CN108290607B - 用于与驾驶员无关地影响单辙的机动车的转向元件的方法和装置 - Google Patents

用于与驾驶员无关地影响单辙的机动车的转向元件的方法和装置 Download PDF

Info

Publication number
CN108290607B
CN108290607B CN201680062640.2A CN201680062640A CN108290607B CN 108290607 B CN108290607 B CN 108290607B CN 201680062640 A CN201680062640 A CN 201680062640A CN 108290607 B CN108290607 B CN 108290607B
Authority
CN
China
Prior art keywords
driver
emergency braking
steering
steering element
motorcycle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201680062640.2A
Other languages
English (en)
Other versions
CN108290607A (zh
Inventor
A·库滕贝格尔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN108290607A publication Critical patent/CN108290607A/zh
Application granted granted Critical
Publication of CN108290607B publication Critical patent/CN108290607B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J27/00—Safety equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K21/00—Steering devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/03—Brake assistants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2260/00—Interaction of vehicle brake system with other systems
    • B60T2260/02—Active Steering, Steer-by-Wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/13—Bicycles; Tricycles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)

Abstract

本发明涉及一种用于在与驾驶员无关地实施的紧急制动过程中与驾驶员无关地影响单辙的机动车的转向元件的方法，其中‑获知与驾驶员无关地实施的紧急制动过程的存在情况并‑根据上述情况进行对转向元件的与驾驶员无关的影响。

Description

用于与驾驶员无关地影响单辙的机动车的转向元件的方法和 装置
背景技术
DE 10 2013 200 044 A1公开了一种用于在两轮车中实施紧急制动过程的方法，其中在确定危险情况和此外至少一个车辆状态参量、驾驶员特征参量和/或环境特征参量处于确定的数值范围内的情况下，自动在两轮车上实施制动过程。
发明内容
本发明涉及一种用于在紧急制动过程中与驾驶员无关地影响单辙的机动车的转向元件的方法，其中
-获知单辙的机动车的与驾驶员无关地实施的紧急制动过程的存在或直接面临情况，并
-根据上述情况对转向元件进行与驾驶员无关的影响。
本发明的有利的设计方案的特征在于，转向元件是转向减振器，其在紧急制动过程中这样受到影响，使其具有转向器振动的更强衰减，也就是说，在紧急制动过程期间增强转向器振动的衰减。但在紧急制动过程中也可以进行转向器振动的主动的衰减。
本发明的有利的设计方案的特征在于，转向元件是用于与驾驶员无关地调整转向角的转向致动器，在紧急制动过程中与驾驶员无关对其这样进行操控，使单辙的机动车直线继续行驶。
本发明的有利的设计方案的特征在于，单辙的机动车是摩托车或也是小型摩托车。
本发明的有利的设计方案的特征在于，与驾驶员无关的紧急制动过程根据在行驶方向上预测的环境传感装置的信号进行触发。这种类型的环境传感装置特别是在双辙的机动车的领域中公知。
本发明此外包括一种装置，该装置包含器件，所述器件被构型用于实施根据本发明的方法。在此，它特别是一种控制器，用于实施根据本发明方法的程序代码保存在控制器中。
附图说明
附图包括图1。
图1中示出根据本发明方法的一种实施方式的基本流程。
具体实施方式
在本发明中，示出主动的转向减振器的使用或用于提高摩托车安全性的主动的转向机构的使用。
如果通过预测的传感装置导入紧急制动，那么这一点对于驾驶员来说经常会感到意外(überraschend)。因此他对紧急制动情况没有准备。这一点会造成摩托车由于强制动而左右晃动。
在这里主动的转向减振器能够被证明为是有利的。这种可以主动操控的转向减振器可以由环境传感装置已经在触发紧急制动之前就这样重新配置，使得由此摩托车在这种特殊的紧急制动情况下的左右晃动得到防止或至少明显减小。例如，减振器特性曲线可以这样改变，使减振器变得更强。也可以调整转向减振器的步进特性曲线，由此使大的转向器振幅
Figure BPA0000257456060000021
变得困难或得到防止。由此摩托车保留在行车道内并可以防止倾倒(Sturz)。也可以通过摩托车增强的直线运动重新传递更多的制动功率，从而摩托车及早停车。
为使摩托车在紧急制动期间稳定，也适用例如可以通过电调节器来操控的主动的转向机构。但也可以设想例如液压的操控。不同于汽车的是，摩托车从运动中产生其稳定性。通过车轮的转动构建回转力，所述回转力使摩托车保持平衡。这种回转力随着车轮转速的上升而增长。如果摩托车现在变得更慢，那么回转力下降并使摩托车不稳定。摩托车的保持平衡因此随着速度下降而更加困难。因为在紧急制动情况下，驾驶员经常产生苛求，他经常只能对维持摩托车的平衡做出部分贡献。借助转向机构上的主动的控制脉冲和/或调节脉冲，其在紧急制动情况下这样被操控，使摩托车直线保持直至停车。由此既防止摩托车倾倒，也使摩托车最佳地制动，因为该摩托车在直立的(aufrechten)状态下可以产生最大的制动功率或制动减速。
弯道上的制动是摩托车驾驶中最难的任务提出之一。在这里，由于卡玛圆只能将一部分制动力传递到车轮上，因为需要为车轮的弯道引导由车道向车轮施加一部分力。
作为附加，弯道上制动时还额外出现竖起力矩，这导致摩托车如果没有反向转向的话要直线驶出。在正常条件下，受过训练的摩托车驾驶员掌控这种情况，因为他可以对其进行调整。但在紧急制动情况下，不排除对紧急制动没有准备的驾驶员没有反应或仅过迟反应或甚至倾向于错误反应。在这种情况下，现在主动的转向机构介入并利用受控制的转向运动使摩托车稳定。因此摩托车在弯道上得到可靠引导并在速度降低时受控制地进入垂直，以防止停车时倾倒。
根据本发明的方法的一种实施方式的流程在图1中示出。在框100内该方法开始后，在框101内对摩托车在行驶方向上预测的环境传感装置的输出信号进行分析。在框102内，随后决定是否借助这些信号直接表明摩托车面临事故情况。如果不是这种情况，那么返回框101。但如果直接面临事故或碰撞，那么在框103内导入紧急制动过程并在框104内同时进行摩托车的转向元件的与驾驶员无关的影响，以便使摩托车在紧急制动期间保持在控制下。在框105内该方法结束。

