Three-wheeled tilting vehicle

1. A tilting vehicle, comprising:

a pair of front wheels coupled to a tiltable chassis by a first mechanical linkage, wherein the pair of front wheels and the chassis are configured to tilt in unison with respect to a roll axis of the chassis;

a single rear wheel coupled to the chassis;

a motor coupled to the rear wheel and configured to drive the rear wheel to propel the vehicle;

a tilt actuator operatively coupled to the chassis and configured to selectively tilt the chassis; and

a controller including processing logic configured to selectively control the tilt actuator to automatically maintain a net force vector applied to the chassis in alignment with a median plane of the chassis, wherein the net force vector is determined by gravity in combination with any applicable centrifugal force applied to the chassis;

wherein the first mechanical linkage includes:

a first upper bar segment coupled at an inboard end to the chassis by a first inboard pivot joint and coupled at an outboard end to a left kingpin link by a first upper pivot joint, a second upper bar segment coupled at an inboard end to the chassis by a second inboard pivot joint spaced from the first inboard pivot joint and coupled at an outboard end to a right kingpin link by a second upper pivot joint, and

a bottom bar coupled to the chassis at a central pivot joint, coupled to the left kingpin link at a first lower pivot joint, and coupled to the right kingpin link at a second lower pivot joint,

wherein the inboard pivot joints of each of the first and second upper bar segments are disposed outboard relative to the central pivot joint; and

wherein a first distance between the first inboard pivot joint and the first upper pivot joint, a second distance between the second inboard pivot joint and the second upper pivot joint, a third distance between the central pivot joint and the first lower pivot joint, and a fourth distance between the central pivot joint and the second lower pivot joint have a same length.

2. The vehicle of claim 1 , wherein each of the kingpin links comprises an L-shaped structural member.

3. The vehicle of claim 1 , wherein the bottom bar of the first mechanical linkage has a central opening, the chassis further comprising a structural beam having a bottom end disposed within the opening, the structural beam coupled at the bottom end to the bottom bar.

4. The vehicle of claim 3 , further comprising:

a steering shaft disposed within the structural beam;

a tie rod coupling the front wheels of the vehicle to each other; and

a steering crank connecting the steering shaft to the tie rod.

5. The vehicle of claim 4 , further comprising a steering actuator operatively coupled to the tie rod and configured to selectively steer the front wheels.

6. The vehicle of claim 4 , further comprising a handlebar operatively connected to the steering shaft.

7. The vehicle of claim 6 , further comprising:

a handlebar assembly including the handlebar, the structural beam, and the steering shaft;

wherein the handlebar assembly is configured to pivot selectively about a pitch axis between:

(a) a first mode, in which the chassis is configured to support a rider thereon and to steer the vehicle in response to rider input, and

(b) a second mode, in which the handlebar assembly is displaced to a rider-unusable position, and the vehicle is steered by the controller.

8. The vehicle of claim 1 , further comprising a tilt-lock mechanism configured to selectively wedge the chassis into an upright orientation.

9. A three-wheeled vehicle, comprising:

a pair of front wheels coupled to a tiltable chassis by a tilt linkage, such that the pair of front wheels and the chassis are configured to tilt in unison with respect to a roll axis of the chassis, wherein the tilt linkage comprises a four-bar linkage, and a pair of upper bar segments are coupled to the chassis at spaced-apart respective inboard joints, and wherein the inboard joints of the upper bar segments are each disposed outboard of a central chassis joint of a lower bar of the tilt linkage;

a single rear wheel coupled to the chassis, the rear wheel comprising a hub motor configured to drive the rear wheel to propel the vehicle;

an orientation sensor configured to detect directional information regarding a net force vector applied to the chassis;

a tilt actuator operatively coupled to the chassis and configured to selectively tilt the chassis;

a controller including processing logic configured to selectively control the tilt actuator based on the directional information from the orientation sensor to automatically maintain the net force vector in alignment with a median plane of the chassis; and

a rider support platform having a handlebar assembly and a seat, wherein the rider support platform is configured to transition between:

(a) a first mode, in which the rider support platform is configured to support a rider thereon and to steer the vehicle in response to rider input, and

(b) a second mode, in which the handlebar assembly is pivoted rearward toward the seat such that a rider is prevented from mounting the vehicle, and the vehicle is steered automatically by the controller.

10. The vehicle of claim 9 , wherein the tilt linkage further comprises a pair of kingpins each coupled to one of the front wheels;

wherein each kingpin is coupled at an upper kingpin joint to a respective one of the upper bar segments;

wherein each kingpin is coupled at a lower kingpin joint to the lower bar; and

wherein the lower kingpin joints are disposed inboard relative to the upper kingpin joints.

