1. A system for stabilizing a vehicle, the system comprising: a plurality of sensors, wherein the plurality of sensors comprises a position sensor to determine a vehicle speed (v), an angular displacement sensor to determine a roll angle (0) corresponding to an angular displacement of the vehicle in a roll direction and a roll rate () corresponding to an angular velocity of the vehicle in the roll direction, and a steering torque sensor to determine a steering torque (Tr) applied to a steering handle of the vehicle; and a stabilizing unit coupled to the plurality of sensors, wherein the stabilizing unit is to: determine a synthesized torque based on the roll angle (0), the roll rate (0), and the vehicle speed (v); determine a tuning parameter based on a comparison of the synthesized torque and the steering torque (Tr); determine a stabilizing torque (Ts) based on the tuning parameter and the synthesized torque; and provide, to an actuator, an actuating signal corresponding to the stabilizing torque (Ts) for applying the stabilizing torque (Ts) to the steering handle of the vehicle for stabilizing the vehicle.

2. The system as claimed in claim 1 wherein the tuning parameter ranges from 0 to 1.

3. The system as claimed in claim 2, wherein the stabilizing unit is to maintain the tuning parameter as 1 when the steering torque is zero so that the stabilizing torque applied to the steering handle is equal to the synthesized torque when there is no steering torque applied to the steering handle.

4. The system as claimed in claim 2, wherein the stabilizing unit is to: vary the tuning parameter gradually from 1 to 0 when the steering torque is not equal to the stabilizing torque and the steering torque varies with time so that the stabilizing torque applied to the steering handle is decreased from the synthesized torque to zero; and increase the tuning parameter gradually from 0 to 1 when the steering torque becomes zero.

5. The system as claimed in claim 2, wherein the stabilizing unit is to: vary the tuning parameter gradually from 0 to 1 when the steering torque is equal to the stabilizing torque and the steering torque is constant with time so that the stabilizing torque applied to the steering handle is increased from zero to the synthesized torque.

6. The system as claimed in claim 1, wherein, to determine the synthesized torque, the stabilizing unit is to determine a first synthesized torque (Ti) as a sum of a first product of the roll angle (0) and a first gain value (Gi) and a second product of the roll rate () and a second gain value (Gi), wherein the first gain value (Gi) and the second gain value (G2) increase non-linearly with a decrease in the vehicle speed (v) and decrease non-linearly with an increase in the vehicle speed (v).

7. The system as claimed in claim 6, wherein, to determine the synthesized torque, the stabilizing unit is to introduce respective delay times (dti, dt2) into the roll angle (0) and the roll rate (0).

8. The system as claimed in claim 7, wherein, to determine the synthesized torque, the stabilizing unit is to determine a second synthesized torque (T2) based on the first synthesized torque (Ti) and a lead time (T), wherein the lead time is to allow application of the stabilizing torque (Ts) prior to a steering torque (Tr).

9. The system as claimed in claim 1, wherein the position sensor is to determine an instantaneous state of the vehicle.

10. The system as claimed in claim 1, wherein the stabilization unit comprises one or more controllers and one or more memories.

11. The system as claimed in claim 1, wherein the actuator is a motor and the actuating signal is to control motor torque applied by the motor on the steering handle.

12. A vehicle comprising a steering handle, an actuator, and the system for stabilizing as claimed in any one of claims 1-11.

13. A method for stabilizing a vehicle, the method comprising: receiving a vehicle speed (v) from a position sensor, a roll angle (0) corresponding to an angular displacement of the vehicle in a roll direction and a roll rate () corresponding to an angular velocity of the vehicle in the roll direction from an angular displacement sensor, and a steering torque (Tr) applied to a steering handle of the vehicle from a steering torque sensor; determining, by a controller, a synthesized torque based on the roll angle (0), the roll rate (0), and the vehicle speed (v); determining, by the controller, a tuning parameter based on a comparison of the synthesized torque and the steering torque (Tr); determining, by the controller, a stabilizing torque (Ts) based on the tuning parameter and the synthesized torque; and providing, to an actuator, an actuating signal corresponding to the stabilizing torque (Ts) for applying the stabilizing torque (Ts) to the steering handle of the vehicle for stabilizing the vehicle.

