An object is to make it possible to easily determine an origin shift of a tilt sensor of a leaning vehicle and calibrate the tilt sensor. A control device (36) that controls a lean actuator (33) includes a self-stand control section (60) that controls the ...

Two-wheeled vehicle, in particular a motorcycle or a scooter, having a vehicle body, an engine, an engine control unit adapted to control the engine, and a turnover detecting means comprising an acceleration sensor provided with the engine control unit bei...