Patent ID: 8249775

Claim:
A vehicle, comprising: at least three wheels ( 13 , 14 ), of which at least two wheels are situated on either side of a centre of gravity of a longitudinal axis of the vehicle, and at least one of the wheels ( 13 ) has a steering effect on a direction of the vehicle; a frame comprising a tilting frame section ( 1 ) configured to rotate around the longitudinal axis relative to a road surface; means for steering ( 2 ) mounted so that the means for steering can rotate relative to the tilting frame section ( 1 ); one or more tilting elements ( 10 ) which are connected to the tilting frame section and the wheels for exerting at least one of a tilting moment or tilting movement between the tilting frame section ( 1 ) and the road surface; a speed sensor ( 7 ) with which the speed of the vehicle relative to the road surface can be determined; a steering sensor ( 4 ) with which a speed, a force, a torque or a size of a steering wheel movement for achieving a change in a direction of the at least one wheel ( 13 ) having the steering effect can be determined; and a lateral acceleration sensor ( 8 ) coupled to the tilting frame section ( 1 ) so that the lateral acceleration sensor ( 8 ) follows a rotational position of the tilting frame section, wherein signals of the speed sensor ( 7 ), the steering sensor ( 4 ) and the lateral acceleration sensor ( 8 ) being input into a control unit ( 9 ), in which the signals are combined to form a control signal to control at least one of the tilting elements ( 10 ), a steering force or moment on the at least one wheel ( 13 ) having the steering effect, and in the control unit ( 9 ) an individual contribution from a signal of the lateral acceleration sensor and the signal of the steering sensor to the control signal to control the tilting of the vehicle is determined by the speed signal so that at a forward speed below 5 km/h, the lateral acceleration sensor ( 8 ) contributes greater than 50% to the control signal.