DE102013209949A1 - A method for detecting fatigue of the driver of a vehicle - Google Patents

A method for detecting fatigue of the driver of a vehicle Download PDF

Info

Publication number
DE102013209949A1
DE102013209949A1 DE201310209949 DE102013209949A DE102013209949A1 DE 102013209949 A1 DE102013209949 A1 DE 102013209949A1 DE 201310209949 DE201310209949 DE 201310209949 DE 102013209949 A DE102013209949 A DE 102013209949A DE 102013209949 A1 DE102013209949 A1 DE 102013209949A1
Authority
DE
Germany
Prior art keywords
driver
vehicle
fatigue
detected
yaw rate
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.)
Ceased
Application number
DE201310209949
Other languages
German (de)
Inventor
Hardy Haas
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
Priority to DE201310209949 priority Critical patent/DE102013209949A1/en
Publication of DE102013209949A1 publication Critical patent/DE102013209949A1/en
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
    • A61B5/18—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state for vehicle drivers or machine operators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0818—Inactivity or incapacity of driver
    • B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw

Abstract

Die Erfindung betrifft ein Verfahren zur Müdigkeitserkennung des Fahrers eines Fahrzeugs, bei dem der zeitliche Verlauf der Gierrate oder der Querbeschleunigung des Fahrzeugs analysiert wird und abhängig davon das Vorliegen von Müdigkeit des Fahrers erkannt wird.The invention relates to a method for fatigue detection of the driver of a vehicle, in which the time course of the yaw rate or the lateral acceleration of the vehicle is analyzed and, depending on the presence of fatigue of the driver is detected.

Description

Stand der TechnikState of the art

Aus der DE 10 2007 001 362 A1 ist ein Verfahren zur Erkennung der Ermüdung eines Fahrers eines Fahrzeugs bekannt, bei dem eine das vom Fahrer auf das Lenkrad aufgebrachte Drehmoment repräsentierende Drehmomentgröße erfasst wird und anhand der Drehmomentgröße das Vorhandensein einer Ermüdung des Fahrers detektiert wird.From the DE 10 2007 001 362 A1 For example, there is known a method of detecting the fatigue of a driver of a vehicle in which a torque amount representing the torque applied by the driver to the steering wheel is detected and the presence of driver fatigue is detected based on the torque magnitude.

Offenbarung der ErfindungDisclosure of the invention

Die Erfindung löst die Aufgabe, die bekannten Verfahren der Müdigkeitserkennung auch für Motorradfahrer nutzbar zu machen. Dies ist besonders wichtig, weil Motorradfahrer höheren Belastungen als PKW-Fahrer ausgesetzt sind, welche besser vor Lärm und Witterungseinflüssen geschützt sind.The invention solves the problem of making the known methods of fatigue detection also usable for motorcyclists. This is particularly important because motorcyclists are exposed to higher loads than car drivers, who are better protected from noise and weather.

Die Erfindung betrifft ein Verfahren zur Müdigkeitserkennung des Fahrers eines Fahrzeugs, wobei der zeitliche Verlauf der Gierrate und/oder der Querbeschleunigung des Fahrzeugs analysiert wird und abhängig davon das Vorliegen von Müdigkeit des Fahrers erkannt wird. Die genannten Größen sind häufig bei Motorrädern oder motorradähnlichen Fahrzeugen verfügbar und eröffnen damit die Möglichkeit einer Müdigkeitserkennung des Fahrzeugs ohne die Verwendung von kostspieliger zusätzlicher Sensorik.The invention relates to a method for detecting the fatigue of the driver of a vehicle, wherein the time course of the yaw rate and / or the lateral acceleration of the vehicle is analyzed and depending on the presence of fatigue of the driver is detected. The sizes mentioned are often available on motorcycles or motorcycle-like vehicles, thus opening up the possibility of fatigue detection of the vehicle without the use of costly additional sensors.

Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass es sich bei dem Fahrzeug um ein motorisiertes Zweirad oder ein dreirädriges Motorrad handelt.An advantageous embodiment of the invention is characterized in that the vehicle is a motorized two-wheeler or a three-wheeled motorcycle.

Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass bei erkannter Müdigkeit des Fahrers eine akustische oder optische oder haptische Fahrerwarnung erfolgt.An advantageous embodiment of the invention is characterized in that when detected fatigue of the driver, an audible or visual or haptic driver warning occurs.

Eine vorteilhafte Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass die haptische Fahrerwarnung mittels einer Vibrationsbewegung wenigstens eines Lenkergriffes erfolgt. Dadurch wird zugleich ein Aufweckeffekt für den Fahrer erreicht.An advantageous embodiment of the invention is characterized in that the haptic driver warning is effected by means of a vibrating movement of at least one handlebar grip. As a result, a wake-up effect for the driver is achieved at the same time.

Weiter umfasst die Erfindung eine Vorrichtung, enthaltend Mittel, die zur Durchführung der erfindungsgemäßen Verfahren ausgestaltet sind. Bei dieser Vorrichtung handelt es sich insbesondere um ein Steuergerät, in welchem der Programmcode zur Durchführung der erfindungsgemäßen Verfahren hinterlegt ist.Furthermore, the invention comprises a device containing means which are designed for carrying out the method according to the invention. This device is in particular a control device in which the program code for carrying out the method according to the invention is stored.

Die Zeichnung umfasst 1.The drawing includes 1 ,

1 zeigt die ermittelten zeitlichen Verläufe von Lenkwinkel und Gierrate während einer Slalomfahrt eines Motorrads. 1 shows the determined time profiles of steering angle and yaw rate during a slalom ride of a motorcycle.

In Motorrädern wird zunehmend Inertialsensorik mit bis zu drei Beschleunigungssensoren und bis zu drei Drehratensensoren eingesetzt, um Antiblockiersysteme und Antriebsschlupfregelungssysteme auch bei Kurvenfahrten optimal nutzen zu können. Diese Sensorik kann gemäß der vorliegenden Erfindung alternativ zur Lenkwinkelsensorik oder Lenkmomentsensorik verwendet werden, welche in Motorrädern häufig nicht vorhanden ist. Um die Lenkwinkelinformation bzw. Lenkmomentinformation zu ersetzen, wird vorgeschlagen, die Drehrate des Motorrads um die z-Achse, d.h. die Gierwinkelgeschwindigkeit, zur Müdigkeitserkennung zu verwenden. Bei Erkennung von ungewöhnlichem, für Müdigkeit typischem Fahrverhalten kann der Fahrer visuell, optisch oder haptisch gewarnt werden. Dies kann z.B. durch eine Anzeige in einem Display, einen Summton oder vibrierende Lenkergriffe erfolgen.In motorcycles, inertial sensors with up to three acceleration sensors and up to three yaw rate sensors are increasingly being used to make optimum use of antilock brake systems and traction control systems even when cornering. This sensor system can be used according to the present invention as an alternative to the steering angle sensor or steering torque sensor, which is often not present in motorcycles. In order to replace the steering angle information or steering torque information, it is proposed that the rate of rotation of the motorcycle about the z-axis, i. the yaw rate, to use for fatigue detection. If abnormal fatigue driving behavior is detected, the driver can be visually, visually or haptically warned. This can e.g. by an indicator in a display, a buzzer or vibrating handlebar grips done.

Damit ist eine Müdigkeitserkennung auch für Motorradfahrer möglich. Bei Motorrädern mit Beiwagen oder dreirädrigen Fahrzeugen ohne Neigefähigkeit kann alternativ zur Gierrate auch die Querbeschleunigungsinformation. Dies ist bei normalen Motorrädern nicht möglich, denn dort zeigt ein Querbeschleunigungssensor nur Werte ungleich Null an, wenn der Fahrer eine hängende oder drückende Kurvenfahrtechnik anwendet.Thus, a fatigue detection is also possible for motorcyclists. For motorcycles with sidecar or three-wheeled vehicles without tilting capability, the lateral acceleration information can be used as an alternative to the yaw rate. This is not possible with normal motorcycles, because there a lateral acceleration sensor only displays non-zero values when the driver is using a hanging or pushing cornering technique.

