EP1827930A1 - Neigungswinkelermittlung für ein motorrad - Google Patents
Neigungswinkelermittlung für ein motorradInfo
- Publication number
- EP1827930A1 EP1827930A1 EP05803354A EP05803354A EP1827930A1 EP 1827930 A1 EP1827930 A1 EP 1827930A1 EP 05803354 A EP05803354 A EP 05803354A EP 05803354 A EP05803354 A EP 05803354A EP 1827930 A1 EP1827930 A1 EP 1827930A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- rate
- angle
- roll
- determined
- motor vehicle
- 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.)
- Withdrawn
Links
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
- B60T8/1701—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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
- B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
Definitions
- the invention relates to a method and a device for determining at least one angle of inclination of a single-track motor vehicle
- the invention relates to a method for determining at least one angle of inclination of a single-track motor vehicle, wherein at least two yaw rates of the motor vehicle are determined by two different axes by means of at least two yaw rate sensors and from the at least two rotation rates of the roll angle and / or the pitch angle of the motor vehicle is determined.
- the two rotation rate sensors are preferably arranged such that their measuring directions are orthogonal to one another.
- An advantageous embodiment of the invention is characterized in that enter into the determination of the roll angle and the determination of the pitch angle in each case both rotation rates. This achieves greater accuracy in determining the angles.
- An advantageous embodiment of the invention is characterized in that from the at least two rotation rates, the roll rate and / or the pitch rate of the
- Motor vehicle is determined and that from the roll angle or the pitch angle of the motor vehicle is determined.
- An advantageous embodiment of the invention is characterized in that raw values for the roll rate and / or the pitch rate are determined by means of at least two yaw rate sensors, that the roll rate is determined by means of a filtering of the raw value of the roll rate or by means of a filtering of the raw value of the pitch rate the pitch rate is determined and that the roll angle or the pitch angle is effected by a temporal integration of the roll rate or the pitch rate of the motor vehicle. Filtering suppresses noise components of the signals.
- An advantageous embodiment of the invention is characterized in that raw values for the roll angle and / or pitch angle of the motor vehicle are determined by the temporal integration and that the roll angle or filtering of the raw value of the pitch angle determines the pitch angle by filtering the raw value of the roll angle ,
- the order of filtering and integration is in the latter two
- An advantageous embodiment of the invention is characterized in that the filtering is a bandpass filtering.
- An advantageous embodiment of the invention is characterized in that it is a bandpass filtering 2nd order.
- An advantageous embodiment of the invention is characterized in that the roll rate and the pitch rate are detected by means of the at least two yaw rate sensors.
- An advantageous embodiment of the invention is characterized in that three yaw rates of the motor vehicle are determined by three yaw rate sensors about three different axes and from the three yaw rates of the roll angle and / or the pitch angle of the motor vehicle is determined. As a result, an even higher precision of the method compared to the use of only two sensors is achieved.
- An advantageous embodiment of the invention is characterized in that the roll rate and the pitch rate and the yaw rate are detected by means of the three rotation rate sensors.
- An advantageous embodiment of the invention is characterized in that the presence of a straight-ahead driving is detected, if at least
- the steering angle threshold is selected so that a steering angle value zero or virtually zero can be detected.
- the invention further comprises a device for determining at least one angle of inclination of a single-track motor vehicle, comprising at least two yaw rate sensors (in particular with respect to their measuring direction perpendicular to each other) for determining at least two yaw rates of the motor vehicle about different axes
- Calculation means with which from the at least two rotation rates of the roll angle and / or the pitch angle of the motor vehicle is determined.
- FIG. 1 shows the sequence of an embodiment of the method according to the invention.
- Figure 2 shows the structure of the device according to the invention.
- the pitching motion and, optionally, the yawing motion of the motorcycle are detected by additional yaw rate sensors and their output signals are included in the evaluation algorithm.
