DE102005047142A1 - Front wheel guide`s e.g. steering drive, natural oscillations eliminating system, has actuators and control device, where brake is activated for braking vehicle such that reduction of natural oscillations of guide is adjusted - Google Patents
Front wheel guide`s e.g. steering drive, natural oscillations eliminating system, has actuators and control device, where brake is activated for braking vehicle such that reduction of natural oscillations of guide is adjusted Download PDFInfo
- Publication number
- DE102005047142A1 DE102005047142A1 DE102005047142A DE102005047142A DE102005047142A1 DE 102005047142 A1 DE102005047142 A1 DE 102005047142A1 DE 102005047142 A DE102005047142 A DE 102005047142A DE 102005047142 A DE102005047142 A DE 102005047142A DE 102005047142 A1 DE102005047142 A1 DE 102005047142A1
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- 230000010355 oscillation Effects 0.000 title claims abstract description 7
- 230000009467 reduction Effects 0.000 title claims abstract description 6
- 230000006835 compression Effects 0.000 claims description 21
- 238000007906 compression Methods 0.000 claims description 21
- 230000005284 excitation Effects 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000011156 evaluation Methods 0.000 claims description 4
- 230000004913 activation Effects 0.000 claims description 2
- 238000013016 damping Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 6
- 230000000977 initiatory effect Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000026058 directional locomotion Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
Classifications
-
- 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
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of 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
- 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
- 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
- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
- B60W30/02—Control of vehicle driving stability
-
- 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
- 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
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/06—Tractor-trailer swaying
-
- 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
- B60W10/196—Conjoint control of vehicle sub-units of different type or different function including control of braking systems acting within the driveline, e.g. retarders
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Die Erfindung betrifft ein System zur Beseitigung von Eigenschwingungen der Vorderradführung (Lenkerschlagen) bei einem einspurigen Kraftfahrzeug sowie ein Motorrad umfassend ein derartiges System. Die zu beseitigenden Eigenschwingungen sind Eigenschwingungen der Vorderradführung um die Lenkachse die durch äußere Anregung erzeugt bzw. angeregt werden (aufgrund fahrzeugexterner Anregung – z.B. durch Umgebungseinflüsse wie Spurrillen oder dergleichen, oder durch vom Fahrer auf das Fahrzeug ausgeübte Einflüsse – auftretende Eigenschwingungen). Bei Motorrädern kann es in jedem beliebigen Geschwindigkeitsbereich zu den aufgrund fahrzeugexterner Anregung auftretenden Eigenschwingungen der Vorderradführung, im Folgenden Lenkerflattern oder Eigenschwingung genannt, kommen. Hierbei kann es vorkommen, dass das Vorderrad aufgrund einer zu geringen Vorderradachslast zeitweise den Bodenkontakt verliert, was bei eingeschlagener Lenkung zu sehr hohen Seitenkräften und Einfederkräften führt.The The invention relates to a system for eliminating natural vibrations the front wheel guide (handlebar strike) in a single-track motor vehicle and a motorcycle comprising such a system. The natural vibrations to be eliminated are Natural vibrations of the front wheel guide around the steering axle by external excitation be generated (due to external vehicle excitation - for example by Environmental effects as ruts or the like, or by the driver on the vehicle practiced Influences - occurring natural vibrations). For motorcycles It can be in any speed range due to the External excitation occurring natural vibrations of the front wheel, in Following handlebar flutter or natural vibration called coming. in this connection It may happen that the front wheel due to a too low Front wheel axle temporarily loses contact with the ground, which is the case Steering to very high lateral forces and Einfederkräften leads.
Üblicherweise wird dem Lenkerschlagen durch eine entsprechende Abstimmung von Steifigkeiten des Fahrzeugchassis, durch bestimmte Fahrgeometrien (z.B. Nachlauf oder Lenkkopfwinkel), durch eine bestimmte Gewichtsverteilung des Fahrzeuggewichts und/oder durch bestimmte Reifenspezifikationen vorgebeugt oder entgegengewirkt.Usually is the Lenkerschlagen by an appropriate vote of Stiffness of the vehicle chassis, through certain driving geometries (e.g., caster or steering head angle) by a particular weight distribution vehicle weight and / or specific tire specifications prevented or counteracted.
Problematisch bei herkömmlichen Einspurfahrzeugen ist, dass bei nicht optimaler Abstimmung der einzelnen, vorstehend aufgeführten Faktoren das beschriebene Lenkerschlagen schon bei kleinsten äußeren Anregungen eintreten kann und das damit ein erhebliches Sicherheitsrisiko für Fahrer und Beifahrer des Fahrzeugs verbunden ist.Problematic at conventional Einspurfahrzeugen is that when not optimal tuning of the individual, listed above Factors the handlebar impact described even at the smallest external suggestions can occur, and thus a significant safety risk for drivers and passenger of the vehicle is connected.
