Method for operating a two-wheeler

A method for operating a two-wheeler, the two-wheeler including a drive unit and a sensor system, the sensor system including a rotation rate sensor, an acceleration sensor, and a wheel speed sensor, the wheel speed sensor being configured to detect at least one measuring pulse per revolution of a wheel of the two-wheeler, the method comprising the following steps:

• detecting three-dimensional rotation rates of the two-wheeler using the rotation rate sensor;
• detecting acceleration values of the two-wheeler using the acceleration sensor;
• estimating a motion state of the two-wheeler based on the detected rotation rates, the motion state including estimated values for estimated acceleration values and for an estimated speed and for an estimated distance covered;
• first correcting of the estimated motion state based on the detected acceleration values;
• ascertaining an instantaneous steering angle of the two-wheeler based on the corrected estimated motion state;
• and
• actuating the drive unit and/or an antilocking system of the two-wheeler as a function of the ascertained instantaneous steering angle.