Method for detecting errors in the measurement of the tilt angle of a two-wheeled vehicle

Abstract

The invention relates to a method for detecting measurement errors in the lateral tilt angle (θ) of a two-wheeled vehicle (1), comprising the steps of: - in a first phase, verifying (E3) that the engine (10) of the vehicle (1) is off, - if the engine (10) is off, comparing (E6) the measurements of the tilt sensor (111) with at least one tilt reference interval, - if the electronic control unit (11) determines that the measurements are outside the reference interval, detecting a measurement error in the tilt angle (θ), - in a second phase, starting (E7) the engine (10) of the vehicle (1), - calculating (E8) the variation in the tilt sensor (111) measurements during engine (10) operation, - if the variation in the tilt sensor (111) measurements is below a predetermined threshold for a duration predetermined, detection (E9) of an error in measurement of the angle of inclination (θ).Figure for the abridged version: Fig 4.

Description

Title of the invention: Method for detecting errors in the measurement of the tilt angle of a two-wheeled vehicle. Technical field

[0001] The present invention relates to the field of motorized two-wheeled vehicles and more particularly concerns the measurement of the vehicle's lateral inclination. Prior art

[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 two-wheeler is beyond 60°, the vehicle is considered to be falling and the engine is stopped.

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

[0006] A first generation of tilt sensors is mechanical and is fixed to the vehicle chassis. These sensors contain weights (for example, balls) that move according to the vehicle's tilt and close electrical contacts when a given tilt angle is reached. The inertia of these weights then 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) type accelerometer.

[0008] This sensor can be freely positioned within the vehicle according to the vehicle's design. However, depending on the sensor's positioning within the vehicle, the sensor is subject to wear effects related, for example, to high temperatures and vibrations, which are all the more significant for vehicles in which the sensor is mounted on or near the engine. Electromagnetic interference, caused by vehicle components or external sources, can also disrupt the sensor and lead to wear and tear.

[0009] These wear effects can cause sufficient damage to the mechanical parts of the MEMS accelerometer to seize them up. Since these parts are no longer mobile, they will then measure a constant value for the corresponding tilt component, regardless of the sensor's movements and the vehicle's actual tilt, thus distorting the measured tilt angle.

[0010] Based on a faulty measurement of the vehicle's tilt angle, the electronic control unit can then trigger the engine stop function even if the vehicle has an acceptable tilt, which presents significant risks for a user of said vehicle.

[0011] There is therefore a need for a simple and effective solution to remedy at least some of these drawbacks. Description of the invention

[0012] To this end, the invention first relates to a method for detecting errors in determining the lateral tilt angle of a two-wheeled motorized vehicle, said vehicle comprising an engine and an electronic control unit, said electronic control unit comprising a tilt sensor and a memory area, said memory area comprising at least one tilt reference interval, said electronic control unit being configured to calculate the lateral tilt angle of the vehicle from the tilt sensor measurements, to compare the measured tilt angle with a predetermined tilt threshold, and to send an engine stop command if the measured tilt angle is greater than the tilt threshold, said method comprising the steps of:

[0013] - activation, by an action of a vehicle user, of the control unit electronic,

[0014] - in a first phase, verification, by the electronic control unit via the link communication, that the vehicle's engine is off,

[0015] - if the engine is stopped, comparison, by the electronic control unit, of the tilt sensor measurements relative to at least one tilt reference interval,

[0016] - If the electronic control unit determines that the sensor measurements If the tilt angle is outside the reference range, an error in the tilt angle measurement is detected, and the electronic control unit deactivates the engine stop command based on the vehicle's tilt angle and warns the user.

[0017] - in a second phase, put into operation, by an action of a user of the vehicle, the vehicle engine, and reception, by the electronic control unit, of the engine start-up,

[0018] - calculation, by the electronic control unit, of the variation in the sensor measurements tilt during engine operation

[0019] - If the variation in the tilt sensor measurements is below a threshold predetermined for a predetermined duration, detection of an error in the measurement of the tilt angle and deactivation, by the electronic control unit, of the engine stop function according to the tilt angle of the vehicle and warning of the user.

