2) United States Patent oy oy m 3) an @ 6s) Brendelson et al. GYROSCOPIC RIDER ASS! F DEVIC Applicant: Harley-Davidson Motor Company Group, LLC, Milwaukee, WI (US) James C. Brendelson, Milwaukee, WI (US); Mason del Rosario, Davis, CA (US), Sean Karagianes, Somerville MA (US): Sean Lowen, Somerville, MA (US): Michael Searing, Renton, WA (US): Ben Smith, Sunnyvale, CA (US); Paul Titehener, Cambridge, MA ws) Inventors Harley-Davidson Motor Company Group, LLC, Milwaukee, W1 (US) Assignee: Notice: Subject to any disclaimer, the term ofthis patent is extended or adjusted under 35 USC. 154) by 0 days. This patent is subject to a terminal dis- claim, Appl. Nos 17/821,875 Filed: May 17, 2021 Prior Publication Data $ 202110260104 AL Sep. 2, 2021, Related U.S. Application Data Continuation of application No. 16/196,067, filed on Nov: 20, 2018, now Pat, No, 11,027,786 Incl, Be2D 3706 (2006.01) US. CL. cre 8620 37706 (2013.01) USOLIS7779: 3B2 US 11,577,793 B2 *Feb. 14, 2023 (10) Patent No.: (4s) Date of Patent: (58) Fleld of Casifeation Search cP 62D 37106 See application file for complete search histor, 66) References Cited US. PATENT DOCUMENTS. 1302004 None A + Bens via 248202.22 33124007 i964 (Coutinsed) Swinney FOREIGN PATENT DOCUMENTS WODSIRT3 AL 101998 (Continved) (OTHER PUBLICATIONS onda, “Homa Just Invented a Self Ralancing Motoreyete That Never Fally Over, btp/worw roadandrak com ne-cas ca technology aes 22162 honda just-iaventod-asol balancing -motoeyele-ha-neverflls-vesby Bob Serokanic, Jan 5, 2017 (Continved) Kevin Hurley (74) Attorney, Agent, or Firm — Mie Friedrich LLP on ABSTRACT A tilting vehicle includes a frame and a front whee! coupled to the frame, A rear wheel is coupled to the frame and Positioned rearward of the front wheel in a longitudinal Siretion. seating area inchides atleast one seat positioned to support a rider between the front whee! and the rear wheel A gyroscopic rider assist deviee is provided within an fenelosure behind the seating area and above the rear whee! s, § Drawing SheetsUS 11,577,793 B2 Page 2 66) 3.236323 agree 3356.36 3307s 01798 Sin'set Sis700 7671 Spa S0s.a4s S900 6300.38 S1s9810 R219 S308 S5n915 3706.300 1078 001128 9.061.376 Ses 9273961 91302730 S'310408 Siaseath tolex9 047 1037 785 2o2boqaKa 20080010854 ao voo9si85 doowonses 20080034910 20080035583 2nnson4sio aops008a37s 2oveur7st10| 20070010919 doopo102917 anos 006i zoos 0046159 donwonnss9s dosnt 2009.0099762 donors aoro.0023235 doroorraaas doivorgasie doiwornsst 2oivorsi04t 20120031696 aowaosr20% ao1D00T¥91 20130054126 References Cited USS. PATENT DOCUMENTS. a a a a a a a a 21966 Vives Susrs sis Sioe7 Si1991 993 111993 1998 1.1998 81999 1.1599 "$2002 3202 e002 32013 52013 4014 aot nis oanis oa0is 32016 42016 42016 S2ois 2020 e201 $2002 1003 5004 oot 0s 2005 Yas $206 ‘e006 a7 $2007 fern 2008 aun 43000 2009 12010 02010 72011 7201 2011 2012 3202 y2012 20083 tin Summers Goodridge Rhoaume etl Engttach Geiger sake eta Cheng Kim et a Kim eal Whinnery 62M 110 Kirn “Takenaka Sankt Kim ea. Kiylter ore 1906 Brenehon oa Denial Grong a Wane Royal, Sr. eta Hinton Hinton Sut Kiki Bn ‘Amnon inure Simmons Baten ot al Talia Sail Heinzrnn 6 Sut Kremer eta ayes Whinnery Scie Kime a. ner Kaleo ot a Kimet a Caza 2o1vomoes AL 42013, aniauzssion AL 92013, gninwnse Al 92013 ais0rw3) AL 92013, aoisurres AL 102013, aniaunsisey AL ‘22014 aoiansseo4 AL 22014 aoiauizs0s6 AL S014 aniauooes AL S201 2oiaotsssat AL 72014 Takenaka et aoiauisesad AL 7/2014 Takenaka ot aoiaunno7so AL 72014 Watanabe eta goianr60os) AL 92014 Giovanan ea aoiavre2sst Al 92014 Whinnery sovaurriees AL 92014 Shani ta. soiatrwason AL 92014 Takenaka etl 2019108936 AL 42018 Sekt aoisleson AL 62015 Kim sta Do1s203110 AL 92015. Mouse 2o1SUSIa7SI AL 112018 Klews tal aoismrssist Al 122015 Klews aoianisis26 Al ‘62016 Mid gnrouredsts AL 122016 Wit tal aornoosisst Al '22017 Zhe aovnvoxsied AL 92017 Movi tat auvnoweet AL 32017 Mow eta 20170088228 AL $2017 Mon @ a aov7iosso29 AL 32017 Moni @ a SOMMOIOOG AL 42020 Zhang ta FOREIGN PATENT DOCUMENTS wo Wounssi12 at 6/2000 wo wootess