. The loading load of the motorcycle varies depending on the weight of the occupants, the number of occupants, the luggage, and the like. A motorcycle having a structure in which a rear frame supporting a rear wheel oscillates with respect to an intermediate frame as in Patent Document 1 is required to improve the controllability of the swaying control of the rear wheel with respect to a change in riding load. There is.

  The present invention relates to a motorcycle in which at least one of an occupant and luggage can be loaded, and a rear frame supporting a rear wheel oscillates with respect to an intermediate frame. The purpose is to improve the controllability of.

  The inventors of the present application performed swing control of the rear wheels by changing the riding load of the motorcycle of Patent Document 1. As a result, it was found that it is difficult to control the swing of the rear wheels so that the desired vehicle behavior can be obtained when the riding load changes. Specifically, for example, when the riding load changes, the magnitude of the torque required to swing the rear wheel by the same angle may change. The inventors of the present application examined the relationship between the position of the swing center axis of the rear wheel and the controllability of the swing control of the rear wheel while examining the position of the swing center axis of the rear wheel. Through trial and error, I realized that the farther the center of gravity of the vehicle including the occupant was from the center axis of the rear wheel swing, the lower the controllability of the rear wheel swing control. As a result of further study, by devising the relationship between the position of the swing center axis of the rear wheels, the position of the center of gravity of the vehicle including the occupants, etc., and the position of the seat or the bed on which the occupants are placed I noticed that the controllability of the rocking control of the rear wheels with respect to the change in the load can be improved. Specifically, the inventors of the present application arranged the swing center axis of the rear wheel between the center of gravity of the vehicle alone and the seat on which the occupant or the like is mounted. By doing so, as the riding load increases from zero, the center of gravity of the vehicle including the occupant and the like approaches the swing center axis of the rear wheels. As a result, the controllability of the swing control of the rear wheels with respect to changes in the loaded weight can be improved.

  (1) A motorcycle according to the present invention includes an intermediate frame, a round tread surface front tire having a tread surface that is arcuate when viewed in a vehicle front direction or a vehicle rear direction in a state where the vehicle stands upright so that the vehicle can go straight, and the round. A round tread surface rear tire having a tread surface which is separated from the tread surface front tire in the vehicle rear direction and is arcuate when viewed in the vehicle front direction or the vehicle rear direction in a state where the vehicle stands upright so that the vehicle can go straight; ) While supporting the round tread surface front tire rotatably around the front axle passing through the center thereof, (a-2) round tread surface front tire swing having an inclination toward the vehicle upward as it goes toward the vehicle rearward direction. The louver is arranged so that the round tread surface front tire can swing about the axis with respect to the intermediate frame. A front frame which is supported by the intermediate frame so as to be capable of swinging about the swing axis of the tread surface front tire; and (b-1) which supports the round tread surface rear tire rotatably about a rear axle passing through the center thereof. And (b-2) the round tread surface rear tire having a tilt toward the vehicle lower side as it goes toward the vehicle rearward, so that the round tread surface rear tire can swing with respect to the intermediate frame. Round tread surface Rear tire A rear frame that is supported by the intermediate frame so as to be swingable around the swing axis, and a vehicle that is supported by the intermediate frame or the rear frame and is in an upright state so that the vehicle can go straight to the left or When viewed from the right side of the vehicle, at least a part of the round tread surface is on the vehicle from the rear tire swing axis. In a direction away from each other, by swinging the rear frame with respect to the intermediate frame around the round tread surface rear tire swing axis, and a loading platform for mounting a seat or luggage for an occupant to sit on. A round tread surface rear tire swing actuator that swings the round tread surface rear tire around the round tread surface rear tire swing axis with respect to the intermediate frame, and a round tread surface rear tire swing actuator that controls the round tread surface rear tire swing actuator. A dynamic control device and a drive source that applies a driving force to the round tread surface front tire or the round tread surface rear tire. Looking at the vehicle in an upright state so that it can go straight, in the vehicle left direction or the vehicle right direction, the round tread surface rear tire swing axis is the center of gravity of the vehicle in a state where no load is applied from the outside and the seat or the bed. The center of gravity of the vehicle including the occupant or the luggage mounted on the seat or the luggage carrier is increased by the load on the seat or the luggage carrier from zero as the load passes on the seat or the luggage carrier from zero. The intermediate frame, the front frame, the rear frame, the round tread surface front tire, the round tread surface rear tire, the round tread surface rear tire swing actuator, and the round tread surface rear tire swing control so as to approach the dynamic axis. A device is formed or arranged.

  A motorcycle includes a round tread surface front tire, a round tread surface rear tire, an intermediate frame, a front frame, a rear frame, a round tread surface rear tire swing actuator, a round tread surface rear tire swing control device, and a drive source. With. The round tread surface front tire has a tread surface that is arcuate when viewed in the vehicle front direction or the vehicle rear direction when the vehicle 1 is upright so that the vehicle 1 can go straight. As a result, the round tread surface front tire can be inclined in the vehicle left-right direction with respect to the vehicle up-down direction. The round tread surface rear tire is separated from the round tread surface front tire in the vehicle rear direction. The round tread surface rear tire has a tread surface that is arcuate when viewed in the vehicle front direction or the vehicle rear direction with the vehicle 1 standing upright so that the vehicle 1 can go straight. As a result, the round tread surface rear tire can be tilted in the vehicle left-right direction with respect to the vehicle up-down direction. The front frame supports the front tire of the round tread surface so as to be rotatable around the front axle. The front axle line is an axis line passing through the center of the front tire of the round tread surface. The front frame has an intermediate frame that allows it to swing around the round tread surface front tire swing axis so that the round tread surface front tire can swing about the intermediate frame around the round tread surface front tire swing axis. Supported. The rocking axis of the front tire of the round tread surface has an inclination toward the upper side of the vehicle toward the rear side of the vehicle. The rear frame rotatably supports the round tread surface rear tire around the rear axle. The rear axle is an axis passing through the center of the round tread surface front tire. The rear frame is supported by the intermediate frame so that the round tread surface rear tire can swing about the round tread surface rear tire swing axis with respect to the intermediate frame so that the rear frame can swing about the round tread surface rear tire swing axis. .. The rocking axis of the rear tire of the round tread surface is inclined downward toward the rear of the vehicle. The round tread surface rear tire swing actuator swings the rear frame with respect to the intermediate frame around the round tread surface rear tire swing axis, so that the round tread surface rear tire moves around the round tread surface rear tire swing axis with respect to the intermediate frame. To rock. The round tread surface rear tire swing control device controls a round tread surface rear tire swing actuator. The drive source applies a driving force to the round tread surface front tire or the round tread surface rear tire. Further, the motorcycle has a luggage carrier on which a seat or luggage on which an occupant sits is placed. The seat or the bed is supported by the intermediate frame or the rear frame. When the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction, at least a part of the seat or the bed is away from the round tread surface rear tire swing axis in the vehicle upward direction. The intermediate frame, the front frame, the rear frame, the round tread surface front tire, the round tread surface rear tire, the round tread surface rear tire swing actuator, and the round tread surface rear tire swing control device are formed so as to satisfy the following two conditions. Or is arranged. The first condition is that when the vehicle in an upright state so that it can go straight ahead is seen from the vehicle left direction or the vehicle right direction, the round tread surface rear tire swing axis is the center of gravity and the seat of the vehicle in a state where no load is applied from the outside. Or to go to and from the loading platform. The second condition is that the center of gravity of the vehicle including the occupant or the luggage mounted on the seat or the carrier approaches the round tread rear tire swing axis as the load applied to the seat or the carrier increases from zero.

  According to this configuration, when an occupant or luggage is placed on the seat or bed of the motorcycle, the center of gravity of the vehicle including the occupant or luggage moves so as to approach the round tread surface rear tire swing axis. The center of gravity of a vehicle including an occupant may eventually exceed the swing axis of the rear tire of the round tread surface depending on the magnitude of the load on the vehicle. However, since the loading load does not become extremely large, even if the center of gravity of the vehicle including the occupants and the like exceeds the round tread surface rear tire swing axis, it will be extremely extreme from the round tread surface rear tire swing axis. Never leave. Even when the center of gravity of the vehicle including the occupants and the like finally exceeds the round tread surface rear tire swing axis, the round tread surface rear tire swing axis moves above the vehicle from the center of gravity of the vehicle in the unloaded state. The center of gravity of the vehicle including the occupant and the like is closer to the swing axis of the rear tire of the round tread surface, as compared with the case of being separated in the direction. As described above, the center of gravity of the vehicle including the occupant or the luggage is close to the swing axis of the rear tire of the round tread surface, so that the controllability of the swing control of the rear tire of the round tread surface with respect to the change in the riding load of the motorcycle can be improved.

(2) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
Looking at the vehicle in an upright state so that it can go straight ahead, the intersection of the round tread surface rear tire swing axis and the road surface is parallel to the vehicle vertical direction passing through the front end of the round tread surface rear tire. It is between a straight line and a straight line passing through the rear end of the round tread surface rear tire and parallel to the vehicle vertical direction.

  According to this configuration, the intersection of the rocking axis of the rear tire of the round tread surface and the road surface is greater than that of the case where the intersection of the road axis of the rear tire and the road surface is separated from the straight line that passes through the front end of the rear tire of the round tread surface and is parallel to the vertical direction of the vehicle. The moment required to swing the rear tire is small. In addition, compared with the case where the intersection point of the swing axis of the rear tire of the round tread surface and the road surface is separated from the straight line passing through the rear end of the rear tire of the round tread surface and parallel to the vertical direction of the vehicle in the rear direction of the vehicle, The moment required for rocking is small. Therefore, the controllability of the swing control of the round tread surface rear tire can be improved. Therefore, the controllability of the rocking control of the rear tire of the round tread surface with respect to the change in the riding load of the motorcycle can be further improved.

(3) According to one aspect of the present invention, the motorcycle of the present invention preferably has the following configuration.
The drive source includes an electric motor. The motorcycle of the present invention includes a power storage device that stores electric power supplied to the electric motor. At least a part of the power storage device is away from the round tread surface rear tire swing axis in the vehicle downward direction when the vehicle in an upright state capable of going straight is viewed in the vehicle left direction or the vehicle right direction.

  According to this configuration, at least a part of the power storage device having a relatively large weight is separated from the round tread surface rear tire swing axis in the vehicle downward direction. Therefore, it is possible to easily realize a layout in which the round tread surface rear tire swing axis is located between the center of gravity of the vehicle and the seat or the like when no load is applied to the seat or the like.

(4) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
In the motorcycle of the present invention, by swinging the front frame around the round tread surface front tire swing axis with respect to the intermediate frame, the round tread surface front tire is rotated by the round tread surface front tire swing axis. A round tread surface front tire rocking actuator that rocks around the intermediate frame and a round tread surface front tire rocking control device that controls the round tread surface front tire rocking actuator are provided.

  According to this configuration, the swinging of the round tread surface front tire around the round tread surface front tire swing axis is controlled by the round tread surface front tire swing control device. Therefore, the swing of the rear tire of the round tread surface and the swing of the front tire of the round tread surface can be interlocked with each other. Therefore, the controllability of the swing control of the round tread surface rear tire can be improved. Therefore, the controllability of the rocking control of the rear tire of the round tread surface with respect to the change in the riding load of the motorcycle can be further improved.

(5) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
Looking at the vehicle in an upright state so that it can go straight ahead, at least part of the round tread surface front tire swing actuator is separated from the round tread surface rear tire swing axis in the vehicle downward direction. There is.

  According to this configuration, at least a part of the round tread surface front tire swing actuator having a relatively large weight is separated from the round tread surface rear tire swing axis in the vehicle downward direction. Therefore, it is possible to easily realize a layout in which the round tread surface rear tire swing axis is located between the center of gravity of the vehicle and the seat or the like when no load is applied to the seat or the like.

(6) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
The rear frame includes a rear suspension unit that supports the round tread surface rear tire rotatably around the rear axle and absorbs vibration in the vehicle vertical direction received by the round tread surface rear tire. When the vehicle in an upright state so as to be able to go straight is viewed in the vehicle left direction or the vehicle right direction, a part of the rear suspension unit is separated from the round tread surface rear tire swing axis in the vehicle downward direction.

  With this configuration, a part of the rear suspension unit having a relatively large weight is separated from the round tread surface rear tire swing axis in the vehicle downward direction. Therefore, it is possible to easily realize a layout in which the round tread surface rear tire swing axis is located between the center of gravity of the vehicle and the seat or the like when no load is applied to the seat or the like.

(7) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
The motorcycle of the present invention includes a hydraulic brake that applies a braking force to the round tread surface front tire or the round tread surface rear tire, and a hydraulic unit that controls the hydraulic pressure of the hydraulic brake. At least a part of the hydraulic unit is separated from the round tread rear tire swing axis in the vehicle downward direction when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction.

  With this configuration, at least a part of the hydraulic unit having a relatively large weight is separated from the round tread surface rear tire swing axis in the vehicle downward direction. Therefore, it is possible to easily realize a layout in which the round tread surface rear tire swing axis is located between the center of gravity of the vehicle and the seat or the like when no load is applied to the seat or the like.

(8) According to one aspect of the present invention, the motorcycle of the present invention preferably has the following configuration.
The motorcycle of the present invention includes a tilt detection device that is installed in the intermediate frame and that detects a physical quantity related to a tilt of the intermediate frame in the vehicle left-right direction with respect to the vehicle vertical direction.

  If the tilt detection device is installed on the rear frame, it is necessary to perform correction in consideration of the swing angle of the rear frame with respect to the intermediate frame in order to detect the tilt of the intermediate frame from the detection result of the tilt detection device. .. Since the inclination detection device is installed in the intermediate frame, it becomes easy to control the swing of the rear tire of the round tread surface so that the desired vehicle behavior can be obtained. Therefore, the controllability of the rocking control of the rear tire of the round tread surface with respect to the change in the riding load of the motorcycle can be further improved.

(9) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
In a state in which the vehicle is upright so that the vehicle can go straight, at least a part of the round tread surface rear tire swing actuator is located below the upper end of at least one of the round tread surface rear tire and the round tread surface front tire.

  According to this structure, the round tread surface rear tire swing actuator having a relatively large weight is arranged at a relatively low position of the vehicle. Therefore, it is possible to easily realize a layout in which the round tread surface rear tire swing axis is located between the center of gravity of the vehicle and the seat or the like when no load is applied to the seat or the like.

(10) According to one aspect of the present invention, the motorcycle of the present invention preferably has the following configuration.
When the vehicle in an upright state so as to be able to go straight is viewed in the vehicle left direction or the vehicle right direction, at least a part of the drive source is away from the round tread surface rear tire swing axis in the vehicle downward direction.

  According to this structure, at least a part of the drive source having a relatively large weight is separated from the round tread surface rear tire swing axis in the vehicle downward direction. Therefore, it is possible to easily realize a layout in which the round tread surface rear tire swing axis is located between the center of gravity of the vehicle and the seat or the like when no load is applied to the seat or the like.

(11) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
The drive source includes an engine unit. The motorcycle of the present invention includes a fuel tank that stores the fuel supplied to the engine unit. The fuel tank overlaps the round tread surface rear tire swing axis when the vehicle in an upright state so as to be able to go straight is seen in the vehicle downward direction.

  According to this configuration, when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle downward direction, a part of the fuel tank overlaps the round tread surface rear tire swing axis. As a result, even if the weight of the fuel in the fuel tank changes, the position of the center of gravity of the vehicle does not change much. Therefore, it is possible to prevent the controllability of the rocking control of the round tread surface rear tire from decreasing.

(12) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
The intermediate frame includes a seat frame that supports the seat.

  According to this configuration, the seat or the luggage carrier is supported by the intermediate frame, so that the rear frame does not receive the load of the occupant seated on the seat or the load placed on the luggage carrier. Therefore, the weight of the object to be swung by the round tread surface rear tire swing actuator is smaller than when the rear frame supports the seat or the bed. Therefore, the controllability of the swing control of the round tread surface rear tire can be improved. Therefore, the controllability of the rocking control of the rear tire of the round tread surface with respect to the change in the riding load of the motorcycle can be further improved.

The weight of the occupant or baggage varies depending on the occupant or baggage. When the rear frame supports the seat or the bed, the weight of the object to be swung by the round tread surface rear tire swing actuator changes depending on the occupant or luggage. As a result, the swing control of the round tread surface rear tire becomes complicated and difficult. Especially, control at low speed is difficult.
On the other hand, when the seat or the luggage carrier is supported by the intermediate frame, the weight of the object to be swung by the round tread surface rear tire swing actuator does not change even if the weight of the occupant or luggage changes. Therefore, the controllability of the swing control of the round tread surface rear tire can be improved. Therefore, the controllability of the swing control of the rear tire of the round tread surface with respect to the change in the riding load of the motorcycle can be further improved.

While the motorcycle is traveling, the occupant may move the center of gravity. In particular, when the motorcycle turns, the occupant may move the center of gravity toward the left or right of the vehicle. When the rear frame supports the seat, when the occupant moves the center of gravity, the center of gravity of the object to be swung by the round tread surface rear tire swing actuator changes. As a result, the swing control of the round tread surface rear tire becomes complicated and difficult. Especially, control at low speed is difficult.
On the other hand, when the seat or the bed is supported by the intermediate frame, the center of gravity of the object to be swung by the round tread surface rear tire swing actuator does not change even if the occupant moves the center of gravity. Therefore, the controllability of the swing control of the round tread surface rear tire can be improved. Therefore, the controllability of the swing control of the rear tire of the round tread surface with respect to the change in the riding load of the motorcycle can be further improved.

(13) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
The rear frame includes a seat frame that supports the seat.

(14) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
The motorcycle of the present invention is provided with a side stand that is connected to the intermediate frame and is capable of grounding on a road surface so that the vehicle can stand on its own in a state of being inclined in the vehicle left-right direction with respect to the vehicle vertical direction.

(15) According to one aspect of the present invention, the motorcycle of the present invention preferably has the following configuration in addition to the configuration of (14) above.
An object that is swung with respect to the intermediate frame around the round tread surface rear tire swing axis by the round tread surface rear tire swing actuator when the vehicle in an upright state capable of going straight is viewed in the vehicle left direction or the vehicle right direction. The center of gravity of the rear swing, which is the center of gravity of the whole body, is separated from the round tread surface rear tire swing axis in the vehicle downward direction. The round tread surface rear tire swing control device swings the rear swing center of gravity to the right of the vehicle to raise the vehicle when the vehicle is self-supporting with the side stand leaning to the left of the vehicle. Then, the round tread surface rear tire swing actuator is controlled so as to swing to the left of the vehicle. The round tread surface rear tire swing control device swings the rear swing center of gravity to the left of the vehicle in order to raise the vehicle when the vehicle is self-supporting with the side stand leaning to the right of the vehicle. Then, the round tread surface rear tire swing actuator is controlled so as to swing to the right of the vehicle.

  The center of gravity of the object that is swung around the round tread surface rear tire swing axis by the round tread surface rear tire swing actuator is the rear swing center of gravity. The rear swing center of gravity is separated from the round tread surface rear tire swing axis in the vehicle downward direction. The round tread surface rear tire swing control device swings the rear swing center of gravity to the vehicle rightward direction and then to the vehicle leftward direction when the vehicle is self-supporting with the side stand leaning to the vehicle leftward direction. In this way, the round tread surface rear tire swing actuator is controlled. The vehicle can get up due to the reaction of the swing of the rear frame to the left of the vehicle. The round tread surface rear tire swing control device swings the rear swing center of gravity to the left side of the vehicle and then swings to the right side of the vehicle when the vehicle is self-supporting with the side stand leaning to the right side of the vehicle. In this way, the round tread surface rear tire swing actuator is controlled. The vehicle can get up due to the reaction of the swing of the rear frame to the right of the vehicle. In this way, the vehicle can be raised without a person supporting the vehicle, so that the convenience of the motorcycle can be improved. Since the side stand is connected to the intermediate frame, the side stand does not prevent the rear frame from swinging.

(16) According to one aspect of the invention, the motorcycle of the invention preferably has the following configuration.
The front frame includes a front suspension unit that supports the round tread surface front tire rotatably around the front axle and that absorbs vibration in the vehicle vertical direction received by the round tread surface front tire. At least a part of the front suspension unit is away from the round tread surface rear tire swing axis in the vehicle downward direction when the vehicle in an upright state capable of going straight is viewed in the vehicle left direction or the vehicle right direction.

  With this configuration, at least a part of the front suspension unit having a relatively large weight is separated from the round tread surface rear tire swing axis in the vehicle downward direction. Therefore, it is possible to easily realize a layout in which the round tread surface rear tire swing axis is located between the center of gravity of the vehicle and the seat or the like when no load is applied to the seat or the like.

