Method for controlling braking torque in a two-wheeled vehicle when traveling in an inclined position
First Claim
Patent Images
1. A method for controlling braking torque in a braking system of a two-wheeled vehicle, the vehicle having a front wheel and a rear wheel, the method comprising:
- ascertaining a desired braking torque via at least one brake actuating device;
dividing, using a control unit, the desired braking torque into a front wheel braking torque at the front wheel and a rear wheel braking torque at the rear wheel, wherein a sum of the front wheel braking torque and the rear wheel braking torque is equal to the desired braking torque;
calculating a front wheel yawing torque based on the front wheel braking torque, a rear wheel yawing torque based on the rear wheel braking torque, and a total steering torque as the weighted difference between the front wheel yawing torque and the rear wheel yawing torque;
comparing the total steering torque to a limiting value of the steering torque;
actuating the front wheel braking torque at the front wheel and the rear wheel braking torque at the rear wheel, if the total steering torque is less than the limiting torque value; and
dividing, using a control unit, the desired braking torque into a second front wheel braking torque at the front wheel and a second rear wheel braking torque at the rear wheel, and actuating the second front wheel braking torque at the front wheel and the second rear wheel braking torque at the rear wheel, if the total steering torque is greater than the limiting torque value;
wherein a second total steering torque as the weighted difference between a second front wheel yawing torque and a second rear wheel yawing torque is less than a limiting value of the steering torque.
1 Assignment
0 Petitions
Accused Products
Abstract
In a method for controlling braking torque in a two-wheeled vehicle traveling in an inclined position, the driver specifies a desired braking torque, which is divided into wheel braking torques at the front wheel and at the rear wheel in such a manner, that a steering torque resulting from the wheel braking torques is less than a limiting value.
26 Citations
14 Claims
-
1. A method for controlling braking torque in a braking system of a two-wheeled vehicle, the vehicle having a front wheel and a rear wheel, the method comprising:
-
ascertaining a desired braking torque via at least one brake actuating device; dividing, using a control unit, the desired braking torque into a front wheel braking torque at the front wheel and a rear wheel braking torque at the rear wheel, wherein a sum of the front wheel braking torque and the rear wheel braking torque is equal to the desired braking torque; calculating a front wheel yawing torque based on the front wheel braking torque, a rear wheel yawing torque based on the rear wheel braking torque, and a total steering torque as the weighted difference between the front wheel yawing torque and the rear wheel yawing torque; comparing the total steering torque to a limiting value of the steering torque; actuating the front wheel braking torque at the front wheel and the rear wheel braking torque at the rear wheel, if the total steering torque is less than the limiting torque value; and dividing, using a control unit, the desired braking torque into a second front wheel braking torque at the front wheel and a second rear wheel braking torque at the rear wheel, and actuating the second front wheel braking torque at the front wheel and the second rear wheel braking torque at the rear wheel, if the total steering torque is greater than the limiting torque value; wherein a second total steering torque as the weighted difference between a second front wheel yawing torque and a second rear wheel yawing torque is less than a limiting value of the steering torque. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 13, 14)
-
-
11. A control unit for controlling braking torque in a braking system of a two-wheeled vehicle, the vehicle having a front wheel and a rear wheel, comprising:
-
a control device configured to perform; ascertaining a desired braking torque via at least one brake actuating device; dividing the desired braking torque into a front wheel braking torque at the front wheel and a rear wheel braking torque at the rear wheel, wherein a sum of the front wheel braking torque and the rear wheel braking torque is equal to the desired braking torque; calculating a front wheel yawing torque based on the front wheel braking torque, a rear wheel yawing torque based on the rear wheel braking torque, and a total steering torque as the weighted difference between the front wheel yawing torque and the rear wheel yawing torque; comparing the total steering torque to a limiting value of the steering torque; actuating the front wheel braking torque at the front wheel and the rear wheel braking torque at the rear wheel, if the total steering torque is less than the limiting torque value; and dividing the desired braking torque into a second front wheel braking torque at the front wheel and a second rear wheel braking torque at the rear wheel, and actuating the second front wheel braking torque at the front wheel and the second rear wheel braking torque at the rear wheel, if the total steering torque is greater than the limiting torque value; wherein a second total steering torque as the weighted difference between a second front wheel yawing torque and a second rear wheel yawing torque is less than a limiting value of the steering torque.
-
-
12. A brake system for controlling braking torque in a two-wheeled vehicle, the vehicle having a front wheel and a rear wheel, comprising:
-
a front brake; a rear brake; and a control device configured to perform the following; ascertaining a desired braking torque via at least one brake actuating device; dividing the desired braking torque into a front wheel braking torque at a front wheel and a rear wheel braking torque at a rear wheel, wherein a sum of the front wheel braking torque and the rear wheel braking torque is equal to the desired braking torque; calculating a front wheel yawing torque based on the front wheel braking torque, a rear wheel yawing torque based on the rear wheel braking torque, and a total steering torque as the weighted difference between the front wheel yawing torque and the rear wheel yawing torque; comparing the total steering torque to a limiting value of the steering torque; actuating the front wheel braking torque at the front wheel and the rear wheel braking torque at the rear wheel, if the total steering torque is less than the limiting torque value; and dividing the desired braking torque into a second front wheel braking torque at the front wheel and a second rear wheel braking torque at the rear wheel, and actuating the second front wheel braking torque at the front wheel and the second rear wheel braking torque at the rear wheel, if the total steering torque is greater than the limiting torque value; wherein a second total steering torque as the weighted difference between a second front wheel yawing torque and a second rear wheel yawing torque is less than a limiting value of the steering torque.
-
Specification