Claims (5)

1.用于在与驾驶员无关地实施的紧急制动过程中与驾驶员无关地影响单辙的机动车的转向元件的方法，其中
获知与驾驶员无关地实施的紧急制动过程的存在情况，并
根据上述情况进行对转向元件的与驾驶员无关的影响，
所述转向元件是用于与驾驶员无关地调整转向角的转向致动器，在紧急制动过程中与驾驶员无关对所述转向致动器这样进行操控，使单辙的机动车直线继续行驶。
2.按权利要求1所述的方法，其特征在于，所述转向元件是转向减振器，所述转向减振器在紧急制动过程中这样受到影响，使其具有转向器振动的更强衰减。
3.按权利要求1所述的方法，其特征在于，单辙的机动车是摩托车。
4.按权利要求1所述的方法，其特征在于，与驾驶员无关的紧急制动过程根据预测的环境传感装置的信号进行触发。
5.含有用于实施依据权利要求1至4中任一项所述的方法构成的器件的装置。
CN201680062640.2A 2015-10-27 2016-09-21 用于与驾驶员无关地影响单辙的机动车的转向元件的方法和装置 Active CN108290607B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015220901.6 2015-10-27
DE102015220901.6A DE102015220901A1 (de) 2015-10-27 2015-10-27 Verfahren und Vorrichtung zur fahrerunabhängigen Beeinflussung eines Lenkungselementes eines einspurigen Kraftfahrzeugs
PCT/EP2016/072355 WO2017071882A1 (de) 2015-10-27 2016-09-21 Verfahren und vorrichtung zur fahrerunabhängigen beeinflussung eines lenkungselementes eines einspurigen kraftfahrzeugs

Publications (2)

Publication Number Publication Date
CN108290607A CN108290607A (zh) 2018-07-17
CN108290607B true CN108290607B (zh) 2020-11-03

Family

ID=56990431

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680062640.2A Active CN108290607B (zh) 2015-10-27 2016-09-21 用于与驾驶员无关地影响单辙的机动车的转向元件的方法和装置

Country Status (6)