[0020] The method according to the invention thus makes it possible to detect a blockage of a tilt sensor component in two phases. First, by comparing the tilt sensor measurements when the vehicle is stationary with a reference interval, providing an initial indication of whether these values ​​are incorrect compared to the reference interval values. Then, in a second phase, by using the vibrations produced by the running engine, which normally cause oscillations in the tilt sensor measurements. The absence of these oscillations in the measurements therefore indicates a blocked component. This second phase provides redundancy with respect to the first, because it is possible that a tilt sensor component may be stuck in a position that nevertheless provides a correct tilt reading when the vehicle is stationary.If a blockage is detected, it is necessary to alert the user because the calculation of the tilt angle is no longer reliable, and the fall detection is inaccurate.

[0021] Preferably, the tilt sensor measurements consist of projecting Earth's gravity onto three axes, the electronic control unit being configured to calculate the tilt angle from the three projections determined by the tilt sensor, and the method comprises:

[0022] - the step of comparing the measurements of the tilt sensor with respect to the tilt reference intervals are performed on each of the three projections,

[0023] - the step of determining the distance of the tilt sensor measurements by relation to the tilt reference intervals is performed from the deviation of at least one projection from a corresponding reference value,

[0024] - the step of calculating the variation of the tilt sensor measurements during the The engine's operation is based on calculating the variation in the measurement of each of the three projections.

[0025] - and the step of deactivating the engine stop function depending on the angle vehicle tilt is performed if the variation of at least one projection is less than a predetermined threshold for a predetermined duration.

[0026] This type of tilt sensor is the most widespread and includes components specific to each measurement axis, thus making the measurement on one axis correct but distorted on the other axes.

[0027] Advantageously, a step of determining the contribution of each of the three axes to the calculation of the tilt angle is carried out by the electronic control unit before the step of comparing the tilt sensor measurements with the tilt reference intervals, the step of deactivating the engine stop function based on the vehicle tilt sensor measurements and warning the user is carried out only if the deviation of at least one projection of an axis determined as a contributor from a corresponding reference value is greater than a margin of error, or if the calculation of the variation of the tilt sensor measurements of at least one projection of an axis determined as a contributor during engine operation is below a predetermined threshold for a predetermined time.This determination of the contribution allows us to differentiate between cases where the blockage directly affects the tilt angle measurement via a contributing axis and those where the blockage is on a non-contributing axis. In both cases, the tilt sensor has a problem and must be repaired or replaced, and the user is therefore notified. However, since a problem on a non-contributing axis does not significantly influence the tilt angle calculation, it is appropriate in this case to retain the motor stop function, as the tilt angle determination remains correct.

[0028] Advantageously, the reference tilt values ​​are measured and recorded in the memory area of ​​the electronic control unit during vehicle production. This recording is then carried out simultaneously with the various calibrations of the vehicle's electronic control unit.

[0029] In a preferred operating mode, the step of calculating the variation in the tilt sensor measurements is performed based on the difference between two successive iterations of the tilt sensor measurements. This is a simple and effective way to control measurement oscillations.

[0030] Advantageously, in this operating mode, the difference between two successive iterations of the tilt sensor measurements is multiplied by a predefined time constant before the comparison step to at least one reference value. This amounts to calculating the time derivative of the measurement, a zero derivative signifying a constant measurement despite vibrations caused by the motor's operation. Adjusting the time constant allows the signals to be amplified to ensure the detection of variations. This derivative can be zero even in the presence of vibrations, but only momentarily. This is why it is all the more relevant to detect a blockage if the derivative is zero for a predetermined time.

[0031] Alternatively or in addition, the vehicle includes a retractable stand, and a stand deployment check step is performed after activation of the electronic control unit. The step comparing the tilt sensor measurements to at least one reference value is performed only if the engine is off and the stand is deployed. This stand ensures that the vehicle is in a fixed and repeatable position for comparing measurements before the engine is started, with a known tilt angle and a reference range that takes into account effects such as stand wear or ground inclination.

