DE102016200500A1 - Method for stabilizing a two-wheeler when cornering - Google Patents
Method for stabilizing a two-wheeler when cornering Download PDFInfo
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- DE102016200500A1 DE102016200500A1 DE102016200500.6A DE102016200500A DE102016200500A1 DE 102016200500 A1 DE102016200500 A1 DE 102016200500A1 DE 102016200500 A DE102016200500 A DE 102016200500A DE 102016200500 A1 DE102016200500 A1 DE 102016200500A1
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- wheeler
- cornering
- drive
- braking torque
- vorderachsschräglage
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 5
- 230000006641 stabilisation Effects 0.000 description 4
- 238000011105 stabilization Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- 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
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- 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
- 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
- B60W2520/18—Roll
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- 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
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
Bei einem Verfahren zur Stabilisierung eines Zweirads bei Kurvenfahrt wird die Vorderachsschräglage detektiert und in Abhängigkeit der Vorderachsschräglage an mindestens einem Fahrzeugrad das Antriebs- und/oder Bremsmoment verändert.In a method for stabilizing a two-wheeler when cornering, the Vorderachsschräglage is detected and changed depending on the Vorderachsschräglage on at least one vehicle, the drive and / or braking torque.
Description
Die Erfindung bezieht sich auf ein Verfahren zur Stabilisierung eines Zweirads bei Kurvenfahrt.The invention relates to a method for stabilizing a two-wheeler when cornering.
Stand der TechnikState of the art
Bekannt sind Motorrad-Stabilitätskontrollsysteme, welche beim Beschleunigen oder Bremsen des Motorrads in Kurven verhindern, dass das Motorrad über- oder untersteuert, also das Hinterrad zu driften beginnt bzw. das Vorderrad über die Kurve hinausschiebt. Das Stabilitätskontrollsystem erfasst über eine Sensorik verschiedene Zustandsgrößen des Motorrads, unter anderem die Raddrehzahlen, die Beschleunigung und die Schräglage.Motorcycle stability control systems are known which prevent the motorcycle from oversteering or understeering when the motorcycle accelerates or brakes, ie when the rear wheel begins to drift or the front wheel overshoots the curve. The stability control system uses a sensor system to record various condition variables of the motorcycle, including wheel speeds, acceleration and inclination.
Offenbarung der ErfindungDisclosure of the invention
Von diesem Stand der Technik ausgehend ermöglicht das erfindungsgemäße Verfahren eine verbesserte Stabilisierung eines Zweirads bei Kurvenfahrt. Bei dem Verfahren wird die Schräglage der Vorderachse des Zweirades detektiert und auf der Grundlage der Vorderachsschräglage eine Regelung zur Stabilisierung des Zweirads bei Kurvenfahrt durchgeführt, indem an mindestens einem Fahrzeugrad des Zweirads das Antriebs- und/oder Bremsmoment in geregelter Weise verändert wird. Diese Vorgehensweise hat den Vorteil, dass nicht nur bei großen Kurvenradien, bei denen der Lenkwinkel sowie der Schräglaufwinkel am Vorderrad klein sind, sondern auch bei kleinen Kurvenradien eine verbesserte Stabilität erreicht wird, bei denen der Schräglaufwinkel am Vorderrad potenziell größer ist. Somit wird mithilfe des erfindungsgemäßen Verfahrens das Zweirad in zusätzlichen Fahrsituationen stabilisiert, unter anderem beim Abbiegen an einer Kreuzung oder in engen Serpentinen. Insbesondere bei niedrigen Reibwerten und damit einhergehend bei größeren Schräglaufwinkeln ergeben sich hierdurch Vorteile für die Fahrsicherheit. Starting from this state of the art, the method according to the invention enables improved stabilization of a two-wheeler when cornering. In the method, the skew of the front axle of the bicycle is detected and based on the Vorderachsschräglage a control to stabilize the two-wheel when cornering performed by at least one vehicle wheel of the two-wheel drive and / or braking torque is changed in a controlled manner. This procedure has the advantage that improved stability is achieved not only in the case of large curve radii, in which the steering angle and the slip angle at the front wheel are small, but also at small curve radii, in which the slip angle at the front wheel is potentially greater. Thus, using the method according to the invention, the bicycle is stabilized in additional driving situations, including when turning at an intersection or in tight serpentines. In particular, at low coefficients of friction and concomitantly with larger slip angles, this results in advantages for driving safety.
