LEANING VEHICLE AND ERROR DETECTION METHOD AND CALIBRATION METHOD FOR TILT SENSOR

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 lean actuator (33) so that a bank angle (detected bank angle) of a vehicle body frame (10) detected by an IMU (45) becomes zero, and a determination section (70) that determines the presence/absence of an origin shift of the IMU (45) based on whether or not the detected bank angle is constant and an absolute value of the output torque of the lean actuator (33) is equal to or greater than a predetermined threshold value while the self-stand control is executed.