AL $2001 WO wWomorasss Al 92003 WO WoosO72013 AT 122006 WO wooros72ss 42 ‘2007 WO WoL AL 72012 Wo Wout7s680 AL 112013 WO WOISTOIG AL 72015 WO WoIeo2ess6 AL 22016 WO Wor02u72 AL 32017 Wo WoITDRB99 AL 22017 WO —-WOITOTISS? AL 52017, (OTHER PUBLICATIONS BMW, “Vision Next 100" hips obra bmmotorad om! ‘nexperonc striata vsin-nex-100 pis prior to Nov. 20, 2018 losing. “Gyroscopi sails fr powerod two whoded vehicles” International Jounal of Vehicle Mechaaice and Mebiliy, ips: dong 10.1080 00873114 2018.1506588, Published online Aus, 20.2018 * cited by examinerU.S. Patent Feb. 14, 2023 Sheet 2 of 5 US 11,577,793 B2 VEHICLE VEHICLE SPEED TIP SENSOR SENSORU.S. Patent Feb. 14, 2023 Sheet 3 of 5 US 11,577,793 B2 134U.S. Patent Feb. 14, 2023 Sheet 4 of 5 US 11,577,793 B2U.S. Patent Feb. 14,2023 Sheet 5 of 5US 11,577,793 B2 1 GYROSCOPIC RIDER ASSIST DEVICE CROSS-REFERENCE TO RELATED 'APPLICATIONS. ‘This application is continuation claiming priority to US. patent application Ser. No. 16!196,067, filed on Nov. 20, 2018, the entie contents of which are incorporated by reference herein, BACKGROUND ‘The present invention relates to gyroscopic deviees in ing vehicles. SUMMARY, In one aspect, the invention provides a iting vehicle including a frame, foot whe coupled tothe frame, a rear ‘wheel coupled to the frame and positioned rearward of the ‘ont whee! ina longitudinal direction, a seating are includ- ingot least one seat positioned to support a rider between the front wheel and the rear who, and gyroscopic rider assist «device provided within an enclosure behind the seating area ‘and above the rear wheel In another aspect the iavention provides a ting vehicle including a frame, a foot wheel coupled 0 the frame and ‘aligned With the front wheel in a longitudinal direction to define a singletrack of the vehicle, a rear wheel coupled to the frame and aligned withthe froat wheel anda gyroscopic rider assist device operable o output corrective moment on the vehicle in response to an input from an actuator A elute is provided between the sctustor and the eyroscopie rider assist devieo to selectively deoetivate the gyroscopic rider assist deviee upon transition from a frst condition of the vehicle to a second condition of the vehicle In another aspect, the invention provides a method of ‘operating tilling vehicle including operating the vehicle at a first speed ator below a threshold speed, during operation the first spood, engaging a gyroscopic rider assist device Shih allows a flywhcel to process, and the gyroscopic rider assist device t exert a comeetive moment on the vehicle, ‘accelerating the vehicle 1 second speed exceeding the threshold speed, and decoupling a clutch in response to ‘exceeding the threshold speed 1© (ausition the gyroscopic Fider assist device into a non-operaion state in response 10 the vehicle exceeding the threshold speed, wherein the om-operation slate prevents the gyroscopic rider assist ‘device from exerting a corrective moment and other gyt0- scopic reaction forees on the vehiel. ‘Other aspects of the invention will become apparent by ‘consideration ofthe detailed description and accompanying. ‘drawings. BRIEF DESCRIPTION OF THE DRAWINGS FIG, 1 is a side view of a motoreyele according to one ‘embodiment of the invention. FIG. 2is a perspective view of @ gyroscopic rider assist, device positioned in the hugenge container of FIG. 1 in 3 stationary position TG. 3 isan exploded view of the gyroscopic rider assist, device of FIG. 2 TIG. 4 i a pespoctive view of the gyroscope rier assist, device of FIG. 2 ja an engage position 0 o 2 FIG, $is a perspective view of an alterative gyroscopic rider assist deviee positioned in the luggage container of FIG. 1, DETAILED DESCRIPTION Before any embodiments of the invention ae explained in tail i is to be understood that the invention isnot limited in its appliation to the details of constction and the faangement of components set forth in the following ‘eseription of illustrated in the following drawings. The ivention i capable of other embodiments and of being