To improve the roll stability in transient conditions, the prototype CLEVER vehicle was fitted with an active steering system in 2012; this allowed the use of a combined Steering Direct Tilt Control (SDTC) strategy. The active steering system output is a function of the vehicle's tilt angle error (the difference between the actual and ideal tilt angle), therefore at steady state when there is little or no tilt angle error the front wheel steer angle matches the driver's steer demand. However, in transient situations, such as upon turn-in, a tilt angle error exists and the active steering system acts to reduce or eliminate the driver's steering input. In extreme conditions it will also initiate a countersteering action whereby the front wheel momentarily steers in the opposite direction to that intended by the driver. As the cabin approaches the desired tilt angle, the magnitude of the tilt angle error is reduced and the front wheel steer angle takes on the value demanded by the driver.