US Patent 9428236 Lean-compensating motorcycle with channel wheels

A lean-compensating motorcycle for balancing a user includes a lower frame with wide wheels and an upper frame supporting a rider. The lower and upper frames pivot on an axis substantially parallel to the motorcycle's line of travel, and a pivot drive governs pivoting movement. The pivot drive is controlled by a level-sensing control system that adjusts the pivot drive to maintain the upper frame upright by applying force against the lower frame, the lower frame counterbalancing the pivoting motion against the wide wheels. The wheels ideally include a central channel sized to accommodate raised pavement markers, such as dots and reflectors, to provide for smooth travel. The upper frame includes a housing in which the user sits, in a manner similar to a conventional automobile since propping the motorcycle up with the user's legs is largely unnecessary.