Method for disabling a cut-off function of an engine on a motorized two-wheeled vehicle

Abstract

The invention relates to a method for deactivating a cut-off function of an engine (10) of a motorized two-wheeled vehicle (1), said vehicle (1) comprising an electronic control unit (11) including a tilt sensor (111) configured to measure the lateral tilt angle (θ) of the vehicle (1) and to compare the calculated tilt angle (θ) with the second tilt threshold (θ2) and send a stop signal to the engine (10) if the calculated tilt angle (θ) is greater than the second tilt threshold (θ1), said method comprising the steps of: - activation (E1) of the electronic control unit (11) by a user action, - reception (E2) of the speed of the vehicle (1), - if the received speed is zero, calculation (E4) of the tilt angle (θ) of the vehicle (1), - if the calculated tilt angle (θ) is greater than the first tilt threshold (θ1), the electronic control unit (11) disables (E8**) the engine cut-off function (10).Figure for the abridged version: Fig 4.

Description

Title of the invention: Method for deactivating a cut-off function of a motor in a two-wheeled motorized vehicle. Technical field

[0001] The present invention relates to the field of motorized two-wheeled vehicles and more particularly concerns a control for cutting off an engine based on the lateral inclination of the vehicle. Previous technique

[0002] To improve driver safety, many motorized two-wheeled vehicles are now equipped with systems that can act directly on the operation of the vehicle, without the intervention of the driver, as soon as a critical situation is detected.

[0003] As is known, manufacturers of motorized two-wheeled vehicles include tilt sensors in these vehicles that measure, in particular, the lateral tilt of the two-wheeler. These sensors are configured to have a maximum tilt threshold above which the vehicle is considered to be falling, triggering the engine to shut off and thus ensuring the safety of the rider.

[0004] For example, if this threshold is 60° with respect to a vertical direction defined by Earth's gravity, and the effective angle of inclination of the vehicle is beyond 60°, the vehicle is considered to be falling and the engine is stopped.

[0005] This device also makes it possible to prevent the engine from starting if the vehicle is inclined beyond this threshold when the user starts it.

[0006] First-generation mechanical tilt sensors are attached to the vehicle chassis. These sensors contain weights (for example, balls) that move according to the vehicle's tilt and close electrical contacts at a given angle. The inertia of these weights determines the sensor's sensitivity to the vehicle's tilt and, consequently, the accuracy of the angle measurement.

[0007] However, these sensors are bulky and impose significant mounting constraints on the vehicle chassis. For these reasons, a new generation of sensors is used, consisting of an electronic control unit containing a MEMS (Micro Electro Mechanical System) accelerometer. This type of sensor is mounted directly near the motor.

[0008] However, there is a significant constraint on the positioning of the accelerometer. Indeed, it is possible that during maintenance or repair, the sensor may be removed from the vehicle, but not returned to its original calibration position. In this case, the tilt angle measured by the sensor no longer corresponds to the actual tilt of the vehicle.

[0009] In such a situation, the sensors may measure an inclination beyond the threshold while the vehicle is in a suitable position, and therefore trigger the engine to stop, which presents significant risks of accident if a user is driving the vehicle.

[0010] Similarly, the sensor may also fail to detect a significant tilt and leave the motor running during a fall.

[0011] Physical alignment systems can be installed on the various components to constrain the sensor's orientation, but they cannot completely guarantee the systematic reproduction of the calibration position. Furthermore, these alignment systems do not prevent changes in component position due to wear and engine vibrations.

[0012] There is therefore a need for a simple and effective solution to remedy at least some of these drawbacks. Description of the invention

[0013] To this end, the invention first relates to a method for deactivating a cut-off function of an engine of a motorized two-wheeled vehicle, said vehicle comprising said engine, an electronic control unit and a speed measurement module, said speed measurement module being configured to measure a value of the vehicle's speed, said electronic control unit comprising an inclination sensor configured to measure the lateral inclination of the vehicle and a memory area comprising a first predetermined inclination threshold and a second predetermined inclination threshold, said first inclination threshold being lower than the second inclination threshold,said electronic control unit being configured to compare the calculated tilt angle with the second predetermined tilt threshold and to implement the engine cut-off function by sending a stop signal to the engine if the calculated tilt angle is greater than the second predetermined tilt threshold, to receive the vehicle speed and trigger at least one timer up to a predetermined value, said method comprising the steps of: ,

[0014] - activation of the electronic control unit by a user action,

[0015] - reception, by the electronic control unit, of the vehicle speed measured by the speed measurement module,

[0016] - if the received velocity is zero, the electronic control unit calculates the angle vehicle tilt,

[0017] - if the calculated angle of inclination is less than the first inclination threshold, the unit Electronic control does not disable the engine cut-off function.

