methods of keeping bikes upright ?

I have been experimenting with different ways of keeping my bike upright and am just wondering if anybody has found a decent method yet ?
I’m not using animations and cheat physics as it seems possible to calculate everything pretty much on the fly. Just need to find a good way to cheat the lean of the bike along with the realistic jumping skidding and sheelies etc …

Have you considered setting the angle of lean as a function of how hard the player/npc is turning their bike? That would seem to model how most people ride their bikes. Also consider the forward velocity of it, as turning at a slow speed has less lean than turning at a high speed.