In 1 ist in den beiden Diagrammen jeweils in Abszissenrichtung die Zeit aufgetragen. In Ordinatenrichtung ist im oberen Diagramm der Lenkwinkel eines Motorrads während einer Slalomfahrt bei einer Fahrgeschwindigkeit von ca. 40 km/h aufgetragen. Im unteren Diagramm ist in Ordinatenrichtung die dazugehörige Gierrate des Motorrads aufgetragen. Die Übereinstimmung der beiden Signalverläufe ist qualitativ und quantitativ sehr gut. Das bedeutet, dass anstelle der Lenkwinkelinformation z.B. auch die Gierrateninformation zur Ermittlung einer Fahrermüdigkeit eingesetzt werden kann.In 1 the time is plotted in the two diagrams in the abscissa direction. In the ordinate direction, the steering angle of a motorcycle during a slalom ride is plotted in the upper diagram at a travel speed of about 40 km / h. In the lower diagram, the corresponding yaw rate of the motorcycle is plotted in the ordinate direction. The agreement of the two waveforms is qualitatively and quantitatively very good. This means that instead of the steering angle information, for example, the yaw rate information can also be used to determine driver fatigue.

ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Zitierte PatentliteraturCited patent literature

  • DE 102007001362 A1 [0001] DE 102007001362 A1 [0001]

Claims (5)

Verfahren zur Müdigkeitserkennung des Fahrers eines Fahrzeugs, dadurch gekennzeichnet, dass der zeitliche Verlauf der Gierrate und/oder der Querbeschleunigung des Fahrzeugs analysiert wird und abhängig davon das Vorliegen von Müdigkeit des Fahrers erkannt wird.A method for fatigue detection of the driver of a vehicle, characterized in that the time course of the yaw rate and / or the lateral acceleration of the vehicle is analyzed and, depending on the presence of fatigue of the driver is detected. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei dem Fahrzeug um ein motorisiertes Zweirad oder ein dreirädriges Motorrad handelt.A method according to claim 1, characterized in that it is the vehicle is a motorized two-wheeled or a three-wheeled motorcycle. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass bei erkannter Müdigkeit des Fahrers eine akustische oder optische oder haptische Fahrerwarnung erfolgt.A method according to claim 1, characterized in that when detected fatigue of the driver, an audible or visual or haptic driver warning occurs. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass die haptische Fahrerwarnung mittels einer Vibrationsbewegung wenigstens eines Lenkergriffes erfolgt.A method according to claim 3, characterized in that the haptic driver warning is effected by means of a vibrating movement of at least one handlebar grip. Vorrichtung, enthaltend Mittel, die zur Durchführung der erfindungsgemäßen Verfahren ausgestaltet sind.Device containing agents designed to carry out the methods according to the invention.
DE201310209949 2013-05-28 2013-05-28 A method for detecting fatigue of the driver of a vehicle Ceased DE102013209949A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE201310209949 DE102013209949A1 (en) 2013-05-28 2013-05-28 A method for detecting fatigue of the driver of a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201310209949 DE102013209949A1 (en) 2013-05-28 2013-05-28 A method for detecting fatigue of the driver of a vehicle

Publications (1)

Publication Number Publication Date
DE102013209949A1 true DE102013209949A1 (en) 2014-12-04

Family

ID=51899318

Family Applications (1)

Application Number Title Priority Date Filing Date
DE201310209949 Ceased DE102013209949A1 (en) 2013-05-28 2013-05-28 A method for detecting fatigue of the driver of a vehicle

Country Status (1)

Country Link
DE (1) DE102013209949A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104943609A (en) * 2015-05-07 2015-09-30 广东科学技术职业学院 Driving fatigue warning and forced parking system and control method thereof
CN108871182A (en) * 2018-06-05 2018-11-23 重庆电子工程职业学院 A kind of motorcycle gradient sensor test device
CN110459034A (en) * 2018-05-07 2019-11-15 厦门雅迅网络股份有限公司 A kind of fatigue driving method for early warning and system
WO2020237997A1 (en) * 2019-05-30 2020-12-03 南京航空航天大学 Automotive intelligent steer-by-wire system integrated with fatigue detection, and control method therefor