[0018] - if the calculated angle of inclination is greater than the first threshold, the control unit electronics triggers a first time counter for a predefined duration,

[0019] - calculation, by the electronic control unit, of the vehicle's angle of inclination that the first timer has not reached the predefined duration,

[0020] - if the calculated angle of inclination is greater than the first threshold and less than the second threshold when the first time counter reaches the predefined duration, the electronic control unit deactivates the motor cut-off function.

[0021] Lateral inclination refers to the inclination of the plane in which the vehicle lies relative to the plane formed by the ground. A user action could be, for example, starting the vehicle with a key.

[0022] The method according to the invention makes it possible to detect the difference between the tilt angle calculated by the vehicle's electronic control unit when the vehicle is stationary and the expected tilt angle. When the calculated tilt angle is stable over time and below the first tilt threshold, it is considered by the electronic control unit to be correct with respect to the expected position, and the vehicle's engine shutdown function is maintained. Conversely, if the calculated tilt angle is greater than the first threshold, but remains below the second threshold so as not to trigger the vehicle's engine shutdown function immediately, the tilt angle calculation is considered erroneous and may then cause the engine to shut down for an acceptable vehicle tilt.In this case, the electronic control unit disables the engine stop function and sends a warning to the user, who can then use the vehicle without the engine stop function while waiting for the electronic control unit to be repaired to calculate a tilt angle corresponding to the actual tilt of the vehicle.

[0023] Advantageously, if the tilt angle calculated after receiving a zero vehicle speed is greater than the second tilt threshold, the method includes a step of triggering a second time counter for a second predefined duration, a step of calculating the tilt angle of the vehicle as long as the second time counter has not reached the second predefined duration, a step of deactivating the engine cut-off function if the tilt angle calculated when the second time counter reaches the predefined duration is equal to that calculated at the triggering of the first time counter and a step of maintaining the engine cut-off function if the tilt angle calculated when the second time counter reaches the predefined duration is different from that calculated at the triggering of the first time counter.This option allows the electronic control unit to temporarily disable the engine stop function if . The calculated tilt angle when stationary exceeds the second tilt threshold. Therefore, if the tilt angle calculation remains stable over time, a calculation error is detected, and the engine stop function remains deactivated. Conversely, if the calculated angle fluctuates, this may indicate a vehicle problem, such as the vehicle falling while stationary or rolling out of park. In this case, it is best, from a safety perspective, to reactivate the engine stop function.

[0024] Preferably, the tilt sensor is configured to determine the projection of Earth's gravity onto three axes, and the electronic control unit is configured to calculate the tilt angle from the three projections determined by the tilt sensor. This type of sensor corresponds to MEMS-type accelerometers used

[0025] In a preferred embodiment, the electronic control unit is configured to receive the engine's revolutions per minute (RPM). The activation step of the electronic control unit is followed by a step in which the EPM compares the engine's RPM with a predefined value, and a step in which the process is interrupted if the engine's RPM exceeds this predefined value. The electronic control unit can then trigger the tilt angle calculation check when the engine is stopped or idling, for example, if the user has started the engine but no gear is engaged.

[0026] Advantageously, the number of rotations per minute of the vehicle's engine is calculated on the basis of an electrical signal from a "crank" type sensor.

[0027] Preferably, the vehicle includes a stabilizing stand, and the electronic control unit is configured to detect the deployment of the stand. The method includes a step for verifying the deployment of the stand following the activation of the electronic control unit, and a step for interrupting the method if the deployment of the stand is not detected. The deployment of the stand, whether lateral or central, ensures that the vehicle is in a fixed position when stopped and that the angle of inclination is fixed.

[0028] In this embodiment, the first predetermined threshold advantageously corresponds to the sum of the vehicle's inclination on an ideally flat surface when the stabilizing jack is deployed and a margin of error. The contribution of the inclination angle due to the jack varies depending on its nature and installation. The margin of error allows for consideration of, for example, wear on the jack and irregularities in the ground that could cause slight deviations from the ideal inclination angle corresponding to the jack.