Der Erfindung liegt die Aufgabe zugrunde, ein System zuschaffen, mittels welchem die Sicherheit von Einspurfahrzeugen im Hinblick auf das beschriebene Lenkerschlagen verbessert werden kann.Of the Invention is based on the object zuschaffen a system by means of which the safety of Einspurfahrzeugen with regard to handlebar impact described can be improved.
Erfindungsgemäß wird die Aufgabe durch die Gesamtheit der Merkmale des Anspruchs 1 gelöst. In abhängigen Ansprüchen sind bevorzugte Weiterbildungen der Erfindung angegeben. Anspruch 8 beschreibt ein Motorrad ausgestattet mit einem erfindungsgemäßen System.According to the invention Problem solved by the entirety of the features of claim 1. In dependent claims are preferred developments of the invention indicated. Claim 8 describes a motorcycle equipped with a system according to the invention.
Gemäß der Erfindung sind Mittel zur Erfassung der Eigenschwingungen (Erfassungsmittel) der Vorderradführung eines Einspurfahrzeugs vorhanden. Vorzugsweise umfassen diese Erfassungsmittel einen Beschleunigungsaufnehmer zur Erfassung der Lenkwinkelbeschleunigung der Vorderradführung bzw. der flatternd richtungswechselnden Bewegung um die Lenkachse und/oder eine Sensorik (z.B. Drehratensensor) zur Erfassung des Lenkwinkels oder der Lenkwinkelgeschwindigkeit. Insbesondere kann mittels dieser Parameter eine Applikation eines Grenzwertes für die Lenkwinkelbeschleunigung und/oder eines Grenzwertes für die Frequenz des Lenkwinkel-Richtungswechsels erfolgen.According to the invention are means for detecting the natural vibrations (detection means) the front wheel guide a Einspurfahrzeugs available. Preferably, these detection means comprise a Accelerometer for detecting the steering angular acceleration the front wheel guide or the fluttering directional movement about the steering axis and / or a sensor (for example yaw rate sensor) for detecting the steering angle or the steering angle speed. In particular, by means of this Parameter an application of a limit value for the steering angular acceleration and / or a limit for the frequency of the steering angle direction change take place.
Erfindungsgemäß ist ferner eine Steuereinrichtung und ein über die Steuereinrichtung ansteuerbarer Aktuator vorhanden, wobei die Steuereinrichtung derart ausgebildet ist, dass bei Auftreten einer Eigenschwingung der Vorderradführung ein Steuersignal zur automatischen Ansteuerung des Aktuators erzeugbar ist. Gemäß der Erfindung ist der mindestens eine Aktuator (bzw. die Steuereinrichtung und der Aktuator) derart ausgebildet, dass ein automatischer Eingriff in die Fahrzeugsteuerung realisierbar ist, derart, dass der Eigenschwingung der Vorderradführung entgegengewirkt wird, zumindest solange, bis ein vorgegebener Parameterschwellenwert (z.B. Lenkwinkelbeschleunigung oder Lenkwinkelgeschwindigkeit) und/oder Schwingungswert (Amplitudenwert) der Eigenschwingung unterschritten wird. Unter Fahrzeugsteuerung im Sinne der Erfindung sind alle Steuervorgänge zu verstehen, bei denen mittels einem Aktuator Fahrzeugkomponenten verstellt werden.The invention is further a control device and an over the control device controllable actuator present, wherein the Control device is designed such that when a self-oscillation occurs the front wheel guide a control signal for automatic control of the actuator can be generated is. According to the invention is the at least one actuator (or the control device and the Actuator) designed such that an automatic intervention in the vehicle control is feasible, such that the natural vibration the front wheel guide is counteracted, at least until a predetermined parameter threshold (e.g., steering angular acceleration or steering angular velocity) and / or Vibration value (amplitude value) of the natural vibration below becomes. Under vehicle control within the meaning of the invention, all control operations are to be understood in which vehicle components are adjusted by means of an actuator.
Erfindungsgemäß wird um dem Lenkerschlagen entgegenzuwirken automatisch und aktiv ein zusätzliches Lenkmoment erzeugt und/oder ein Bremsmoment über die Betriebsbremse und/oder den Fahrzeugmotor erzeugt, was zur Folge hat, dass die Lenkwinkelgeschwindigkeit (während der Eigenschwingung auftretende Lenkwinkelgeschwindigkeit) reduziert wird. Erfindungswesentlich ist ferner, dass durch den automatischen Eingriff in die Fahrzeugsteuerung eine Reduzierung der Fahrzeuggeschwindigkeit beziehungsweise eine Erhöhung der Vorderradachslast erreicht und/oder ein gezieltes (dem aufgrund des Lenkerschlagens auftretenden Lenkmoment entgegenwirkendes) (Gegen-)Lenkmoment erzeugt wird.According to the invention to counteract the Lenkerschlagen automatically and actively an additional Generates steering torque and / or a braking torque on the service brake and / or generates the vehicle engine, with the result that the steering angle speed (while the natural vibration occurring steering angle speed) reduced becomes. Is essential to the invention further that by the automatic Intervention in the vehicle control a reduction in vehicle speed or an increase reached the front wheel axle and / or a targeted (due to Steering stroke occurring steering torque counteracting) (counter) steering torque is produced.