[0032] According to another aspect, the invention also relates to an electronic control unit for a motorized two-wheeled vehicle, configured to be connected to the engine of said vehicle via a communication link, comprising a tilt sensor and a memory area, said memory area comprising tilt reference intervals, said electronic control unit being configured to:

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

[0034] - compare the measured angle of inclination with a predetermined inclination threshold,

[0035] - send a motor stop signal via the communication link if the angle the measured inclination is greater than the inclination threshold.

[0036] - determine whether the vehicle's engine is stopped or running,

[0037] - compare the tilt sensor measurements with respect to the intervals of tilt reference,

[0038] - calculate the variation of the tilt sensor measurements during operation of the engine,

[0039] - deactivate the engine stop function based on the tilt angle of the vehicle and send a warning to the vehicle user.

[0040] Advantageously, the tilt sensor of the electronic control unit as presented is configured to perform a series of self-diagnostics automatically. These self-diagnostics provide an initial indication of blockage in the tilt sensor components, but may not be sufficient. Therefore, both phases of the process as presented are necessary to ensure robust blockage detection.

[0041] 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

[0042] 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:

[0043] [Fig-1] Fig. 1 schematically illustrates a motorized two-wheeled vehicle in to which the process according to the invention applies.

[0044] [Fig.2] Fig.2 schematically illustrates the angle of inclination of the vehicle.

[0045] [Fig.3] Fig.3 schematically illustrates an electronic control unit of the vehicle.

[0046] [Fig.4] Fig.4 schematically illustrates the process according to the invention. Description of the implementation methods

[0047] The error detection method according to the invention is applied to a motorized two-wheeled vehicle 1 as illustrated in [Fig.1].

[0048] Vehicle 1

[0049] As shown in [Fig.1], the vehicle 1 includes an engine 10, an electronic control unit 11, a kickstand 12 and a communication link 14.

[0050] The vehicle 1, whether stationary or moving, forms an angle of inclination 0 with the terrestrial vertical Z as shown in [Fig.2].

[0051] Motor 10

[0052] 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.

[0053] When the motor 10 is in operation, in particular following an action by a user of the vehicle 1, the motor 10 causes the rotation of an axis at a certain number of rotations per minute, also called motor speed.

[0054] The rotation of this axis produces vibrations in the motor 10 which propagate in the vehicle 1, in particular in the electronic control unit 11 in the case where the latter is mounted close to the motor 10.

[0055] Electronic control unit 11

[0056] As shown in [Fig.3], the electronic control unit 11 includes a tilt sensor 111 and a memory area 112.

[0057] The tilt sensor 111 is preferably a MEMS type accelerometer, configured to calculate the projection of Earth's gravity on three axes of a reference frame from the displacement of components inside the tilt sensor 111.

[0058] These components can become blocked, in particular due to wear and external stresses, and therefore no longer be able to move.

[0059] The reference frame of the tilt sensor 111 is an intrinsic reference frame, that is to say, it depends solely on the arrangement of the components inside the tilt sensor 111.

[0060] The electronic control unit 11 is configured to calculate the lateral tilt angle 0 of the vehicle 1 with respect to the ground vertical from the three projections measured by the tilt sensor 111.

[0061] Memory area 112 is configured to store information. In particular, memory area 112 is configured to store reference intervals of the measurements of the three projections corresponding to the case where the vehicle 1 is stationary, the support leg 12 deployed.

[0062] Without modification of the support leg 12, the vehicle 1 exhibits the same tilt angle 0 whenever it is in this configuration. It is expected that the values ​​of the three projections measured by the tilt sensor 111 will be within the corresponding reference intervals, thus taking into account effects such as ground inclination or slight deformation of the support leg 12.

[0063] The electronic control unit 11 is configured to receive measurements from the three projections of the tilt sensor 111.

[0064] The electronic control unit 11 is configured to calculate a time derivative of each projection by subtracting two successive measurements and multiplying the result of the subtraction by a predetermined time constant.