14. The method as claimed in claim 13, wherein the tuning parameter ranges from Otol.

15. The method as claimed in claim 14, comprising maintaining the tuning parameter as 1 when the steering torque is zero so that the stabilizing torque applied to the steering handle is equal to the synthesized torque when there is no steering torque applied to the steering handle.

16. The method as claimed in claim 14, comprising varying the tuning parameter gradually from 1 to 0 when the steering torque is not equal to the stabilizing torque and the steering torque varies with time so that the stabilizing torque applied to the steering handle is decreased from the synthesized torque to zero; and increasing the tuning parameter gradually from 0 to 1 when the steering torque becomes zero.

17. The method as claimed in claim 14, comprising varying the tuning parameter gradually from 0 to 1 when the steering torque is equal to the stabilizing torque and the steering torque is constant with time so that the stabilizing torque applied to the steering handle is increased from zero to the synthesized torque.

18. The method as claimed in claim 13, wherein determining the synthesized torque comprises determining a first synthesized torque (Ti) as a sum of a first product of the roll angle (0) and a first gain value (Gi) and a second product of the roll rate () and a second gain value (Gi), wherein the first gain value (Gi) and the second gain value (G2) increase non-linearly with a decrease in the vehicle speed (v) and decrease non-linearly with an increase in the vehicle speed (v).

19. The method as claimed in claim 18, wherein determining the synthesized torque comprises introducing respective delay times (dti, dt2) into the roll angle (0) and the roll rate (0).

20. The method as claimed in claim 19, wherein determining the synthesized torque comprises determining a second synthesized torque (T2) based on the first synthesized torque (Ti) and a lead time (T), wherein the lead time is to allow application of the stabilizing torque (Ts) prior to a steering torque (Tr).

I/We Claim:
1. A system for stabilizing a vehicle, the system comprising:
a plurality of sensors, wherein the plurality of sensors comprises a position sensor to determine a vehicle speed (v), an angular displacement sensor to determine a roll angle (0) corresponding to an angular displacement of the vehicle in a roll direction and a roll rate () corresponding to an angular velocity of the vehicle in the roll direction, and a steering torque sensor to determine a steering torque (Tr) applied to a steering handle of the vehicle; and a stabilizing unit coupled to the plurality of sensors, wherein the stabilizing unit is to:
determine a synthesized torque based on the roll angle (0), the roll rate (0), and the vehicle speed (v);
determine a tuning parameter based on a comparison of the synthesized torque and the steering torque (Tr);
determine a stabilizing torque (Ts) based on the tuning parameter and the synthesized torque; and
provide, to an actuator, an actuating signal corresponding to the stabilizing torque (Ts) for applying the stabilizing torque (Ts) to the steering handle of the vehicle for stabilizing the vehicle.
2. The system as claimed in claim 1 wherein the tuning parameter ranges from 0 to 1.
3. The system as claimed in claim 2, wherein the stabilizing unit is to maintain the tuning parameter as 1 when the steering torque is zero so that the stabilizing torque applied to the steering handle is equal to the synthesized torque when there is no steering torque applied to the steering handle.
4. The system as claimed in claim 2, wherein the stabilizing unit is to:

vary the tuning parameter gradually from 1 to 0 when the steering torque is not equal to the stabilizing torque and the steering torque varies with time so that the stabilizing torque applied to the steering handle is decreased from the synthesized torque to zero; and
increase the tuning parameter gradually from 0 to 1 when the steering torque becomes zero.
5. The system as claimed in claim 2, wherein the stabilizing unit is to:
vary the tuning parameter gradually from 0 to 1 when the steering torque is equal to the stabilizing torque and the steering torque is constant with time so that the stabilizing torque applied to the steering handle is increased from zero to the synthesized torque.
6. The system as claimed in claim 1, wherein, to determine the synthesized torque, the stabilizing unit is to determine a first synthesized torque (Ti) as a sum of a first product of the roll angle (0) and a first gain value (Gi) and a second product of the roll rate () and a second gain value (Gi), wherein the first gain value (Gi) and the second gain value (G2) increase non-linearly with a decrease in the vehicle speed (v) and decrease non-linearly with an increase in the vehicle speed (v).
7. The system as claimed in claim 6, wherein, to determine the synthesized torque, the stabilizing unit is to introduce respective delay times (dti, dt2) into the roll angle (0) and the roll rate (0).
8. The system as claimed in claim 7, wherein, to determine the synthesized torque, the stabilizing unit is to determine a second synthesized torque (T2) based on the first synthesized torque (Ti) and a lead time (T), wherein the lead time is to allow application of the stabilizing torque (Ts) prior to a steering torque (Tr).

9. The system as claimed in claim 1, wherein the position sensor is to determine an instantaneous state of the vehicle.
10. The system as claimed in claim 1, wherein the stabilization unit comprises one or more controllers and one or more memories.
11. The system as claimed in claim 1, wherein the actuator is a motor and the actuating signal is to control motor torque applied by the motor on the steering handle.
12. A vehicle comprising a steering handle, an actuator, and the system for stabilizing as claimed in any one of claims 1-11.
13. A method for stabilizing a vehicle, the method comprising:
receiving a vehicle speed (v) from a position sensor, a roll angle (0) corresponding to an angular displacement of the vehicle in a roll direction and a roll rate () corresponding to an angular velocity of the vehicle in the roll direction from an angular displacement sensor, and a steering torque (Tr) applied to a steering handle of the vehicle from a steering torque sensor;
determining, by a controller, a synthesized torque based on the roll angle (0), the roll rate (0), and the vehicle speed (v);
determining, by the controller, a tuning parameter based on a comparison of the synthesized torque and the steering torque (Tr);
determining, by the controller, a stabilizing torque (Ts) based on the tuning parameter and the synthesized torque; and
providing, to an actuator, an actuating signal corresponding to the stabilizing torque (Ts) for applying the stabilizing torque (Ts) to the steering handle of the vehicle for stabilizing the vehicle.
14. The method as claimed in claim 13, wherein the tuning parameter ranges from
Otol.

15. The method as claimed in claim 14, comprising maintaining the tuning parameter as 1 when the steering torque is zero so that the stabilizing torque applied to the steering handle is equal to the synthesized torque when there is no steering torque applied to the steering handle.
16. The method as claimed in claim 14, comprising
varying the tuning parameter gradually from 1 to 0 when the steering torque is not equal to the stabilizing torque and the steering torque varies with time so that the stabilizing torque applied to the steering handle is decreased from the synthesized torque to zero; and
increasing the tuning parameter gradually from 0 to 1 when the steering torque becomes zero.
17. The method as claimed in claim 14, comprising
varying the tuning parameter gradually from 0 to 1 when the steering torque is equal to the stabilizing torque and the steering torque is constant with time so that the stabilizing torque applied to the steering handle is increased from zero to the synthesized torque.
18. The method as claimed in claim 13, wherein determining the synthesized torque comprises determining a first synthesized torque (Ti) as a sum of a first product of the roll angle (0) and a first gain value (Gi) and a second product of the roll rate () and a second gain value (Gi), wherein the first gain value (Gi) and the second gain value (G2) increase non-linearly with a decrease in the vehicle speed (v) and decrease non-linearly with an increase in the vehicle speed (v).
19. The method as claimed in claim 18, wherein determining the synthesized torque comprises introducing respective delay times (dti, dt2) into the roll angle (0) and the roll rate (0).

20. The method as claimed in claim 19, wherein determining the synthesized torque comprises determining a second synthesized torque (T2) based on the first synthesized torque (Ti) and a lead time (T), wherein the lead time is to allow application of the stabilizing torque (Ts) prior to a steering torque (Tr).