11. The vehicle of claim 10 , wherein each of the upper bar segments has a respective first distance defined between the inboard joint of the segment and the associated upper kingpin joint, the lower bar has a second distance defined between the central joint and one of lower kingpin joints, and the first distance is the same as the second distance.

12. The vehicle of claim 10 , wherein each kingpin comprises an L-shaped structural member.

13. The vehicle of claim 9 , further comprising a tilt-lock mechanism configured to selectively wedge the chassis into an upright orientation.

14. The vehicle of claim 13 , wherein the vehicle is configured to automatically engage the tilt-lock mechanism when the rider support platform is in the second mode.

15. The vehicle of claim 14 , wherein the tilt-lock mechanism comprises a pivotable bracket coupled to the handlebar assembly by a mechanical linkage configured to pivot the bracket into a tilt-locking orientation when the handlebar assembly is pivoted rearward.

16. The vehicle of claim 9 , further comprising:

a steering actuator operatively coupled to the pair of front wheels by a steering linkage, and configured to selectively steer the front wheels.

17. The vehicle of claim 16 , wherein the steering actuator is coupled to the handlebar assembly.

18. A tilting vehicle, comprising:

a pair of front wheels coupled to a tiltable chassis by a first mechanical linkage, wherein the pair of front wheels and the chassis are configured to tilt in unison with respect to a roll axis of the chassis;

a single rear wheel coupled to the chassis;

a motor coupled to the rear wheel and configured to drive the rear wheel to propel the vehicle;

a tilt actuator operatively coupled to the chassis and configured to selectively tilt the chassis; and

a controller including processing logic configured to selectively control the tilt actuator to automatically maintain a net force vector applied to the chassis in alignment with a median plane of the chassis, wherein the net force vector is determined by gravity in combination with any applicable centrifugal force applied to the chassis;

wherein the first mechanical linkage includes:

a first upper bar segment coupled at an inboard end to the chassis by a first inboard pivot joint and coupled at an outboard end to a left kingpin link by a first upper pivot joint, a second upper bar segment coupled at an inboard end to the chassis by a second inboard pivot joint spaced from the first inboard pivot joint and coupled at an outboard end to a right kingpin link by a second upper pivot joint, and

a bottom bar coupled to the chassis at a central pivot joint, coupled to the left kingpin link at a first lower pivot joint, and coupled to the right kingpin link at a second lower pivot joint,

wherein the inboard pivot joints of each of the first and second upper bar segments are disposed outboard relative to the central pivot joint; and

wherein the bottom bar of the first mechanical linkage has a central opening, the chassis further comprising a structural beam having a bottom end disposed within the opening, the structural beam coupled at the bottom end to the bottom bar.

19. The vehicle of claim 18 , wherein the left kingpin link comprises an L-shaped structural member.

20. The vehicle of claim 18 , further comprising:

a steering shaft disposed within the structural beam;

a tie rod coupling the front wheels of the vehicle to each other; and

a steering crank connecting the steering shaft to the tie rod.

21. The vehicle of claim 20 , further comprising a steering actuator operatively coupled to the tie rod and configured to selectively steer the front wheels.

22. The vehicle of claim 20 , further comprising a handlebar operatively connected to the steering shaft.

23. The vehicle of claim 22 , further comprising:

a handlebar assembly including the handlebar, the structural beam, and the steering shaft;

wherein the handlebar assembly is configured to pivot selectively about a pitch axis between:

(a) a first mode, in which the chassis is configured to support a rider thereon and to steer the vehicle in response to rider input, and

(b) a second mode, in which the handlebar assembly is displaced to a rider-unusable position, and the vehicle is steered by the controller.

24. The vehicle of claim 23 , further comprising a tilt-lock mechanism configured to selectively wedge the chassis into an upright orientation.

25. The vehicle of claim 18 , wherein each of the first upper bar segment has a respective first distance defined between the first inboard pivot joint of the first upper bar segment and the associated first upper pivot joint, the bottom bar has a second distance defined between the central pivot joint and first lower pivot joint, and the first distance is the same as the second distance.

26. The vehicle of claim 24 , wherein the vehicle is configured to automatically engage the tilt-lock mechanism when the handlebar assembly is displaced to a rider-unusable position.

27. The vehicle of claim 26 , wherein the tilt-lock mechanism comprises a pivotable bracket coupled to the handlebar assembly by a mechanical linkage configured to pivot the bracket into a tilt-locking orientation when the handlebar assembly is pivoted rearward.

28. The vehicle of claim 18 , further comprising a steering actuator operatively coupled to the pair of front wheels by a steering linkage, and configured to selectively steer the front wheels.

29. The vehicle of claim 21 , wherein the steering actuator is coupled to the steering shaft.