[0029] According to another aspect, the invention also relates to a computer program product characterized in that it comprises a set of program code instructions which, when executed by one or more processors, configure the processor(s) to implement a process as presented.

[0030] According to another aspect, the invention also relates to an electronic control unit for a motorized two-wheeled vehicle, said electronic control unit comprising a tilt sensor configured to measure the lateral tilt of the vehicle and a memory area comprising a first predetermined tilt threshold and a second tilt threshold, said electronic control unit being configured to be connected to the engine of said vehicle and to a speed measurement module, and for:

[0031] - receive a value of the vehicle speed measured by the measurement module speed,

[0032] - trigger at least one timer up to a predetermined value,

[0033] - calculate a lateral tilt angle of the vehicle from the measurements tilt sensor,

[0034] - compare a calculated tilt angle with the first tilt threshold and the second inclination threshold,

[0035] - send a motor stop command if the calculated tilt angle is above the second inclination threshold,

[0036] - disable the motor stop command if the calculated tilt angle is above the first inclination threshold.

[0037] Advantageously, the tilt sensor of the electronic control unit as presented is configured to determine the projection of Earth's gravity on three axes and the electronic control unit is configured to calculate the tilt angle from the three projections determined by the tilt sensor.

[0038] According to another aspect, the invention also relates to a motorized two-wheeled vehicle comprising an electronic control unit as shown. Brief description of the drawings

[0039] Other features and advantages of the invention will become apparent from the following description. This description is purely illustrative and should be read in conjunction with the accompanying drawings, in which:

[0040] [Fig-1] Fig. 1 schematically illustrates a motorized two-wheeled vehicle in to which the process according to the invention applies.

[0041] [Fig.2] Fig.2 schematically illustrates an electronic control unit implementing the process.

[0042] [Fig.3] Fig.3 schematically illustrates the lateral inclination of the vehicle with respect to the first and second inclination thresholds of the method according to the invention.

[0043] [Fig.4] Fig.4 schematically illustrates the process according to the invention. Description of the implementation methods

[0044] The method according to the invention is applicable to a motorized two-wheeled vehicle.

[0045] Vehicle 1

[0046] As shown in [Fig.1], the vehicle 1 includes an engine 10, an electronic control unit 11, a kickstand 12, a speed measurement module 13 and a communication link 14.

[0047] Motor 10

[0048] The motor 10 makes it possible to produce the torque necessary to drive the wheels of the vehicle 1 when the vehicle 1 is moving.

[0049] The motor 10 is connected to a mechanical gearbox, not shown in the figures, to change the speed ratio.

[0050] The engine 10 can be in operation without any gear of the mechanical gearbox being engaged, for example when starting the vehicle 1.

[0051] Electronic control unit 11

[0052] As shown in [Fig.2], the electronic control unit 11 includes a tilt sensor 111 and a memory area 112.

[0053] The tilt sensor 111 is preferably a MEMS type accelerometer, configured to calculate the projection of Earth's gravity onto three axes of a reference frame.

[0054] The electronic control unit 11 is configured to calculate the angle of lateral inclination of the vehicle 1 relative to the ground vertical from the three projections measured by the tilt sensor 111.

[0055] Memory area 112 is configured to store information. In particular, memory area 112 includes two angles 01 and 02, corresponding to a first tilt threshold and a second tilt threshold, as shown in [Fig.3].

[0056] The electronic control unit 11 is configured to compare the calculated tilt angle 0 with the first tilt threshold 01 and the second tilt threshold 02.

[0057] The first inclination threshold 01 corresponds to the expected inclination angle of the vehicle 1 when it rests on the deployed support leg 12, to which a margin of error of a few degrees is added. This margin of error allows for variations in inclination due, for example, to uneven ground or a change in the support leg 12.

[0058] The second tilt threshold 02 corresponds to the angle from which the electronic control unit 11 considers that the vehicle 1 is falling.

[0059] The electronic control unit 11 is configured to implement a function of stopping the engine 10 of the vehicle 1 if the calculated lateral tilt angle 0 is greater than the second tilt threshold 02.

[0060] Kickstand 12

[0061] The support leg 12 allows the vehicle 1 to have an additional support point to hold in a stable position once deployed.