<Definition of terms>
In the present invention, the "intermediate frame", "front frame", and "rear frame" are members that are mainly subjected to stress in the vehicle. The rear frame may be a combination of a plurality of parts, or may be integrally molded. The front frame and the intermediate frame are similar to the rear frame. The rear frame may be a frame having a monocoque structure, a frame having a semi-monocoque structure, or a frame having a frame structure other than these. The front frame and the intermediate frame are similar to the rear frame.

  In the present invention, the “tread surface” is the surface of the tire that comes into contact with the road surface.

  In the present invention, the “occupant” may or may not be a driver. The occupant who is not the driver may be an occupant of the motorcycle that is autonomously driven, or may be an occupant who rides on the motorcycle together with the driver.

  In the present invention, the "luggage" is an object intended to be carried by a motorcycle.

  In the present invention, the “seat for the occupant to sit on” refers to a seat installed at a position where the occupant was supposed to sit when the motorcycle was manufactured. The seat of the present invention may be the seat installed at the time of manufacturing the motorcycle or the seat replaced. The seat of the present invention may be a seat for seating two or more passengers.

  In the present invention, the "loading platform for loading luggage" refers to a loading platform installed at a place where loading of the motorcycle was supposed at the time of manufacturing the motorcycle. The luggage carrier of the present invention may be the luggage carrier installed at the time of manufacturing the motorcycle, or may be the luggage carrier replaced. Further, the luggage carrier of the present invention may be a luggage carrier that is not installed at the time of manufacturing the motorcycle and is attached later. The luggage carrier of the present invention may have a box shape with a lid or a box shape without a lid. Further, the luggage carrier of the present invention may be a pedestal on which luggage is bound by ropes or the like.

  In claim 1, "a motorcycle is provided with a seat or a bed" does not mean that the motorcycle has only one of a seat and a bed. The motorcycle of the present invention may have both a seat satisfying the requirements of claim 1 and a luggage carrier satisfying the requirements of claim 1. The motorcycle of the present invention may have only the seat satisfying the requirement of claim 1, and may have only the luggage carrier satisfying the requirement of claim 1. The motorcycle of the present invention may have a plurality of seats that satisfy the requirements of claim 1. The motorcycle of the present invention may have a plurality of luggage platforms that meet the requirements of claim 1. Further, the motorcycle may have a seat that does not meet the requirements of claim 1 in addition to a seat or a bed that does not meet the requirements of claim 1. The motorcycle may have a cargo bed that does not meet the requirements of claim 1 in addition to a seat or a cargo bed that does not meet the requirements of claim 1.

  In the present invention, the "state in which no load is applied from the outside" is a state in which no load is applied to the seat or the bed that satisfies the requirements of claim 1. Further, when the motorcycle has at least one seat and / or at least one bed in addition to the seat or the bed that satisfies the requirements of claim 1, the load is applied to all the seats and all the beds. It refers to the state where it is not applied.

  In the present invention, the “center of gravity of a vehicle including an occupant or luggage” is the center of gravity of an object including both the occupant or luggage and the vehicle.

  In the present invention, "as the load applied to the seat or the carrier increases from zero, the center of gravity of the vehicle including the occupant or the luggage mounted on the seat or the carrier approaches the round tread surface rear tire swing axis" means that the center of gravity means It means that the center of gravity approaches the round tread surface rear tire swing axis during at least a part of the entire period of movement. Immediately after the load starts to increase from zero, the center of gravity does not have to move. The center of gravity may start to move when the load exceeds a predetermined value. The final center of gravity may be located at a position away from the round tread surface rear tire swing axis in the vehicle upward direction. The distance between the final center of gravity and the round tread surface rear tire swing axis may be the same as the distance between the center of gravity when the load is zero and the round tread surface rear tire swing axis, may be shorter, or longer. May be.

  In the present invention, when it is described that the intermediate frame is simply “supported” rather than “swingably supported”, it is basically supported so as to swing integrally with the intermediate frame. I mean that. In addition, when it is described as "supported" by the rear frame instead of "supported swingably" by the rear frame, it is basically supported so as to swing integrally with the rear frame. Say.

  In the present invention, the "state in which the vehicle is upright so that it can go straight" is a state in which the front axle and the rear axle are parallel to the vehicle left-right direction.

  In the present invention, the “inclination of the intermediate frame in the vehicle left-right direction with respect to the vehicle up-down direction” means that the intermediate frame swings about an axis line along the vehicle front-rear direction.

  In the present invention, the vehicle vertical direction is a direction perpendicular to the road surface when the vehicle is arranged on a horizontal road surface. The vehicle left-right direction is the left-right direction viewed from the driver who rides on the vehicle when the vehicle is placed on a horizontal road surface. The vehicle front-rear direction is the front-rear direction viewed from a driver who rides on the vehicle when the vehicle is arranged on a horizontal road surface.

  In the present specification, unless otherwise specified, the inclination angle of the straight line A with respect to the straight line B is the smaller angle of the angles formed by the straight lines A and B. This definition applies not only to “straight line” but also to “direction”.

In this specification, the diagonally downward direction is a direction from the point P1 to the point P2 when the point P1 is a point obtained by moving the point P1 backward and downward. That is, the direction is downward as it goes backward. The obliquely rearward downward direction does not include a direction parallel to the rearward direction and a direction parallel to the downward direction. Similar definitions apply to expressions using other directions, such as the front diagonal down direction.
Not limited to

  In the present invention and this specification, the upper end of a component means the uppermost end of the component. The definition of the lower end, the front end, the rear end, the left end, and the right end is the same as the definition of the upper end. In the present specification, the upper edge of a component when the component is viewed in the X direction (direction other than the vertical direction) is the edge between the front end and the rear end including the upper end. The definitions of the lower edge, the leading edge, the trailing edge, the left edge, and the right edge are similar to the definition of the upper edge. In the present specification, the end of a certain component means a portion obtained by combining the end of the component and its vicinity.

  In the present invention and the specification, the element A is separated from the element B in the X direction on all straight lines parallel to the X direction and passing through both the elements A and B. It means that you are far away. The element A is, for example, a device, a part, a part of a device or a part, a line segment, an infinite straight line, a plane, or the like. The same applies to element B. When viewed in the Y direction intersecting the X direction, the element A is separated from the element B in the X direction on all straight lines that are parallel to the X direction and pass through both the elements A and B when viewed in the Y direction. , Element A is separated from element B in the X direction. In three dimensions, a straight line parallel to the X direction and passing through the element A may or may not pass through the element B.

  In the present invention and this specification, the element A being located above the element B means that the element A has a portion passing upward from the plane passing through the upper end of the element B and orthogonal to the vertical direction. It does not have a part that is downward from the plane. The element A may have a portion included in a plane that passes through the upper end of the element B and is orthogonal to the vertical direction. The element A is, for example, a device, a part, a part of a device or a part, a line segment, or the like. The same applies to element B. The fact that the upper end of the component A is located above the component B is synonymous with that the component A is located above the component B. "Element A is located below element B", "Element A is located ahead of element B", "Element A is located behind element B", "Element A is located The definitions of “located to the left of B” and “the element A is located to the right of the element B” are the same as the definitions of “element A is located above the element B”.

  In the present invention and the specification, the term “rotatable” means capable of rotating by 360 ° unless otherwise specified. In addition, swingable means capable of rotating less than 360 ° unless otherwise specified. However, rotating includes both the case of rotating 360 ° and the case of rotating less than 360 °.

In the present invention, including, comprising, having and their derivatives are intended to be inclusive of additional items in addition to the listed items and their equivalents. There is.
In the present invention, the terms mounted, connected, coupled, supported are used broadly. Specifically, it includes not only direct attachment, connection, connection and support, but also indirect attachment, connection, connection and support. Further, connected and coupled are not limited to physical or mechanical connection / coupling. They also include direct or indirect electrical connections / couplings.

  In the claims, the number of a certain constituent element is not clearly specified, and when it is translated into English and displayed in the singular number, the present invention may have a plurality of the constituent elements. The invention may also have only one of this component.

  Unless defined otherwise, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as commonly used dictionary-defined terms should be construed to have a meaning consistent with the meaning in the context of the relevant technology and this disclosure and are idealized or overly formal. It is not interpreted in the traditional sense.

  As used herein, the term "preferred" is non-exclusive. "Preferred" means "preferably, but not limited to." In the present specification, the configuration described as “preferred” has at least the above effect obtained by the configuration of claim 1. Also, as used herein, the term "may" is non-exclusive. "May be" means "may be, but not limited to." In the present specification, the configuration described as “may” has at least the above effect obtained by the configuration of claim 1.

  The invention does not limit the combination of the preferred configurations described above with one another. Before describing the embodiments of the present invention in detail, it should be understood that the present invention is not limited to the details of the configuration and arrangement of the components described in the following description or illustrated in the drawings. The present invention is also possible in embodiments other than the embodiments described below. The present invention is also possible in embodiments in which various modifications are made to the embodiments described later. Further, the present invention can be implemented by appropriately combining the modified examples described below.

  According to the present invention, at least one of an occupant and luggage can be placed on the motorcycle, and the rear frame supporting the rear wheel swings with respect to the intermediate frame. The controllability of control can be improved.

1 is a left side view and a plan view of a motorcycle according to a first embodiment of the present invention. It is a left side view of the motorcycle of the example 1 of the first embodiment of the present invention. It is an example of the behavior of the vehicle when the rear tire of the round tread surface swings. It is another example of the behavior of the vehicle when the rear tire of the round tread surface swings. It is a left side view of the motorcycle of the specific example 2 of the first embodiment of the present invention. It is a left side view of the motorcycle of the example 3 of the first embodiment of the present invention. It is a left side view of a motorcycle of a second embodiment of the present invention. FIG. 13 is a left side view of the motorcycle of Modification 1 of the second embodiment of the present invention. FIG. 14 is a left side view of a motorcycle of Modification 2 of the second embodiment of the present invention. FIG. 11 is a perspective view of a motorcycle of Modification 3 of the second embodiment of the present invention. FIG. 11 is a left side view of the motorcycle shown in FIG. 10. FIG. 11 is a left side view of the motorcycle shown in FIG. 10. FIG. 11 is a plan view of the motorcycle shown in FIG. 10. It is the figure which looked at the left grip of the motorcycle shown in FIG. 10 from the back. FIG. 11 is a partial front view of the motorcycle shown in FIG. 10. It is the figure which looked at the front part of the motorcycle shown in FIG. 10 from back. FIG. 11 is a front view of the motorcycle shown in FIG. 10 in a state of being self-supported by a side stand. FIG. 9 is a left side view of a motorcycle according to another modification of the embodiment of the present invention. FIG. 9 is a left side view of a motorcycle according to another modification of the embodiment of the present invention. FIG. 9 is a left side view of a motorcycle according to another modification of the embodiment of the present invention. FIG. 9 is a left side view of a motorcycle according to another modification of the embodiment of the present invention. FIG. 9 is a left side view of a motorcycle according to another modification of the embodiment of the present invention. FIG. 9 is a left side view of a motorcycle according to another modification of the embodiment of the present invention.

<First Embodiment of the Present Invention>
Hereinafter, the motorcycle 1 according to the first embodiment of the present invention will be described with reference to FIG.
The front-rear direction in the following description is the vehicle front-rear direction unless otherwise specified. The left-right direction in the following description is the vehicle left-right direction unless otherwise specified. The vertical direction in the following description is the vehicle vertical direction unless otherwise specified. Arrow F, arrow Re, arrow U, arrow D, arrow L, and arrow Ri shown in each drawing of the present application represent forward, backward, upward, downward, leftward, and rightward directions, respectively. FIG. 1 shows a state in which the motorcycle 1 stands upright on a horizontal road surface RS so that the motorcycle 1 can go straight. All road surfaces RS shown in the drawings of the present application are horizontal.

  The motorcycle 1 includes a round tread surface front tire 2, a round tread surface rear tire 4, an intermediate frame 30, a front frame 20, a rear frame 40, a round tread surface rear tire swing actuator 60, and a round tread surface rear tire swing. A dynamic control device 80 and a drive source 70 are provided.

  The round tread surface front tire 2 has a tread surface 2a which is arcuate when viewed in the front direction or the rear direction in a state where the vehicle 1 is upright so that the vehicle 1 can go straight. Thereby, the round tread surface front tire 2 can be inclined in the left-right direction with respect to the vertical direction. The round tread surface rear tire 4 is separated rearward from the round tread surface front tire 2. The round tread surface rear tire 4 has a tread surface 4a that is arcuate when viewed in the front direction or the rear direction in a state where the vehicle 1 is upright so that the vehicle 1 can go straight. Thereby, the round tread surface rear tire 4 can be inclined in the left-right direction with respect to the vertical direction.

  The front frame 20 supports the round tread surface front tire 2 rotatably around the front axle A1. The front axle line A1 is an axis line passing through the center of the round tread surface front tire 2. The front frame 20 swings around the round tread surface front tire swing axis A2 so that the round tread surface front tire 2 can swing with respect to the intermediate frame 30 around the round tread surface front tire swing axis A2. It is supported by the intermediate frame 30 as possible. The round tread surface front tire swing axis line A2 has an inclination that goes upward as it goes backward.

  The rear frame 40 supports the round tread surface rear tire 4 rotatably around the rear axle line A3. The rear axle line A3 is an axis line passing through the center of the round tread surface front tire 2. The rear frame 40 has an intermediate portion that can swing about the round tread surface rear tire swing axis A4 so that the round tread surface rear tire 4 can swing with respect to the intermediate frame 30 about the round tread surface rear tire swing axis A4. It is supported by the frame 30. The round tread surface rear tire 4 has a round tread surface rear tire swing axis A4 that is inclined downward toward the rear.

  The round tread surface rear tire swinging actuator 60 swings the rear frame 40 around the round tread surface rear tire swinging axis A4 with respect to the intermediate frame 30 to move the round tread surface rear tire 4 to the round tread surface rear tire swinging axis A4. It swings around the intermediate frame 30. The round tread surface rear tire rocking control device 80 controls the round tread surface rear tire rocking actuator 60. The driving source 70 applies a driving force to the front tire 2 of the round tread surface or the rear tire 4 of the round tread surface.

  The motorcycle 1 has a seat 10 on which an occupant O can sit. The seat 10 is supported by the rear frame 40. The seat 10 may be supported by the intermediate frame 30. When looking at the vehicle 1 in an upright state so that it can go straight ahead, at least a part of the seat 10 is apart from the round tread surface rear tire swing axis in the upward direction. Instead of having the seat 10, or in addition to the seat 10, the motorcycle 1 may have a luggage carrier for loading luggage. The platform is supported by the intermediate frame 30 or the rear frame 40. When looking at the vehicle 1 in an upright state so that it can go straight ahead, at least a part of the platform is apart from the round tread surface rear tire swing axis in the upward direction.

  The intermediate frame 30, the front frame 20, the rear frame 40, the round tread surface front tire 2, the round tread surface rear tire 4, the round tread surface rear tire swing actuator 60, and the round tread surface rear tire swing control device 80 include the following two. It is formed or arranged to meet the conditions. The first condition is that the round tread surface rear tire swing axis A4 is the center of gravity G0 of the vehicle 1 in a state where no load is applied from the outside when the vehicle 1 in an upright state capable of going straight is viewed leftward or rightward. And the seat 10 or the bed. The center of gravity G0 of the vehicle 1 when no load is applied from the outside is not limited to the position shown in FIG. The second condition is that as the load applied to the seat 10 or the loading platform increases from zero, the center of gravity of the vehicle 1 including the occupant O or the luggage mounted on the seat 10 or the loading platform becomes the round tread surface rear tire swing axis A4. It is approaching. As the load applied to the seat 10 or the bed increases from zero, the center of gravity of the vehicle 1 including the occupant O or the luggage moves in the arrow direction from the center of gravity G0 illustrated in FIG. 1, for example. The center of gravity G1 shown by the chain double-dashed line in FIG. 1 is an example of the center of gravity of the vehicle 1 including the occupant O sitting on the seat 10 or the luggage.

According to this configuration, when the occupant O or the luggage is placed on the seat 10 or the luggage carrier of the motorcycle 1, the center of gravity G0 of the vehicle 1 including the occupant O or the luggage approaches the round tread surface rear tire swing axis A4. Moving. Depending on the magnitude of the riding load, the center of gravity (eg, center of gravity G1) of the vehicle 1 including the occupant O may eventually exceed the round tread surface rear tire swing axis A4. However, since the riding load does not become extremely large, even if the center of gravity of the vehicle 1 including the occupant O and the like exceeds the round tread surface rear tire swing axis A4, the round tread surface rear tire swing eventually. It is not extremely separated from the axis A4. Further, even when the center of gravity of the vehicle 1 including the occupant O and the like finally exceeds the round tread surface rear tire swing axis A4, the vehicle 1 in a state in which the round tread surface rear tire swing axis A4 is not loaded The center of gravity of the vehicle 1 including the occupant O and the like becomes closer to the round tread surface rear tire swing axis A4, as compared with the case where the center of gravity G0 is away from the center of gravity G0.
As described above, the center of gravity (for example, the center of gravity G1) of the vehicle 1 including the occupant O or the luggage is close to the round tread surface rear tire swing axis A4. The controllability of control can be improved.

Improving the controllability of the swing control of the round tread surface rear tire 4 with respect to changes in the riding load of the motorcycle 1 means, for example, even if the riding load of the motorcycle 1 is the same, the round tread surface rear tire swing actuator. It may be that the torque required for the 60 to swing the rear frame 40 is suppressed. As a result, even if the riding load of the motorcycle 1 increases, it is possible to suppress an increase in the torque required for rocking. The smaller the torque required for rocking, the easier rocking control can be performed. Further, by suppressing the torque required for rocking, the round tread surface rear tire rocking actuator 60 can be downsized. Thereby, the motorcycle 1 can be downsized.
Improving the controllability of the swing control of the round tread surface rear tires 4 with respect to changes in the riding load of the motorcycle 1 means that, for example, even if the performance of the round tread surface rear tire swing actuator 60 is the same, the round tread surface rear tires are the same. It may be that the responsiveness of the swing control of No. 4 is high.
Improving the controllability of the rocking control of the round tread surface rear tire 4 with respect to the change in the riding load of the motorcycle 1 may be, for example, simplifying the control logic for the rocking control. Specifically, for example, the number of parameters used for control is reduced, and the arithmetic processing is simplified.

<Specific Example 1 of First Embodiment of the Present Invention>
Next, a motorcycle 1A according to a specific example 1 of the first embodiment of the present invention will be described with reference to FIG. Basically, the specific example 1 of the first embodiment of the present invention has all the features of the first embodiment of the present invention. Description of the same parts as those in the first embodiment of the present invention will be omitted. Hereinafter, configurations that are not described in the first embodiment of the present invention will be described.

  The motorcycle 1A has a front frame 20, an intermediate frame 30, and a rear frame 40. The main material of the front frame 20 is a metal such as aluminum or iron, a resin such as CFRP, or a combination thereof. The same applies to the main materials of the intermediate frame 30 and the rear frame 40. The materials of the front frame 20, the intermediate frame 30, and the rear frame 40 may be different from each other.

  First, the front frame 20 will be described. The front frame 20 has a pair of left and right front suspension units 21, 21. The front suspension unit 21 is a so-called front fork. The front suspension unit 21 is, for example, a telescopic front fork. The telescopic front fork has a spring and a hydraulic damper. The lower end of the front suspension unit 21 rotatably supports the round tread surface front tire 2. The front suspension unit 21 is configured to absorb vertical vibration received by the round tread surface front tire 2.

  The round tread surface front tire 2 is installed on the outer peripheral portion of the front wheel 3. The front suspension unit 21 supports a front axle (not shown) that is inserted into a central hole of the front wheel 3. Accordingly, the front suspension unit 21 supports the round tread surface front tire 2 rotatably around the front axle A1. The front axle line A1 is a center axis line of the front axle. When the motorcycle 1A is upright so that it can go straight, the front axle A1 is parallel to the left-right direction.

  A front brake (not shown) is installed on the front wheel 3. The front brake is configured to be able to apply a braking force to the front tire 2 of the round tread surface. The front brake may be of a hydraulic type, a mechanical type or an electric type. The front brake may be, for example, a hydraulic disc brake or a drum brake, which is a type of mechanical brake.

  The front frame 20 has a steering shaft 22 in addition to the front suspension unit 21. The lower portion of the steering shaft 22 is fixed to the upper portion of the front suspension unit 21. The upper portion of the steering shaft 22 is fixed to the handle unit 50.

  Next, the intermediate frame 30 will be described. The intermediate frame 30 has a head pipe portion 31 at its front part. The head pipe portion 31 has a cylindrical hole. The steering shaft 22 is inserted through the head pipe portion 31. A bearing (not shown) is arranged between the steering shaft 22 and the head pipe portion 31. The steering shaft 22 is supported by the head pipe portion 31 so as to be rotatable around the central axis of the steering shaft 22. Thereby, the front frame 20 is supported by the intermediate frame 30 so as to be swingable around the central axis of the steering shaft 22. The central axis of the inner peripheral surface of the head pipe portion 31 is coaxial with the central axis of the steering shaft 22. The central axis of the steering shaft 22 and the central axis of the inner peripheral surface of the head pipe portion 31 form a round tread surface front tire swing axis A2. The round tread surface front tire swing axis A2 is a straight line extending infinitely. Since the front frame 20 is supported by the intermediate frame 30 so as to be capable of swinging about the round tread surface front tire swing axis A2, the round tread surface front tire 2 is intermediate about the round tread surface front tire swing axis A2. It is swingable with respect to the frame 30.

The round tread surface front tire swing axis line A2 has an inclination that increases toward the rear side. That is, when the first point on the round tread surface front tire swing axis A2 is moved backward along the round tread surface front tire swing axis A2 as the second point, the second point Is higher than the first point. The inclination angle of the round tread surface front tire swing axis A2 with respect to the up-down direction when the vehicle 1A in the upright state so as to be able to go straight is viewed leftward or rightward is not particularly limited. However, when the vehicle 1A that is in an upright state so as to be able to travel straight is viewed leftward or rightward, the inclination angle of the round tread surface front tire swing axis A2 with respect to the vertical direction is preferably less than 45 °. Looking at the vehicle 1A in an upright state so that it can go straight, the intersection point between the round tread surface front tire swing axis A2 and the road surface RS passes through the front end of the round tread surface front tire 2 and is parallel to the vertical direction. Between the straight line L1 _1A and the straight line L2 _1A passing through the rear end of the round tread surface front tire 2 and parallel to the vertical direction. In FIG. 2, the intersection of the round tread surface front tire swing axis A2 and the road surface RS is slightly distant in the front direction from the contact point between the round tread surface front tire 2 and the road surface RS. The intersection of the round tread surface front tire swing axis A2 and the road surface RS may be the same as or substantially the same as the contact point between the round tread surface front tire 2 and the road surface RS. The intersection of the round tread surface front tire swing axis A2 and the road surface RS may be located rearward of the contact point as long as it is between the straight line L1 _1A and the straight line L2 _1A .

  The intermediate frame 30 has a rear swing shaft portion 32 at its rear portion. The rear swing shaft portion 32 projects rearward and obliquely downward. The head pipe portion 31 and the rear swing shaft portion 32 are integrally formed. The intermediate frame 30 is integrally molded. The outer shape of the rear swing shaft portion 32 is substantially cylindrical. A swing lever 33 is fixed to the rear end of the rear swing shaft portion 32. The swing lever 33 projects radially outward from the outer peripheral surface of the rear swing shaft portion 32. In FIG. 2, the swing lever 33 projects downward from the rear swing shaft portion 32, but the projecting direction is not limited to this. The swing lever 33 may project from the rear swing shaft portion 32 in the upward direction, the right direction, or the left direction.

  Next, the rear frame 40 will be described. The rear frame 40 has a rear main frame 41 and a rear suspension unit 42. The rear suspension unit 42 is connected to the rear part of the rear main frame 41. The rear suspension unit 42 has a pair of left and right swing arms 43, 43, one rear suspension 44, and a link mechanism 45. The number of rear suspensions 44 included in the rear suspension unit 42 may be two. The front part of the swing arm 43 is supported by the rear part of the rear main frame 41 so as to be swingable around an axis parallel to the left-right direction. The rear portion of the swing arm 43 supports the round tread surface rear tire 4. The rear suspension 44 has a spring and a hydraulic damper. One end of the rear suspension 44 is connected to the rear main frame 41. The link mechanism 45 is connected to the rear main frame 41, the other end of the rear suspension 44, and the swing arm 43 so as to be swingable around an axis parallel to the left-right direction. The specific configuration of the link mechanism 45 is not particularly limited. The rear suspension unit 42 is configured to absorb vertical vibrations received by the round tread surface rear tire 4.

  The round tread surface rear tire 4 is installed on the outer peripheral portion of the rear wheel 5. The swing arm 43 supports a rear axle (not shown) inserted into a hole in the center of the rear wheel 5. Thereby, the rear suspension unit 42 supports the round tread surface rear tire 4 rotatably around the rear axle line A3. The rear axle A3 is the center axis of the rear axle. When the motorcycle 1A is upright so that it can go straight, the rear axle A3 is parallel to the left-right direction.

  A rear brake (not shown) is installed on the rear wheel 5. The rear brake is configured to be able to apply braking force to the round tread surface rear tire 4. The type of the rear brake may be hydraulic, mechanical or electric. The rear brake may be, for example, a hydraulic disc brake or a drum brake, which is a type of mechanical brake. The rear brake type may be the same as or different from the front brake type.

The rear main frame 41 has a boss portion 41a at its front portion. The boss portion 41a has a cylindrical hole. The rear swing shaft portion 32 of the intermediate frame 30 is inserted through the boss portion 41a. A bearing (not shown) is arranged between the rear swing shaft portion 32 and the boss portion 41a. The boss portion 41a is supported by the rear swing shaft portion 32 so as to be rotatable around the central axis of the inner peripheral surface of the boss portion 41a. Accordingly, the rear frame 40 is supported by the intermediate frame 30 so as to be swingable around the central axis of the boss portion 41a. The central axis of the outer peripheral surface of the rear swing shaft portion 32 is coaxial with the central axis of the inner peripheral surface of the boss portion 41a. The center axis of the central axis and the rear swing shaft 32 of the inner peripheral surface of the boss portion 41a constitutes a round tread surface rear tire swing axis A4 _1A. The round tread surface rear tire swing axis A4 _1A is an example of the round tread surface rear tire swing axis A4 of the first embodiment. Round tread surface rear tire pivot axis A4 _1A is infinitely extending line. Since the rear frame 40 is swingably supported around the round tread surface rear tire swing axis A4 _1A by the intermediate frame 30, the round tread surface rear tire 4 moves around the round tread surface rear tire swing axis A4 _1A in the intermediate frame. It is swingable with respect to 30.

Round tread surface rear tire pivot axis A4 _1A has an inclination toward the downward direction increases toward the rear direction. That is, when the point is moved backward along the first point on the round tread surface rear tire swing axis A4 _1A round tread surface rear tire swing axis A4 _1A and the second point, the second point Is lower than the first point. The inclination angle of the round tread surface rear tire swing axis A4 _1A with respect to the up-down direction when the vehicle 1A in the upright state so as to be able to go straight is viewed leftward or rightward is not particularly limited. However, the inclination angle with respect to the vertical direction of the rectilinear capable vehicle 1A upright state as seen in the left or right, round tread surface rear tire pivot axis A4 _1A is preferably greater than 45 °. The vehicle 1A in a state of straight enable upright when viewed in the left or right, round tread surface rear tire intersection between the swing axis A4 _1A and the road surface RS is parallel to the front end of the round tread surface rear tire 4 as a vertical direction It is between the straight line L3 _1A and the straight line L4 _1A that passes through the rear end of the rear tire 4 of the round tread surface and is parallel to the vertical direction. In Figure 2, the round tread surface rear tire intersection between the swing axis A4 _1A and the road surface RS is located in the rear direction than the contact round tread surface rear tire 4 and the road surface RS.

  The rear frame 40 supports the hydraulic cylinder 60 and the hydraulic pump 61. The hydraulic cylinder 60 and the hydraulic pump 61 swing together with the rear frame 40. The hydraulic cylinder 60 is arranged in the vicinity of the tip portion (lower end portion in FIG. 2) of the swing lever 33 of the intermediate frame 30. The hydraulic cylinder 60 is an example of the round tread surface rear tire swing actuator 60 of the first embodiment. The hydraulic cylinder 60 is connected to the hydraulic pump 61. The oil pressurized by the hydraulic pump 61 is supplied to the hydraulic cylinder 60. The hydraulic cylinder 60 has a piston rod (not shown) that reciprocates linearly according to the hydraulic pressure. The piston rod of the hydraulic cylinder 60 is connected to the tip of the swing lever 33.

As the piston rod moves in the linear direction, the swing lever 33 swings in the circumferential direction of the outer peripheral surface of the rear swing shaft portion 32. In this way, the hydraulic cylinder 60 swings the rear frame 40 around the round tread surface rear tire swing axis A4 _{1A with} respect to the intermediate frame 30. Thereby, the round tread surface rear tire 4 swings against the round tread surface rear tire swing axis A4 _1A intermediate frame 30 around. That is, the hydraulic cylinder 60 (round tread surface rear tire swing actuator) swings the round tread surface rear tire 4 around the round tread surface rear tire swing axis A4 _{1A with} respect to the intermediate frame 30.

The rear frame 40 has a seat frame 46 in addition to the rear main frame 41 and the rear suspension unit 42. The seat frame 46 is fixed to the rear main frame 41. The seat frame 46 supports a seat 10 on which a driver (occupant) is seated and a tandem seat 11 on which a passenger (occupant) is seated. That is, the seat 10 and the tandem seat 11 are supported by the rear frame 40. The tandem seat 11 is located rearward of the rear end of the seat 10. There are two passengers on the motorcycle 1A. The tandem seat 11 may be omitted. Note that FIG. 2 does not show the boundary line of the seat 10 other than the upper edge of the seat 10 when the vehicle 1A is viewed to the right. Further, in FIG. 2, the boundary line of the tandem seat 11 other than the upper edge of the tandem seat 11 when the vehicle 1A is viewed to the right is not shown. The rear end of the seat 10 is substantially at the same position as the front end of the tandem seat 11. The vehicle 1A in a state of straight enable upright when viewed in the left or right, the whole sheet 10 is spaced upward from the round tread surface rear tire swing axis A4 _1A. The vehicle 1A in a state of straight enable upright when viewed in the left or right, the whole tandem seat 11 are separated upward from the round tread surface rear tire swing axis A4 _1A.

  The rear frame 40 supports the engine unit 70. The engine unit 70 is an example of the drive source 70 of the first embodiment. The engine unit 70 is configured to be able to apply driving force to the round tread surface rear tire 4. The output (driving force) of the engine unit 70 is transmitted to the round tread surface rear tire 4 via a chain or a belt. The engine unit 70 includes a clutch mechanism. The engine unit 70 may or may not include a transmission. When the engine unit 70 does not include a transmission, the rear wheel 5 supports the transmission. The output (driving force) of the engine unit 70 is transmitted to the round tread surface rear tire 4 via the transmission. The transmission is configured so that the ratio of the rotation speed of the output shaft of the engine unit 70 and the rotation speed of the round tread surface rear tire 4 can be changed. The engine unit 70 may be a 4-stroke engine or a 2-stroke engine. The engine unit 70 may be a single cylinder engine or a multi-cylinder engine. When the engine unit 70 is a multi-cylinder engine, the engine unit 70 is preferably an independent throttle type. The engine unit 70 may be a water-cooled engine, a forced air-cooled engine, or a natural air-cooled engine. The engine unit 70 may be a supercharged engine including a supercharger. The supercharger is a device that compresses the air supplied to the combustion chamber. The supercharger may be a mechanical supercharger or an exhaust turbine supercharger (so-called turbocharger). The engine unit 70 may be a gasoline engine or a diesel engine. The engine unit 70 may be a hydrogen rotary engine.

The rear frame 40 supports the fuel tank 71. The fuel tank 71 stores the fuel supplied to the engine unit 70. The fuel tank 71 is located forward of the front end of the seat 10. The fuel tank 71 is arranged on the engine unit 70. The fuel tank 71 is located at the center of the motorcycle 1A in the left-right direction. That is, when the vehicle 1A in a state of straight enable upright viewed downward, the fuel tank 71 overlaps the round tread surface rear tire swing axis A4 _1A.

  The motorcycle 1A has a battery (not shown). The battery supplies electric power to various electric devices. Various electric devices include a control device 80 and various sensors described later.

  As described above, the motorcycle 1A has the handle unit 50. The handle unit 50 has a left grip 51 and a right grip (not shown). The left grip 51 and the right grip are gripped by the driver's (occupant's) hand. As described above, the handle unit 50 is fixed to the steering shaft 22. The steering shaft 22 swings with respect to the intermediate frame 30 around the round tread surface front tire swing axis A2 by the driver holding the left and right grips operating the handle unit 50. Thereby, the round tread surface front tire 2 is steered. That is, the round tread surface front tire 2 swings with respect to the intermediate frame 30 around the round tread surface front tire swing axis A2 by the driver's operation.

  The right grip is the accelerator grip. The output of the engine unit 70 (driving source) is adjusted by the driver operating the accelerator grip so as to rotate it. Specifically, the opening degree of a throttle valve (not shown) included in the engine unit 70 is adjusted according to the operation amount of the accelerator grip. The amount of air supplied to the combustion chamber changes according to the opening of the throttle valve. The throttle valve is controlled by a throttle-by-wire method. The engine unit 70 is controlled by an accelerator-by-wire system. The throttle valve is connected to the control device 80. The control device 80 controls the opening of the throttle valve according to the detection result of an accelerator sensor (not shown) that detects the operation amount of the accelerator grip. That is, the control device 80 controls the output of the engine unit 70 according to the operation amount of the accelerator grip. Depending on the situation, the controller 80 may change the opening of the throttle valve regardless of the operation of the accelerator grip. The throttle valve may be connected to the accelerator grip via a throttle wire.

  A front brake lever (not shown) is provided on the right side of the handle unit 50. A rear brake lever (not shown) is provided on the left side of the handle unit 50. By operating the driver to pull the front brake lever with the finger of the right grip, the front brake operates and braking force is applied to the round tread surface front tire 2. By operating the driver to pull the rear brake lever with the finger holding the left grip 51, the rear brake operates and braking force is applied to the round tread surface rear tire 4. The front and rear brakes are controlled by the brake-by-wire method. The front brake and the rear brake are connected to the control device 80. The control device 80 operates the front brake according to the detection result of a front brake sensor (not shown) that detects the operation amount of the front brake lever. The control device 80 operates the rear brake according to the detection result of the rear brake sensor (not shown) that detects the operation amount of the rear brake lever. Depending on the situation, the controller 80 may activate the brake regardless of the operation of the brake lever. The front brake lever may be mechanically connected to the front brake. The rear brake lever may be mechanically connected to the rear brake. A brake pedal may be provided instead of the front brake lever or the rear brake lever. The brake pedal is operated by the driver's foot.

  The motorcycle 1A has a vehicle body cover 12. In FIG. 2, a part of the vehicle body cover 12 is shown by a chain double-dashed line. The vehicle body cover 12 is composed of a plurality of parts. The vehicle body cover 12 covers at least a part of the front frame 20, the intermediate frame 30, and at least a part of the rear frame 40. At least a part of the vehicle body cover 12 is supported by the rear frame 40. The vehicle body cover 12 includes a front cowl (not shown). The front cowl covers the head pipe portion 31 from the front.

  The motorcycle 1A has a wheel speed sensor (not shown) that detects the rotation speed of the round tread surface front tire 2 or the round tread surface rear tire 4. The motorcycle 1A may include two wheel speed sensors that detect the rotational speeds of the round tread surface front tire 2 and the round tread surface rear tire 4, respectively. The control device 80, based on the rotation speed of the round tread surface front tire 2 or the round tread surface rear tire 4 detected by the wheel speed sensor, and the diameter of the round tread surface front tire 2 or the round tread surface rear tire 4, the motorcycle 1A. Calculate the vehicle speed of.

  The motorcycle 1A has a steering wheel steering angle sensor (not shown) that detects the steering angle of the steering wheel unit 50. The steering angle of the handle unit 50 is the rotation angle of the steering shaft 22.

  The motorcycle 1A includes an inclination detection device 81 that detects a physical quantity related to the inclination of the intermediate frame 30 in the left-right direction with respect to the vertical direction. The tilt detection device 81 is supported by the intermediate frame 30. The inclination of the intermediate frame 30 in the horizontal direction with respect to the vertical direction means that the intermediate frame 30 swings around the roll axis of the motorcycle 1A. The roll axis is an axis parallel to the front-rear direction. The physical quantity detected by the inclination detection device 81 includes at least one of the roll angle, the roll rate, and the roll angular acceleration of the intermediate frame 30. The tilt detection device 81 may be a sensor (gyro sensor) that detects at least one of the roll angle, the roll rate, and the roll angular acceleration. The inclination detection device 81 may include an arithmetic processing unit that performs arithmetic processing based on the detection result of the gyro sensor. For example, the inclination detection device 81 may calculate the roll angle by integrating the roll rate detected by the gyro sensor. The inclination detection device 81 may calculate the roll rate by integrating the roll angular acceleration detected by the sensor. The inclination detection device 81 may calculate the roll rate by differentiating the roll angle detected by the gyro sensor. The inclination detection device 81 may calculate the roll angular acceleration by differentiating the roll rate detected by the gyro sensor. The inclination detection device 81 may be an arithmetic processing unit that performs arithmetic processing based on the detection result of the steering wheel steering angle sensor and the like. The inclination detection device 81 may calculate the roll angle of the intermediate frame 30 based on the steering angle of the handle unit 50 and the like. The inclination detection device 81 may include both the sensor and the arithmetic processing unit. The inclination detection device 81 may include only the arithmetic processing unit without including the sensor. The arithmetic processing unit may be included in the control device 80 described later.

  The motorcycle 1A has a detection device (not shown) that detects a physical quantity related to the inclination of the intermediate frame 30 in the left-right direction with respect to the front-rear direction. The inclination of the intermediate frame 30 in the left-right direction with respect to the front-rear direction means that the intermediate frame 30 swings around the yaw axis of the motorcycle 1A. The yaw axis is an axis parallel to the vertical direction. The physical quantity detected by this detection device includes at least one of the yaw angle, the yaw rate, and the yaw angular acceleration of the intermediate frame 30. The motorcycle 1A has a detection device that detects a physical quantity related to the inclination of the intermediate frame 30 in the up-down direction with respect to the front-back direction. The inclination of the intermediate frame 30 in the up-down direction with respect to the front-rear direction means that the intermediate frame 30 swings around the pitch axis of the motorcycle 1A. The pitch axis is an axis parallel to the left-right direction. The physical quantity detected by this detection device includes at least one of the pitch angle, the pitch rate, and the pitch angular acceleration of the intermediate frame 30.

  The motorcycle 1A has a control device 80. The control device 80 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The CPU executes information processing based on programs and various data stored in the ROM and RAM. The controller 80 may be supported by the intermediate frame 30 or the rear frame 40. The position of the control device 80 is not limited to the position shown in FIG. The control device 80 is connected to various sensors such as an accelerator sensor, a front brake sensor, a rear brake sensor, a wheel speed sensor, a steering wheel angle sensor, and an inclination detection device 81. Controller 80 receives signals from these sensors. As described above, when the inclination detection device 81 includes the arithmetic processing unit, the arithmetic processing unit of the inclination detection device 81 may be included in the control device 80. The control device 80 is connected to an engine control actuator such as a fuel supply device and a throttle valve. The control device 80 is connected to the actuators of the front brake and the rear brake. The control device 80 is connected to the hydraulic pump 61. The control device 80 controls these connected devices. The control device 80 controls the hydraulic cylinder 60 (round tread surface rear tire swing actuator) via the hydraulic pump 61. The control device 80 controls the hydraulic cylinder 60 to control the swing of the round tread surface rear tire 4. The control device 80 includes the round tread surface rear tire swing actuator control device of the present invention. The swing control of the round tread surface rear tire 4 by the control device 80 will be described later.

The intermediate frame 30, the front frame 20, the rear frame 40, the round tread surface front tire 2, the round tread surface rear tire 4, the hydraulic cylinder 60 (round tread surface rear tire swing actuator), and the control device 80 satisfy the following two conditions. Formed or placed to fill. The first condition is that the round tread surface rear tire swing axis A4 _1A is the center of gravity of the vehicle 1A in a state where no load is applied from the outside when the vehicle 1A in the upright state capable of going straight is viewed leftward or rightward. it is to pass between the G0 _1A and the sheet 10. Centroid G0 _1A of the vehicle 1A in a state where an external no load is applied is not limited to the position shown in FIG. The second condition is that as the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 1A including the driver (occupant) seated on the seat 10 approaches the round tread surface rear tire swing axis A4 _1A. .. As the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 1A including the driver (passenger) moves in the arrow direction from the center of gravity G0 _1A shown in FIG. 2, for example. The center of gravity G1 _1A indicated by the chain double-dashed line in FIG. 2 is an example of the center of gravity of the vehicle 1A including the driver (occupant) seated on the seat 10. The center of gravity G1 _{1A of the} vehicle 1A including the driver (occupant) seated on the seat 10 may or may not exceed the round tread surface rear tire swing axis A4 _1A . If the occupant respectively to the seat 10 and a tandem seat 11 is seated, the center of gravity of the vehicle 1A including the occupant 2 persons may exceed the round tread surface rear tire swing axis A4 _1A, it may not exceed. If exceed the extreme upper limit of the recommended nono load, the center of gravity of the vehicle 1A including all of the load the vehicle 1A is received from the outside is not to leave extremely from round tread surface rear tire swing axis A4 _1A. With this configuration, the same effects as those described in the first embodiment can be obtained.

In a state in which the vehicle 1A is upright so as to be able to travel straight, the hydraulic cylinder 60 (round tread surface rear tire swing actuator) is located above the upper ends of both the round tread surface rear tire 4 and the round tread surface front tire 2. The vehicle 1A in a state of straight enable upright when viewed in the left or right, the hydraulic cylinder 60 (round tread surface rear tire swing actuator) does not overlap with the round tread surface rear tire swing axis A4 _1A. In Figure 2, looking at the vehicle 1A in a state of straight enable upright in the left or right, the whole hydraulic cylinders 60 (round tread surface rear tire swing actuators), downward from the round tread surface rear tire swing axis A4 _1A Far away.

The vehicle 1A in a state of straight enable upright when viewed in the left or right, at least a portion of the engine unit 70 (driving source) is spaced downwardly from the round tread surface rear tire swing axis A4 _1A. In Figure 2, the entire engine unit 70 (driving source) is spaced downwardly from the round tread surface rear tire swing axis A4 _1A. The vehicle 1A in a state of straight enable upright when viewed in the left or right, at least a portion of the front suspension units 21 are spaced downwardly from the round tread surface rear tire swing axis A4 _1A. In Figure 2, the entire front suspension unit 21 is spaced downwardly from the round tread surface rear tire swing axis A4 _1A. The vehicle 1A in a state of straight enable upright when viewed in the left or right, at least a portion of the rear suspension unit 42 is spaced downwardly from the round tread surface rear tire swing axis A4 _1A. In FIG. 2, a part of the rear suspension unit 42 is separated downward from the round tread surface rear tire swing axis A4 _1A , and the other part of the rear suspension unit 42 is separated from the round tread surface rear tire swing axis A4 _1A. Upwardly distant.

  Here, the behavior of the vehicle 1A when the round tread surface rear tire 4 is swung will be described. In the following description, tilting the round tread surface rear tire 4 to the left with respect to the upward direction means that the upper end of the round tread surface rear tire 4 moves leftward relative to the lower end. The same definition applies to the vehicle 1A and the round tread surface front tire 2. The tilting of the round tread surface rear tire 4 to the left with respect to the front direction means a state in which the front end of the round tread surface rear tire 4 has moved to the left relative to the rear end. The same definition applies to the round tread surface front tire 2. Steering the round tread surface front tire 2 to the left means that the round tread surface front tire 2 leans to the left with respect to the front direction.

FIG. 3A shows a state in which the vehicle 1A is standing upright on a horizontal road surface RS so as to be able to go straight. In this state, the center of gravity G0 _1A of the vehicle 1A in a state where no load is applied from the outside, in the middle of the right and left direction of the motorcycle 1A. When the round tread surface rear tire 4 swings in the direction of the arrow X shown in FIG. 3 (a) from the state of FIG. 3 (a), the round tread surface rear tire 4 moves upward as shown in FIG. 3 (b). It leans to the left with respect to, and leans to the right with respect to the front. The direction of the arrow X is a clockwise direction when viewed in the rear direction. When the round tread surface rear tire 4 leans leftward with respect to the upward direction, the vehicle 1A then leans leftward with respect to the upward direction, as shown in FIG. 3C. Therefore, when the vehicle 1A is viewed downward, the center of gravity G0 _{1A of the} vehicle 1A moves leftward from the round tread surface rear tire swing axis A4 _1A . As a result, camber thrust is generated. In addition, the vehicle 1A turns left by tilting the round tread surface rear tire 4 to the right with respect to the front direction.

FIG. 4A shows a state in which the vehicle 1A leans to the left with respect to the upward direction. When the vehicle 1A is viewed downward, the center of gravity G0 _{1A of the} vehicle 1A is leftward from the round tread surface rear tire swing axis A4 _1A . From this state, when the round tread surface rear tire 4 swings in the direction of the arrow Y shown in FIG. 4A, the round tread surface rear tire 4 moves to the right with respect to the upward direction as shown in FIG. 4B. Along with tilting to the right, it leans to the right with respect to the front. The direction of arrow X is opposite to the direction of arrow Y described above. As a result, the left and right inclinations of the round tread surface front tire 2 and the round tread surface rear tire 4 with respect to the upward direction are reversed. The center of gravity G0 _{1A of the} vehicle 1A moves to the right. As a result, the vehicle 1A gets up as shown in FIG.

Next, rocking control of the round tread surface rear tire 4 by the control device 80 will be described.
The control device 80 controls the hydraulic cylinder 60 based on the physical quantity related to the tilt of the intermediate frame 30 in the horizontal direction with respect to the vertical direction detected by the tilt detection device 81. The control device 80 may change the swing control of the round tread surface rear tire 4 based on other parameters in addition to the detection result of the inclination detection device 81. For example, it may be based on the detection result of the wheel speed sensor. For example, it may be based on the detection result of the steering wheel angle sensor. Further, for example, it may be based on map information. Further, it may be based on weather information such as rain. Further, for example, it may be based on the skill of the driver. The driver's skill may be input by the driver or may be determined by the control device based on the traveling situation. The swing control of the round tread surface rear tire 4 and the round tread surface front tire 2 may be changed depending on the vehicle type.

  The control device 80 swings the round tread surface rear tire 4 to assist the driver in steering the steering wheel unit 50. Specifically, for example, when the driver steers the steering wheel unit 50 to the left, the control device 80 swings the round tread surface rear tire 4 so that the vehicle 1A leans to the left with respect to the upward direction. You may let me. Further, for example, when the vehicle 1A is turning left, the control device 80 may swing the round tread surface rear tire 4 so that the leftward inclination with respect to the upward direction of the vehicle 1A becomes large. Thereby, the turning property can be improved. That is, the turning radius can be reduced. Further, for example, when the driver steers the steering wheel unit 50 to the right while the vehicle 1A is turning left, the control device 80 causes the round tread surface rear tire 4 to swing so that the vehicle 1A gets up. May be.

  The controller 80 may swing the round tread surface rear tire 4 when the vehicle 1A is leaning due to a crosswind. For example, when the vehicle 1A receives wind from the right and leans leftward, even if the round tread rear tire 4 is swung in the direction in which the round tread rear tire 4 leans leftward with respect to the upward direction. Good.

  The motorcycle 1A may have, as the operation mode, an inclination reduction mode for reducing the inclination of the vehicle 1A in the horizontal direction with respect to the vertical direction. The control device 80 swings the round tread surface rear tire 4 when the vehicle 1A leans to the left and right with respect to the upward direction during the lean reduction mode. Particularly when the vehicle is traveling at a low speed, the vehicle 1A is likely to lean in the horizontal direction with respect to the vertical direction. The rocking control of the round tread surface rear tire 4 in the lean reduction mode may be limited to the low speed running.

  The control device 80 alternately swings the round tread surface rear tire 4 bidirectionally so that the vehicle 1A can maintain an independent state when traveling at a low speed of, for example, 6 km / hour or less, or while stopped. Good. For example, this control may be performed when a person pushes the vehicle 1A and walks.

  The specific example 1 of the first embodiment has the following effects in addition to the effects of the embodiment of the present invention described above.

The vehicle 1A in a state of straight enable upright when viewed in the left or right, the intersection of the round tread surface rear tire pivot axis A4 _1A and the road surface RS is, parallel to the front end of the round tread surface rear tire 4 as a vertical direction It is between the straight line L3 _1A and the straight line L4 _1A that passes through the rear end of the rear tire 4 of the round tread surface and is parallel to the vertical direction. As a result, the intersection of the rocking axis A4 _{1A of the} rear tire of the round tread surface and the road surface RS is more forward than the straight line L3 _1A passing through the front end of the rear tire of the round tread surface and parallel to the vertical direction. The moment required to swing the tread surface rear tire 4 is small. Further, as compared with the case where the intersection point of the round tread surface rear tire swing axis A4 _1A and the road surface RS is away from the straight line L4 _1A passing through the rear end of the round tread surface rear tire 4 and parallel to the vertical direction in the rear direction, The moment required to swing the tread surface rear tire 4 is small. Therefore, the controllability of the swing control of the round tread surface rear tire 4 can be improved. Therefore, the controllability of the rocking control of the round tread surface rear tire 4 with respect to the change in the riding load of the motorcycle 1A can be further improved.

The vehicle 1A in a state of straight enable upright when viewed in the left or right, at least a portion of the engine unit 70 having a relatively large weight (driving source) is, downward from the round tread surface rear tire swing axis A4 _1A Far away. Therefore, the layout round tread surface rear tire swing axis A4 _1A is located between the center of gravity G0 _1A and seat 10 of a vehicle 1A in a state where no load is applied to the sheet 10 can be easily realized.

Looking at the vehicle 1A in an upright state so that it can go straight ahead, at least a part of the front suspension unit 21 having a relatively large weight moves downward from the round tread surface rear tire swing axis A4 _1A. There is. Therefore, the layout round tread surface rear tire swing axis A4 _1A is located between the center of gravity G0 _1A and seat 10 of a vehicle 1A in a state where no load is applied to the sheet 10 can be easily realized.

Look at the vehicle 1A in a state of straight enable upright in the direction or the right direction, a portion of the rear suspension unit 42 having a relatively large weight are separated downward from the round tread surface rear tire swing axis A4 _1A. Therefore, the layout round tread surface rear tire swing axis A4 _1A is located between the center of gravity G0 _1A and seat 10 of a vehicle 1A in a state where no load is applied to the sheet 10 can be easily realized.

The vehicle 1A in a state of straight enable upright as viewed downward, a portion of the fuel tank 71 overlaps the round tread surface rear tire swing axis A4 _1A. Thereby, also the weight of the fuel in the fuel tank 71 is changed, a small change in the position of the center of gravity G0 _1A of the vehicle 1A. Therefore, it is possible to prevent the controllability of the swing control of the round tread surface rear tire 4 from decreasing.

  If the tilt detection device 81 is installed on the rear frame 40, in order to detect the tilt of the intermediate frame 30 from the detection result of the tilt detection device 81, the swing angle of the rear frame 40 with respect to the intermediate frame 30 is taken into consideration. It is necessary to make a correction. Since the inclination detection device 81 is installed on the intermediate frame 30, it becomes easy to perform the swing control of the round tread surface rear tire 4 so that the desired behavior of the vehicle 1A can be obtained. Therefore, it is possible to further improve the controllability of the swing control of the round tread surface rear tire 4 with respect to the change in the loading load of the motorcycle 1A.

<Specific Example 2 of First Embodiment of the Present Invention>
Next, a motorcycle 1B of Concrete Example 2 of the first embodiment of the present invention will be described with reference to FIG. Basically, the specific example 2 of the first embodiment of the present invention has all the features of the first embodiment of the present invention. The description of the same parts as in the first embodiment of the present invention and the first specific example thereof will be omitted. Hereinafter, a configuration different from the first specific example of the first embodiment of the present invention will be described.

The hydraulic cylinder 60 swings the rear frame 40 around the round tread surface rear tire swing axis A4 _{1B with} respect to the intermediate frame 30. The round tread surface rear tire swing axis A4 _1B is an example of the round tread surface rear tire swing axis A4 of the first embodiment. Round tread surface rear tire pivot axis A4 _1B has an inclination toward the downward direction increases toward the rear direction. Looking at the vehicle 1B in an upright state so that it can go straight ahead, the intersection of the round tread surface rear tire swing axis A4 _1B and the road surface RS is the same as or almost the same as the contact point between the round tread surface rear tire 4 and the road surface RS. Is the same. As a result, the torque for rocking the rear frame 40 is smaller than that in the first specific example of the first embodiment. Therefore, the controllability of the swing control of the round tread surface rear tire 4 can be improved. Therefore, the controllability of the rocking control of the round tread surface rear tire 4 with respect to changes in the riding load of the motorcycle 1B can be further improved.

Similar to the specific example 1, the intermediate frame 30, the front frame 20, the rear frame 40, the round tread surface front tire 2, the round tread surface rear tire 4, the hydraulic cylinder 60 (round tread surface rear tire swing actuator), and the control device 80 are It is formed or arranged so as to satisfy the following two conditions. The first condition is that the round tread surface rear tire swing axis A4 _1B is the center of gravity of the vehicle 1B in a state where no load is applied from the outside when the vehicle 1B in an upright state capable of going straight is viewed leftward or rightward. it is to pass between the G0 _1B and the sheet 10. Centroid G0 _1B of the vehicle 1B in a state where an external no load is applied is not limited to the position shown in FIG. The second condition is that the center of gravity of the vehicle 1B including the driver (occupant) seated on the seat 10 approaches the round tread surface rear tire swing axis A4 _1B as the load applied to the seat 10 increases from zero. .. As the load applied to the seat 10 is increased from zero, the center of gravity of the vehicle 1B including the driver (the passenger), for example, to move from the center of gravity G0 _1B shown in FIG. 5 in the direction of the arrow. The center of gravity G1 _1B indicated by the chain double-dashed line in FIG. 5 is an example of the center of gravity G1 _1B of the vehicle 1B including the driver (occupant) seated on the seat 10. The center of gravity G1 _{1B of the} vehicle 1B including the driver (occupant) sitting on the seat 10 may or may not exceed the round tread surface rear tire swing axis A4 _1B . If the occupant respectively to the seat 10 and a tandem seat 11 is seated, the center of gravity of the vehicle 1B including occupant Two may exceed the round tread surface rear tire swing axis A4 _1B, it may not exceed.

<Specific Example 3 of First Embodiment of the Present Invention>
Next, a motorcycle 1C of Specific Example 3 of the first embodiment of the present invention will be described with reference to FIG. Basically, the specific example 3 of the first embodiment of the present invention has all the features of the first embodiment of the present invention. The description of the same parts as in the first embodiment of the present invention and the first specific example thereof will be omitted. Hereinafter, a configuration different from the first specific example of the first embodiment of the present invention will be described.

Hydraulic cylinder 60 swings relative to the intermediate frame 30 and rear frame 40 to the A4 _1C around round tread surface rear tire swing axis. The round tread surface rear tire swing axis A4 _1C is an example of the round tread surface rear tire swing axis A4 of the first embodiment. The round tread surface rear tire swing axis _A41C has a downward inclination toward the rear. Looking at the vehicle 1C in an upright state so that it can go straight ahead, the intersection of the round tread surface rear tire swing axis A4 _1C and the road surface RS is in the forward direction from the contact point between the round tread surface rear tire 4 and the road surface RS. Located in. However, as in the first specific example, the intersection of the round tread surface rear tire swing axis A4 _1C and the road surface RS is the straight line L3 _1C that passes through the front end of the round tread surface rear tire 4 and is parallel to the vertical direction, and the round tread surface rear tire 4. It is between the straight line L4 _1C passing through the rear end and parallel to the vertical direction.

Similar to the specific example 1, the intermediate frame 30, the front frame 20, the rear frame 40, the round tread surface front tire 2, the round tread surface rear tire 4, the hydraulic cylinder 60 (round tread surface rear tire swing actuator), and the control device 80 are It is formed or arranged so as to satisfy the following two conditions. The first condition is that the round tread surface rear tire swing axis A4 _1C is the center of gravity of the vehicle 1C in a state where no load is applied from the outside when the vehicle 1C in an upright state capable of going straight is viewed leftward or rightward. It is to pass between _G01C and the seat 10. The center of gravity G0 _1C of the vehicle 1C in a state where no load is applied from the outside is not limited to the position shown in FIG. The second condition is that as the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 1C including the driver (occupant) seated on the seat 10 approaches the round tread surface rear tire swing axis A4 _1C. .. As the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 1C including the driver (occupant) moves in the arrow direction from the center of gravity G0 _1C shown in FIG. 6, for example. The center of gravity G1 _1C indicated by the chain double-dashed line in FIG. 6 is an example of the center of gravity G1 _1C of the vehicle 1C including the driver (occupant) seated on the seat 10. The center of gravity G1 _{1C of the} vehicle 1C including the driver (occupant) seated on the seat 10 may or may not exceed the round tread surface rear tire swing axis A4 _1C . When an occupant is seated on each of the seat 10 and the tandem seat 11, the center of gravity of the vehicle 1C including two occupants may or may not exceed the round tread surface rear tire swing axis A4 _1C .

<Second Embodiment of the Present Invention>
Next, a motorcycle 100A according to a second embodiment of the present invention will be described with reference to FIG. Basically, the second embodiment of the invention has all the features mentioned in the description of the first embodiment of the invention. The description of the same parts as in the first embodiment of the present invention and the first specific example thereof will be omitted. Hereinafter, configurations different from those of the first embodiment of the present invention and the first specific example thereof will be described.

  The motorcycle 100A has a front frame 120, an intermediate frame 130, and a rear frame 140. The main material of the front frame 120 is a metal such as aluminum or iron, a resin such as CFRP, or a combination thereof. The same applies to main materials of the intermediate frame 130 and the rear frame 140. The materials of the front frame 120, the intermediate frame 130, and the rear frame 140 may be different from each other.

  First, the front frame 120 will be described. The front frame 120 has a pair of left and right front suspension units 21 and 21, and a front swing shaft portion 122. The front swing shaft portion 122 is fixed to the upper portion of the front suspension unit 21. A front brake 106 is installed on the front wheel 3. The front brake 106 is configured to be able to apply a braking force to the front tire 2 of the round tread surface. The front brake 106 is a hydraulic disc brake. The front brake 106 is connected to the front hydraulic unit 107 via a brake hose. The front hydraulic unit 107 is supported by the intermediate frame 130. The front brake 106 operates by the pressure of the brake fluid supplied from the front hydraulic unit 107. The front hydraulic unit 107 controls the brake fluid pressure of the front brake 106. The front hydraulic unit 107 includes a hydraulic pressure adjusting motor and a hydraulic pressure adjusting valve.

  Next, the intermediate frame 130 will be described. The intermediate frame 130 has an intermediate main frame 131. The intermediate main frame 131 is connected to the handle unit 50. The handle unit 50 is not swingable with respect to the intermediate frame 130.

  The intermediate mainframe 131 supports the front electric motor 162. The front electric motor 162 is housed in the front part of the intermediate main frame 131. The front electric motor 162 is fixed to the intermediate frame 130. The front electric motor 162 is an electric motor whose output shaft can rotate bidirectionally. The front electric motor 162 may be a motor with a reducer. The output shaft of the front electric motor 162 projects obliquely forward and downward. The output shaft of the front electric motor 162 is fixed to the front swing shaft portion 122 of the front frame 120. The front electric motor 162 may be supported by the front swing shaft portion 122, and the output shaft of the front electric motor 162 may be fixed to the intermediate main frame 131.

  When the output shaft of the front electric motor 162 rotates, the front frame 120 swings with respect to the intermediate frame 130 around the central axis of the output shaft of the front electric motor 162. The front electric motor 162 corresponds to the round tread surface front tire swing actuator of the present invention. The output shaft of the front electric motor 162 constitutes the round tread surface front tire swing axis A2. That is, the front electric motor 162 (round tread surface front tire swing actuator) swings the front frame 120 around the round tread surface front tire swing axis A2 with respect to the intermediate frame 130. The round tread surface front tire swing axis A2 is a straight line extending infinitely.

  The front frame 120 is supported by the intermediate frame 130 via the front electric motor 162. The front frame 120 is supported by the intermediate frame 130 so as to be swingable around the central axis of the output shaft of the front electric motor 162. Since the front frame 120 is supported by the intermediate frame 130 so as to be capable of swinging about the round tread surface front tire swing axis A2, the round tread surface front tire 2 is intermediate about the round tread surface front tire swing axis A2. It is swingable with respect to the frame 130.

The round tread surface front tire swing axis line A2 has an inclination that increases toward the rear side. That is, when the first point on the round tread surface front tire swing axis A2 is moved backward along the round tread surface front tire swing axis A2 as the second point, the second point Is higher than the first point. The inclination angle of the round tread surface front tire swing axis A2 with respect to the up-down direction when the vehicle 100A in the upright state so as to be able to go straight is viewed leftward or rightward is not particularly limited. However, when the vehicle 100A in an upright state so that it can go straight ahead is viewed leftward or rightward, the inclination angle of the round tread surface front tire swing axis A2 with respect to the vertical direction is preferably less than 45 °. Looking at the vehicle 100A in an upright state so that it can go straight, the intersection of the round tread surface front tire swing axis A2 and the road surface RS passes through the front end of the round tread surface front tire 2 and is parallel to the vertical direction. Between the straight line L1 _100A and the straight line L2 _100A passing through the rear end of the round tread surface front tire 2 and parallel to the vertical direction. In FIG. 7, the intersection of the round tread surface front tire swing axis A2 and the road surface RS is slightly away from the contact point between the round tread surface front tire 2 and the road surface RS in the forward direction. The intersection of the round tread surface front tire swing axis A2 and the road surface RS may be the same as or substantially the same as the contact point between the round tread surface front tire 2 and the road surface RS. The intersection between the round tread surface front tire swing axis A2 and the road surface RS may be located rearward of the contact point as long as it is between the straight line L1 _100A and the straight line L2 _100A .

