METHOD AND DEVICE FOR DETERMINING THE ANGLE OF INCLINATION OF A TWO-WHEELED VEHICLE

• US 20110288693A1
• Filed: 09/25/2009
• Published: 11/24/2011
• Est. Priority Date: 11/17/2008
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Lemejda, Markus, Niewels, Frank
• Granted Patent: US 8,583,324 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 8/1706 for single-track vehicles, e.g. motorcycles
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence

Abstract

In a method for determining the angle of inclination of a two-wheeled vehicle of the type of a bicycle, a scooter or a motorcycle with respect to the roadway normal, the angle of inclination is able to be determined simply and accurately if the transverse acceleration of the vehicle is measured using a transverse acceleration sensor and the acceleration in the direction of the vertical axis of the vehicle is ascertained and the angle of inclination with respect to the roadway normal is calculated based on the two acceleration values.

Claims

1-12. -12. (canceled)

13. A method for determining an angle of inclination of a two-wheeled vehicle, comprising:

ascertaining a transverse acceleration and an acceleration in the direction of the vertical axis of the vehicle; and

calculating the angle of inclination based on at least the transverse acceleration value and the value of the acceleration in the direction of the vertical axis of the vehicle.

14. The method as recited in claim 13, wherein the acceleration in the direction of vertical axis is one of (i) directly measured using an acceleration sensor for the direction of the vertical axis of the vehicle or (ii) calculated from a signal of at least one acceleration sensor.

15. The method as recited in claim 13, wherein the angle of inclination is calculated based on the transverse acceleration value, the value of the acceleration in the direction of the vertical axis of the vehicle, and a geometrical variable describing the course of a tire profile in the transverse direction.

16. The method as recited in claim 13, wherein a geometrical variable is calculated from the transverse acceleration value and the value of the acceleration in the direction of the vertical axis of the vehicle, and wherein the distance of the center of tire contact from a tire center plane is derived from the geometrical variable.

17. The method as recited in claim 13, wherein the acceleration in the direction of the vertical axis is calculated from signals of a yaw rate sensor and a speed sensor.

18. The method as recited in claim 16, wherein the angle of inclination (β

) is calculated from the relationship;

19. The method as recited in claim 16, wherein the distance I of the center of tire contact from the tire center plane is calculated from the relationship:

20. The method as recited in claim 18, wherein the angle of inclination of a vehicle with respect to the roadway normal is determined.

21. A device for determining an angle of inclination of a vehicle, comprising:

a device for determining a transverse acceleration of the vehicle;

a device for determining an acceleration of the vehicle in the direction of the vertical axis of the vehicle; and

a processing device configured to calculate the angle of inclination based on at least the transverse acceleration and the acceleration of the vehicle in the direction of the vertical axis of the vehicle.

22. The device as recited in claim 21, wherein the device for determining the acceleration in the direction of the vertical axis is an acceleration sensor.

23. The device as recited in claim 22, wherein the device for determining the acceleration in the direction of the vertical axis includes at least one of a yaw rate sensor and a further sensor, and wherein the acceleration in the direction of the vertical axis is calculated based on at least one signal from the at least one of the yaw rate sensor and the further sensor.

24. The device as recited in claim 22, wherein the processing device configured to calculate the angle of inclination based on at least the transverse acceleration, the acceleration of the vehicle in the direction of the vertical axis of the vehicle, and at least one additional sensor signal.