[0062] The kickstand 12 is configured to send signals to the electronic control unit 11 via the communication link 14 indicating whether the kickstand 12 is deployed or not.

[0063] In the example shown in the figures, the support 12 is a side support. When deployed, the stationary vehicle 1 rests on it and is inclined relative to the vertical ground Z as shown in [Fig.3].

[0064] In another embodiment, the support leg 12 can be a central support leg. When deployed, the stationary vehicle 1 rests on it and remains upright relative to the ground vertical Z.

[0065] Speed ​​measurement module 13

[0066] The speed measurement module 13 is configured to measure the speed of vehicle movement 1.

[0067] The speed measurement module 13 can be of different types, such as for example a revolution counter on one of the wheels of the vehicle 1.

[0068] Communication link 14

[0069] The communication link 14 enables communication between the electronic control unit 11 and the motor 10, the kickstand 12 and the speed measuring module 13.

[0070] Preferably, the communication link 14 is a wired communication link, for example of the CAN type.

[0071] Example of implementation

[0072] The method according to the invention is implemented when a user of vehicle 1 activates vehicle 1.

[0073] Activating vehicle 1 consists, for example, of turning the key of vehicle 1 or pressing a start button.

[0074] Due to the activation of vehicle 1 by the user, the electronic control unit 11 is activated in an EL step

[0075] Following the activation step of the electronic control unit 11, the electronic control unit 11 receives, via the communication link 14, a value of the speed of the vehicle 1 measured by the speed measurement module 13 in a step E2.

[0076] In step E3, the electronic control unit 11 checks that the received speed value is zero. If the speed is non-zero, the electronic control unit 11 detects that the vehicle 1 is moving and interrupts the process, while the function of cutting off the motor 10 based on the lateral tilt of a vehicle 1 is maintained.

[0077] Following the activation step of the electronic control unit 11, the electronic control unit 11 receives, via the communication link 14, a value of the number of rotations per minute of the motor 10 in a step E2*.

[0078] In step E3*, the electronic control unit 11 checks that the number of revolutions per minute of the motor 10 is less than a predetermined value. If it is greater, the electronic control unit 11 detects that the vehicle 1 is moving and interrupts the process, while the function of stopping the motor 10 based on the lateral tilt of the vehicle 1 is maintained.

[0079] Following the activation step of the electronic control unit 11, the electronic control unit 11 receives, via the communication link 14, a deployment signal of the kickstand 12 indicating whether the kickstand 12 is deployed or not in a step E2**.

[0080] In step E3**, the electronic control unit 11 checks that the support leg 12 is deployed. If it is not deployed, the electronic control unit 11 detects that the vehicle 1 is not balanced and interrupts the process, while the engine 10 cut-off function based on the lateral tilt of the vehicle 1 is maintained.

[0081] The zero speed of the vehicle 1, the number of rotations per minute of the engine 10 and the deployment of the kickstand 12 form the control conditions necessary for the method according to the invention.

[0082] Steps E2, E2* and E2** can be carried out simultaneously or in any order.

[0083] Steps E3, E3* and E3** can be carried out simultaneously or in any order.

[0084] In a step E4, the electronic control unit 11 calculates the tilt angle 0 of the vehicle 1 from the projection of Earth's gravity onto three axes of the tilt sensor's reference frame.

[0085] In a step E5, the electronic control unit 11 compares the value of the calculated tilt angle 0 with the first tilt threshold 01 and the second tilt threshold 02.

[0086] If the value of the tilt angle 0 is less than the first tilt threshold 01, the vehicle 1 is in a tilt consistent with the configuration when supported on the stand 12. The vehicle 1 can also be upright if it is on a central stand 12 or if the user is seated on it. In a step E6, the electronic control unit 11 does not does not trigger the motor cut-off function 10 depending on the lateral tilt and repeats the process from step El.

[0087] Thus the process is repeated until the user starts the vehicle 1, in which case the control conditions will no longer be checked and the process will be interrupted without deactivation of the engine stop function 10.

[0088] If the value of the tilt angle 0 is greater than the first tilt threshold 01 and less than the second tilt threshold 02, the electronic control unit 11 triggers in a step E6* a first time counter for a predefined duration.

[0089] In a step E7*, the electronic control unit 11 iteratively calculates the tilt angle 0 of the vehicle 1 and compares each calculation with the previous one.

