Vehicle

A vehicle comprising:

• N (N is an integer equal to or larger than 3) wheels, including a pair of wheels spaced apart from each other in a width direction of the vehicle and one or more other wheels, at least one of another wheel or the pair of wheels being configured as one or more turn wheels turnable to right and left relative to a forward movement direction of the vehicle, and the N wheels including one or more front wheels and one or more rear wheels;
• a vehicle body;
• a lean mechanism configured to lean the vehicle body in the width direction;
• an operation input unit to be operated to input an operation amount indicating turning direction and degree of turn;
• a lean control unit configured to control the lean mechanism using the operation amount input into the operation input unit;
• and
• a turn wheel support unit supporting the one or more turn wheels,
• wherein the turn wheel support unit comprises:
• a supporting member rotatably supporting the one or more turn wheels;
• a turning device supporting the supporting member turnably to right and left relative to the vehicle body;
• a turning actuator configured to apply to the supporting member a torque for turning the supporting member to right and left;
• and
• a turn control unit configured to control a torque of the turning actuator using a control parameter, the control parameter including at least one of a lean parameter related to degree of lean of the vehicle body or the operation amount, and the vehicle velocity,
• wherein the turn control unit comprises:
• an specifying module configured to specify a target direction of the one or more turn wheels using the control parameter;
• a first determination module configured to determine a first control value for causing a direction of the one or more turn wheels to approach the target direction;
• an actuation control value determination module configured to determine an actuation control value for controlling the turning actuator using the first control value;
• and
• a torque control module configured to control a torque of the turning actuator according to the actuation control value, and
• wherein the first determination module uses the vehicle velocity to adjust the first control value.