practiced or of being eared out in various ways FIG. 1 illustatesa motoreyele 10 including frame 14, an engine 18, a single front wheel 22, and one rear whee 26 positioned rearward ofthe font wheel 22. In particular, the front and rear wheels 22, 26 define a singletrack. The front wheel 22 is supported by a stocring unit 30 including # handlebar 34 ant a front fork 38. ‘The rear wheel 26 is supported pivotably relative othe frame 14 by a swing arm 442. seat 46 at least parially defining a seating area of the ‘motorcycle 10 supports a primary rider (eg, operator), and ‘optionally an adlitional rider (eg. pillion passenger). The seat 46 is positioned to support at least one rider between the front and rear whoels 22, 26. In the illustrated saddle configuration, the ride’s andlor passenger's leys straddle the outside of the motoreyele 10, although other saddle configurations including those of conventional scooters with ‘footwel are optional In shor, aspects of the invention ean ‘apply to all types of saddle ride Vehiles oF any’ leaning oF tiking vehile. including but not limited to single-track two-wheeled vehicles ich as motorcyeles and scooters la ‘rer to allow the rider to have steering contro ofthe front Tork 38 andthe front wheel 22, pair of hand grips $4 are provides at the distal ends of the handlebar 34, I = also ‘oted that the handlebar 34 can be a single unitary element ‘or an assembly of individual elements that allow motion to be transferred from the hand grips tothe front fork. The rider of the motoreyele 10 is responsible for maintaining control and balance of the motoreyele 10 asthe motorcycle 10 is of the type that is, in and of itself, not inberently stable and is subject to tipping over into non-operational position on its ide, Although stability is easily achievable in single-track vehicles by a rider at nosmal cruising speods, even With ‘moderate (o lange lean angles to navigate tras, slow speeds such a8 tafe jams, stop fights, parking lots, ete, demand attention to balance control, especially for newer riders, oF those with shorter leg, lesser leg strength, ete ‘The illustrated motorcycle 10 isa touring style “heavy ‘weight class of motoreyele and ineludes various luggage containers including a pair of saddlebags S® positincd slongside lett and right sides ofthe rear whoo! 26 as well as 4 trunk 62 positioned rearward of the seat 46. Ia the ilhistrated constraction, the trunk 62 is @ Harley-Davidson TOUR-PAK® and is positioned directly behind the seat 46 of the motoreyele 10, However, it shoukl he appreciated that the features described in detail below are not limited to use ‘witha Harley-Davidson TOUR-PAK'P and can be used with various motorcycle Iuggage containers, including other styles of trunks or top cases, saddlebaus, otc. Aspects ofthe invention may also be applied to numerous other types and styles af motoreycles, scooters, and bieyeles. “The illustrated trunk 62 inclodes a body’ 66 and a Tid 70 that are coupled together with hinges 74, One or more latches 78 are used to relain the lid 70 in closed position with respect to the body 66. In the shown embodiments 2 ayroscopie rider assist device 82 is positioned within theUS 11,577,793 B2 3 teunk 62 in order oad in balancing the motorcycle 10. some embodiments, when uaatched, te lid 70 opens to provide selective acess othe pyroscopie rider assist device ‘82 andacargo volume jointly defined by the body 66 andthe Jid 70, In exer embosiments, the Tank 62 solely encloses the gyroscope ier assist device 82 and docs not ince a fargo volume. The tmnk 62 in paieular the body 66 and the hd 70, may comiitte an enclosure for eoclsing or containing the gyroscopic rider asst doviee 82. The trunk 62 may be the only enclosure forthe gyroncopic ier asst ‘device 82 (in which ease the nk 62 s suitably stength- ‘ened for cuntinmen), oF the gyroscopic sider asst device '82 may be enclosed oF contained within anotbor seperate ‘velo within the ink 62 so that user blocked rom accessing moving pars ofthe gyroscope rier assist device 82 when the fd 