Method for stabilizing a two-wheeled vehicle during cornering

• US 9,573,590 B2
• Filed: 04/24/2013
• Issued: 02/21/2017
• Est. Priority Date: 07/10/2012
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Moerbe, Matthias
• Primary Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US14/413,183
• Publication Number:
  US 20150203110A1
• Time in Patent Office: 1,399 Days
• US Class Current: 1/1
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 8/17 Using electrical or electronic regulation means to control braking detecting or indicating faulty operation B60T8/885
• CPC Class Codes: B60T 8/1706 for single-track vehicles, e.g. motorcycles
• CPC Class Codes: B60T 8/171 Detecting parameters used in the regulation; Measuring values used in the regulation
• 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
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60T 8/246 Change of direction
• CPC Class Codes: B60T 8/26 characterised by producing differential braking between front and rear wheels using electrical circuitry or regulation means B60T8/17
• CPC Class Codes: B60T 8/3225 Systems specially adapted for single-track vehicles, e.g. motorcycles B60T8/3235 takes precedence
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2030/043 about the roll axis
• CPC Class Codes: B60W 2300/36 Cycles; Motorcycles; Scooters
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B62J 45/40 Sensor arrangements sensors for control of electrically assisted cycles B62M6/50; Mounting thereof
• CPC Class Codes: B62K 21/00 : Steering devices steering devices specially adapted for one particular kind of cycle specified in groups B62K1/00 - B62K17/00, see the relevant group

Abstract

In a method for stabilizing a two-wheeled vehicle during cornering, a drifting of the rear wheel or an understeering of the front wheel is inferred on the basis of measured values including the actual steering angle, and the two-wheeled vehicle is stabilized by altering the torque at the front wheel and/or the rear wheel.

Claims

1. A method that stabilizes a two-wheeled vehicle during cornering, comprising:

measuring at least one driving state value including an actual steering angle;

inferring, based on the at least one driving state value, one of a drifting of a rear wheel or an understeering of a front wheel; and

stabilizing the two-wheeled vehicle by altering a torque at least one of at the front wheel and at the rear wheel.

2. The method as recited in claim 1, wherein the at least one driving state value further includes measured acceleration values, and wherein a critical driving state is inferred from the measured acceleration values and the actual steering angle.

3. The method as recited in claim 2, wherein a nominal steering angle is ascertained and, from a deviation between the actual steering angle and the nominal steering angle, the one of the drifting of the rear wheel or the understeering of the front wheel is inferred.

4. The method as recited in claim 3, wherein the nominal steering angle is ascertained from an angle of inclination and a vehicle velocity.

5. The method as recited in claim 4, wherein the angle of inclination is calculated from measured acceleration values.

6. The method as recited in claim 4, wherein a maximum allowable drift angle is specified.

7. The method as recited in claim 4, wherein a driving style is selected and specified among multiple driving styles.

8. The method as recited in claim 3, wherein a braking torque at the at least one of the front wheel and the rear wheel is altered.

9. The method as recited in claim 3, wherein an engine torque acting on the rear wheel is altered.

10. A regulating unit that stabilizes a two-wheeled vehicle during cornering, comprising:

a control unit including a processor configured to perform the following;

measuring at least one driving state value including an actual steering angle;

inferring, based on the at least one driving state value, one of a drifting of a rear wheel or an understeering of a front wheel; and

stabilizing the two-wheeled vehicle by altering a torque at least one of at the front wheel and at the rear wheel.

11. A non-transitory, computer-readable data storage medium storing a computer program having program codes which, when executed on a computer, performs a method that stabilizes a two-wheeled vehicle during cornering, the method comprising:

measuring at least one driving state value including an actual steering angle;

inferring, based on the at least one driving state value, one of a drifting of a rear wheel or an understeering of a front wheel; and

stabilizing the two-wheeled vehicle by altering a torque at least one of at the front wheel and at the rear wheel.