US Patent 10926159 Lean-to-steer device with motorized steering responses

Continuous or discontinuous steering responses for a lean-to-steer device can be provided by controlling the steering angle of at least one wheel by a steering motor that is operated by a controller. The controller receives signals from a tilt sensor to calculate an appropriate steering angle for the at least one wheel. When a speed sensor is also provided, the controller can calculate a steering angle to match the curve radius of motion to the pendulum angle corresponding to the indicated speed and tilt.