Mit Vorteil sind ferner Mittel zur Erfassung eines, die fahrzeugexterne Schwingungsanregung initiierenden fahrzeugexternen Ereignisses vorhanden. Diese Mittel sind vorzugsweise als Sensoranordnung ausgebildet mittels der die Einfederbeschleunigung und/oder die Einfedergeschwindigkeit und/oder der Einfederweg der Vorderradführung (z.B. Telegabel, Upside-Down-Gabel oder dergleichen) und/oder des Lenkungsdämpfers erfasst werden. In einer bevorzugten Weiterbildung dieser Mittel ist diesen eine Auswerteeinheit zugeordnet, mittels der die Einfederbeschleunigung, die Einfedergeschwindigkeit oder der Einfederweg in Abhängigkeit von der im Zeitpunkt des Ereignisses vorliegenden Fahrzeuggeschwindigkeit bewertet werden und in Abhängigkeit von diesem Bewertungsergebnis auf das Vorliegen oder Nichtvorliegen von einem eine fahrzeugexterne Anregung bildenden Ereignis geschlossen wird. Hierdurch kann berücksichtigt werden, dass gleiche fahrzeugexterne Ereignisse, wie das Überfahren eines Hindernisses mit dem Vorderrad, bei einer entsprechend niedrigen Geschwindigkeit noch nicht zu einer Anregung einer Eigenschwingung führen, während das gleiche Ereignis bei höherer Fahrzeuggeschwindigkeit eine Eigenschwingung/Lenkerflattern auslöst.Advantageously, there are also means for detecting a vehicle-external event initiating the vehicle-external vibration excitation. These means are preferably formed as a sensor arrangement by means of the compression compression and / or the compression speed and / or the compression travel of the front wheel guide (eg Telegabel, upside-down fork or the like) and / or the steering damper are detected. In a preferred embodiment of this means, an evaluation unit is assigned to the latter, by means of which the compression acceleration, the compression speed or the jounce path is evaluated in dependence on the vehicle speed present at the time of the event and, depending on this evaluation result, it is concluded that there is or is no occurrence of a vehicle-external excitation event. In this way, it can be taken into account that the same off-vehicle events, such as driving over an obstacle with the front wheel, at a correspondingly low speed do not yet lead to a stimulation of a natural vibration, while the same event triggers a natural vibration / handlebar flutter at higher vehicle speed.
Weitere Vorteile und Merkmale der Erfindung sind in den Unteransprüchen und in der nachfolgenden Beschreibung der Ausführungsbeispiele enthalten. Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und im Folgenden näher beschrieben. Es zeigen:Further Advantages and features of the invention are described in the subclaims and contained in the following description of the embodiments. embodiments The invention are illustrated in the drawing and in the following described in more detail. Show it:
Gemäß der vorliegenden
Erfindung umfasst das System zur Beseitigung (Ausregelung) von Lenkerschlagen
Mittel
Ferner
ist eine Steuereinrichtung
Je
nach erfasster Eigenschwingung der Vorderradführung
Alternativ
oder zusätzlich
kann die Betriebsbremse automatisch betätigt oder Leistungsstellorgane
(Zündwinkelversteller,
Drosselklappe, Einspritzanlage, oder dergleichen) des Fahrzeugmotors
In
einer besonders bevorzugten Ausführung der
Erfindung sind weitere Erfassungsmittel vorgesehen durch die eine
auftretende Eigenschwingung frühzeitig
erkannt werden kann. Diese Erfassungsmittel dienen der Erfassung
fahrzeugexterner Ereignisse, durch die die (fahrzeugexterne) Anregung
der Eigenschwingung erfolgt. Vorzugsweise sind die Erfassungsmittel
als Sensorik ausgebildet, mittels der der Einfedervorgang der Vorderradführung
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005047142A DE102005047142A1 (en) | 2005-09-30 | 2005-09-30 | Front wheel guide`s e.g. steering drive, natural oscillations eliminating system, has actuators and control device, where brake is activated for braking vehicle such that reduction of natural oscillations of guide is adjusted |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005047142A DE102005047142A1 (en) | 2005-09-30 | 2005-09-30 | Front wheel guide`s e.g. steering drive, natural oscillations eliminating system, has actuators and control device, where brake is activated for braking vehicle such that reduction of natural oscillations of guide is adjusted |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102005047142A1 true DE102005047142A1 (en) | 2007-04-05 |
