Three-wheeled tilting vehicle
A tiltable vehicle has 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. The tilt linkage includes a four-bar linkage having a pair of upper bar segments coupled to the chassis at spaced-apart respective inboard joints. In some examples, 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. An orientation sensor is configured to detect directional information regarding a net force vector applied to the chassis, and a tilt actuator operatively coupled to the chassis and configured to selectively tilt the chassis. A controller is configured to selectively control the tilt actuator based on the directional information from the orientation sensor.
1. A method for operating a three-wheeled vehicle, the method comprising:
controlling a tilt actuator using a controller to selectively tilt a chassis of a vehicle having a pair of front wheels coupled to the chassis by a tilt linkage, wherein the tilt linkage comprises a pair of upper bar segments coupled to the chassis, wherein respective inboard joints of the upper bar segments are each disposed outboard of a central chassis joint of a lower bar of the tilt linkage, wherein a single rear wheel is coupled to the chassis, the rear wheel comprising a hub motor configured to drive the rear wheel to propel the vehicle, based on directional information regarding a net force vector applied to the chassis;
steering the vehicle in response to rider input, in a first mode in which the vehicle is configured to support a rider;
automatically converting the vehicle from the first mode to a second mode in response to a handlebar assembly of the vehicle being pivoted rearward toward a seat of the vehicle, wherein the second mode is configured to prevent a rider from mounting the vehicle;
steering the vehicle automatically in response to entering the second mode, using the controller.
2. The method of claim 1 , further comprising wedging the chassis into an upright orientation using a tilt-lock mechanism.
3. The method of claim 2 , further comprising automatically engaging the tilt-lock mechanism in response to entering the second mode.
4. The method of claim 2 , 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.
5. The method of claim 1 , 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.
6. The method of claim 5 , 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.
7. The method of claim 5 , wherein each kingpin comprises an L-shaped structural member.
8. The method of claim 1 , wherein the vehicle further comprises:
a steering actuator operatively coupled to the pair of front wheels by a steering linkage and configured to selectively steer the front wheels.