Vehicle

1. A vehicle comprising:

a vehicle body having three or more wheels including at least a steered wheel with a trail and a pair of wheels provided in the vehicle width direction;

an operation input part that inputs a turning direction when being operated;

an inclining part that inclines the vehicle body; and

a steered wheel controller that controls the steering angle of the steered wheel, wherein

when the vehicle speed of the vehicle is lower than a predetermined vehicle speed, the vehicle travels in a first mode in which the steered wheel controller controls the steering angle of the steered wheel according to an input from the operation input part, and the inclining part inclines the vehicle body according to an input from the operation input part,

when the vehicle speed is equal to or higher than the predetermined vehicle speed, the vehicle travels in a second mode in which the steered wheel controller makes the steered wheel freely turnable irrespective of the operation input part, and the inclining part inclines the vehicle body according to an input from the operation input part, and

a turning radius based on the inclination angle of the vehicle body at the predetermined vehicle speed in the second mode is estimated, then the steering angle of the steered wheel at the predetermined vehicle speed is calculated from the estimated turning radius, and the steered wheel is controlled until the calculated steering angle is reached.

2. The vehicle according to claim 1 , wherein

in the first mode, the inclination angle of the vehicle body gradually increases along with an increase in the vehicle speed to be the inclination angle of the vehicle body at the predetermined vehicle speed in the second mode.

3. The vehicle according to claim 1 , wherein

the operation input part detects an input steering angle which is an angle to be steered, and the inclining part inclines the vehicle body at a constant imaginary gear ratio with respect to the input steering angle in the second mode.

4. The vehicle according to claim 1 , wherein

the steered wheel is a front wheel.

5. The vehicle according to claim 1 , wherein

the inclining part inclines the pair of wheels to incline the vehicle body.

6. The vehicle according to claim 1 , wherein

the vehicle travels in the first mode when being moved back.

7. The vehicle according to claim 1 , wherein

the predetermined speed at switching from the first mode to the second mode and the predetermined speed at switching from the second mode to the first mode differ from each other.

8. The vehicle according to claim 7 , wherein

when a deviation exists by a predetermined value or more between a detected steering angle of the steered wheel and a calculated steering angle of the steered wheel in the second mode, the predetermined vehicle speed at switching from the second mode to the first mode is set higher than the predetermined vehicle speed at switching from the first mode to the second mode.

9. The vehicle according to claim 1 , wherein

when the steering angle of the steered wheel detected at switching from the second mode to the first mode differs from a target steering angle of the steered wheel in the first mode, the steering angle of the steered wheel is corrected so as to continuously approach the target steering angle of the steered wheel.

10. The vehicle according to claim 1 , wherein

the steering angle of the steered wheel at switching from the first mode to the second mode is detected, and a target steering angle of the steered wheel is changed in the first mode according to the steering angle at switching.