A vehicle comprises at least one steering wheel, at least two other wheels, control means suitable for being operated by a driver to steer the steering wheel, a frame supported by said wheels and tiltable with respect to the ground when the vehicle steers and first actuating means to control the tilting position of said frame. In particular, vehicle comprises a decoupling device to decouple the angular position of control means to the angular position of steering wheel and a control unit configured to activate first actuating means when control means are operated by the driver before said steering wheel substantially changes its angular position at least when said vehicle turns running above a given speed threshold.