US Patent 8249775 Self-balancing vehicle

A vehicle includes:at least three wheels, of which at least two wheels are situated on either side of the center of gravity of the vehicle's longitudinal axis and wherein at least one of the wheels has a steering effect on the direction of the vehicle,a frame having a tilting frame section, rotatable in the longitudinal axis relative to the road surface,a steering element mounted so as to rotate relative to the tilting frame section,one or more tilting elements connected to the tilting frame section and the wheels for exerting a tilting movement between the tilting frame section and the road surface,a speed sensor,a steering sensor for determining the force/torque or size of the steering wheel movement for achieving a change in the direction of the steerable wheel or wheels.