Country Link
US (1) US10752241B2 (zh)
EP (1) EP3368394B1 (zh)
JP (1) JP6838058B2 (zh)
CN (1) CN108290607B (zh)
DE (1) DE102015220901A1 (zh)
WO (1) WO2017071882A1 (zh)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015220901A1 (de) * 2015-10-27 2017-04-27 Robert Bosch Gmbh Verfahren und Vorrichtung zur fahrerunabhängigen Beeinflussung eines Lenkungselementes eines einspurigen Kraftfahrzeugs
JP2018176861A (ja) * 2017-04-06 2018-11-15 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング 制御装置、制御方法及びブレーキシステム
JP2018177046A (ja) * 2017-04-17 2018-11-15 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング 制御装置、制御方法及びブレーキシステム
DE102017221642A1 (de) * 2017-12-01 2019-06-06 Continental Automotive Gmbh Vorrichtung zum Betreiben eines Kraftrads, System und Verfahren zum Betreiben eines Kraftrads
DE102018213298A1 (de) * 2018-08-08 2020-02-13 Robert Bosch Gmbh Motorrad sowie Verfahren und Steuergerät zum Steuern eines aktiven Lenkbeeinflussungssystems eines Motorrads
US11027786B2 (en) 2018-11-20 2021-06-08 Harley-Davidson Motor Company Group, LLC Gyroscopic rider assist device
CN113631471B (zh) * 2019-03-29 2022-09-23 本田技研工业株式会社 跨骑型车辆的驾驶支援装置
JP7106752B2 (ja) * 2019-03-29 2022-07-26 本田技研工業株式会社 鞍乗り型車両の運転支援装置
JP2020175690A (ja) * 2019-04-15 2020-10-29 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 制御システム及び制御方法
DE102019209864A1 (de) * 2019-07-04 2021-01-07 Robert Bosch Gmbh Verfahren und Vorrichtung zur Durchführung einer autonomen Bremsung bei einem einspurigen Kraftfahrzeug
WO2021065780A1 (ja) * 2019-09-30 2021-04-08 本田技研工業株式会社 鞍乗り型車両の操舵アシスト装置
DE112020004670T5 (de) * 2019-09-30 2022-06-15 Honda Motor Co., Ltd. Lenkassistenzvorrichtung für ein Fahrzeug vom Aufsitztyp
DE102019215101A1 (de) 2019-10-01 2021-04-01 Robert Bosch Gmbh Verfahren und Vorrichtung zur Durchführung einer Abstands- oder Geschwindigkeitsregelungsfunktion für ein einspuriges Kraftfahrzeug
JP6967092B2 (ja) 2020-01-16 2021-11-17 本田技研工業株式会社 自動二輪車
DE102020209952A1 (de) 2020-08-06 2022-02-24 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zur Verbesserung der Fahrzeugstabilität eines einspurigen Kraftfahrzeugs
JP7436551B2 (ja) 2022-03-30 2024-02-21 本田技研工業株式会社 自動二輪車の転舵制御装置
FR3142426A1 (fr) * 2022-11-25 2024-05-31 Renault S.A.S Procédé de freinage d’urgence d’un véhicule automobile.

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2494496A (en) * 2011-09-09 2013-03-13 Bosch Gmbh Robert Steering assistance for two wheeled vehicle
DE102012221615A1 (de) * 2012-11-27 2014-05-28 Robert Bosch Gmbh Verfahren zur Durchführung eines Bremsvorganges in einem Fahrzeug

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4232338B2 (ja) * 2001-01-29 2009-03-04 パナソニック電工株式会社 動力車
DE502005010335D1 (de) 2004-03-23 2010-11-18 Continental Teves Ag & Co Ohg Einspurfahrzeug mit einer bremsenregelungseinheit
JP2006069303A (ja) * 2004-08-31 2006-03-16 Yamaha Motor Co Ltd 自動二輪車用ブレーキ装置および自動二輪車
JP2009126432A (ja) * 2007-11-27 2009-06-11 Denso Corp ステアリングダンパ制御装置及びステアリングダンパ制御システム
DE102007061114A1 (de) 2007-12-19 2009-06-25 Robert Bosch Gmbh Motorrad mit einem Brems- und Lenkassistent
JP4960929B2 (ja) * 2008-07-02 2012-06-27 壽夫 浅海 自動二輪車のブレーキ制御装置及び挙動解析装置
WO2011037019A1 (ja) * 2009-09-28 2011-03-31 日本精工株式会社 電動パワーステアリング装置
AT508811A1 (de) * 2009-10-02 2011-04-15 Martin Dipl Ing Trebichavsky Vorderradaufhängung für ein einspuriges fahrzeug, insbesondere motorrad, fahrrad oder dgl.
US9014921B2 (en) 2010-08-10 2015-04-21 Continental Teves Ag & Co. Ohg Method and system for regulating driving stability
US8930128B2 (en) * 2012-02-27 2015-01-06 Lit Motors Corporation Vehicle collision mitigation system
DE102012205520A1 (de) * 2012-04-04 2013-10-10 Robert Bosch Gmbh Verfahren zur Lenkmomentreduzierung bei Kurvenfahrten eines Zweirads
DE102012217137B4 (de) * 2012-09-24 2022-09-08 Bayerische Motoren Werke Aktiengesellschaft Assistenzsystem für ein Kraftfahrzeug
DE102012220355B4 (de) * 2012-11-08 2021-08-12 Robert Bosch Gmbh Verfahren zur Unfallfolgenminderung in einem Zweirad
JP6120567B2 (ja) * 2012-12-27 2017-04-26 川崎重工業株式会社 車輌の操舵装置
DE102013200044A1 (de) 2013-01-03 2014-07-03 Robert Bosch Gmbh Verfahren zum Durchführen eines Notbremsvorgangs in einem Zweirad
JP6572586B2 (ja) * 2015-03-27 2019-09-11 スズキ株式会社 電動二輪車の走行制御装置およびその走行制御方法
DE102015220901A1 (de) * 2015-10-27 2017-04-27 Robert Bosch Gmbh Verfahren und Vorrichtung zur fahrerunabhängigen Beeinflussung eines Lenkungselementes eines einspurigen Kraftfahrzeugs

