{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
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  "description": "[Problem]A problem to be solved by the present teaching is to make it possible to assist a leaning vehicle in a stopped state to stand by itself and make it easy to start a leaning vehicle and make it easy to walk the leaning vehicle.[Solution to Problem]A lean control device 17 is capable of…",
  "path": "/patents/1400925",
  "publishedAt": "2025-07-23T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60G17/0162",
    "YAMAHA MOTOR CO LTD [JP]"
  ],
  "textContent": "[Problem]A problem to be solved by the present teaching is to make it possible to assist a leaning vehicle in a stopped state to stand by itself and make it easy to start a leaning vehicle and make it easy to walk the leaning vehicle.[Solution to Problem]A lean control device 17 is capable of executing at least gravity compensation control C1 and self-standing assist control C2. When a condition for a switch of control is satisfied, the lean control device 17 instructs an actuator 16 to conduct a switch between the gravity compensation control C1 and the self-standing assist control C2. The output torque, at least when the leaning vehicle 1 is at a stop and when the gravity compensation control C1 is being executed, is greater than zero and smaller than a leaning moment. The output torque, at least when the leaning vehicle 1 is at a stop, when the vehicle body 11 leans at an angle within a substantially self-standing range and when the self-standing assist control C2 is being executed, is greater than the leaning moment. The leaning moment is a moment that acts on the vehicle body due to gravity when the vehicle body 11 leans.",
  "title": "LEAN CONTROL DEVICE AND LEANING VEHICLE"
}