Method and device for determining a transverse gradient of a road surface on which a two-wheeler travels

• US 9,671,225 B2
• Filed: 06/21/2013
• Issued: 06/06/2017
• Est. Priority Date: 08/02/2012
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Moerbe, Matthias
• Primary Examiner(s): ALLEN, ANDRE J
• Application Number:
  US14/418,867
• Publication Number:
  US 20150285632A1
• Time in Patent Office: 1,446 Days
• Field of Search: None
• CPC Class Codes: B60W 2300/36 Cycles; Motorcycles; Scooters
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60Y 2200/12 Motorcycles, Trikes; Quads; Scooters
• CPC Class Codes: G01C 9/10 by using rolling bodies , e.g. spheres, cylinders, mercury droplets
• CPC Class Codes: G01M 17/0076 Two-wheeled vehicles
• CPC Class Codes: G01M 17/02 Tyres

Abstract

A method for determining a transverse gradient of a road surface, on which a two-wheeler travels, the two-wheeler having at least one wheel, whose rolling circumference changes as a function of an inclination of the two-wheeler relative to the road surface, an inclination of the two-wheeler relative to the road surface being determined from a variable, which depends on the rolling circumference of the at least one wheel, and the transverse gradient of the road surface being determined from the tilt of the two-wheeler and the inclination relative to the road surface. A corresponding device and a computer program product are also described.

Claims

1. A method for controlling a two-wheeler on the basis of a transverse gradient of a road surface on which the two-wheeler travels, the method comprising:

determining an inclination of the two-wheeler, the two-wheeler having only two wheels, each having a rolling circumference, the rolling circumference of at least one wheel of the two wheels changing as a function of an inclination of the two-wheeler relative to the road surface, relative to the road surface from a variable, which depends on the rolling circumference of the at least one wheel;

determining a tilt of the two-wheeler;

ascertaining the transverse gradient of the road surface from the tilt of the two-wheeler and the inclination of the two-wheeler relative to the road surface; and

controlling, based on the ascertained transverse gradient, one of a braking system, a headlight control system, and a vehicle dynamics system of the two-wheeler.

2. The method of claim 1, wherein the inclination of the two-wheeler relative to the road surface is determined based at least partially on a comparison of the variable, which depends on the rolling circumference of the at least one wheel, with at least one reference value.

3. The method of claim 2, wherein the reference value is defined at least one of by using a learning function and by using at least one variable which describes the at least one wheel.

4. The method of claim 1, wherein at least one of the at least one wheel speed value and one variable, depending on the at least one wheel speed value, is used as the variable depending on the rolling circumference of the at least one wheel.

5. The method of claim 1, wherein the inclination of the two-wheeler relative to the road surface is determined from a variable depending on the rolling circumferences of the two wheels.

6. The method of claim 5, wherein the inclination of the two-wheeler relative to the road surface is determined from a speed difference of the two wheels.

7. The method of claim 1, wherein the tilt of the two-wheeler is determined with the aid of at least one tilt determination device.

8. The method of claim 7, wherein the at least one tilt determination device includes at least one of at least one acceleration sensor and at least one yaw rate sensor.

9. The method of claim 1, wherein the tilt is relative to a horizontal relative to a gravitational field of the earth.

10. A device for controlling a two-wheeler on the basis of a transverse gradient of a road surface on which the two-wheeler travels, comprising:

an inclination determining arrangement to determine an inclination of the two-wheeler, the two-wheeler having only two wheels, each having a rolling circumference, the rolling circumference of at least one wheel of the two wheels changing as a function of an inclination of the two-wheeler relative to the road surface, relative to the road surface from a variable, which depends on the rolling circumference of the at least one wheel;

a tilt determining arrangement to determine a tilt of the two-wheeler;

a gradient ascertaining arrangement, in communication with the inclination determining arrangement and the tilt determining arrangement, to ascertain the transverse gradient of the road surface from the tilt of the two-wheeler and the inclination of the two-wheeler relative to the road surface; and

an arrangement for controlling, based on the ascertained transverse gradient, one of a braking system, a headlight control system, and a vehicle dynamics system of the two-wheeler.

11. The device of claim 10, wherein the tilt is relative to a horizontal relative to a gravitational field of the earth.

12. A computer readable medium having a computer program, which is executable by a processor, comprising:

a program code arrangement having program code for controlling a two-wheeler on the basis of a transverse gradient of a road surface on which the two-wheeler travels, the two-wheeler having two wheels, each having a rolling circumference, the rolling circumference of at least one wheel of the two wheels changing as a function of an inclination of the two-wheeler relative to the road surface, by performing the following;

determining an inclination of the two-wheeler relative to the road surface from a variable, which depends on the rolling circumference of the at least one wheel;

determining a tilt of the two-wheeler;

ascertaining the transverse gradient of the road surface from the tilt of the two-wheeler and the inclination of the two-wheeler relative to the road surface; and

controlling, based on the ascertained transverse gradient, one of a braking system, a headlight control system, and a vehicle dynamics system of the two-wheeler.

13. The computer readable medium of claim 12, wherein the tilt is relative to a horizontal relative to a gravitational field of the earth.