The intermediate frame 130 has a seat frame 132 in addition to the intermediate main frame 131. The seat frame 132 is fixed to the intermediate main frame 131. The seat frame 132 supports the seat 10 on which a driver (occupant) is seated and the tandem seat 11 on which a passenger (occupant) is seated. That is, the seat 10 and the tandem seat 11 are supported by the intermediate frame 130. The tandem seat 11 is located rearward of the rear end of the seat 10. The motorcycle 100A has a passenger capacity of two. The tandem seat 11 may be omitted. Note that FIG. 7 does not show the boundary line of the seat 10 other than the upper edge of the seat 10 when the vehicle 100A is viewed to the right. Further, FIG. 2 does not show the boundary line of the tandem seat 11 other than the upper edge of the tandem seat 11 when the vehicle 100A is viewed to the right. The rear end of the seat 10 is substantially at the same position as the front end of the tandem seat 11. When the vehicle 100A in an upright state so that it can go straight ahead is viewed leftward or rightward, the entire seat 10 is separated upward from the round tread surface rear tire swing axis A4 _100A . Looking at the vehicle 100A in an upright state so that it can go straight ahead, the entire tandem seat 11 is separated upward from the round tread surface rear tire swing axis A4 _100A .

  Next, the rear frame 140 will be described. The rear frame 140 has a rear swing shaft portion 141 and a rear suspension unit 42. The rear suspension unit 42 is connected to the rear portion of the rear swing shaft portion 141. The front portion of the swing arm 43 of the rear suspension unit 42 is supported by the rear portion of the rear swing shaft portion 141 so as to be swingable about an axis parallel to the left-right direction. One end of the rear suspension 44 of the rear suspension unit 42 is connected to the rear portion of the rear swing shaft portion 141. The link mechanism 45 is connected to the rear portion of the rear swing shaft portion 141, the other end of the rear suspension 44, and the swing arm 43 so as to be swingable about axes parallel to the left-right direction.

  An in-wheel motor 170 and a rear brake 108 (not shown) are installed on the rear wheel 5. The in-wheel motor 170 corresponds to the drive source of the present invention. The in-wheel motor 170 is an electric motor. The in-wheel motor 170 is configured to be able to apply a driving force to the round tread surface rear tire 4. In-wheel motor 170 may or may not include a transmission. When the in-wheel motor 170 does not include a transmission, the rear wheel 5 may support the transmission. The output (driving force) of the in-wheel motor 170 is transmitted to the round tread surface rear tire 4 via the transmission. The transmission is configured to be able to change the ratio of the rotation speed of the output shaft of the in-wheel motor 170 and the rotation speed of the round tread surface rear tire 4. Further, the transmission may not be provided. The rear brake 108 is configured to be able to apply a braking force to the round tread surface rear tire 4. The rear brake 108 is a drum brake. The drum brake is a mechanical brake that utilizes frictional force.

  The rear swing shaft portion 141 has a substantially cylindrical shape. The rear swing shaft portion 141 supports the rear electric motor 160. The rear electric motor 160 is arranged inside the front portion of the rear swing shaft portion 141. The rear electric motor 160 is fixed to the rear frame 140. The rear electric motor 160 is located rearward of the rear end of the front electric motor 162. The rear electric motor 160 is an electric motor whose output shaft can rotate bidirectionally. The rear electric motor 160 may be a motor with a reducer. The output shaft of the rear electric motor 160 projects obliquely forward and upward. The output shaft of the rear electric motor 160 is fixed to the intermediate main frame 131. The rear electric motor 160 may be supported by the intermediate main frame 131, and the output shaft of the rear electric motor 160 may be fixed to the rear swing shaft portion 141.

As the output shaft of the rear electric motor 160 rotates, the rear frame 140 swings around the central axis of the output shaft of the rear electric motor 160 with respect to the intermediate frame 130. In other words, the rear electric motor 160 swings the rear frame 140 with respect to the intermediate frame 130 around the central axis of the output shaft. The rear electric motor 160 corresponds to the round tread surface rear tire swing actuator of the present invention. The output shaft of the rear electric motor 160 constitutes the round tread surface rear tire swing axis A4 _100A . The round tread surface rear tire swing axis A4 _100A is a straight line extending infinitely.

The front end portion of the rear swing shaft portion 141 is supported by the intermediate main frame 131 via the rear electric motor 160. Further, the rear portion of the rear swing shaft portion 141 is supported by the intermediate main frame 131 so as to swing around the central axis of the output shaft of the rear electric motor 160. In this way, the rear frame 140 is supported by the intermediate frame 130 so as to be swingable around the central axis of the output shaft of the rear electric motor 160. Since the rear frame 140 is supported by the intermediate frame 130 so as to be swingable around the round tread surface rear tire swing axis A4 _100A , the round tread surface rear tire 4 is rotated around the round tread surface rear tire swing axis A4 _100A. It is swingable with respect to 130.

Round tread surface The rear tire swing axis A4 _100A has a downward inclination toward the rear. That is, when the point is moved backward along the first point on the round tread surface rear tire swing axis A4 _100A round tread surface rear tire swing axis A4 _100A and the second point, the second point Is lower than the first point. There is no particular limitation on the inclination angle of the round tread surface rear tire swing axis A4 _100A with respect to the vertical direction when the vehicle 100A that is in an upright state so as to be able to go straight is viewed leftward or rightward. However, when the vehicle 100A which is in an upright state so as to be able to travel straight is viewed leftward or rightward, it is preferable that the inclination angle of the round tread surface rear tire swing axis A4 _100A with respect to the vertical direction exceeds 45 °. Looking at the vehicle 100A in an upright state so that it can go straight, the intersection of the round tread surface rear tire swing axis A4 _100A and the road surface RS passes through the front end of the round tread surface rear tire 4 and is parallel to the vertical direction. It is between the straight line L3 _100A and the straight line L4 _100A that passes through the rear end of the round tread surface rear tire 4 and is parallel to the vertical direction. In FIG. 7, the intersection of the round tread surface rear tire swing axis A4 _100A and the road surface RS is the same as or substantially the same as the contact point between the round tread surface rear tire 4 and the road surface RS.

The rear frame 140 has a battery support portion 146 in addition to the rear swing shaft portion 141 and the rear suspension unit 42. Battery support portion 146 is fixed to the lower surface of rear swing shaft portion 141. Battery support portion 146 supports power storage device 171. Power storage device 171 includes at least one battery (secondary battery). The power storage device 171 supplies electric power to various electric devices. Various electric devices include an in-wheel motor 170, a front electric motor 162, a rear electric motor 160, various sensors, and a control device 80. The total capacity of the power storage device 171 of the second embodiment is larger than the total capacity of the battery (not shown) of the specific example 1 of the first embodiment. The battery may be, for example, a lead storage battery or a lithium storage battery. A weight may be installed on the battery support portion 146. The weight may be provided at a location other than the battery support portion 146. The weight is preferably arranged at a position distant downward from the round tread surface rear tire swing axis A4 _100A . The weight may be provided on the rear frame 140 or the intermediate frame 130.

  As described above, the motorcycle 100A has the handle unit 50. The handle unit 50 has a left grip 51 and a right grip (not shown). The left grip 51 and the right grip are gripped by the driver's (occupant's) hand. Each of the left grip 51 and the right grip is swingable around the central axis of the grip. The handle unit 50 is fixed to the intermediate frame 130. The left grip 51 and the right grip are immovable in the left-right direction with respect to the intermediate frame 130. Therefore, the handle unit 50 is not operated by the driver as in the first embodiment. That is, the round tread surface front tire 2 is not steered by the handle unit 50.

  A steering switch (not shown) is provided on the left grip 51 or the right grip. The steering switch may be rotatable by less than 360 ° or may be rotatable by 360 °. The steering switch is operated by the finger of the hand holding the grip. When the driver operates the steering switch so as to rotate, at least one of the round tread surface front tire 2 and the round tread surface rear tire 4 swings with respect to the intermediate frame 130, and the vehicle 100A is steered. That is, the steering of the round tread surface front tire 2 and the round tread surface rear tire 4 is controlled by the steer-by-wire system. The control device 80 operates at least one of the front electric motor 162 and the rear electric motor 160 according to the operation amount of the steering switch. Depending on the situation, the control device 80 operates at least one of the front electric motor 162 and the rear electric motor 160 regardless of the operation of the steering switch.

  The right grip is the accelerator grip. By operating the driver to rotate the accelerator grip, the output of the in-wheel motor 170 (driving source) is adjusted. Since the drive source is the electric motor (in-wheel motor 170), the drive source is controlled by the accelerator-by-wire method. The output of the in-wheel motor 170 is controlled by the controller 80. The controller 80 controls the output of the in-wheel motor 170 according to the detection result of an accelerator sensor (not shown) that detects the operation amount of the accelerator grip. Depending on the situation, the controller 80 may change the output of the in-wheel motor 170 regardless of the operation of the accelerator grip.

  A front brake lever (not shown) is provided on the right side of the handle unit 50. By operating the driver to pull the front brake lever with the finger of the right grip, the front brake 106 is activated and braking force is applied to the round tread surface front tire 2. The front brake 106 is controlled by a brake-by-wire system. The front brake 106 is connected to the control device 80. As described above, the front brake 106 is a hydraulic disc brake and is connected to the front hydraulic unit 107. The control device 80 adjusts the hydraulic pressure supplied from the front hydraulic unit 107 to the front brake 106 according to the detection result of a front brake sensor (not shown) that detects the operation amount of the front brake lever. That is, the control device 80 operates the front brake 106 according to the operation amount of the front brake lever. Depending on the situation, the control device 80 may activate the front brake 106 regardless of the operation of the front brake lever. The front brake lever may be connected to the front hydraulic unit 107 via a brake hose. A brake pedal may be provided instead of the front brake lever. The brake pedal is operated by the driver's foot.

  A rear brake lever (not shown) is provided on the left side of the handle unit 50. By operating the driver to pull the rear brake lever with the finger holding the left grip 51, the rear brake 108 is activated and braking force is applied to the round tread surface rear tire 4. The rear brake 108 is controlled by a brake-by-wire system. The rear brake 108 is connected to the control device 80. As described above, the rear brake 108 is a drum brake. The control device 80 actuates the rear brake 108 according to the detection result of a rear brake sensor (not shown) that detects the operation amount of the rear brake lever. Depending on the situation, the control device 80 may operate the rear brake 108 regardless of the operation of the rear brake lever. The rear brake lever may be mechanically connected to the rear brake 108. A brake pedal may be provided instead of the rear brake lever. The brake pedal is operated by the driver's foot.

  The motorcycle 100A has a vehicle body cover 112. In FIG. 7, a part of the vehicle body cover 112 is shown by a chain double-dashed line. The vehicle body cover 112 is composed of a plurality of parts. The vehicle body cover 112 covers at least a part of the front frame 120, the intermediate frame 130, and at least a part of the rear frame 140. At least a part of the vehicle body cover 112 is supported by the rear frame 140. The vehicle body cover 112 includes a front cowl (not shown). The front cowl covers the front surface of the intermediate main frame 131 from the front.

  The motorcycle 100A has an inclination detection device 81 as in the first specific example of the first embodiment. The tilt detection device 81 is supported by the intermediate frame 130.

  Unlike the motorcycle 1A, the motorcycle 100A has an autonomous driving mode and a manual driving mode as driving modes. In the autonomous driving mode, the motorcycle 100A automatically travels to the target position without the driver driving. In the manual driving mode, control that actively supports the driver may be performed.

  The motorcycle 100A has a control device 80. The controller 80 may be supported by the intermediate frame 130 or the rear frame 140. The position of the control device 80 is not limited to the position shown in FIG. 7. The control device 80 is connected to various sensors such as an accelerator sensor, a front brake sensor, a rear brake sensor, a wheel speed sensor, a steering wheel angle sensor, and an inclination detection device 81. Controller 80 receives signals from these sensors. As described above, when the inclination detection device 81 includes the arithmetic processing unit, the arithmetic processing unit of the inclination detection device 81 may be included in the control device 80. The control device 80 is connected to the in-wheel motor 170. The control device 80 is connected to the actuators of the front brake and the rear brake. The control device 80 is connected to the rear electric motor 160 and the front electric motor 162. The control device 80 controls these connected devices. The control device 80 controls the rear electric motor 160 and the front electric motor 162 to control the swing of the round tread surface rear tire 4 and the round tread surface front tire 2. The control device 80 includes the round tread surface rear tire rocking actuator control device and the round tread surface front tire rocking control device of the present invention. Details of control of the rear electric motor 160 and the front electric motor 162 by the control device 80 will be described later.

The intermediate frame 130, the front frame 120, the rear frame 140, the round tread surface front tire 2, the round tread surface rear tire 4, the rear electric motor 160 (round tread surface rear tire swing actuator), and the control device 80 satisfy the following two conditions. Formed or arranged so as to satisfy The first condition is that when the vehicle 100A in an upright state so that it can go straight ahead is viewed leftward or rightward, the round tread surface rear tire swing axis A4 _100A is the center of gravity of the vehicle 100A when no external load is applied. It is to pass between G0 _100A and the seat 10. The center of gravity G0 _100A of the vehicle 100A in a state where no load is applied from the outside is not limited to the position shown in FIG. The second condition is that as the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 100A including the driver (occupant) seated on the seat 10 approaches the round tread surface rear tire swing axis A4 _100A. . As the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 100A including the driver (passenger) moves in the arrow direction from the center of gravity G0 _100A illustrated in FIG. 7, for example. The center of gravity G1 _100A shown by the chain double-dashed line in FIG. 7 is an example of the center of gravity G1 _100A of the vehicle 100A including the driver (occupant) seated on the seat 10. The center of gravity G1 _{100A of the} vehicle 100A including the driver (occupant) seated on the seat 10 may or may not exceed the round tread surface rear tire swing axis A4 _100A . When an occupant is seated on each of the seat 10 and the tandem seat 11, the center of gravity of the vehicle 100A including two occupants may or may not exceed the round tread surface rear tire swing axis A4 _100A . If the upper limit of the recommended riding load is not extremely exceeded, the center of gravity of the vehicle 100A including all loads received from the outside by the vehicle 100A will not be extremely separated from the round tread surface rear tire swing axis A4 _100A . With this configuration, the same effects as the effects described in the embodiment can be obtained.

In a state in which vehicle 100A is upright so as to be able to travel straight, rear electric motor 160 (round tread surface rear tire swing actuator) is located above the upper ends of both round tread surface rear tire 4 and round tread surface front tire 2. The round tread surface rear tire swing axis A4 _100A passes through the rear electric motor 160 (round tread surface rear tire swing actuator). Looking at the vehicle 100A in an upright state so that it can go straight ahead, at least a part of the front electric motor 162 (round tread surface front tire swing actuator) is below the round tread surface rear tire swing axis A4 _100A. Away from each other. In FIG. 7, the entire front electric motor 162 is spaced downward from the round tread surface rear tire swing axis A4 _100A .

When looking at vehicle 100A in an upright state so that it can go straight ahead, at least a part of power storage device 171 is separated downward from round tread surface rear tire swing axis A4 _100A . In FIG. 7, the entire power storage device 171 is separated downward from the round tread surface rear tire swing axis A4 _100A . Looking at the vehicle 100A in an upright state so that it can go straight ahead, at least a part of the front hydraulic unit 107 is separated downward from the round tread surface rear tire swing axis A4 _100A . In FIG. 7, the entire front hydraulic unit 107 is separated downward from the round tread surface rear tire swing axis A4 _100A . Looking at the vehicle 100A in an upright state so that it can go straight ahead, at least a part of the front suspension unit 21 is separated downward from the round tread surface rear tire swing axis A4 _100A . In FIG. 7, the entire front suspension unit 21 is separated downward from the round tread surface rear tire swing axis A4 _100A . Looking at the vehicle 100A in an upright state so that it can go straight ahead, at least a part of the rear suspension unit 42 is separated downward from the round tread surface rear tire swing axis A4 _100A . In FIG. 7, a part of the rear suspension unit 42 is separated downward from the round tread surface rear tire swing axis A4 _100A , and the other part of the rear suspension unit 42 is separated from the round tread surface rear tire swing axis A4 _100A. Upwardly distant.

Next, rocking control of the round tread surface rear tire 4 and the round tread surface front tire 2 by the control device 80 will be described.
The controller 80 controls the rear electric motor 160 and the front electric motor 162 based on the physical quantity related to the inclination of the intermediate frame 130 in the horizontal direction with respect to the vertical direction detected by the inclination detection device 81. The control device 80 may change the swing control of the round tread surface rear tire 4 and the round tread surface front tire 2 based on the detection result of the inclination detection device 81 and other parameters. For example, it may be based on the detection result of the wheel speed sensor. For example, it may be based on the detection result of the steering wheel angle sensor. Further, for example, it may be based on map information. Further, it may be based on weather information such as rain. Further, for example, it may be based on the skill of the driver. The driver's skill may be input by the driver or may be determined by the control device based on the traveling situation. The swing control of the round tread surface rear tire 4 and the round tread surface front tire 2 may be changed depending on the vehicle type.

The control device 80 swings one of the round tread surface front tire 2 and the round tread surface rear tire 4 when the steering switch is operated or when the vehicle 100A is steered during the autonomous driving mode.
Specifically, for example, when it is desired to steer the vehicle 100A to the left, the control device 80 performs any of the following controls. The control device 80 may swing the round tread surface front tire 2 so that the round tread surface front tire 2 leans leftward with respect to the front direction. The control device 80 swings the round tread surface front tire 2 so that the round tread surface front tire 2 leans rightward with respect to the front direction, and then the round tread surface front tire 2 moves leftward with respect to the front direction. The round tread surface front tire 2 may be rocked so as to lean. That is, so-called reverse steering (a rudder steering) may be performed. The control device 80 may swing the round tread surface rear tire 4 so that the round tread surface rear tire 4 leans to the left with respect to the upward direction. The controller 80 may swing both the round tread surface front tire 2 and the round tread surface rear tire 4 as described above.
Further, for example, when it is desired to steer the vehicle 100A to the right while the vehicle 100A is turning left, any of the following controls is performed. The control device 80 may swing the round tread surface rear tire 4 so that the vehicle 100A gets up. The control device 80 may swing the round tread surface front tire 2 so that the round tread surface front tire 2 leans to the right with respect to the front direction. The controller 80 may swing both the round tread surface front tire 2 and the round tread surface rear tire 4 as described above.

  The control device 80 may swing the round tread surface rear tire 4 so that the inclination in the left-right direction with respect to the upward direction of the vehicle 100A becomes large during turning of the vehicle 100A. Thereby, the turning property can be improved. That is, the turning radius can be reduced.

  The control device 80 may swing the round tread surface rear tire 4 when the vehicle 100A is leaning due to a crosswind. For example, when the vehicle 100A receives the wind from the right and leans to the left, even if the round tread rear tire 4 swings in the direction in which the round tread rear tire 4 leans to the left with respect to the upward direction. Good. Further, the controller 80 may swing the round tread surface front tire 2 as well.

  The motorcycle 100A may be capable of selecting a tilt reduction mode for reducing the tilt of the vehicle 100A in the horizontal direction with respect to the vertical direction during the manual operation mode. Control device 80 swings at least one of round tread surface rear tire 4 and round tread surface front tire 2 when vehicle 100A leans to the left and right with respect to the upward direction during the lean reduction mode. Especially when the vehicle is running at a low speed, the vehicle 100A is likely to lean in the left-right direction with respect to the vertical direction. The rocking control of the round tread surface rear tire 4 in the lean reduction mode may be limited to the low speed running. The controller 80 swings at least one of the round tread surface rear tire 4 and the round tread surface front tire 2 when the vehicle 100A leans in the left-right direction with respect to the upward direction while traveling straight ahead in the autonomous driving mode. Good.

  The control device 80 may alternately swing the round tread surface rear tire 4 bidirectionally so that the vehicle 100A can maintain an independent state when traveling at a low speed of, for example, 6 km / hour or less, or while stopped. Good. Further, the round tread surface front tire 2 may be alternately swung bidirectionally. Both the round tread surface rear tire 4 and the round tread surface front tire 2 may be rocked. For example, this control may be performed when a person pushes the vehicle 100A and walks.

  The second embodiment has the same effects as those of the first embodiment and the specific example 1 of the first embodiment. The second embodiment further has the following effects.

  The swing of the round tread surface front tire 2 around the round tread surface front tire swing axis A2 is controlled by the control device 80. Therefore, the swinging of the round tread surface rear tire 4 and the swinging of the round tread surface front tire 2 can be performed in conjunction with each other. Therefore, the controllability of the swing control of the round tread surface rear tire 4 can be improved. Therefore, the controllability of the rocking control of the round tread surface rear tire 4 with respect to changes in the riding load of the motorcycle 100A can be further improved.

Since the swing of the round tread surface front tire 2 is controlled by the control device 80, it is not necessary to provide a handle connected to the front frame 120. In this case, the flexibility of layout of vehicle 100A can be improved. Therefore, a layout in which the round tread surface rear tire swing axis A4 _100A is located between the center of gravity G0 _100A of the vehicle 100A in a state where no load is applied to the seat 10 and the seat 10 can be easily realized.

  Since the swing of the round tread surface front tire 2 is controlled by the control device 80, reverse steering (abutting) of the round tread surface front tire 2 can be performed by the control of the control device 80. That is, unlike the case where the round tread surface front tire 2 is steered by the steering wheel, the control device 80 recognizes whether all steering of the round tread surface front tire 2 is reverse steering or forward steering. There is. Therefore, it is possible to enhance the interlocking property between the swing of the round tread surface rear tire 4 and the swing of the round tread surface front tire 2.

When looking at the vehicle 100A in an upright state so that it can go straight ahead, at least a part of the front hydraulic unit 107 having a relatively large weight moves downward from the round tread surface rear tire swing axis A4 _100A. ing. Therefore, a layout in which the round tread surface rear tire swing axis A4 _100A is located between the center of gravity G0 _100A of the vehicle 100A in a state where no load is applied to the seat 10 and the seat 10 can be easily realized.

Looking at the vehicle 100A in an upright state so that it can go straight ahead, at least a part of the in-wheel motor 170 (driving source) having a relatively large weight is below the round tread surface rear tire swing axis A4 _100A. Away in the direction. Therefore, a layout in which the round tread surface rear tire swing axis A4 _100A is located between the center of gravity G0 _100A of the vehicle 100A in a state where no load is applied to the seat 10 and the seat 10 can be easily realized.

Looking at the vehicle 100A in an upright state so that it can go straight ahead, at least a part of the front electric motor 162 (round tread surface front tire swing actuator) having a relatively large weight is seen from the left or right direction. It is separated from the axis A4 _{100A in the} downward direction. Therefore, a layout in which the round tread surface rear tire swing axis A4 _100A is located between the center of gravity G0 _100A of the vehicle 100A in a state where no load is applied to the seat 10 and the seat 10 can be easily realized.

Looking at the vehicle 100A in an upright state so that it can go straight ahead, at least a part of the power storage device 171 having a relatively large weight is distant from the round tread surface rear tire swing axis A4 _{100A in the} downward direction. .. Therefore, a layout in which the round tread surface rear tire swing axis A4 _100A is located between the center of gravity G0 _100A of the vehicle 100A in a state where no load is applied to the seat 10 and the seat 10 can be easily realized.

  The seat 10 is supported by the intermediate frame 130. Therefore, the rear frame 140 does not receive the load of the occupant sitting on the seat 10. Therefore, as compared with the case where the rear frame 140 supports the seat 10, the weight of the object to be swung by the rear electric motor 160 (round tread surface rear tire swing actuator) is smaller. Therefore, the controllability of the swing control of the round tread surface rear tire 4 can be improved. Therefore, the controllability of the rocking control of the round tread surface rear tire 4 with respect to changes in the riding load of the motorcycle 100A can be further improved.

The weight of each occupant varies. When the rear frame 140 supports the seat 10, the weight of the object to be swung by the rear electric motor 160 (round tread surface rear tire swing actuator) is changed by the occupant. As a result, the swing control of the round tread surface rear tire 4 becomes complicated and difficult. Especially, control at low speed is difficult.
On the other hand, when the seat 10 is supported by the intermediate frame 130, the weight of the object to be swung by the rear electric motor 160 (round tread surface rear tire swing actuator) does not change even if the weight of the occupant changes. Therefore, the controllability of the swing control of the round tread surface rear tire 4 can be improved. Therefore, it is possible to further improve the controllability of the swing control of the round tread surface rear tire 4 with respect to the change in the riding load of the motorcycle 100A.

While the motorcycle 100A is traveling, the occupant may move the center of gravity. Especially, when the motorcycle 100A turns, the occupant may move the center of gravity in the left-right direction. When the rear frame 140 supports the seat 10, when the occupant moves the center of gravity, the center of gravity of the object that the rear electric motor 160 (round tread surface rear tire swing actuator) swings changes. As a result, the swing control of the round tread surface rear tire 4 becomes complicated and difficult. Especially, control at low speed is difficult.
On the other hand, when the seat 10 or the luggage carrier is supported by the intermediate frame 130, the center of gravity of the target to be swung by the rear electric motor 160 (round tread surface rear tire swing actuator) changes even if the occupant moves the center of gravity. do not do. Therefore, the controllability of the swing control of the round tread surface rear tire 4 can be improved. Therefore, it is possible to further improve the controllability of the swing control of the round tread surface rear tire 4 with respect to the change in the riding load of the motorcycle 100A.

  When the rear frame 140 swings with respect to the intermediate frame 130, the posture of the intermediate frame 130 changes less than the rear frame 140. The seat 10 is supported by the intermediate frame 130. Therefore, the posture of the occupant can be stabilized as compared with the case where the seat 10 is supported by the rear frame 140.

  The front hydraulic unit 107 having a relatively large weight is supported by the intermediate frame 130. Therefore, compared with the case where the rear frame 140 supports the hydraulic unit, the weight of the object to be swung by the rear electric motor 160 (round tread surface rear tire swing actuator) is smaller. Therefore, the controllability of the swing control of the round tread surface rear tire 4 can be improved. Therefore, the controllability of the rocking control of the round tread surface rear tire 4 with respect to changes in the riding load of the motorcycle 100A can be further improved.

  An in-wheel motor 170 (driving source) having a relatively large weight is supported by the intermediate frame 130. Therefore, as compared with the case where the rear frame 140 supports the drive source, the weight of the object to be swung by the rear electric motor 160 (round tread surface rear tire swing actuator) is smaller. Therefore, the controllability of the swing control of the round tread surface rear tire 4 can be improved. Therefore, the controllability of the rocking control of the round tread surface rear tire 4 with respect to changes in the riding load of the motorcycle 100A can be further improved.

  Power storage device 171 having a relatively large weight is supported by intermediate frame 130. Therefore, compared with the case where the rear frame 140 supports the power storage device 171, the weight of the object to be swung by the rear electric motor 160 (round tread surface rear tire swing actuator) is smaller. Therefore, the controllability of the swing control of the round tread surface rear tire 4 can be improved. Therefore, the controllability of the rocking control of the round tread surface rear tire 4 with respect to changes in the riding load of the motorcycle 100A can be further improved.

<Modification 1 of the second embodiment of the present invention>
Next, a motorcycle 100B according to Modification 1 of the second embodiment of the present invention will be described with reference to FIG. Basically, the first modification of the second embodiment of the present invention has all the features described in the description of the first embodiment of the present invention. The description of the same parts as those of the first embodiment of the present invention, the specific example 1 of the first embodiment, and the second embodiment will be omitted. The configuration different from that of the second embodiment will be described below.

The rear electric motor 160 swings the rear frame 140 with respect to the intermediate frame 130 around the round tread surface rear tire swing axis A4 _100B . Round tread surface The rear tire swing axis A4 _100B has a downward inclination toward the rear. Looking at the vehicle 100B in an upright state so that it can go straight ahead, the intersection of the round tread surface rear tire swing axis A4 _100B and the road surface RS is rearward of the contact point between the round tread surface rear tire 4 and the road surface RS. Located in. However, as in the second embodiment, the intersection of the round tread surface rear tire swing axis A4 _100B and the road surface RS is the straight line L3 _100B that passes through the front end of the round tread surface rear tire 4 and is parallel to the vertical direction, and the round tread surface rear tire 4 It is between the straight line L4 _100B passing through the rear end and parallel to the vertical direction.

The intermediate frame 130, the front frame 120, the rear frame 140, the round tread surface front tire 2, the round tread surface rear tire 4, the rear electric motor 160 (round tread surface rear tire swing actuator), and the control device 80 satisfy the following two conditions. Formed or arranged so as to satisfy The first condition is that when the vehicle 100B in an upright state capable of traveling straight is viewed leftward or rightward, the round tread surface rear tire swing axis A4 _100B is the center of gravity of the vehicle 100B in a state where no load is applied from the outside. It is to pass between G0 _100B and the seat 10. The center of gravity G0 _100B of the vehicle 100B in a state where no load is applied from the outside is not limited to the position shown in FIG. The second condition is that as the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 100B including the driver (occupant) seated on the seat 10 approaches the round tread surface rear tire swing axis A4 _100B. .. As the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 100B including the driver (passenger) moves in the arrow direction from the center of gravity G0 _100B illustrated in FIG. 8, for example. The center of gravity G1 _100B shown by the chain double-dashed line in FIG. 8 is an example of the center of gravity of the vehicle 100B including the driver (occupant) seated on the seat 10. The center of gravity G1 _{100B of the} vehicle 100B including the driver (occupant) seated on the seat 10 may or may not exceed the round tread surface rear tire swing axis A4 _100B . When an occupant is seated on each of the seat 10 and the tandem seat 11, the center of gravity of the vehicle 100B including two occupants may or may not exceed the round tread surface rear tire swing axis A4 _100B .

<Modification 2 of the second embodiment of the present invention>
Next, a motorcycle 100C according to Modification 2 of the second embodiment of the present invention will be described with reference to FIG. Basically, the second modification of the second embodiment of the present invention has all the features described in the description of the first embodiment of the present invention. The description of the same parts as those of the first embodiment of the present invention, the specific example 1 of the first embodiment, and the second embodiment will be omitted. The configuration different from that of the second embodiment will be described below.

The rear electric motor 160 swings the rear frame 140 with respect to the intermediate frame 130 around the round tread surface rear tire swing axis A4 _100C . Round tread surface The rear tire swing axis A4 _100C has a downward inclination toward the rear. Looking at the vehicle 100C in an upright state so that it can go straight ahead, the intersection of the round tread surface rear tire swing axis A4 _100C and the road surface RS is in the forward direction from the contact point between the round tread surface rear tire 4 and the road surface RS. Located in. However, as in the second embodiment, the intersection of the round tread surface rear tire swing axis A4 _100C and the road surface RS is a straight line L3 _100C that passes through the front end of the round tread surface rear tire 4 and is parallel to the vertical direction, and the round tread surface rear tire 4 It is between the straight line L4 _100C passing through the rear end and parallel to the vertical direction.

Similar to the second embodiment, the intermediate frame 130, the front frame 120, the rear frame 140, the round tread surface front tire 2, the round tread surface rear tire 4, the rear electric motor 160 (round tread surface rear tire swing actuator), and the control device 80. Are formed or arranged so as to satisfy the following two conditions. The first condition is that when the vehicle 100C in an upright state so as to be able to travel straight is viewed leftward or rightward, the round tread surface rear tire swing axis A4 _100C is the center of gravity of the vehicle 100C in a state where no load is applied from the outside. It is to pass between G0 _100C and the seat 10. The center of gravity G0 _100C of the vehicle 100C in a state where no load is applied from the outside is not limited to the position shown in FIG. The second condition is that the center of gravity of the vehicle 100C including the driver (occupant) sitting on the seat 10 approaches the round tread surface rear tire swing axis A4 _100C as the load applied to the seat 10 increases from zero. .. As the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 100C including the driver (passenger) moves in the arrow direction from the center of gravity G0 _100C illustrated in FIG. 9, for example. The center of gravity G1 _100C indicated by a chain double-dashed line in FIG. 9 is an example of the center of gravity G1 _100C of the vehicle 100C including the driver (occupant) seated on the seat 10. The center of gravity G1 _{100C of the} vehicle 100C including the driver (occupant) seated on the seat 10 may or may not exceed the round tread surface rear tire swing axis A4 _100C . When an occupant is seated on each of the seat 10 and the tandem seat 11, the center of gravity of the vehicle 100C including two occupants may or may not exceed the round tread surface rear tire swing axis A4 _100C .

<Modification 3 of the second embodiment of the present invention>
Next, a motorcycle 100D according to Modification 3 of the second embodiment of the present invention will be described with reference to FIGS. Basically, the third modification of the second embodiment of the present invention has all the features described in the description of the first embodiment of the present invention. The description of the same parts as those of the first embodiment of the present invention, the specific example 1 of the first embodiment, and the second embodiment will be omitted. The configuration different from that of the second embodiment will be described below. The front wheel 3 and the rear wheel 5 in FIGS. 10, 11 and 12 are shown with the shapes of the spokes and the like omitted.

  As shown in FIGS. 10, 11 and 13, the motorcycle 100D has a front frame 120, an intermediate frame 230, and a rear frame 140. The front frame 120 has a pair of left and right front suspension units 21, 21 and a front swing shaft portion 122, as in the motorcycle 100A. The intermediate frame 230 has an intermediate main frame 131, a seat frame 132, and a movable back frame 233. The rear frame 140 has a rear swing shaft portion 141, a rear suspension unit 42, and a battery support portion 146, like the motorcycle 100A.

As with the motorcycle 100A, the front frame 120 is supported by the intermediate frame 230 via the front electric motor 162. Similar to the motorcycle 100A, the front electric motor 162 swings the front frame 120 and the round tread surface front tire 2 around the round tread surface front tire swing axis A2 with respect to the intermediate frame 230. Similar to the motorcycle 100A, the rear frame 140 is supported by the intermediate frame 230 via the rear electric motor 160. Similar to the motorcycle 100A, the rear electric motor 160 swings the rear frame 140 and the round tread surface rear tire 4 with respect to the intermediate frame 230 around the round tread surface rear tire swing axis A4 _100A .

  A cross section of the front frame 120 orthogonal to the longitudinal direction of the front suspension unit 21 is a substantially elliptical shape elongated in the front-rear direction. A front fender 213 is attached to the front part of the front frame 120. The front fender 213 is not included in the front frame 120. The front fender 213 covers the upper tread surface 2 a of the round tread surface front tire 2.

  Power storage device 171 supported by battery support portion 146 of rear frame 140 is composed of six batteries. The six batteries are arranged three on each side. A weight (not shown) is installed on the battery support portion 146. The weight is arranged below the battery support portion 146. The weight does not have to be installed on the battery support portion 146.

  The intermediate main frame 131 covers the upper part of the outer peripheral surface of the rear swing shaft portion 141 of the rear frame 140. The intermediate main frame 131 covers the front portion and the rear portion of the rear swing shaft portion 141 for one round respectively. The intermediate main frame 131 is a body frame having a monocoque structure.

  As shown in FIG. 12, the seat frame 132 of the intermediate frame 230 is fixed to the intermediate main frame 131. The upper portion of the seat frame 132 is covered with a seat frame cover 214. A seat 210 for the driver O to sit on is installed on the upper surface of the rear portion of the seat frame cover 214. That is, the seat frame 132 supports the seat 210. The sheet 210 is a sheet-shaped member having elasticity.

  As shown in FIGS. 11 and 12, the movable back frame 233 of the intermediate frame 230 is connected to the rear end of the seat frame 132. The movable back frame 233 is connected to the seat frame 132 so as to be swingable around an axis parallel to the left-right direction. During normal operation, including during operation, the movable back frame 233 is arranged at the position indicated by the solid line in FIGS. 11 and 12. The movable back frame 233 is arranged at the position shown by the chain double-dashed line in FIG. 12 only when the driver O (occupant) gets on and off. As shown in FIGS. 10 and 13, the movable back frame 233 has a substantially V-shaped portion. The body of the driver O is arranged between the V-shaped portions. The passenger capacity of the motorcycle 100D is one.

As shown in FIG. 11, the head portion 235 is connected to the upper portion of the intermediate main frame 131. The head portion 235 is not included in the intermediate frame 230. As shown in FIG. 10, the head portion 235 has a head bottom portion 236 and a head cover 237. The head cover 237 covers the upper surface of the head bottom portion 236. A space in which devices and the like are arranged is formed between the head bottom portion 236 and the head cover 237. A cushion member 216 is installed on the upper surface of the rear portion of the head cover 237. The cushion material 216 is a sheet-shaped member having elasticity. Depending on the posture of the driver O seated on the seat 210, the front surface of the body of the driver O contacts the cushion material 216. The head bottom portion 236 is connected to the intermediate frame 230 by three arms 234a, 234a and 234c. The head portion 235 is connected to the intermediate main frame 131 so as to be movable in the front-rear direction. By operating a switch (not shown), the head bottom portion 236 is moved in the front-rear direction by, for example, an electric motor. With this configuration, the position of the head portion 235 can be adjusted to a position that matches the physique of the driver O. Further, by changing the position of the head portion 235, the position of the center of gravity G0 _100D of the vehicle 100D can be adjusted.

  As shown in FIG. 13, the head portion 235 has a left grip 251 and a right grip 252. As shown in FIG. 11, the left grip 251 and the right grip 252 project from the side portion of the head bottom portion 236. The right grip 252 and the left grip 251 are fixed to the head portion 235. The right grip 252 and the left grip 251 cannot rotate (cannot swing). The right grip 252 and the left grip 251 are gripped by the hand of the driver O (occupant).

  As shown in FIG. 14, a steering switch 253 is provided on the rear surface of the left grip 251. The steering switch 253 may be configured to be rotatable by less than 360 ° or may be configured to be rotatable by 360 °. The steering switch 253 has a circular or circular operation surface. The rotation axis of the steering switch 253 is substantially parallel to the longitudinal direction of the left grip 251. The steering switch 253 may be rotatable by 360 degrees or more and may have a disc-shaped operation surface. The steering switch 253 is operated by the finger of the hand holding the left grip 251. Similar to the motorcycle 100A, when the driver O operates the steering switch 253 so as to rotate, at least one of the round tread surface front tire 2 and the round tread surface rear tire 4 swings with respect to the intermediate frame 230. A control device (not shown) operates at least one of the front electric motor 162 and the rear electric motor 160 according to the operation amount of the steering switch 253. Depending on the situation, the control device operates at least one of the front electric motor 162 and the rear electric motor 160 regardless of the operation of the steering switch 253.

  As shown in FIG. 15, an accelerator lever 254 is provided on the front surface of the right grip 252. The driver O operates the accelerator lever 254 so that the output of the in-wheel motor 170 (driving source) is adjusted. The control device adjusts the output of the in-wheel motor 170 according to the detection result of an accelerator sensor (not shown) that detects the operation amount of the accelerator lever 254. Depending on the situation, the control device may change the output of the in-wheel motor 170 regardless of the operation of the accelerator lever 254.

  As shown in FIG. 15, the left grip 251 is provided with a brake lever 255. At least one of the front brake 106 and the rear brake 108 is operated by the driver O operating the finger holding the left grip 251 by pulling the brake lever 255. As a result, braking force is applied to at least one of the round tread surface front tire 2 and the round tread surface rear tire 4. Unlike the motorcycle 100A, the front brake 106 and the rear brake 108 are operated by one brake lever 255. The motorcycle 100D may have two brake operating portions for operating the front brake 106 and the rear brake 108 independently. The control device actuates at least one of the front brake 106 and the rear brake 108 according to the detection result of a brake sensor (not shown) that detects the operation amount of the brake lever 255. Depending on the situation, the control device may operate at least one of the front brake 106 and the rear brake 108 regardless of the operation of the brake lever 255.

  As shown in FIGS. 10 and 13, the front portion of the head portion 235 is bifurcated. As shown in FIG. 15, projectors 256a and 256b are provided on the front left portion and the front right portion of the head portion 235, respectively. As shown in FIG. 12, the projectors 256a and 256b project an image on the visor of the helmet of the driver O. The visor onto which the image is projected may be an inner visor arranged inside the shield of the helmet or an outer visor arranged outside the shield. The emission angle of the light emitted from the projectors 256a and 256b may be adjustable with a switch or the like. FIG. 16 shows an example of an image projected on the visor. The projected image includes information such as vehicle speed, mileage, remaining amount of power storage device, warning, driving mode, time, map, and navigation instruction. The number of projectors 256a and 256b may be only one. In that case, the projectors 256a and 256b may be provided on either the left or right side, or may be provided in the center.