70s opened In the cae that tbe gyroscopic rider asst device 82 is contained solely bythe tank 62, ‘without «sparse sub-enclosie, the tank 62 may be a fu teunk that ats the outward appearance of ergo oF luggage ‘ontsinee, but tha in faet a operational as sch, Not only may the gyroscopic rider asst device 82 take up all the available space, leaving the volume inefvtive for ergo but the tke 62 may’ he rendered inoperative in the ual For example, the latches 78 andlor the hinges 74 may be permanently fixed closed, selectively openeble when the fyroscopic rider asin device 82 is deactivated, or may be au latches or faux hinges, that are not operable wo open the 1id 70 from the body 66. Although the iusto embod ment focuses on the eof the tank 62 asthe enclose foe the gyroscopic rider assist device 82, with is position reanan! of pilion pascoger seat, other variations are ‘contemplated. For example, the motoreyele 10 may not have 2 pilin passsoger seat, snd the gyfoscopic idee asist ‘evice 82, with suitable enelosue, may. Be positioned ‘Greely behind the seat 46, having a single der scaling positon, In other constructions, the ayroscopic rider asst ‘vice 82, with suitable enclosure, may be positioned hetween the ear wheel 26 and the seat 46, Tor example, 130 is fixed with an end ofthe lever sem 126 and another part ofthe elutch 130 is fixed with the gimbal shaft 128. The ‘hutch 130 can be electromagnetically controlled, although ‘ther mechanisms for clutch operation are optional. When. the gyroscopic rider assis device 82 is deact ‘lute 130, the pimbal 86 is ‘within the gimbal support frame 99 and remain level to eanth if and when the motoreycle 10 leans relative to earth during ‘operation. As such, when the clutch 130 is disengaged, the yroscopic rider assist device 82 is not operable to assist in balancing the motoreyele 10, However, this is of course @ benefit for a rider at cruising speeds who would like t0 ‘contol the lean angle of the motorcycle naturally. The clutch 130 can be a toothed clutch that provides a positive engage- ment of locking, In alternative embodiments, a more con- ventional friction plate clutch, such asa single plate clutch ‘ora multi-plate clutch, may be wed, Additionally, the clutch 130 may be placed in various diferent positions along the roll axis R- For example, the clutch 130 may be positioned atthe aetuator 122 (ie, in or onthe actuator. In the ease of f rolary motor as the actuator for rolling the gimbal 86, the ‘tutch 130 may be provided integrally with the motor. The tzyroscopic rider asist device 82 i shown with a single ‘actuator 122 on one side only, but tandem actuators are proviled to flank the gimbal 86 in other constructions ia ‘onic to share the aetuation load Further itis contemplated that one, some or all of: the aetuator 122, the force trans- mmission mechanism (lever aem 126 or other), and the clutch 130 can be provided on an inside of te frame 90 adjacent the gimbal 86. ‘he gyroscopic rider assist device 82 additionally includes controller communication with the clutch 130, ‘among other elements, The contmller i programmed 16 uomatically actuate the clutch 130 to decouple the force transmission mechanism to selectively deactivate the gyro- scopic rider assist device 82. Therefore, the motoreycle 10 is allowed to Jean freely when traveling above a threshold speed. Additionally, the controler may automatically act fate the elute 120 to couple the force transmission mecha nism to selectively activate the gyroscopic rider assist device 82 and aid in balancing the motoreyele 10 when traveling Jess than or equal tothe threshold speed. The travel speed of the motarcyele 10 can be measured direetly by a wheel speed sensor that reports a signal to the controller, Aker nately, the travel speed may be obtained by a global posi tioning device (GPS), calculated from engine spect and transmission ratios ete, As discussed in further detail below, 0 o 6 the threshold speed value can be stored in a memory. The threshold spocd value may be user adjustable in some ‘eonsiretions. The