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007001362A1 (en) 2007-01-09 2008-07-10 Robert Bosch Gmbh Method and device for driver fatigue detection by means of torque sensors

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007001362A1 (en) 2007-01-09 2008-07-10 Robert Bosch Gmbh Method and device for driver fatigue detection by means of torque sensors

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104943609A (en) * 2015-05-07 2015-09-30 广东科学技术职业学院 Driving fatigue warning and forced parking system and control method thereof
CN110459034A (en) * 2018-05-07 2019-11-15 厦门雅迅网络股份有限公司 A kind of fatigue driving method for early warning and system
CN110459034B (en) * 2018-05-07 2022-08-19 厦门雅迅网络股份有限公司 Fatigue driving early warning method and system
CN108871182A (en) * 2018-06-05 2018-11-23 重庆电子工程职业学院 A kind of motorcycle gradient sensor test device
WO2020237997A1 (en) * 2019-05-30 2020-12-03 南京航空航天大学 Automotive intelligent steer-by-wire system integrated with fatigue detection, and control method therefor

Similar Documents

Publication Publication Date Title
EP3251936B1 (en) Control method and device for regulating the electric motor for the pushing aid of an electric bicycle
EP2941380B1 (en) Method and device for the driving stabilization of a motorized two-wheeled vehicle by means of a double-gyroscope device
EP2849978B1 (en) Method for alerting the rider of a single-track motor vehicle that he/she is leaving the lane
DE102017110034A1 (en) TRAVEL SUPPORT CONTROL DEVICE OF A VEHICLE
EP3253628B1 (en) Method for determining the roll angle of a two-wheeled vehicle
DE102011118966A1 (en) Communication apparatus e.g. mobile telephone, for e.g. wirelessly transmitting data for e.g. motor car, has sensor for detecting velocity of apparatus that receives and analyzes data containing information about current speed road users
DE102012201802A1 (en) Driver assistance system for a two-wheeled vehicle for warning of a banking angle
DE102010036638A1 (en) Method for determining the coefficient of friction in a vehicle
DE102013209949A1 (en) A method for detecting fatigue of the driver of a vehicle
DE102013219662B3 (en) Method, control unit and system for determining a tread depth of a profile of at least one tire
DE102008043794A1 (en) Method and device for determining the angle of inclination of a two-wheeled vehicle
DE102019200209A1 (en) Method and device for selecting the target object for automatic distance control of a single-track motor vehicle
WO2017028997A1 (en) Method and device for actuating at least one handlebar of a two-wheeled vehicle
DE102016211427A1 (en) Method for operating a two-wheeler, device, two-wheeler
DE102016217321A1 (en) Method and device for stabilizing a vehicle in the presence of a burst or deflated tire while driving
WO2017041944A1 (en) Method for performing a driver-independent driver assistance function in a two-track motor vehicle
DE102016200501A1 (en) Method and device for operating a single-track two-wheeled vehicle
WO2015193009A1 (en) Method for actuating a braking system of an electric two-wheeled vehicle, and braking system
DE102010053069B4 (en) Method for operating an assistance device of a vehicle
DE102016202466A1 (en) Method and device for determining the steering angle in a single-track vehicle
DE102015217256A1 (en) Method and device for carrying out an emergency braking operation in a single-track motor vehicle
DE102010062549A1 (en) Method for determining mass of motor vehicle, involves using calculated rack force of steering system, yaw movement and lateral acceleration of motor vehicle, so as to calculate mass of motor vehicle
DE102012203648B4 (en) Method and device for supporting an evasive maneuver in a single-track motor vehicle
DE102011105949A1 (en) Method for fatigue- or attention evaluation of driver of vehicle during autonomous or semi-autonomous transverse guidance of vehicle, involves introducing driver to steering system of vehicle by torque
WO2021001080A1 (en) Method and device for carrying out autonomous braking in a single-track motor vehicle

Legal Events

Date Code Title Description
R012 Request for examination validly filed
R002 Refusal decision in examination/registration proceedings
R003 Refusal decision now final