  As shown in FIG. 15, two cameras 257a and 257b are provided at the center of the front portion of the head portion 235. The cameras 257a and 257b photograph the front of the motorcycle 100D. One of the cameras 257a and 257a is a wide-angle camera having a wide-angle lens, and the other is a telephoto camera having a telephoto lens.

  As shown in FIGS. 10, 11, and 13, a pair of left and right footrest arms 217 and 217 are connected to the rear portion of the intermediate main frame 131. The tip portion of the footrest arm 217 constitutes a footrest on which the driver's O foot is placed.

  As shown in FIGS. 10 and 11, a side stand 219 is connected to the rear left part of the intermediate main frame 131. The side stand 219 can be switched between the storage state shown by the solid line in FIG. 11 and the standing state shown by the chain double-dashed line in FIG. When the motorcycle 100D is parked, the side stand 219 is grounded in a standing state. As shown in FIG. 17, the side stand 219 in the upright state allows the motorcycle 100D to stand on its own in a state of being inclined leftward with respect to the vertical direction.

Reference numeral Gre shown in FIG. 11 is the center of gravity of the entire object which is swung by the rear electric motor 160 around the round tread surface rear tire swing axis A4 _{100A with} respect to the intermediate frame 230. This center of gravity Gre is referred to as the rear swing center of gravity Gre. When the vehicle 100D in an upright state so that it can go straight ahead is viewed leftward or rightward, the rear swing center of gravity Gre is separated downward from the round tread surface rear tire swing axis A4 _100A . Looking at the vehicle 100D in an upright state so that it can go straight ahead, the rear swing center of gravity Gre is positioned below the center of gravity G0 _{100D of the} motorcycle 100D in a state where no load is applied from the outside. Looking at the vehicle 100D in an upright state so that it can go straight ahead, the rear swing center of gravity Gre is located rearward of the center of gravity G0 _{100D of the} motorcycle 100D in a state where no load is applied from the outside.

Similar to the first specific example of the first embodiment, the intermediate frame 230, the front frame 120, the rear frame 140, the round tread surface front tire 2, the round tread surface rear tire 4, the rear electric motor 160 (round tread surface rear tire swing actuator), And the control device (not shown) is formed or arranged so as to satisfy the following two conditions. The first condition is that when the vehicle 100D in an upright state so as to be able to travel straight is viewed leftward or rightward, the round tread surface rear tire swing axis A4 _100A is the center of gravity of the vehicle 100D when no external load is applied. It is to pass between G0 _100D and the seat 210. The center of gravity G0 _100D of the vehicle 100D in a state where no load is applied from the outside is not limited to the position shown in FIG. The second condition is that the center of gravity of the vehicle 100D including the driver O seated on the seat 210 approaches the round tread surface rear tire swing axis A4 _100A as the load applied to the seat 210 increases from zero. As the load applied to the seat 210 increases from zero, the center of gravity of the vehicle 100D including the driver O moves in the arrow direction from the center of gravity G0 _100D illustrated in FIG. 11, for example. The center of gravity of the vehicle 100D including the driver O seated on the seat 210 may or may not exceed the round tread surface rear tire swing axis A4 _100A .

  The control device has substantially the same configuration as the control device 80 of the motorcycle 100A. The control device (not shown) may be supported by the intermediate frame 230 or the rear frame 140. Like the control device 80, the control device is connected to various sensors and various actuators. Further, the control device is connected to the projectors 256a, 256b and the cameras 257a, 257b.

  As described above, the side stand 219 causes the motorcycle 100D to stand on its own in a state of being inclined leftward (see FIG. 17). From this state, the control device controls the rear electric motor 160 so as to make the motorcycle 100D stand upright without using the side stand 219. This control is preferably performed while the driver O is not in the motorcycle 100D. This control may be performed while the driver O is in the vehicle. The control device uses the reaction of the swing of the rear frame 140 to raise the motorcycle 100D. The details will be described below.

The rear electric motor 160 is controlled such that the rear swing center of gravity Gre once swings rightward and then swings leftward. As described above, the rear swing center of gravity Gre is the center of gravity of the entire object that is swung by the rear electric motor 160 around the round tread surface rear tire swing axis A4 _{100A with} respect to the intermediate frame 230. The rotation angle around the round tread surface rear tire swing axis A4 _100A when swinging the rear swing center of gravity Gre to the right is not particularly limited as long as it is an angle at which the motorcycle 100D can be raised. The rotation angle around the round tread surface rear tire swing axis A4 _100A by the rear electric motor 160 when the rear swing center of gravity Gre is swung to the right is the same as the rotation angle when the rear swing center of gravity Gre is swung to the left. The rotation angle of the motor 160 around the round tread surface rear tire swing axis A4 _100A may be the same or larger. The speed of swinging the rear swing center of gravity Gre to the right is not particularly limited. On the other hand, in order to raise the motorcycle 100D, it is necessary that the rear swinging center of gravity Gre is swung to the left at a certain speed. In this way, the vehicle 100D can be raised even if the occupant does not support the vehicle 100D, so that the convenience of the motorcycle 100D can be improved. Further, since the side stand 219 is supported by the intermediate frame 130, the side stand 219 does not prevent the rear frame 140 from swinging.

  After raising the motorcycle 100D, the control device switches the side stand 219 from the standing state to the stored state. The side stand 219 may be switched from the upright state to the retracted state by operating the foot. Further, the switching of the side stand 219 from the stored state to the standing state may be performed by the control device, may be performed by operating the foot, or both of them may be possible.

  The control device has a face recognition unit and a gesture recognition unit. The face recognition unit and the gesture recognition unit are functional units realized by the CPU executing the programs stored in the RAM or the ROM. The face recognition unit compares the face of the image captured by at least one of the cameras 257a and 257b with the face of the image registered in advance to determine whether they match. By registering the photograph of the driver's face, the face recognition unit can recognize the driver. If the faces of a plurality of people are registered, the face recognition unit can recognize the faces of a plurality of people. The gesture recognition unit compares the gesture of the moving image captured by at least one of the camera 257a and the camera 257b with the gesture of the previously registered moving image to determine whether they match. The gesture may be, for example, a beckoning action. If a plurality of gestures are registered, the gesture recognition unit can recognize the plurality of gestures. Known face recognition techniques and gesture recognition techniques are used for the face recognition unit and the gesture recognition unit. The face recognition unit and the gesture recognition unit can recognize, for example, a face and a gesture of a person about 10 m away.

  The face recognition unit and the gesture recognition unit are used when the driver O gets on the motorcycle 100D. Specifically, first, the driver stands in front of the motorcycle 100D which is independent by the side stand 219. When the face recognition unit recognizes the driver's face, the control device controls the rear electric motor 160 to raise the motorcycle 100D to stand on its own as described above. Then, the driver performs the first gesture. When the gesture recognition unit recognizes the first gesture, the control device causes the motorcycle 100D to autonomously drive at low speed. Then, the control device stops the motorcycle 100D when the distance between the motorcycle 100D and the driver O becomes a predetermined distance or less. The driver may make the second gesture before the distance between the motorcycle 100D and the driver O becomes less than or equal to the predetermined distance. When the gesture recognition unit recognizes the second gesture, the control device stops the motorcycle 100D. After stopping the motorcycle 100D, the control device controls the rear electric motor 160 and the front electric motor 162 so as to maintain the self-sustaining state.

  The motorcycle 100D according to the modified example 3 of the second embodiment of the present invention has the same configuration as the motorcycle 100A of the second embodiment of the present invention described above, and has the same effect as the motorcycle 100A.

  The head portion 235 may be fixed to the intermediate main frame 131. The movable back frame 233 may not be provided.

  The side stand 219 may be groundable on the road surface so that the vehicle 100D can stand on its own in a state of being inclined to the right with respect to the vertical direction. The side stand 219 is connected to the right rear portion of the intermediate main frame 131. In this case, in order to raise the vehicle 100D, the rear electric motor 160 is controlled so that the rear swing center of gravity Gre once swings leftward and then swings rightward.

  When the swing control of the rear frame 140 for raising the vehicle 100D is not performed, the side stand 219 may be connected to the rear frame 140.

  When the vehicle 100D is stopped, the front frame 120 may be swung to raise the vehicle 100D instead of swinging the rear frame 140. In that case, a weight is preferably installed on the front frame 120.

  The present invention is not limited to the first embodiment, specific examples 1 to 3 of the first embodiment, the second embodiment, and modified examples 1 to 3 of the second embodiment, as long as they are described in the claims. Various changes are possible. Hereinafter, modified examples of the embodiment of the present invention will be described. In addition, about the thing which has the same structure as the structure mentioned above, the same code | symbol is used and the description is abbreviate | omitted suitably. The modifications described below can be implemented in appropriate combination.

  In the present invention, the motorcycle may be capable of driving assistance control that assists the driver in driving. The driving assistance control may be adaptive cruise control (ACC) that maintains a distance between the preceding vehicle and the own vehicle at a predetermined distance. Adaptive cruise control is driving assistance control. The adaptive cruise control is also called auto cruise control (Active Cruise Control) or active cruise control (Active Cruise Control). The driving assistance control may be lane departure prevention control (Lane Keeping Assist Control) that causes the motorcycle to travel along the lane. The driving assistance control may be an automatic brake control in which an obstacle or a person is detected and a brake is activated. The driving support control may be cruise control that keeps the vehicle speed constant. The motorcycle may perform swing control of the rear tire of the round tread surface when performing the driving support control. The motorcycle may perform swing control of the round tread surface rear tire and the round tread surface front tire when performing these driving support controls.

In the present invention, the motorcycle may have a loading platform for loading luggage. The motorcycles 100E and 100F shown in FIGS. 18 and 19 are examples thereof.
The motorcycle 100E shown in FIG. 18 has both the seat 10 and the bed 311. The loading platform 311 is located rearward of the rear end of the seat 10. The seat 10 and the bed 311 are supported by the intermediate frame 130. The platform 311 may be detachably provided on the motorcycle 100E. Looking at the vehicle 100F in an upright state so that it can go straight ahead, the entire loading platform 311 is separated upward from the round tread surface rear tire swing axis A4 _100A .
The motorcycle 100F shown in FIG. 19 has a luggage carrier 411 and does not have a seat. The intermediate frame 430 has a luggage carrier frame 432 instead of the seat frame. The luggage carrier 411 is supported by the luggage carrier frame 432. When the vehicle 100E which is in an upright state so as to be able to travel straight is viewed leftward or rightward, the entire loading platform 411 is separated upward from the round tread surface rear tire swing axis A4 _100A . The motorcycle 100F is autonomously driven. The motorcycle 100F can automatically travel to a target position without riding a driver. The motorcycle 100F does not have a handle (grip). In the present invention, when the motorcycle does not have the seat but only the bed, the handle (grip) may not be provided.
18 and 19, intermediate frames 130 and 430, front frame 120, rear frame 140, round tread surface front tire 2, round tread surface rear tire 4, round tread surface rear tire swing actuator 160, and control device (not shown). ) Is formed or arranged so as to satisfy the following two conditions. The first condition is that the vehicles 100E, 100F in an upright state capable of traveling straight ahead are viewed leftward or rightward, and the round tread surface rear tire swing axis A4 _100A is not loaded from the outside. , 100F, the center of gravity G0 _100E , G0 _100F and the bed 311, 411. The centers of gravity G0 _100E and G0 _100F of the vehicles 100E and 100F in a state where no load is applied from the outside are not limited to the positions shown in FIGS. 18 and 19. The second condition is that the center of gravity of the vehicles 100E, 100F including the loads placed on the cargo beds 311 and 411 becomes the round tread surface rear tire swing axis A4 _100A as the load applied to the cargo beds 311 and 411 increases from zero. It is approaching. As the load applied to the loads 311 and 411 increases from zero, the center of gravity of the vehicles 100E and 100F including luggage moves in the arrow direction from the centers of gravity G0 _100E and G0 _100F shown in FIGS. 18 and 19, for example.

  In the present invention, the cargo bed is not always supported by the intermediate frame. In the present invention, the luggage carrier may be supported by the rear frame when the motorcycle does not have a seat. In the present invention, when the motorcycle has both the seat and the bed, both the seat and the bed may be supported by the rear frame. Alternatively, the seat may be supported by the intermediate frame and the luggage carrier may be supported by the rear frame. Alternatively, the seat may be supported by the rear frame and the luggage carrier may be supported by the intermediate frame.

  In the present invention, when the motorcycle has both the seat and the luggage carrier, the luggage carrier may be located in the front direction with respect to the front end of the seat. Alternatively, the carrier may be located under the seat.

In the present invention, when the seat is supported by the intermediate frame, the motorcycle may not have the round tread surface front tire swing actuator that swings the round tread surface front tire.
The motorcycle 100G shown in FIG. 20 is an example thereof. The motorcycle 100G includes the seat 10 supported by the intermediate frame 530. The front frame 520 of the motorcycle 100G has a steering shaft 22. The steering shaft 22 is rotatably supported on the front portion of the intermediate main frame 531 of the intermediate frame 530. The steering shaft 22 is fixed to the handle unit 50. When the driver operates the handle unit 50, the front frame 520 swings with respect to the intermediate frame 530 around the round tread surface front tire swing axis A2. Thereby, the round tread surface front tire 2 is steered. That is, the round tread surface front tire 2 swings with respect to the intermediate frame 530 around the round tread surface front tire swing axis A2 by the driver's operation.
20, an intermediate frame 530, a front frame 520, a rear frame 140, a round tread surface front tire 2, a round tread surface rear tire 4, a round tread surface rear tire swing actuator 160, and a control device (not shown) are as follows. It is formed or arranged so as to satisfy two conditions. The first condition is that the round tread surface rear tire swing axis A4 _100A is the center of gravity of the vehicle 100G when no load is applied from the outside when the vehicle 100G in an upright state capable of traveling straight is viewed to the left or right. It is to pass between G0 _100G and the seat 10. The center of gravity G0 _100G of the vehicle 100G in a state where no load is applied from the outside is not limited to the position shown in FIG. The second condition is that as the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 100G including the occupant seated on the seat 10 approaches the round tread surface rear tire swing axis A4 _100A . As the load applied to the seat 10 increases from zero, the center of gravity of the vehicle 100G including the occupant moves in the arrow direction from the center of gravity G0 _100G illustrated in FIG. 21, for example.

  In the present invention, when the seat or the luggage carrier is supported by the rear frame, the motorcycle may have a round tread surface front tire swing actuator that swings the round tread surface front tire. In this case, the motorcycle further includes a round tread surface front tire rocking control device that controls the round tread surface front tire rocking actuator. The round tread surface front tire swing actuator swings the round tread front tire swing actuator with respect to the intermediate frame by swinging the front frame with respect to the intermediate frame.

  In the present invention, when the seat is supported by the rear frame and the round tread surface front tire swing actuator is provided, the motorcycle may have a handle that swings integrally with the front frame. In this case, the round tread surface front tire swing actuator assists the driver in steering the steering wheel. Depending on the situation, the round tread front tire swing actuator may swing the front frame with respect to the intermediate frame regardless of the driver's operation. In the present invention, when the seat is supported by the rear frame and the round tread surface front tire swing actuator is provided, the motorcycle may have a handle (grip) fixed to the intermediate frame or the rear frame. In the present invention, when the luggage carrier is supported by the rear frame and the round tread surface front tire swing actuator is provided, the motorcycle may have a handle (grip) fixed to the intermediate frame or the rear frame.

  In the present invention, when the seat is supported by the intermediate frame or the rear frame and the round tread surface front tire swing actuator is not provided, the motorcycle has a handle (grip) that swings integrally with the front frame. You don't have to. The posture of the intermediate frame changes as the round tread rear tire swing actuator swings the round tread rear tire. As a result, the front tire of the round tread surface leans to the left and right. In this modification, the motorcycle may have a handle (grip) fixed to the intermediate frame or the rear frame. Further, in this modification, the motorcycle may or may not be capable of autonomous driving. When not capable of autonomous driving, the motorcycle has a handle (grip) provided with a switch for steering the round tread surface rear tire.

  In the present invention, the seat supported by the intermediate frame or the rear frame is entirely separated from the round tread surface rear tire swing axis in the upward direction when the vehicle in an upright state so that the vehicle can move straight is seen in the vehicle left direction or the vehicle right direction. Not necessarily. In the present invention, when a vehicle in an upright state so as to be able to go straight is viewed in the vehicle left direction or the vehicle right direction, only a part of the seat supported by the intermediate frame or the rear frame is upward from the round tread surface rear tire swing axis. You may be far away.

  In the present invention, when the vehicle in an upright state so as to be able to go straight is viewed in the vehicle left direction or the vehicle right direction, the cargo bed supported by the intermediate frame or the rear frame is entirely separated from the round tread surface rear tire swing axis in the upward direction. May be. In the present invention, when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction, only a part of the cargo bed supported by the intermediate frame or the rear frame is upward from the round tread surface rear tire swing axis. You may be far away.

In the present invention, the drive source that gives the driving force to the round tread surface rear tire may be an electric motor arranged at a position not inside the round tread surface rear tire. The electric motor 670 of the motorcycle 100H shown in FIG. 21 is an example thereof. The electric motor 670 is supported by the rear frame 640. The electric motor 670 is located below the upper end of the round tread surface rear tire 4 as a whole when the vehicle 100H in an upright state so as to be able to go straight is seen leftward or rightward. The center of gravity G0 _100H shown in FIG. 21 is an example of the center of gravity of the vehicle 100H in a state where no load is applied from the outside.

In the present invention, when the seat or the luggage carrier is supported by the intermediate frame, the driving source that applies the driving force to the round tread surface rear tire may be the engine unit. The motorcycle 100I shown in FIG. 22 is an example thereof. The engine unit 70 of the motorcycle 100I is supported by the rear frame 740. When the vehicle 100I in an upright state capable of traveling straight is viewed leftward or rightward, the entire engine unit 70 is located below the round tread surface rear tire 4. The motorcycle 100I has a fuel tank 71 that stores the fuel supplied to the engine unit 70. The fuel tank 71 is supported by the intermediate frame 130. The fuel tank 71 is located forward of the front end of the seat 10. The fuel tank 71 is at the center of the motorcycle 100I in the left-right direction. That is, when viewed downward, the fuel tank 71 overlaps the round tread surface rear tire swing axis A4 _100A . The center of gravity G0 _100I shown in FIG. 22 is an example of the center of gravity of the vehicle 100I in a state where no load is applied from the outside.

  In the present invention, when the seat or the bed is supported by the rear frame, the drive source that gives the driving force to the round tread surface rear tire may be an electric motor. The electric motor may be an in-wheel motor or may be an electric motor arranged at a position not inside the round tread surface rear tire. The electric motor may be an in-wheel motor or may be an electric motor arranged at a position not inside the round tread surface rear tire.

  In the present invention, the drive source that gives the driving force to the round tread surface rear tire may be both the electric motor and the engine unit. In this case, the electric motor may be an in-wheel motor or an electric motor arranged at a position not inside the round tread surface rear tire.

  The motorcycle of the present invention may have both a drive source that applies a driving force to the round tread surface front tire and a drive source that applies a driving force to the round tread surface rear tire. That is, the motorcycle of the present invention may have another drive source in addition to the drive source satisfying the configuration of claim 1. The motorcycle of the present invention may have a drive source that applies a driving force to the round tread surface front tire, instead of a drive source that applies a driving force to the round tread surface rear tire. In the present invention, the drive source that gives the driving force to the round tread surface front tire may be an electric motor, an engine unit, or both. The electric motor may be an in-wheel motor or may be an electric motor arranged at a position not inside the round tread surface front tire.

  In the present invention, the drive source that applies the drive force to the round tread surface rear tire is not always supported by the rear frame. In the present invention, the drive source that applies the drive force to the rear tire of the round tread surface may be supported by the intermediate frame. In the present invention, when the drive source that applies the driving force to the round tread surface rear tire is the engine unit and the electric motor, the drive source may be supported by both the intermediate frame and the rear frame.

  In the present invention, the drive source that applies the drive force to the round tread surface front tire may be supported by the front frame. In the present invention, the drive source that applies the drive force to the round tread surface front tire may be supported by the intermediate frame. In the present invention, when the drive source that applies the drive force to the round tread surface front tire is the engine unit and the electric motor, the drive source may be supported by both the front frame and the intermediate frame.

  In the present invention, when the vehicle in an upright state capable of traveling straight is viewed in the vehicle left direction or the vehicle right direction, the drive source that applies the driving force to the round tread surface rear tire is entirely below the vehicle from the round tread surface rear tire swing axis. They are not necessarily separated in the direction. In the present invention, when looking at the vehicle in an upright state so that it can go straight ahead in the vehicle left direction or the vehicle right direction, only a part of the drive source that applies the driving force to the round tread surface rear tire is from the round tread surface rear tire swing axis. It may be separated in the downward direction of the vehicle. For example, when the drive source is an electric motor or an engine unit arranged at a position other than the inside of the round tread surface rear tire, this configuration may be adopted. In the present invention, when the vehicle in an upright state capable of traveling straight is viewed in the vehicle left direction or the vehicle right direction, the entire drive source that applies the driving force to the round tread surface rear tire is above the vehicle from the round tread surface rear tire swing axis. It may be separated in the direction. For example, in the case of an electric motor in which the drive source is arranged at a position not inside the round tread surface rear tire, this configuration may be adopted.

