Method and Device for Determining The Roll Angle of a Motorcycle
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Abstract
A device and method for determining a roll angle of a motorcycle are disclosed. The method includes the step of acquiring a rolling rate ({dot over (λ)}M) of the motorcycle. A first roll angle variable (λ1) is determined from the rolling rate ({dot over (λ)}M). At least one vehicle movement dynamics characteristic variable is determined from a velocity (v), a rotational speed ({dot over (ψ)}M), and/or an acceleration ({umlaut over (z)}M, ÿM) of the motorcycle. A second roll angle variable (λ2) is determined from one or more vehicle movement dynamics characteristic variables. The roll angle (λE) is calculated on the basis of the roll angle variables (λ1, λ2).
28 Citations
44 Claims
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1-22. -22. (canceled)
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23. A method for determining a roll angle of a motorcycle comprising the steps of:
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acquiring a rolling rate ({dot over (λ
)}M) of the motorcycle;determining a first roll angle variable (λ
1) from the rolling rate ({dot over (λ
)}M);acquiring at least one vehicle movement dynamics characteristic variable from a velocity (v), a rotational speed ({dot over (ψ
)}M), an acceleration ({umlaut over (z)}M, ÿ
M) of the motorcycle or a combination thereof;determining a second roll angle variable (λ
2) from one or more vehicle movement dynamics characteristic variables; andcalculating the roll angle (λ
E) on the basis of the roll angle variables (λ
1, λ
2). - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 44)
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37. A device for determining the roll angle of a motorcycle, said device comprising:
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at least one evaluation unit; a means for acquiring a rolling rate ({dot over (λ
)}M) of the motorcycle; andat least one means for acquiring at least one vehicle movement dynamics characteristic variable; wherein the at least one vehicle movement dynamics characteristic variable is a vehicle velocity (v), a yaw rate ({dot over (ψ
)}M) of the motorcycle, an acceleration ({umlaut over (z)}M, ÿ
M) of the motorcycle or a combination thereof;wherein the at least one evaluation unit comprises an adding circuit for adding two roll angle variables (λ
1, λ
2) to calculate a roll angle (λ
E), wherein a first roll angle variable (λ
1) is determined from the rolling rate ({dot over (λ
)}M) of the motorcycle, and a second roll angle variable (λ
2) is determined using the at least one vehicle movement dynamics characteristic variable. - View Dependent Claims (38, 39, 40, 41, 42, 43)
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Specification