[0065] The electronic control unit 11 is configured to calculate the tilt angle 0 from the measurements of the tilt sensor 111.

[0066] The electronic control unit 11 is configured to compare the calculated tilt angle 0 with a tilt threshold 0s.

[0067] The tilt threshold 0s corresponds to the angle from which the electronic control unit 11 considers that the vehicle 1 is falling.

[0068] The electronic control unit 11 is configured to implement a function of stopping the engine 10 of the vehicle 1 if the measured lateral tilt angle 0 is greater than the tilt threshold 0s.

[0069] The electronic control unit 11 is configured to determine the contribution of the three axes of the tilt sensor 111 to the calculation of the tilt angle 0.

[0070] For each axis, this determination is made by adding a predetermined value to the measured projection and then comparing the calculated tilt angle 0 before and after the addition of the predetermined value. This predetermined value allows for the simulation of a displacement of the tilt sensor component(s) 111 that measure this projection.

[0071] If the difference is less than a certain threshold, for example 5°, then the axis is considered non-contributing. Conversely, if the difference is greater than the threshold, the axis is considered contributing.

[0072] The electronic control unit 11 is configured to send a warning message to the user of the vehicle 1 if a blockage of a component of the tilt sensor 111 is detected.

[0073] Kickstand 12

[0074] The support leg 12 allows the vehicle 1 to have an additional support point to hold in a stable position once deployed.

[0075] 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.

[0076] In the example shown in the figures, the support leg 12 is a lateral support leg. When deployed, the stationary vehicle 1 rests on it and has a constant angle of inclination 0 with respect to the vertical ground Z as shown in [Fig.2].

[0077] 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.

[0078] Communication link 14

[0079] The communication link 14 enables communication between the electronic control unit 11, the motor 10 and the kickstand 12.

[0080] Preferably, the communication link 14 is a wired communication link.

[0081] Example of implementation

[0082] The process according to the invention is carried out automatically in the vehicle 1 and takes place in two phases.

[0083] In a step El, the electronic control unit 11 of the vehicle 1 is activated by a user action, such as for example the rotation of a key of the vehicle 1.

[0084] The first phase is triggered following step E1 and in a step E2, the electronic control unit 11 receives from the kickstand 12 a signal indicating whether the kickstand 12 is deployed or not.

[0085] In the event that the support leg 12 is not deployed, the process is interrupted since the vehicle 1 is not in a reference position for the continuation of the process.

[0086] In the case where the kickstand 12 is deployed, the electronic control unit 11 receives from the motor 10 a signal indicating whether the motor 10 is in operation or not in a step E3.

[0087] In the case where the motor 10 is running during this step, the process is interrupted since the vehicle 1 is not in a reference position for the continuation of the process.

[0088] In the event that the motor 10 is not in operation during this step, the electronic control unit 11 performs a self-diagnosis of the measurement of the tilt sensor 111 in a step E4.

[0089] The self-diagnosis is specific to the electronic control unit 11 and allows for a first check of the proper functioning of the tilt sensor 111, but may not detect all faults and therefore must be redundant.

[0090] If the self-diagnostics detect a fault in the tilt sensor 111, the control unit electronic 11 disables the sending of the engine stop command 10 according to the tilt angle 0 of the vehicle 1 and sends a warning message to the user.

[0091] In the event that the self-diagnosis does not detect a fault in the tilt sensor 111, the electronic control unit 11 performs in a step E5 a determination of the contribution of the measurement axes of the tilt sensor 111.

[0092] In this step, the electronic control unit 11 adds for each axis a predetermined value to the projection measured by the tilt sensor 111 and determines the variation in the tilt angle calculation 0 that the addition of this imposed value implies.

[0093] If the variation is less than a certain threshold, for example 5°, the corresponding axis is considered to have a low contribution. If it is greater than this threshold, the axis is considered to have a contribution. The contribution / non-contribution of each axis is stored in memory area 112.

[0094] Once the contribution of the axes has been determined, the electronic control unit 11 compares in a step E6 the measurements of the tilt sensor 111 along the three axes of the tilt sensor 111 with the reference intervals stored in the memory area 112.