Das Verfahren wird in einer geregelten Weise durchgeführt, indem fortlaufend aus Sensorinformationen gemäß einem hinterlegten Algorithmus in einem Regel- bzw. Steuergerät Stellsignale erzeugt werden, über die das Antriebssystem und/oder die Vorderradbremse und/oder die Hinterradbremse selbsttätig angesteuert werden, um das Antriebs- und/oder Bremsmoment am Hinterrad und/oder das Bremsmoment am Vorderrad selbsttätig einzustellen. Dies ermöglicht es, ein vom Fahrer vorgegebenes Antriebs- und/oder Bremsmoment selbsttätig zu verändern. Der Eingriff erfolgt zur Beeinflussung des Antriebsmomentes in die Motorsteuerung und zur Beeinflussung des Bremsmomentes in die Bremsensteuerung.The method is carried out in a controlled manner by continuously generating control signals from sensor information in accordance with a stored algorithm in a control unit, by means of which the drive system and / or the front wheel brake and / or the rear wheel brake are automatically controlled in order to control the drive system. and / or set braking torque on the rear wheel and / or the braking torque on the front wheel automatically. This makes it possible to automatically change a drive and / or braking torque specified by the driver. The intervention takes place to influence the drive torque in the engine control and to influence the braking torque in the brake control.
Das Verfahren wird vorzugsweise während eines fahrerbetätigten Bremsens bei Kurvenfahrt durchgeführt. Aufgrund des Bremsmomentes können nur geringe Seitenführungskräfte an den Rädern übertragen werden, so dass die Gefahr eines Über- oder Untersteuerns erhöht ist. Mithilfe des erfindungsgemäßen Verfahrens kann dennoch auch bei kleinen Kurvenradien eine Stabilisierung des Zweirades erreicht werden, indem die aktuelle Vorderachsschräglage ermittelt und der Einstellung von Antriebs- und/oder Bremsmomenten zugrunde gelegt wird.The method is preferably performed during driver-operated braking when cornering. Due to the braking torque only small cornering forces can be transmitted to the wheels, so that the risk of over or understeering is increased. With the aid of the method according to the invention, a stabilization of the bicycle can nevertheless be achieved even with small curve radii by determining the current front axle angle and based on the setting of drive and / or braking torques.
Das Verfahren ist aber auch im angetriebenen Zustand oder im brems- und antriebsfreien Zustand bei Kurvenfahrt anwendbar.The method is also applicable in the driven state or in the brake and drive-free state when cornering.
Die Vorderachsschräglage kann in bereits bestehenden Zweirad-Kontrollsystemen wie zum Beispiel MSC (Motorcycle Stability Control) verwendet werden. Die Vorderachsschräglage verbessert und erweitert die Regelung der Fahrstabilität auf Fahrsituationen mit kleinen Kurvenradien. The front axle angle can be used in existing two-wheeler control systems such as MSC (Motorcycle Stability Control). The front axle angle improves and extends the control of driving stability to driving situations with small curve radii.
Gemäß einer vorteilhaften Ausführung wird zusätzlich zu der Vorderachsschräglage mithilfe eines zweiten Sensors, der am Fahrwerk des Zweirads angeordnet ist, die Fahrwerks- bzw. Zweiradschräglage ermittelt. Somit stehen die Schräglagen an der Vorderachse bzw. dem Vorderrad und dem Fahrwerk bzw. dem Hinterrad für das Stabilisierungsverfahren zur Verfügung. Hierbei kann es zweckmäßig sein, dass die Differenz von Zweiradschräglage und Vorachsschräglage zur Einstellung des Antriebs- und/oder Bremsmoments an einem oder an beiden Fahrzeugrädern herangezogen wird. According to an advantageous embodiment, in addition to the Vorderachsschräglage using a second sensor, which is arranged on the chassis of the two-wheeled, the suspension or Zweiradschräglage determined. Thus, the inclinations are available on the front axle and the front wheel and the chassis or the rear wheel for the stabilization process. It may be appropriate that the difference of two-wheel skew and Vorachsschräglage used to adjust the drive and / or braking torque on one or both vehicle wheels.