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2494496A (en) * 2011-09-09 2013-03-13 Bosch Gmbh Robert Steering assistance for two wheeled vehicle
DE102012221615A1 (de) * 2012-11-27 2014-05-28 Robert Bosch Gmbh Verfahren zur Durchführung eines Bremsvorganges in einem Fahrzeug

Also Published As

Publication number Publication date
JP2019501053A (ja) 2019-01-17
US20190077396A1 (en) 2019-03-14
DE102015220901A1 (de) 2017-04-27
EP3368394A1 (de) 2018-09-05
JP6838058B2 (ja) 2021-03-03
EP3368394B1 (de) 2021-08-18
CN108290607A (zh) 2018-07-17
US10752241B2 (en) 2020-08-25
WO2017071882A1 (de) 2017-05-04

Similar Documents

Publication Publication Date Title
CN108290607B (zh) 用于与驾驶员无关地影响单辙的机动车的转向元件的方法和装置
EP3335953B1 (en) Leaning vehicle
KR101782368B1 (ko) 차량 및 그 제어 방법
US11220263B2 (en) Method for the open-loop or closed-loop control of a driver assistance system of a vehicle, and driver assistance system
CN103029703B (zh) 车辆的车道变换辅助系统及其方法
KR101583853B1 (ko) 충돌 시 차량 브레이크 시스템을 조정하는 방법
US9045118B2 (en) Travel control device
JP4873047B2 (ja) 走行制御装置
JP2009096349A (ja) 車両用運転支援装置
KR101997429B1 (ko) 차량의 차선 유지 제어 방법 및 이를 구현하는 차선 유지 제어 장치
JP5248451B2 (ja) 車両用接触回避支援装置
US20180001891A1 (en) Device and method for stabilizing a motor vehicle
CN105365817A (zh) 影响车辆的运动动力学的方法和装置
KR102122671B1 (ko) 전자식 브레이크 제어 유닛 및 자동차의 폐쇄 루프 제어를 수행하기 위한 방법
US20110238267A1 (en) Method for adjusting a brake system of a vehicle
KR20120052479A (ko) 차량의 충돌 경고 장치 및 그 제어 방법
CN112026918A (zh) 一种车辆控制方法及装置、计算机可读存储介质
WO2020224884A3 (de) Verfahren und vorrichtung zur verringerung der gefährdung des fahrers eines einspurigen kraftfahrzeugs im falle einer kollision
US11269339B2 (en) Method and control unit for controlling a vehicle during a collision
WO2017041945A1 (de) Verfahren und vorrichtung zur durchführung eines notbremsvorgangs bei einem einspurigen kraftfahrzeug
KR101245100B1 (ko) 스마트 크루즈 컨트롤 시스템 및 그 제어방법
JP2019159861A (ja) 車両操作支援装置
RU54344U1 (ru) Антиблокировочное устройство транспортного средства с превентивным регулированием его курсовой устойчивости на криволинейной траектории
JP2023008917A (ja) 車両の接近の制御方法、間隔調節器、コンピュータプログラム、およびメモリユニット
WO2024003667A1 (ja) モータサイクルの制御装置および制御方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant