System and method for controlling vehicle attitude and vehicle equipped with said system

A method for adjusting tilting and attitude of a tilting vehicle, the method comprising the following steps:

• (a) providing a motor vehicle with at least a first driving wheel tilting with respect to a first rotation axis transverse to said motor vehicle and a second driving wheel tilting with respect to a second rotation axis transverse to said motor vehicle, said motor vehicle comprising a power source for generating power and a transmission for transmitting power to said first tilting driving wheel and second tilting driving wheel, said power source comprising a first electric motor and a second electric motor, said first electric motor and second electric motor being separate and independent, said transmission comprising a first section and a second section configured to respectively and independently transmit power from said first electric motor to said first tilting driving wheel and from said second electric motor to said second tilting driving wheel, said motor vehicle further comprising an electronic control unit configured to receive and process one or more parameters and to control said first electric motor and second electric motor according to said one or more parameters, whereby control by the electronic control unit of said first electric motor and/or second electric motor depending on said one or more parameters results in a transmission of power from said first electric motor and/or second electric motor to respectively said first titling driving wheel and/or second tilting driving wheel independently,
• wherein said first and second tilting driving wheels are mechanically anchored to a chassis of said motor vehicle by a first anchoring arm pivotable about said first rotation axis and a second anchoring arm pivotable about said second rotation axis, wherein said first tilting driving wheel is also pivotable with respect to a first tilting axis longitudinal with respect to said motor vehicle, wherein said second tilting driving wheel is also pivotable with respect to a second tilting axis longitudinal with respect to said motor vehicle, and wherein each tilting driving wheel of said first and second tilting driving wheels is associated with a respective brake, configured to apply a braking torque to the respective tilting driving wheel, and
• wherein, in a condition of lateral unbalance of the motor vehicle, the electronic control unit is configured to impart to a tilting driving wheel of said first and second tilting driving wheels located on a side of the motor vehicle towards which the lateral unbalance is occurring, a rotation torque contrary to a direction of travel of said tilting driving wheel, in combination with a rotation torque in the direction of travel to the other of said first and second tilting driving wheels, so as to cause straightening of the motor vehicle, and
• (b) imparting to the first and second tilting driving wheels, respectively by the first and second electric motors through their respective transmissions, respective rotation torques having opposite direction and/or different value, and/or imparting to at least one tilting driving wheel of said first and second tilting driving wheels a braking torque by the respective brake, and at the same time applying to said at least one tilting driving wheel a driving torque by the respective electric motor through the respective transmission to cause rotation of the anchoring arm associated with said at least one tilting driving wheel, about the respective rotation axis transverse to the motor vehicle.