Vehicle

A vehicle comprising:

• a vehicle body;
• N (N is an integer equal to or larger than 2) wheels including one or more turn wheels turnable to right and left relative to a forward movement direction of the vehicle, the N wheels including at least one front wheel and at least one rear wheel;
• a lean angle sensor configured to measure a lean angle in a width direction of the vehicle body;
• a lean actuator configured to apply to the vehicle body a lean torque for controlling the lean angle of the vehicle body;
• an operation input unit configured to be handled to input an operation amount indicative of a turning direction and a degree of turn;
• a turn wheel support unit that supports the one or more turn wheels;
• and
• a controller,
• wherein the turn wheel support unit comprises:
• a supporting member that rotatably supports the one or more turn wheels;
• a turning device that supports the supporting member turnably to right and left relative to the vehicle body;
• and
• a turning actuator configured to apply to the supporting member a turning torque for turning the supporting member, and
• wherein the controller is configured to:
• determine a target lean angle using one or more parameters including the operation amount, the target lean angle being a lean angle targeted by the vehicle body;
• determine a target lean torque and a target turning torque using the target lean angle, the target lean torque being a target torque of the lean actuator, the target turning torque being a target torque of the turning actuator;
• control the lean actuator according to the target lean torque;
• and
• control the turning actuator according to the target turning torque.