threshold speed, and automatic switehing of the gyroscopic rider assist device 82, is one example of aetivationdeaetivation upon transition from a fist condition fof the motareyele 10 to-8 second condition of the motor eyele, while others are possible. These include, but are not Jimited to, simple user on/off contol, and automate oll or Jean assist for comering when the controller determines inadequate rider initiated lean angle ofthe motoreycle 10 ia ‘one or more scenarios (eg. selectively activated above a Ureshold speed andlor able to be disabled by the rider). ‘Thus, it should be appreciated tha the gyroscopic der assist device 82 is not strictly limited to operations that ume the ‘motoreycle 19 to the full upright condition at low speeds, although it isa particularly useful exemplary implements. tion, The selective activation ofthe gyroscopic ridge assist device 82 can be toggled as part of two oF more rider selectable drive modes of the motoreyele 10, for example ‘rough a display’ or infotainment system, ‘Returning to the flywheel assembly, the flywheel 106 is 3 ise supported within the gimbal 86 for precession about the procession axis P. Additionally, the Aywheel 106 rotates bout a central lywheel axis F (eg, clockwise from above) supported by a bracket assembly 134 within the gimbal 86 The bracket assembly 134 couples fo the flywheel 106 vi an axle or shaft 138 (FIG. 3) of the flywheel 106 on the llywheel axis F. The bracket assembly 134 is supported rotatably within the gimbal 86 via a first shaft 1422 and a second shaft 1426 along the precession axis P. As such, the bracket assembly 134 captively rolls with the gimbal 86 fhout the roll axis R. Hecause the flywheel 106 is not ‘ected tothe gimbal 86 or the frame 90 along the roll sxis the flywheel 106 is free to precess relative to the gimbal 86 about the procession axis P while spinning about the Alywheel axis Fin the bracket assembly 134 and rolling with the gimbal about the roll axis R “The bracket assembly 134 includes frst of upper bracket 146 coupling the flywheel 106 to the gimbal 86 along the precession axis P. The first and second shafts 1420, 1426 fengage opposing sides 862, N6b of the gimbal 86. Speci cally, the shafts 142, 142% couple to the bearings 112 on the ‘gimbal 86, An upper plate 154 eoupled tothe upper bricket 146 can extend over the end of the flywheel shaft 138 and the tachometer 180, A second or lower bracket 158 is fixed to the upper bracket 146 at distal ends there, leaving a gap ‘between the brackets 146, 158 to accommodate the flywheel 106 therebetween, The lower bracket 158 includes & motor carriage 162 operable to house the Aywheel motor 166. Hovwever, in alternative embodiments, the motor 166 may be positioned in altemative locations. The gyroscopic rider assist device 82 may be actuated manually or automaticaly between aetive and inactive ‘operational states, so that i s effective only when a rider needs assistance stabilizing the motoreyele 10, such as at low speeds, In some constructions, the gyroscopic rider assist device 82 is automatically actuated, sueh that the device 82 is actuated in response o the motoreyele 10 no Jonger exeveding the threshold speed. Specifically, when the rmotoreyele 10 dovelerates below the threshold speed, the ‘controle aetuates the clutch 130 to couple the foree tans- mission mechanism, which activates the gyroscopic rider assist device 82, The threshold speed may be set toa very low speed, et, under 3 mph such as 2 mph, in which the engine 18 is likely to be disconnected from the wheels Disengagement or opening of a clutch between the engine 18 and transmission, eg. by the rider when coming to aUS 11,577,793 B2 1 sop, may also be a condition for aetivating the eytoseopic Fider assist device 82 with the clatels 130, As shown ia FIG. 4, the actuator 122 is energized and moves in a Tineae direction A, applying an actstion torque tothe gimbal 86, ‘which caries the flywheel 106 with it about the roll axis As the gimbal 86 and Bywhecl 106 oll ahout the roll axis R, ‘rotational force C is exerted on the flywheel 106, causing the flywheel 106 to precess about the precession axis P Precetsion is caused by the change of angular momentum of the fywheel 106, Duc to the possible combinations of the flywheels mass moment of inertia and speed of rotation, the Aywheel 106 has a substatial or significant amount of ‘angular momentum, Therefore, when the flywheel 106 is ‘acted on by the actuation torque B about the oll axis R, there mist be a corresponding precession ofthe flywheel 106 and associated reaction torque. The reaction torque, which is ‘equal in magnitude tothe sewation torque B, is exerted onto the motoreyele 10 for corecton. The controller ean control the input to the aetutor 122 in response to signal from & Vehicle tip sensor hich monitors for Gpping of the motor ‘eyele 10. The tip sensor reports at least the direction and ‘magnitude of the tipping for caleulation of an appropriate ‘corrective action by the gyroscopic rider assist device #2. Rate of change of tipping may alo influence the response of the gyroscopic rider assis device 82. The controller can be programmed with an algorithm (ei, executed instretions sored. in a memory of or in communication with the controller) that takes into account the mass of the flywheel 106 and its speed of rotation, which can be verified by the tachometer 150, as a signal trom the tachometer 180 is reported to the controller The memory cat alsa store dato, ‘uch asthe flywheel mass, motoreyele moss xed or adjusts able settings, ct. ‘Although the response of the gyroscopic rider assist, device 82 is caelully calculated and automatically imple- mented by the controller s0 a8 to be a near as possible 10 imperceptible by the rider (who merely noviees that the atorcyele 10 is extremely stable at low speed), the thresh- ‘ld specd for enabling/disabling the gyroscopic rider assist ‘device 82 may be a rider adjustable parameter, for example through a settings mens of an infotainment system, or other implemented control. Furthermore, the gyroscopic ridet assist device 82 can be toggled of altogether by the rider 0 that it will not be elfetive even below the threshold speed. Whea toggled olf by the rider the gyroscopic rider assist device 82 may be dissbled by the clutch 130, while the Alywheel 106 continues spinning, or the flywheel 106 may be stopped via ceasing power 10 the motor 166—the later being a more perminent off condition due fo the required time to spin the flywheel 106 up to operational spoed from rest, This or other types of contol ofthe motor 166 can be achieved through instructions and outputs of the controler. FIG. 8 displays another gyroseopic rider assist device 282. Although not shown in this embodiment, the gyro- Scopie rider assist device 282 may be similar to the gyro- scopic rider assist device 82 described above with reference to FIGS. 2-4. The illustrated gyroscopic rider assist device 282 js similar to the gyroscopic rider assist device 82 and ‘includes lke parts, Reference i hereby made to the deserip- tion ofthe gyroscopic rider assist device 82 shown in FIGS. 2-4 for description of features and elements of the gyro- scopic rider assist device 282 not specifically inckuded below. ‘The ilastrated gyroscopic rider assist device 282 inclides ‘9 gimbal 286 positioned within a frame and rotatably supported hy the frame about a roll axis R. The gimbal 286 suppor a flywheel 206, suc that the Nywheel 206 is free 0 o 8 to rotate about a flywheel axis F roll with the about the rll axis Rand precess about a precession axis P. The frame includes two plates 2940, 2946 supporting. a servomolor 266 and a clutch 230 sandwiched between the plates 294, 2945. Mone specifically, a lever arm 226 ‘coupled to an ontpat of the servomotor 266 extends toa frst side ofthe clutch 230. "The clutch 230 selectively couples the ever sem 226 with the gimbal 286 such thatthe clutch 230 controls the aetiveinactive state of the gyroscopic rider assist device 282 As also shown in FIG, §, itis possible w provide an actuator such as 2 sevomotor 266 10 move the hywhee! 