[0090] If, when the first time counter reaches the predefined duration, the electronic control unit 11 calculates an angle of inclination 0 equal to (or sufficiently close to) the angle of inclination calculated in step E4 and therefore less than the second inclination threshold 02, the electronic control unit 11 triggers in a step E8* the interruption of the engine 10 cut-off function according to the lateral inclination of the vehicle 1.

[0091] Indeed, the calculation of an angle of inclination 0 greater than the first inclination threshold 01 in the control conditions of the vehicle 1 indicates that there is an error in the calculation of the angle by the electronic control unit 11. The function of cutting off the motor 10 according to the lateral inclination of the vehicle 1 must then be interrupted to prevent the motor 10 from being stopped during the movement of the vehicle 1, and the user is warned of the calculation error in a step E9*.

[0092] If, when the first time counter reaches the predefined duration, the electronic control unit 11 calculates an angle of inclination 0 which varies beyond a margin of error with respect to the angle of inclination 0 calculated in step E4, the electronic control unit 11 triggers the reset of the process from step E1 since the variation of the angle of inclination 0 may show that the vehicle 1 is in motion while respecting the conditions of steps E2, E2* and E2**, which may for example correspond to a fall from a standstill.

[0093] If the value of the tilt angle 0 is greater than the first tilt threshold 01 and greater than the second tilt threshold 02, the electronic control unit 11 triggers in a step E6** a second time counter for a second predefined duration.

[0094] In a step E7**, the electronic control unit 11 iteratively calculates the tilt angle 0 of the vehicle 1 and compares each calculation with the previous one.

[0095] If, when the second time counter reaches the predefined duration, the electronic control unit 11 calculates an angle of inclination 0 equal to (or sufficiently close to) the angle of inclination 0 calculated in step E4, the electronic control unit 11 triggers in a step E8** the interruption of the engine 10 cut-off function according to the lateral inclination of the vehicle 1.

[0096] Indeed, the calculation of a constant tilt angle 0 for a predetermined duration and greater than the second threshold in the vehicle 1 control conditions indicates that there is an error in the calculation of the angle by the electronic control unit 11. The function of cutting off the motor 10 according to the lateral tilt of the vehicle 1 must then be interrupted to prevent the motor 10 from being stopped during the movement of the vehicle 1, and the user is warned of the error in a step E9**.

[0097] If, when the second time counter reaches the predefined duration, the electronic control unit 11 calculates an angle of inclination 0 which varies beyond a margin of error with respect to the angle of inclination 0 calculated in step E4, the electronic control unit 11 triggers the reset of the process from step E1 since the variation of the angle of inclination 0 may show that the vehicle 1 is in motion while respecting the conditions of steps E2, E2* and E2**, which may for example correspond to a fall at rest.

[0098] Since the calculated tilt angle 0 of vehicle 1 is greater than the second tilt threshold 02, the electronic control unit 11 is configured to activate the engine 10 shutdown function. For this to happen, the tilt angle 0 must be confirmed over a certain period. However, in the event of a tilt measurement problem, it is desirable that this function not be activated if the engine 10 of the stationary vehicle 1 is running at low speed.

[0099] The second predefined time is therefore less than the latency of the engine stop function 10. Once the second predefined time has been reached by the second time counter, the electronic control unit 11 can therefore determine that there is a tilt problem if the tilt angle 0 is constant, or that there is a stability problem of the vehicle 1 if this tilt angle 0 varies.

[0100] In this case, it is preferable to leave the engine stop function 10 activated according to the tilt angle 0. This case may occur if the stationary vehicle 1 is falling.