  In the present invention, at least a part of the drive source that applies the driving force to the front tire of the round tread surface is the axis of swing of the rear tire of the round tread surface when the vehicle in the upright state so as to be able to go straight is viewed in the vehicle left direction or the vehicle right direction. May be separated from the vehicle in the downward direction of the vehicle. More specifically, when looking at the vehicle in an upright state so that it can go straight ahead, in the vehicle left direction or vehicle right direction, the drive source that applies the driving force to the round tread surface front tire is entirely the round tread surface rear tire swing axis. It may be separated in the downward direction of the vehicle. When looking at the vehicle in an upright state so that it can go straight ahead, the drive source that gives the driving force to the front tires of the round tread surface is only partly downward from the swing axis of the rear tires of the round tread surface. You may be far away. Further, in the present invention, when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction, the entire drive source that applies the driving force to the round tread surface front tire is the round tread surface rear tire swing axis line. May be away from the vehicle in the upward direction.

  In the present invention, when the seat or the bed is supported by the intermediate frame and the drive source is the engine unit, the fuel tank may be supported by the intermediate frame or the rear frame. In the present invention, when the seat or the luggage carrier is supported by the rear frame and the drive source is the engine unit, the fuel tank may be supported by the rear frame or the intermediate frame. When the fuel tank is supported by the intermediate frame, even if the weight of the fuel in the fuel tank changes, the weight of the object to be swung by the round tread surface rear tire swing actuator does not change. Therefore, the controllability of the swing control of the round tread surface rear tire can be improved. Therefore, the controllability of the rocking control of the rear tire of the round tread surface with respect to the change in the riding load of the motorcycle can be further improved. In this paragraph, the drive source may be one that applies a driving force to the rear tire of the round tread surface, or one that applies a driving force to the front tire of the round tread surface.

In the present invention, when the seat or the carrier is supported by the intermediate frame and the drive source is the electric motor, the power storage device is not always supported by the rear frame. In the present invention, when the seat or the bed is supported by the intermediate frame and the drive source is the electric motor, the power storage device may be supported by the intermediate frame. The motorcycle 100J shown in FIG. 23 is an example thereof. Power storage device 171 of motorcycle 100J is supported by intermediate main frame 831 of intermediate frame 830. The center of gravity G0 _100J shown in FIG. 23 is an example of the center of gravity of the vehicle 100J in a state where no load is applied from the outside. In the present invention, when the seat or the luggage carrier is supported by the rear frame and the drive source is the electric motor, the power storage device may be supported by the rear frame or the intermediate frame. In this paragraph, the drive source may be one that applies a driving force to the rear tire of the round tread surface, or one that applies a driving force to the front tire of the round tread surface.

  In the present invention, when the drive source is an electric motor, when the vehicle in an upright state so as to be able to go straight is viewed in the vehicle left direction or the vehicle right direction, the entire power storage device is in the vehicle downward direction from the round tread surface rear tire swing axis Not necessarily separated. In the present invention, when the vehicle in an upright state capable of traveling straight ahead is viewed in the vehicle left direction or the vehicle right direction, only a part of the power storage device may be away from the round tread surface rear tire swing axis in the vehicle downward direction. In the present invention, the power storage device as a whole may be away from the round tread surface rear tire swing axis in the vehicle upward direction when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction. In this paragraph, the drive source may be one that applies a driving force to the rear tire of the round tread surface, or one that applies a driving force to the front tire of the round tread surface.

  In the present invention, the power storage device may be other than the battery (secondary battery). The power storage device may be, for example, a super capacitor or an ultra capacitor.

  In the present invention, only a part of the round tread surface rear tire swing actuator may be positioned in the vehicle upward direction with respect to the upper end of at least one of the round tread surface rear tire and the round tread surface front tire. In the present invention, at least a part of the round tread surface rear tire swing actuator may be located below the upper end of at least one of the round tread surface rear tire and the round tread surface front tire in the vehicle downward direction. In this case, for example, a round tread surface rear tire swing actuator having a relatively large weight is arranged at a relatively low position of the vehicle. Therefore, it is possible to easily realize a layout in which the round tread surface rear tire swing axis is located between the seat and the center of gravity of the vehicle with no load applied to the seat.

  In the present invention, the round tread surface rear tire swing axis does not always pass through the round tread surface rear tire swing actuator. In the present invention, when the vehicle in an upright state so as to be able to go straight is viewed in the vehicle left direction or the vehicle right direction, the whole round tread surface rear tire swing actuator is moved downward or upward from the round tread surface rear tire swing axis. May be.

  In the present invention, when the motorcycle has a round tread surface front tire rocking actuator, when the vehicle in an upright state so that it can go straight is viewed in the vehicle left direction or the vehicle right direction, the round tread surface front tire rocking actuator is The entire vehicle is not always separated from the round tread surface rear tire swing axis in the vehicle downward direction. In the present invention, when the vehicle in an upright state so as to be able to go straight is seen in the vehicle left direction or the vehicle right direction, only a part of the round tread surface front tire swing actuator moves downward from the round tread surface rear tire swing axis in the vehicle direction. You may be separated. In the present invention, when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction, the entire round tread surface front tire swing actuator is separated from the round tread surface rear tire swing axis in the vehicle upward direction. May be.

  In the present invention, when the seat is supported by the rear frame, the round tread surface rear tire swing actuator is not limited to the hydraulic cylinder and may be, for example, an electric motor. In the present invention, when the seat is supported by the intermediate frame, the round tread surface rear tire swing actuator is not limited to the electric motor and may be, for example, a hydraulic cylinder. In the present invention, the round tread surface front tire swing actuator is not limited to the electric motor and may be, for example, a hydraulic cylinder.

  In the present invention, the type of the front brake that applies the braking force to the round tread surface front tire may be a hydraulic type, a mechanical type, or an electric type.

  In the present invention, when the front brake that applies the braking force to the front tire of the round tread is a hydraulic brake, when the vehicle in an upright state so as to be able to go straight is viewed in the vehicle left direction or the vehicle right direction, the hydraulic pressure of the front brake is The front hydraulic unit to be controlled is not always separated from the round tread surface rear tire swing axis in the vehicle downward direction. In the present invention, when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction, even if only a part of the front hydraulic unit is separated from the round tread surface rear tire swing axis in the vehicle downward direction. Good. In the present invention, the front hydraulic unit as a whole may be separated from the round tread surface rear tire swing axis in the vehicle upward direction when the vehicle in an upright state so as to be able to travel straight is seen in the vehicle left direction or the vehicle right direction.

  In the present invention, when the front brake that applies the braking force to the round tread surface front tire is a hydraulic brake, the front hydraulic unit that controls the hydraulic pressure of the front brake is not always supported by the intermediate frame. In the present invention, the front hydraulic unit may be supported by the front frame or the rear frame.

  In the present invention, when the front brake that applies the braking force to the front tire of the round tread is a hydraulic brake, when the vehicle in an upright state so that it can go straight is viewed in the vehicle left direction or the vehicle right direction, the hydraulic pressure of the front brake is The front hydraulic unit to be controlled is not always separated from the round tread surface rear tire swing axis in the vehicle downward direction. In the present invention, when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction, even if only a part of the front hydraulic unit is separated from the round tread surface rear tire swing axis in the vehicle downward direction. Good. In the present invention, the front hydraulic unit as a whole may be separated from the round tread surface rear tire swing axis in the vehicle upward direction when the vehicle in an upright state so as to be able to travel straight is seen in the vehicle left direction or the vehicle right direction.

  In the present invention, the type of the brake that applies the braking force to the round tread surface rear tire may be hydraulic, mechanical, or electric.

In the present invention, when the rear brake that applies the braking force to the round tread surface rear tire is a hydraulic brake, the rear hydraulic unit that controls the hydraulic pressure of the rear brake may be supported by the rear frame. For example, in the motorcycle 100H shown in FIG. 21, the rear hydraulic unit 609 indicated by the chain double-dashed line is one example.
In the present invention, when the rear brake that applies the braking force to the round tread surface rear tire is a hydraulic brake, the rear hydraulic unit that controls the hydraulic pressure of the rear brake may be supported by the intermediate frame. For example, in the motorcycle 100H shown in FIG. 21, the rear hydraulic unit 609 shown by the solid line is an example thereof.

  In FIG. 21, the rear hydraulic unit 609 indicated by a solid line and a chain double-dashed line is entirely separated from the round tread surface rear tire swing axis in the upward direction when the vehicle in an upright state so that the vehicle can move straight is seen to the left or right. ing. However, in the present invention, when the rear brake that applies the braking force to the round tread surface rear tire is a hydraulic brake, the hydraulic pressure of the rear brake is seen when the vehicle in an upright state so that it can go straight is viewed in the vehicle left direction or the vehicle right direction. At least a part of the rear hydraulic unit for controlling the vehicle may be separated from the round tread surface rear tire swing axis in the vehicle downward direction. More specifically, when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction, the entire rear hydraulic unit may be separated from the round tread surface rear tire swing axis in the vehicle downward direction. .. When the vehicle in an upright state so that it can go straight ahead is viewed in the vehicle left direction or the vehicle right direction, only a part of the rear hydraulic unit may be separated from the round tread surface rear tire swing axis in the vehicle downward direction.

  In the present invention, the front suspension unit is not always separated from the round tread surface rear tire swing axis in the vehicle downward direction when the vehicle in an upright state so as to be able to go straight is seen in the vehicle left direction or the vehicle right direction. .. In the present invention, when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction, only a part of the front suspension unit may be separated from the round tread surface rear tire swing axis in the vehicle upward direction. ..

  In the present invention, when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction, it is said that only a part of the rear suspension unit is separated from the round tread surface tire swing axis in the vehicle downward direction. Not exclusively. In the present invention, the rear suspension unit may be separated from the round tread surface tire swing axis in the vehicle downward direction as a whole when the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction. In the present invention, the entire rear suspension unit may be separated from the round tread surface tire swing axis in the vehicle upward direction when the vehicle in an upright state capable of traveling straight is viewed in the vehicle left direction or the vehicle right direction.

  In the present invention, when the motorcycle includes the tilt detection device that detects a physical quantity related to the tilt of the intermediate frame in the vehicle left-right direction with respect to the vehicle up-down direction, the tilt detection device is not always installed in the intermediate frame. .. In the present invention, the tilt detection device may be installed on the rear frame. The direction of the rear frame that is parallel to the vehicle vertical direction when the motorcycle stands upright on a horizontal road surface so that it can go straight is called the rear frame vertical direction. The direction of the rear frame that is parallel to the vehicle left-right direction when the motorcycle stands upright on a horizontal road surface so that it can go straight is referred to as the rear frame left-right direction. When the inclination detection device is supported by the rear frame, the inclination detection device detects an angle of inclination of the rear frame in the left-right direction of the rear frame with respect to the vertical direction of the rear frame, an angular velocity, or an angular acceleration. The inclination detection device detects a physical quantity related to the inclination of the intermediate frame in the vehicle left-right direction with respect to the vehicle vertical direction based on the physical quantity relating to the inclination of the rear frame and the swing angle of the rear frame with respect to the intermediate frame. The tilt detecting device detects the tilt of the rear frame, the swing angle of the rear frame with respect to the intermediate frame, and the swing angle of the front frame with respect to the intermediate frame in the vehicle left-right direction with respect to the vehicle up-down direction of the intermediate frame. A physical quantity related to the slope of may be detected.

  In the present invention, when the seat or the bed is supported by the rear frame, the side stand may be connected to the rear frame or the intermediate frame.

  The motorcycle of the present invention may be any of a sports type, an on-road type, an off-road type, and a scooter type. The motorcycle of the present invention may be a motorbike or a moped.

1, 1A, 1B, 1C, 100A, 100B, 100C, 100D, 100E, 100F, 100G, 100H, 100I, 100J Motorcycle 2 Round tread surface Front tire 2a Tread surface 4 Round tread surface Rear tire 4a Tread surface 10, 210 Seat 20, 120, 520 Front frame 21 Front suspension unit 30, 130, 430, 530, 830 Intermediate frame 40, 140, 640, 740 Rear frame 42 Rear suspension unit 46 Seat frame 60 Hydraulic cylinder (Round tread surface rear tire swing actuator)
70 engine unit (drive source)
71 Fuel tank 80 Control device (round tread surface rear tire swing control device, round tread surface front tire swing control device)
81 Inclination detection device 106 Front brake (hydraulic brake)
107 front hydraulic unit 132 seat frame 160 rear electric motor (round tread surface rear tire swing actuator)
162 front electric motor (round tread surface front tire swing actuator)
170 In-wheel motor (drive source)
171 power storage device 311, 411 loading platform 609 rear hydraulic unit 670 electric motor (driving source)
A1 front axle line A2 round tread surface front tire swing axis A3 rear axle lines _{A4, A4 1A, A4 1B,} A4 1C, A4 100A, A4 100B, A4 100C round tread surface rear tire swing axis G0, G0 _1A, G0 _1B , G0 _1C , G0 _100A , G0 _100B , G0 _100C , G0 _100D , G0 _100E , G0 _100F , G0 _100G , G0 _100H , G0 _100I , G0 _{100J Center} of gravity of vehicle without external load G1, G1 _1A , G1 _1B , G1 _1C , G1 _100A , G1 _100B , G1 _100C Center of gravity of vehicle including occupant or luggage Gre Rear swing center of gravity

Claims (15)

An intermediate frame,
A round tread surface front tire having a tread surface that is arcuate when viewed in a vehicle front direction or a vehicle rear direction in a state in which the vehicle is upright so that the vehicle can go straight,
A round tread surface rear tire having a tread surface that is apart from the round tread surface front tire in the vehicle rear direction and is arcuate when viewed in the vehicle front direction or the vehicle rear direction in a state in which the vehicle stands upright so that the vehicle can go straight,
(A-1) The round tread surface, which supports the front tire so as to be rotatable about the front axle passing through the center of the front tire, and (a-2) has a slope which is inclined upward in the vehicle toward the rear of the vehicle. The round tread surface is supported by the intermediate frame so as to be swingable around the swing axis of the front tire so that the round tread surface front tire is swingable with respect to the intermediate frame. Front frame,
(B-1) The round tread surface rear tire is rotatably supported around a rear axle passing through the center thereof, and (b-2) the round tread surface rear tire is inclined downward toward the vehicle rearward direction. A rear frame supported by the intermediate frame so as to be able to swing about the round tread surface rear tire swing axis so that the round tread surface rear tire can swing about the swing axis with respect to the intermediate frame;
At least a part of the vehicle, which is supported by the intermediate frame or the rear frame and is in an upright state so as to be able to move straight, is separated from the round tread surface rear tire swing axis in the vehicle upward direction when viewed in the vehicle left direction or the vehicle right direction. And a loading platform for placing a seat or luggage for an occupant to sit on,
By swinging the rear frame with respect to the intermediate frame around the round tread surface rear tire swing axis, the round tread surface rear tire swings with respect to the intermediate frame around the round tread surface rear tire swing axis. Round tread surface rear tire swing actuator
A round tread surface rear tire rocking control device for controlling the round tread surface rear tire rocking actuator,
A driving source that applies a driving force to the round tread surface front tire or the round tread surface rear tire,
Looking at the vehicle in an upright state so that it can go straight, in the vehicle left direction or the vehicle right direction, the round tread surface rear tire swing axis is the center of gravity of the vehicle in a state where no load is applied from the outside and the seat or the bed. The center of gravity of the vehicle including the occupant or the luggage mounted on the seat or the luggage carrier is increased by the load on the seat or the luggage carrier from zero as the load passes on the seat or the luggage carrier from zero. The intermediate frame, the front frame, the rear frame, the round tread surface front tire, the round tread surface rear tire, the round tread surface rear tire swing actuator, and the round tread surface rear tire swing control so as to approach the dynamic axis. Specialize that the device is formed or arranged Motorcycle and.   Looking at the vehicle in an upright state so that it can go straight ahead, the intersection of the round tread surface rear tire swing axis and the road surface is parallel to the vehicle vertical direction passing through the front end of the round tread surface rear tire. The motorcycle according to claim 1, wherein the motorcycle is located between a straight line and a straight line that passes through a rear end of the round tread surface rear tire and is parallel to a vehicle vertical direction. The drive source includes an electric motor,
An electric storage device for storing electric power supplied to the electric motor;
When viewed in a vehicle left direction or a vehicle right direction in an upright state capable of traveling straight, at least a part of the power storage device is away from the round tread surface rear tire swing axis in the vehicle downward direction. The motorcycle according to claim 1 or 2. By swinging the front frame around the round tread surface front tire swing axis with respect to the intermediate frame, the round tread surface front tire is rotated around the round tread surface front tire swing axis with respect to the intermediate frame. Round tread surface to swing with a front tire swing actuator,
The motorcycle according to any one of claims 1 to 3, further comprising: a round tread surface front tire rocking control device that controls the round tread surface front tire rocking actuator.   Looking at the vehicle in an upright state so that it can go straight ahead, at least part of the round tread surface front tire swing actuator is separated from the round tread surface rear tire swing axis in the vehicle downward direction. The motorcycle according to claim 4, characterized in that The rear frame includes a rear suspension unit that supports the round tread surface rear tire rotatably around the rear axle and that absorbs vibration in the vehicle vertical direction received by the round tread surface rear tire,
When viewed in a vehicle left direction or a vehicle right direction in an upright state so that the vehicle can go straight, a part of the rear suspension unit is separated from the round tread surface rear tire swing axis in a vehicle downward direction. The motorcycle according to any one of claims 1 to 5. A hydraulic brake that applies a braking force to the round tread surface front tire or the round tread surface rear tire,
A hydraulic unit for controlling the hydraulic pressure of the hydraulic brake,
When looking at the vehicle in an upright state so that it can go straight ahead in the vehicle left direction or the vehicle right direction, at least a part of the hydraulic unit is separated from the round tread surface rear tire swing axis in the vehicle downward direction. The motorcycle according to any one of claims 1 to 6.   The inclination detection device installed in the said intermediate | middle frame is provided with the inclination detection apparatus which detects the physical quantity relevant to the inclination to the vehicle left-right direction with respect to the vehicle up-down direction of the said intermediate | middle frame. Motorcycle.   At least a part of the round tread surface rear tire swing actuator is located in a vehicle lower direction than an upper end of at least one of the round tread surface rear tire and the round tread surface front tire in a state where the vehicle is upright so as to be able to go straight. The motorcycle according to any one of claims 1 to 8, characterized in that.   When the vehicle in an upright state so as to be able to travel straight is viewed in the vehicle left direction or the vehicle right direction, at least a part of the drive source is separated from the round tread surface rear tire swing axis in the vehicle downward direction. The motorcycle according to any one of claims 1 to 9. The drive source includes an engine unit,
A fuel tank for storing fuel supplied to the engine unit;
The automatic fuel tank according to any one of claims 1 to 10, wherein the fuel tank overlaps the round tread surface rear tire swing axis when the vehicle in an upright state so as to be able to go straight is seen in a vehicle downward direction. Motorcycle.   The motorcycle according to any one of claims 1 to 11, wherein the intermediate frame includes a seat frame that supports the seat.   The motorcycle according to any one of claims 1 to 11, wherein the rear frame includes a seat frame that supports the seat.   The side stand which is connected to the intermediate frame and is capable of grounding on a road surface so that the vehicle can stand on its own in a state of being inclined in the vehicle left-right direction with respect to the vehicle up-down direction. The motorcycle described in. An object that is swung with respect to the intermediate frame around the round tread surface rear tire swing axis by the round tread surface rear tire swing actuator when the vehicle in an upright state capable of going straight is viewed in the vehicle left direction or the vehicle right direction. The rear swing center of gravity, which is the center of gravity of the whole, is separated from the round tread surface rear tire swing axis in the vehicle downward direction,
The round tread surface rear tire swing control device,
When the vehicle is self-supported by the side stand while leaning to the left of the vehicle, the rear swing center of gravity swings to the right of the vehicle and then swings to the left of the vehicle in order to raise the vehicle. To control the round tread surface rear tire swing actuator,
When the vehicle is self-supporting by being leaned to the right side of the vehicle by the side stand, the rear swing center of gravity swings to the left side of the vehicle and then swings to the right side of the vehicle in order to raise the vehicle. 15. The motorcycle according to claim 14, wherein the round tread surface rear tire swing actuator is controlled.

Images