206 and bracket assembly 134 relative to the gimbal 286 (about the axis labeled a the procession axis PD, In particular this tnables actuation of the device 242 by actively driving the ‘orientation of the flywheel 206, the reaction of which i the precession of the gimbal 286 about the axis labeled as the roll axis R’ The servomotor 266 or other actuator moves ‘long with the flywhesl 206 and bracket assembly 134 with respect to the gimbal 286. The device 282 can feature ether ‘or hath of the servomotors 266, depending on the desired orientation and momentassistance regime. Optionally, both ean be coupled via clutches 230 10 allow selective disen- agement, With multiple actuators, the device 282 can provide multi-axis moment assistance, ether discretely or in combination with each other (eg, one or both of vehicle pitch and roll). However, itis also possible forthe devi 282 to be configured to provide assisting yaw moments tither alone orn combination with other assisting moments In some constrictions, the device 282 can switeh between Fitch comection mode and rolltilt comection made by ‘Switching which one ofthe two clues 230 i engaged and Which is disengaged. The various operations and mode ‘Switching ofthe device 282 can be automatically cared out by the controller on an as-needed basis andlor rider con- wold as described above. ‘Various features and advantages of the disclosure are set forth inthe following claims. ‘What is clsimed is 1. A tilting vehicle comprising a frame: a front whee! coupled to the frame: ‘rear wheel coupled o the fume and positioned rearward ‘ofthe front sshoel in a longitudinal direction: a seating area defined by at least one seat configured t0 ‘accommodate an operator at a position between the front wheel and the rear wheel and configured t0 ‘accommodate a pillion passenger behind the operator; and «8 gyroscopie rider assist deviee provided within an enclo~ Sure behind the seating area and above the rear wheel, wherein the gyroscopic rider assist deviee further includes ‘2 gimbal support frame fixed with respoot to the frame, 42 gimbal rotatably supported by the gimbal support frame for rotation about a roll axis, and 4 flywheel supported for rotation about a flywheel axis by a bracket, wherein the bracket is rotatably sup- ported by the gimbal about a prevession axis 2. The iting vehile of claim 1, wherein the gyroscopic rider assist device enclosure is a faux eargo trink that is permanently fixed close 3. The tilting vehicle of claim 1, further comprising an actuator coupled to the gimbal throvgh a force transmission nechanisin snd operable to dive the gimbal relative to theUS 11,577,793 B2 9 imbal support frame to tigger a precession reaction of the flywheel relative to the gimbal so tht a corrective moment js generated oa the vehicle, 4. The iting vehicle of elaim 3, further comprising: 4 clutch configured to decoupie the force transmission ‘mechanism to selectively deactivate the gyroscopic rider assist device by allowing the gimbal to move freely within the gimbal support frame to remain level, as the vehiele leans during operation: and « controller programmed to actuate the clutch to decouple ‘he force transmission mechanism in response 10 detecting speed ofthe vehicle that exceeds a threshold speed stored in a memory. . The tilting vehicle of claim 4, wherein the actuator is a linear actuator and the force transmission mechanism includes lever arm, wherein the clutch is positioned berwoen the lever arm an the gimbal 6. Ailing vebicle comprising: frame; 4 Front wheel coupled to the frame and configured for ‘maniptlation by a handlebar ‘rear wheel coupled to the frame and positioned rearward ‘of the front wheel in longitudinal direction: 4 aymnseopic rider assist device operable to output & orective moment on the vehicle in response to an input from an actuator; and ‘clutch provided between the actuator and the gyroscopic rider assist device (0 selectively deactivate the gyro= copie rider assist device upon transition from a fist condition of the