METHOD FOR CONTROLLING BRAKING TORQUE IN A TWO-WHEELED VEHICLE WHEN TRAVELING IN AN INCLINED POSITION

• US 20130238206A1
• Filed: 07/18/2011
• Published: 09/12/2013
• Est. Priority Date: 09/14/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Lemejda, Markus
• Granted Patent: US 9,302,660 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• 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 8/17554 specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04
• CPC Class Codes: B60T 8/1766 Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
• CPC Class Codes: B60T 8/261 specially adapted for use in motorcycles

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.

Claims

1-13. -13. (canceled)

14. A method for controlling braking torque in a two-wheeled vehicle when traveling in an inclined position, where the driver specifies a desired braking torque, the method comprising:

dividing the desired braking torque into a wheel braking torque at a front wheel of the vehicle and a wheel braking torque at a rear wheel of the vehicle, in such a manner, that a steering torque in the two-wheeled vehicle resulting from the wheel braking torque at the front wheel and the wheel braking torque at the rear wheel is less than a limiting value of the steering torque.

15. The method as recited in claim 14, wherein the wheel braking torques are distributed between the front wheel and the rear wheel in such a manner, that the steering torque is greater than or equal to a minimum steering torque.

16. The method as recited in claim 14, wherein for the case in which a demanded wheel braking torque at a vehicle wheel is not transmittable to a road at a full magnitude of the wheel braking torque, the gradient of build-up of the wheel braking torque at the other vehicle wheel is limited.

17. The method as recited in claim 14, wherein the desired braking torque of the driver is converted into an effective wheel braking torque in a time-delayed manner.

18. The method as recited in claim 17, wherein a delay going beyond the desired braking torque of the driver is carried out by generating an additional wheel braking torque, the delay being executed in such a manner that the steering torque resulting from the wheel braking torques is less than the limiting value of the steering torque.

19. The method as recited in claim 18, wherein the additional wheel braking torque is set as a function of current driving state variables as a function of at least one of vehicle speed, an angle of inclination, and the wheel braking torque at the other vehicle wheel.

20. The method as recited in claim 19, wherein wheel yawing torques at the front wheel and at the rear wheel are ascertained from a lateral distance of the center of tire contact from the vertical wheel axis and the wheel braking force.

21. The method as recited in claim 20, wherein the lateral distance is determined as a function of the angle of inclination.

22. The method as recited in claim 20, wherein the wheel braking force is ascertained from brake pressure of a hydraulic wheel brake device.

23. The method as recited in claim 20, wherein the steering torque is ascertained from the wheel yawing torques in view of geometric factors.

24. The method as recited in claim 23, wherein the angle of inclination is measured.

25. A closed-loop or open-loop control unit, the control unit configured to control braking torque in a two-wheeled vehicle when traveling in an inclined position, in which the device specifies a desired braking torque, wherein the control unit is configured to divide the desired braking torque into a wheel braking torque at a front wheel and a wheel braking torque at a rear wheel in such a manner that a steering torque in the two-wheeled vehicles resulting from the wheel braking torque at the front wheel and the wheel braking torque at the rear wheel is less than a limiting value of the steering torque.

26. A brake system in a two-wheeled vehicle, including a control unit configured to control braking torque in the two-wheeled vehicle when traveling in an inclined position, in which the device specifies a desired braking torque, wherein the control unit is configured to divide the desired braking torque into a wheel braking torque at a front wheel and a wheel braking torque at a rear wheel in such a manner that a steering torque in the two-wheeled vehicles resulting from the wheel braking torque at the front wheel and the wheel braking torque at the rear wheel is less than a limiting value of the steering torque.