Die selbsttätige Einstellung von Bremse und Antrieb erfolgt vorzugsweise unter Berücksichtigung zusätzlicher Zustandsgrößen des Zweirades, insbesondere in Abhängigkeit der Geschwindigkeit. Gegebenenfalls können darüber hinaus weitere Zustandsgrößen zur Längs-, Quer- und/oder Vertikaldynamik berücksichtigt werden, gegebenenfalls auch der aktuelle Lenkwinkel des Zweirades. Auf die Ermittlung des Lenkwinkels kann aber auch verzichtet werden, da die für die Stabilitätsregelung relevante Lenkinformation in der Vorderachsschräglage enthalten ist. Der Schräglagesensor an der Vorderachse und gegebenenfalls zusätzlich am Fahrwerk ermittelt verschiedene Zustandsgrößen, insbesondere die Längs-, Quer- und Vertikalbeschleunigung sowie die Gier-, Wank- und Rollrate des Zweirades; aus diesen Informationen kann der Schräglagewinkel berechnet werden.The automatic adjustment of brake and drive is preferably carried out taking into account additional state variables of the bicycle, in particular as a function of speed. Optionally, further state variables for longitudinal, lateral and / or vertical dynamics may also be taken into account, if appropriate also the current steering angle of the bicycle. On the determination of the steering angle can also be dispensed with, since the steering information relevant to the stability control is included in the Vorderachsschräglage. The oblique position sensor on the front axle and possibly also on the chassis determines various state variables, in particular the longitudinal, transverse and vertical acceleration and the yaw, roll and roll rate of the bicycle; From this information, the skew angle can be calculated.
Die verschiedenen Verfahrensschritte werden in einem Regel- bzw. Steuergerät durchgeführt, das gegebenenfalls Bestandteil eines Fahrerassistenzsystems im Zweirad sein kann. Zu dem Fahrerassistenzsystem gehört insbesondere auch die Sensorik, um die Vorderachsschräglage und gegebenenfalls auch die Zweiradschräglage und die weiteren Zustandsgrößen zu ermitteln. Das mit einem derartigen Fahrerassistenzsystem ausgestattete Zweirad umfasst das Regel- bzw. Steuergerät und die Sensorik, wobei über das Regel- bzw. Steuergerät die Motorsteuerung und die Bremsensteuerung selbsttätig eingestellt werden können.The various method steps are carried out in a control or control unit, which may optionally be part of a driver assistance system in a two-wheeler. To the driver assistance system belongs in particular also the sensors to determine the Vorderachsschräglage and possibly also the Zweiradschräglage and the other state variables. The two-wheeled vehicle equipped with such a driver assistance system comprises the regulating or control device and the sensor system, it being possible for the engine control and the brake control to be set automatically via the regulating or control device.
Weitere Vorteile und zweckmäßige Ausführungen sind den weiteren Ansprüchen, der Figurenbeschreibung und den Zeichnungen zu entnehmen. Es zeigen:Further advantages and expedient embodiments can be taken from the further claims, the description of the figures and the drawings. Show it:
In
Wie dem Ablaufschema gemäß
Ergibt die Abfrage im Schritt
Die Sensorinformationen mit den Schräglagewinkeln an der Vorderachse bzw. dem Fahrwerk des Motorrads werden im folgenden Schritt
Anschließend wird das Verfahren in zyklischen Abständen erneut durchlaufen. Subsequently, the process is run through again at cyclic intervals.
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102016200500.6A DE102016200500A1 (en) | 2016-01-16 | 2016-01-16 | Method for stabilizing a two-wheeler when cornering |
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DE102016200500.6A DE102016200500A1 (en) | 2016-01-16 | 2016-01-16 | Method for stabilizing a two-wheeler when cornering |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021197694A1 (en) * | 2020-04-02 | 2021-10-07 | Bayerische Motoren Werke Aktiengesellschaft | Method and motor vehicle |
DE102022200315A1 (en) | 2022-01-13 | 2023-07-13 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for operating a vehicle assistance system for a motor vehicle, vehicle assistance system for a motor vehicle, motor vehicle |
DE102022205213A1 (en) | 2022-05-25 | 2023-11-30 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method and control device for operating a motorcycle |
-
2016
- 2016-01-16 DE DE102016200500.6A patent/DE102016200500A1/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021197694A1 (en) * | 2020-04-02 | 2021-10-07 | Bayerische Motoren Werke Aktiengesellschaft | Method and motor vehicle |
DE102022200315A1 (en) | 2022-01-13 | 2023-07-13 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for operating a vehicle assistance system for a motor vehicle, vehicle assistance system for a motor vehicle, motor vehicle |
DE102022205213A1 (en) | 2022-05-25 | 2023-11-30 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method and control device for operating a motorcycle |
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