Claims

1. Demands Method for deactivating a cut-off function of an engine (10) of a motorized two-wheeled vehicle (1), said vehicle (1) comprising said engine (10), an electronic control unit (11) and a speed measurement module (14), said electronic control unit (11) comprising a tilt sensor (111) and a memory area (112), the electronic control unit (11) being configured to calculate the lateral tilt angle (0) of the vehicle (1) from the measurements taken by the tilt sensor (111), said memory area (112) comprising a first predetermined tilt threshold (01) and a second predetermined tilt threshold (02), said first tilt threshold (01) being lower than the second tilt threshold (02),said electronic control unit (11) being configured to compare the calculated tilt angle (0) with the second tilt threshold (02) and to implement the engine cut-off function by sending a stop signal to the engine if the calculated tilt angle (0) is greater than the second predetermined tilt threshold (02), to receive the vehicle speed (1) and to start at least one time counter up to a predetermined value, said method comprising the steps of:, - activation (El) of the electronic control unit (11) by a user action, - reception (E2), by the electronic control unit (11), of the vehicle speed (1), - if the received speed is zero, calculation (E4), by the electronic control unit (11), of the tilt angle (0) of the vehicle (1), - if the calculated tilt angle (0) is less than the first tilt threshold (01), the electronic control unit (11) does not deactivate the engine cut-off function (10), - if the calculated tilt angle (0) is greater than the first tilt threshold (01), the electronic control unit (11) starts (E6*) a first time counter for a predefined duration, - calculation (E7*), by the electronic control unit (11), of the tilt angle (0) of the vehicle (1) as long as the first time counter has not reached the predefined duration, - if the calculated tilt angle (0) is greater than the first tilt threshold (01), and less than the second tilt threshold (02), when the first time counter reaches the predefined duration, the electronic control unit (11) deactivates (E8*) the motor cut-off function (10).

2. A method according to claim 1, wherein, if the tilt angle (0) calculated after receiving a zero vehicle (1) speed is greater than the second tilt threshold (02), the method comprises a step of triggering a second time counter (E6**) for a second predefined duration, said second predefined duration being shorter than the first predefined duration, a step of calculating (E7**) the tilt angle (0) of the vehicle (1) as long as the second time counter has not reached the second predefined duration,a deactivation step (E8**) of the motor cut-off function (10) if the tilt angle (0) calculated when the second time counter reaches the predefined duration is equal to that calculated when the first time counter is triggered, and a maintenance step of the motor cut-off function 10 if the tilt angle (0) calculated when the second time counter reaches the predefined duration is different from that calculated when the first time counter is triggered.

3. A method according to any one of the preceding claims, wherein the tilt sensor (111) is configured to determine the projection of Earth's gravity onto three axes of a coordinate system and the electronic control unit (11) is configured to calculate the tilt angle (0) from the three projections determined by the tilt sensor (111).

4. A method according to any one of the preceding claims, wherein the electronic control unit (11) is configured to receive the number of revolutions per minute of the engine (10) of the vehicle (1) and wherein the activation step of the electronic control unit (11) is followed by a comparison step (E3*), by the electronic control unit (11), of the number of revolutions per minute of the engine (10) with a predefined value and a step of interrupting the method if the number of revolutions per minute of the engine (10) is greater than said predefined value.

5. A method according to any one of the preceding claims, wherein the vehicle (1) comprises a stabilizing stand (12). and the electronic control unit (11) is configured to detect the deployment of said support (12), said process comprising a verification step (E3**) of the deployment of the support (12) following the activation step of the electronic control unit (11) and a step of interrupting the process if the deployment of the support (12) is not detected.

6. Method according to the preceding claim, wherein the first tilt threshold (01) corresponds to the sum of the tilt of the vehicle (1) on an ideally flat ground when the kickstand (12) is deployed and a margin of error.

7. Computer program product characterized in that it comprises a set of program code instructions which, when executed by one or more processors, configure the processor(s) to implement a method according to any one of claims 1 to 6.

8. Electronic control unit (11) for a motorized two-wheeled vehicle (1), said electronic control unit (11) comprising a tilt sensor (111) configured to measure the lateral tilt angle (0) of the vehicle (1) and a memory area (112) comprising a first predetermined tilt threshold (01) and a second tilt threshold (02), said electronic control unit (11) being configured to be connected to the motor (10) of said vehicle (1) and to a speed measurement module (14), and to: - receive a value of the speed of the vehicle (1) measured by the speed measurement module (14), - start at least one timer up to a predetermined value, - compare a calculated tilt angle (0) with the first tilt threshold (01) and the second tilt threshold (02), - send a motor stop command if the calculated tilt angle (0) is greater than the second tilt threshold (02),- deactivate the motor stop command (10) if the calculated tilt angle (0) is greater than the first tilt threshold (91).

9. Electronic control unit (11) according to the preceding claim, wherein the tilt sensor (111) is configured to determine the projection of Earth's gravity on three axes and the electronic control unit (11) is configured to calculate the tilt angle 14 (0) of the vehicle (1) from the three projections determined by the tilt sensor (111).

10. Motorized two-wheeled vehicle (1) comprising an electronic control unit (11) according to any one of claims 8 and 9.