Family
ID=37852722
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102005047142A Withdrawn DE102005047142A1 (en) | 2005-09-30 | 2005-09-30 | Front wheel guide`s e.g. steering drive, natural oscillations eliminating system, has actuators and control device, where brake is activated for braking vehicle such that reduction of natural oscillations of guide is adjusted |
Country Status (1)
Country | Link |
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DE (1) | DE102005047142A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008033896A1 (en) * | 2007-07-19 | 2009-04-30 | Continental Teves Ag & Co. Ohg | Method for avoidance of torsion vibrations on steering wheel of vehicle, involves measuring speed of vehicle, establishing limit value of speed and adapting braking force distribution of brake system during adaptive speed control |
WO2011054404A1 (en) * | 2009-11-09 | 2011-05-12 | öHLINS RACING AB | Steering damper and method for controlling steering damper |
WO2012024207A1 (en) * | 2010-08-16 | 2012-02-23 | Chrysler Group Llc | Vehicle active steering shimmy mitigation |
WO2019048159A1 (en) * | 2017-09-08 | 2019-03-14 | Robert Bosch Gmbh | Systems and methods for stabilizing a vehicle |
CN113631440A (en) * | 2019-03-29 | 2021-11-09 | 本田技研工业株式会社 | Driving support device for saddle-ride type vehicle |
US11247666B2 (en) | 2016-07-06 | 2022-02-15 | Robert Bosch Gmbh | Method and device for damping a lateral pendular motion of a single-track motor vehicle |
WO2024017558A1 (en) * | 2022-07-18 | 2024-01-25 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for controlling a steering assistance system of a steering device of a single-track motor vehicle |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3629815A1 (en) * | 1986-09-02 | 1988-03-03 | Bayerische Motoren Werke Ag | METHOD FOR DAMPING THE STEERING MOVEMENTS |
-
2005
- 2005-09-30 DE DE102005047142A patent/DE102005047142A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3629815A1 (en) * | 1986-09-02 | 1988-03-03 | Bayerische Motoren Werke Ag | METHOD FOR DAMPING THE STEERING MOVEMENTS |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008033896A1 (en) * | 2007-07-19 | 2009-04-30 | Continental Teves Ag & Co. Ohg | Method for avoidance of torsion vibrations on steering wheel of vehicle, involves measuring speed of vehicle, establishing limit value of speed and adapting braking force distribution of brake system during adaptive speed control |
WO2011054404A1 (en) * | 2009-11-09 | 2011-05-12 | öHLINS RACING AB | Steering damper and method for controlling steering damper |
WO2012024207A1 (en) * | 2010-08-16 | 2012-02-23 | Chrysler Group Llc | Vehicle active steering shimmy mitigation |
CN103118922A (en) * | 2010-08-16 | 2013-05-22 | 克莱斯勒集团有限责任公司 | Vehicle active steering shimmy mitigation |
US8831854B2 (en) | 2010-08-16 | 2014-09-09 | Chrysler Group Llc | Active shimmy mitigation |
CN103118922B (en) * | 2010-08-16 | 2015-07-29 | 克莱斯勒集团有限责任公司 | The active of vehicle turns to shimmy alleviating |
US11247666B2 (en) | 2016-07-06 | 2022-02-15 | Robert Bosch Gmbh | Method and device for damping a lateral pendular motion of a single-track motor vehicle |
WO2019048159A1 (en) * | 2017-09-08 | 2019-03-14 | Robert Bosch Gmbh | Systems and methods for stabilizing a vehicle |
CN111278693A (en) * | 2017-09-08 | 2020-06-12 | 罗伯特·博世有限公司 | System and method for stabilizing a vehicle |
US10414393B2 (en) | 2017-09-08 | 2019-09-17 | Robert Bosch Gmbh | Systems and methods for stabilizing a vehicle |
CN111278693B (en) * | 2017-09-08 | 2022-10-04 | 罗伯特·博世有限公司 | System and method for stabilizing a vehicle |
CN113631440A (en) * | 2019-03-29 | 2021-11-09 | 本田技研工业株式会社 | Driving support device for saddle-ride type vehicle |
CN113631440B (en) * | 2019-03-29 | 2024-02-02 | 本田技研工业株式会社 | Driving support device for saddle-ride type vehicle |
WO2024017558A1 (en) * | 2022-07-18 | 2024-01-25 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for controlling a steering assistance system of a steering device of a single-track motor vehicle |
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Effective date: 20121002 |