vehicle 10 second condition of the vehicle ‘wherein, inthe fist condition, the gyroscopic rider assist device is operable in tandem with a human rider Sitated on the vehicle w balance the vehicle during {raveling a the human rider controls steering angle of the from wheel, and ‘whorin, in the second condition with the gyroscopic rider assist device deactivated, the vehicle is configured for Steering and lean control by the human rider during traveling 7. The tilting vehicle of claim 6, wherein the gyroscopic rider assist device futher includes ‘gimbal support frame fixed with respect to the frame, 4 gimbal rotatably supported by the gimbal support fame for rotation about a roll exis, and flywheel supported for rotation about a fywheel axis by «bracket, wherein the bracket is rotatably supported by the gimbal about a precession axis, 8. The tilting vehicle of claim 6, wherein the elute is ‘electromagneticaly controlled to switeh between engaged and disengaged states. 9. The tilting vehicle of claim 6, wherein in the second ‘condition of the vehicle with the gyroscopic der assis, ‘dovice deactivated by operation ofthe clutch, a motorof the tsyroscopic rider asist device remains coupled to fywhee] ‘of the gyroscopie rider assist device to continue spinning the flywheel. 10. The ting vehicle of claim 7, wherein the flywheel is the one and only flywheel of the gyroscopic rider assist device. 0 10 11. The Ging vehicle of elaim 6, further compris controller and a memory, the controller programmed 10 ‘atuate the elutch 10 deactivate the gyroscopic rider assist device in response to the transition from the first condition to the second condition in accordance with insievtions stored in the memory: 12. The tilting vehicle of claim 11, wherein the transition to the second condition of the vehicle oceurs upon the vehicle excooding a threshold speed value stored ia the “The tilting vehicle of claim 12, wherein the threshold speed value in the memory is user adjustable. 14, A tiling vehicle comprising: a frame: 8 font wheel couple to the frame: ‘rear wheel coupled othe frame and positioned rearward ‘ofthe front wheel in a longitudinal drvetion; a seating area including at least one seat positioned 10 support rider between the front wheel and the rear wheel: ‘acango trunk positioned behind the seating area and above the rear wheel and having a body and lid that opens to provide selective access to an interior of the cargo trunk and 1 gyrosoopie rider assist device provided within the eargo trunk interior such thst opening the lid provides selee> tive aceess to the gyroscopic rider assist deviee and a ‘srg volume of the cargo trunk. 15, The ting vehicle ofelsim 14, wherein the gyroscopic rider assist device futher includes ‘gimbal support frame fixed with respect to the frame, gimbal rotatably supported by the gimbal support frame for rotation about a roll axis, and flywheel supported for rotation about a fywheel axis by ‘ bracket, wherein the bracket is rotatably supported by the gimbal about a precession axis, 16. The tilting vehicle of claim 15, further comprising an setustor coupled to the gimbal through a force transmission ‘mechanism and operable to drive the gimbal relative to the gimbal support frame to trigger a prevession rection ofthe {lywheel relative tothe gimbal so that a corrective moment is generated on the vehicle, 17. The tilting vehicle of elim 16, further comprising a clutch to decouple the foree tansmission mechanism 10 selectively deactivate the gyroscopic rider assist deviee by allowing the gimbal 10 move freely within the gimbal support frame to remain level as the vehicle leans during 18. The tilting vehicle of elim 17, wherein the actuator is a lincar actuator and the force transmission mechanism includes a lever arm, wherein the clutch is positioned between the lever arm and the gimbal, 19. The titing vehicle of elim 17, further comprising a controller programmed fo aetwate the elute to decouple the force transmission mechanism when the vehicle excveds a threshold spood stored in a memory