[0095] If the electronic control unit 11 determines that the measurements of the tilt sensor 111 are outside a reference range, a measurement error of the tilt angle 0 is detected.

[0096] If one of the measurements of a contributing axis is outside the reference range, the electronic control unit 11 disables the sending of the engine stop command 10 according to the tilt angle 0 of the vehicle 1 and sends a warning message to the user.

[0097] If only the measurement of a non-contributing axis is outside the reference range, the electronic control unit 11 does not disable the sending of the engine stop command 10 as a function of the tilt angle 0 of the vehicle 1, because the calculation of the tilt angle is only slightly impacted by a blockage on this axis, but sends a warning to the user of the problem at the tilt sensor 111.

[0098] If all the measurements of the tilt sensor 111 are within the reference range, the sending of the motor stop command 10 as a function of the tilt angle 0 of the vehicle 1 is maintained, and the process passes into the second phase.

[0099] In a step E7, the user of the vehicle 1 starts the engine 10 and the electronic control unit 11 receives a signal from the engine 10 starting.

[0100] Once the motor 10 is in operation, it generates vibrations which propagate in the vehicle 1 and in particular reach the electronic control unit 11 and the tilt sensor 111, which affects the projection measurements.

[0101] In a step E8, the electronic control unit 11 calculates the time derivative of each of the three projections.

[0102] The calculation of the time derivative is carried out by measuring the projections at regular time intervals, subtracting the previous measurement from a measurement and dividing the result of the subtraction by a predefined time constant.

[0103] If the time derivative is zero or less than a predetermined threshold for a specified time, this indicates that despite the vibrations caused by the operation of the motor 10, the corresponding projection value measured by the tilt sensor 111 remains constant. In this case, it is likely that the tilt sensor 111 is faulty and that a component measuring this projection is blocked.

[0104] Thus, when the time derivative is zero or less than a predetermined threshold for a determined time, the electronic control unit 11 detects the blocking of a component of the tilt sensor 111 in a step E9.

[0105] A warning message is also sent to the user during this step to prepare for the repair or replacement of the tilt sensor 111.

[0106] If the measurement error is detected on the measurements of an axis considered as contributing to step E5 the electronic control unit 11 deactivates the engine stop function 10 according to the tilt angle 0 of the vehicle 1, because the blocking of a component of the tilt sensor 111 can then have a significant impact on the calculation of the tilt angle 0 of the vehicle 1.

[0107] The method therefore makes it possible to detect a potential blockage that could cause an error in determining the tilt angle 0 of the vehicle 1 in a redundant manner, using the self-diagnosis of the electronic control unit 11, comparison to reference intervals at rest, and calculation of the derivative of the measurements on each axis, in a regular and simple manner without requiring any specific operation from the user. The method also makes it possible to send a command to stop the engine 10 and to warn the user of the vehicle 1 in the event of a blockage being detected.

Claims

1. Demands Method for detecting measurement errors in the lateral tilt angle (0) of a two-wheeled motorized vehicle (1), said vehicle (1) comprising an engine (10) and an electronic control unit (11), said electronic control unit (11) comprising a tilt sensor (111) and a memory area (112), said memory area (112) comprising tilt reference intervals, said electronic control unit (11) being configured to calculate the lateral tilt angle (0) of the vehicle (1) from the measurements of the tilt sensor (111), to compare the measured tilt angle (0) with a predetermined tilt threshold (0s), and to send a motor (10) stop command if the calculated tilt angle (0) is greater than the tilt threshold (0s), said method comprising the steps of: - activation (El), by an action of a vehicle user (1), of the electronic control unit (11), - in a first phase, verification (E3), by the electronic control unit (11), that the engine (10) of the vehicle (1) is stopped, - if the engine (10) is stopped, comparison (E6), by the electronic control unit (11), of the tilt sensor (111) measurements with respect to at least one tilt reference interval, - If the electronic control unit (11) determines that the tilt sensor (111) measurements are outside the reference range, it detects a measurement error in the tilt angle (0) and deactivates the sending of the engine stop command (10) based on the tilt angle (0) of the vehicle (1) and warns the user, - in a second phase, the vehicle (1) engine (10) is started (E7) by a user action, and the electronic control unit (11) receives the engine (10) start signal. - calculation (E8), by the electronic control unit (11), of the variation of the measurements of the tilt sensor (111) during the operation of the motor (10), - If the variation in the measurements from the tilt sensor (111) is below a predetermined threshold for a predetermined period, detection (E9) of an error in the measurement of the tilt angle (0) and deactivation, by the electronic control unit (11), of the engine stop function (10) according to the tilt angle (0) of the vehicle (1) and warning of the user.

