Tiliting suspension system for a vehicle and control method for tiliting a vehicle

A control method for tilting a vehicle comprising a tilting suspension system comprising a frame (1), a subframe (2), a longitudinal axis (3), an independent symmetrical front suspension (4), a steering mechanism (5), and a tilting mechanism (6) and a tilt locking mechanism (7), a wheel alignment and caster adjustment unit (8), a controllable anti-roll bar unit (9), and a power tilting unit (10), a tilt controller (10.5), a motor controller (10.6), wherein the method comprises

• selecting a driving mode of the vehicle and activating the tilt controller (10.5), wherein
• the tilt controller (10.5) is disabled and the safety coupler (10.3) is disconnected, or
• the tilt controller (10.5) is enabled and the safety coupler (10.3) is connected, the torque of the main lever (6.1) is assisted by the power tilting unit (10), or
• the tilt controller (10.5) is enabled and the safety coupler (10.3) is connected, the torque of the main lever (6.1) is autonomously controlled by the power tilting unit (10) and the power tilting unit (10) autonomously decides and tilts the body depending on reading from a tilt angle sensor (10.7), a wheel steering angle sensor (10.8), a speed sensor (10.9), a pressure sensor (10.10), and inertial measurement unit (10.11),
• a torque sensor (10.4) sends a signal proportional to the tilt force when the main lever (6.1) is tilted to the left or right from its central position, wherein the signal is amplified by the tilt controller (10.5), which then activates the motor (10.1) through the motor controller (10.6), wherein the motor (10.1) turns the gear pair (6.4) via the gear reducer (10.2) and the safety coupler (10.3), facilitating easier tilting of the main lever (6.1),
• calculating the assistive tilting force required by the vehicle driver using the tilt controller (10.5) from signals of a tilt angle sensor (10.7), a wheel steering angle sensor (10.8), a speed sensor (10.9), a pressure sensor (10.10), and inertial measurement unit (10.11), which force is subsequently applied to the motor (10.1) via the motor controller (10.6),
• securing the frame (1) and the subframe (2) of the vehicle at any tilt angle using the tilt locking mechanism (7), wherein the tilt angle is chosen by the driver of the vehicle, wherein locking force is varied based on pressure applied to a tilt lock handle (7.7), adjusting friction between the frame (1) and the subframe (2) to unlocked, partially locked, or fully locked,
• switching the drive mode of the vehicle to fully manual by disconnecting the safety coupler (10.3) from the motor (10.1) and the gear reducer (10.2), if an error in the tilting suspension system is detected by the tilt controller (10.5).