Leaning vehicle

A leaning vehicle comprising:

• a vehicle body frame leaning in a leaning-vehicle leftward direction at a time of turning of the leaning vehicle in the leaning-vehicle leftward direction and leaning in a leaning-vehicle rightward direction at a time of turning of the leaning vehicle in the leaning-vehicle rightward direction, a leaning-vehicle frontward direction being a frontward direction in a front-rear direction of the leaning-vehicle, a leaning-vehicle rearward direction being a rearward direction in the front-rear direction of the leaning-vehicle, a leaning-vehicle leftward direction being a leftward direction in a left-right direction of the leaning-vehicle, a leaning-vehicle rightward direction being a rightward direction in the left-right direction of the leaning-vehicle, a vehicle-body-frame up-down direction being an up-down direction of the vehicle body frame, a vehicle-body-frame left-right direction being a left-right direction of the vehicle body frame, a vehicle-body-frame upward direction being an upward direction in the vehicle-body-frame up-down direction, a vehicle-body-frame leftward direction being a leftward direction in the vehicle-body-frame left-right direction, and a vehicle-body-frame rightward direction being a rightward direction in the vehicle-body-frame left-right direction;
• a bar handle being supported on the vehicle body frame such that the bar handle is allowed to rotate about an axis extending in the vehicle-body-frame up-down direction, the bar handle including a left grip and a right grip, the left grip being positioned further leftward in the vehicle-body-frame leftward direction than a center of the vehicle body frame in the vehicle-body-frame left-right direction, and the right grip being positioned further rightward in the vehicle-body-frame rightward direction than the center of the vehicle body frame in the vehicle-body-frame left-right direction;
• a steerable wheel being supported on the vehicle body frame such that the steerable wheel is allowed to rotate about an axle, the steerable wheel being steered in the leaning-vehicle leftward direction in response to the bar handle being rotated by a rider in a counterclockwise direction as viewed in the vehicle-body-frame downward direction, and the steerable wheel being steered in the leaning-vehicle rightward direction in response to the bar handle being rotated by the rider in a clockwise direction as viewed in the vehicle-body-frame downward direction;
• an actuator configured to generate an actuator torque causing the bar handle to rotate in the counterclockwise direction or in the clockwise direction as viewed in the vehicle-body-frame downward direction;
• a bar-handle-input-operation acquiring unit configured to acquire a bar-handle-rotation-moment change amount being generated by a rider performing one operation of a left-grip-pushing-force increasing operation where the rider increases a pushing force pushing the left grip in the leaning-vehicle frontward direction, a right-grip-pulling-force increasing operation where the rider increases a pulling force pulling the right grip in the leaning-vehicle rearward direction, a left-grip-pulling-force reducing operation where the rider reduces a pulling force pulling the left grip in the leaning-vehicle rearward direction, a right-grip-pushing-force reducing operation where the rider reduces a pushing force pushing the right grip in the leaning-vehicle frontward direction, a right-grip-pushing-force increasing operation where the rider increases a pushing force pushing the right grip in the leaning-vehicle frontward direction, a left-grip-pulling-force increasing operation where the rider increases a pulling force pulling the left grip in the leaning-vehicle rearward direction, a right-grip-pulling-force reducing operation where the rider reduces a pulling force pulling the right grip in the leaning-vehicle rearward direction, and a left-grip-pushing-force reducing operation where the rider reduces a pushing force pushing the left grip in the leaning-vehicle frontward direction, the bar-handle rotation moment being a rotation moment causing the bar handle to rotate in the counterclockwise direction or in the clockwise direction as viewed in the vehicle-body-frame downward direction, and the bar-handle-rotation-moment change amount being an amount of change in the bar-handle rotation moment per unit time;
• and
• an actuator control unit configured to cause the actuator to generate the actuator torque in the counterclockwise direction as viewed in the vehicle-body-frame downward direction based on the bar-handle-rotation-moment change amount in a case where the bar-handle-rotation-moment change amount in the counterclockwise direction as viewed in the vehicle-body-frame downward direction is generated by the rider performing one operation of the right-grip-pushing-force increasing operation, the left-grip-pulling-force increasing operation, the right-grip-pulling-force reducing operation and the left-grip-pushing-force reducing operation, the actuator control unit being configured to cause the actuator to generate the actuator torque in the clockwise direction as viewed in the vehicle-body-frame downward direction based on the bar-handle-rotation-moment change amount in a case where the bar-handle-rotation-moment change amount in the clockwise direction as viewed in the vehicle-body-frame downward direction is generated by the rider performing one operation of the left-grip-pushing-force increasing operation, the right-grip-pulling-force increasing operation, the left-grip-pulling-force reducing operation, and the right-grip-pushing-force reducing operation.