2. A method according to the preceding claim, wherein the tilt sensor (111) measurements consist of the projection of Earth's gravity onto three axes, the electronic control unit (11) being configured to calculate the tilt angle (0) from the three projections determined by the tilt sensor (111), and wherein: - the step of comparing the tilt sensor (111) measurements with reference intervals is carried out on each of the three projections, - the step of calculating the variation of the tilt sensor (111) measurements during the operation of the motor (10) is carried out on the calculation of the variation of the measurement of each of the three projections, - and the step of deactivating the motor stop function as a function of the tilt angle (0) of the vehicle (1) is carried out if the variation of at least one projection is less than a predetermined threshold for a predetermined duration.

3. A method according to the preceding claim, wherein a step of determining (E5) the contribution of each of the three axes to the measurement of the tilt angle (0) is carried out by the electronic control unit (11) before the step of comparing the measurements of the tilt sensor (111) to the reference intervals, wherein the step of deactivating the engine stop function (10) based on the measurements of the tilt sensor (111) of the vehicle (1) and warning the user is carried out only if the deviation of at least one projection of an axis determined as a contributor from a corresponding reference value is greater than a margin of error, or if the calculation of the variation of the measurements of the tilt sensor (111) of at least one projection of an axis determined as a contributor during the operation of the engine (10) is below a predetermined threshold for a predetermined time.

4. A method according to any one of the preceding claims, wherein the reference intervals are measured and recorded in the memory area (112) of the electronic control unit (11) during the production of the vehicle (1).

5. A method according to any one of the preceding claims, wherein the calculation step (E8) of the variation of the measurements of the tilt sensor (111) is carried out from the difference between two successive iterations of the measurements of the tilt sensor (111).

6. A method according to the preceding claim, wherein the difference between two successive iterations of the tilt sensor (111) measurements is multiplied by a predefined time constant before the comparison step to at least one reference value.

7. A method according to any one of the preceding claims, wherein the vehicle (1) includes a retractable kickstand (12) and wherein a control step (E2) of the deployment of the kickstand (12) is carried out after the activation (E1) of the electronic control unit (11), the step of comparing the measurements of the tilt sensor (111) with respect to at least one reference interval is carried out only if the engine (10) is off and the kickstand (12) is deployed.

8. Electronic control unit (11) for a motorized two-wheeled vehicle (1), configured to be connected to the engine (10) of said vehicle and comprising a tilt sensor (111) and a memory area (112), said memory area (112) comprising at least one reference interval, said electronic control unit (11) being configured to: - calculate the lateral tilt angle (0) of the vehicle (1) from the measurements of the tilt sensor (110) in order to compare the calculated tilt angle (0) with a predetermined tilt threshold (0s), - send a stop signal to the engine (10) if the calculated tilt angle (0) is greater than the tilt threshold (0s), - determine whether the engine (10) of the vehicle (1) is stopped or running, - compare the measurements of the tilt sensor (111) with at least one reference interval, - calculate the variation of the tilt sensor measurements (111) during the operation of the engine (10), 14 - disable sending an engine stop signal (10) based on the tilt angle (0) of the vehicle (1) and send a warning to the vehicle user (1).

9. Electronic control unit (11) according to the preceding claim, wherein the tilt sensor (111) is configured to perform a series of self-diagnostics automatically.

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

Images