- additional yaw rate sensors When using three sensors (roll rate, pitch rate, yaw rate), the kinematic relationships underlying the driving physics are fully taken into account. at
- rotational rate signals are measured by means of micromechanical sensors and the angle of inclination of the motorcycle is calculated therefrom.
- the tilt angle is a useful size for future motorcycle systems, but also for improving current systems.
- the pitch angle can also be determined.
- the first embodiment is based on the use of the output signals of three rotation rate sensors
- the second embodiment on the use of two rotation rate sensors.
- the three rotation rate sensors measure the components ⁇ x, ⁇ y and ⁇ z of the rotation rate.
- the x-axis of the motorcycle points in the direction of travel, the y-axis is the transverse axis and the z-axis is the vertical axis.
- the axial directions are to be arranged that a legal system arises as a motorcycle coordinate system.
- the angles of rotation are defined in the mathematically positive sense.
- the three sensors measure the following motorcycle movements: the first sensor ( ⁇ x sensor) measures the rotation about the x-axis of the motorcycle, ie the roll movement or roll rate of the second sensor ( ⁇ y sensor) measures the rotation about the y-axis of the motorcycle, ie the pitching or pitching rate of the third sensor (coz sensor) measures the rotation about the z-axis of the motorcycle, ie the yaw rate
- GC indicates the rotational speed about the longitudinal axis of the
- OC and ß filtered with a bandpass filter 2nd order This takes into account the fact that real pitching and rolling movements are not possible at any speed.
- the determination of the lower and upper limit frequency of the bandpass can be vehicle-dependent, e.g. be determined by experiments. High-frequency interferences of the measuring signal above the upper limit frequency are filtered out. Offset errors become noticeable below the lower limit frequency and can thus also be eliminated.
- the pitch and roll angles calculated in this way are needed again to calculate the new elementary rotation speeds Gt and ß. This manifests itself in the feedback loop of FIG. 1.
- FIG. 100 The sequence of the method according to the invention is shown in FIG.
- the sensor signals ⁇ x, ⁇ y and ⁇ z are determined.
- the numerical algorithm for solving the system of coupled differential equations then runs, and the elementary rotational speeds OC and ⁇ are determined.
- a temporal integration takes place in block 102, which provides the unfiltered elementary rotation angles ("raw signals") .
- the elementary rotation angles are angles of rotation about fixed axes in the inertial system
- These elementary rotations are related via kinematic relationships to the rotations in the motorcycle coordinate system kinematic relationships result from the application of the laws of rotation of rigid bodies in relative coordinate systems.
- the bandpass filtering can also take place before the integration. Thus, possible offset errors are not integrated with.
- the offset value in the tilt measurement (i.e., the offset value of the roll angle) may also be determined and eliminated in addition to or alternatively to bandpass filtering by other methods.
- Yaw rate sensor (yaw) a reset or reset when starting the vehicle. In most cases, it can be assumed that a stationary vehicle and thus a yaw rate value of zero. This information can be used throughout the lifetime of the sensor by an additional reset function for offset calibration. This situation is different for a motorcycle.
- the side tilt angle is undefined because the motorcycle, for example, can still be in an inclined position on the side stand. This is the time for an additional reset to calibrate the Side tilt angle unsuitable. However, a good time for an additional reset is given with stable straight ahead.
- Steering angle zero If a steering angle sensor is present, a present straight ahead driving can be detected. In addition, the wheel speed can also be evaluated. Straight ahead is when the steering angle is zero and - the speed is greater than a speed yet to be defined.
- the structure of the device according to the invention is shown in Fig. 2.
- an actuator 204 can be controlled or influenced. This can e.g. as part of an anti-skid system for
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004060292A DE102004060292A1 (de) | 2004-12-15 | 2004-12-15 | Neigungswinkelermittlung für ein Motorrad |
PCT/EP2005/055300 WO2006063886A1 (de) | 2004-12-15 | 2005-10-17 | Neigungswinkelermittlung für ein motorrad |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1827930A1 true EP1827930A1 (de) | 2007-09-05 |
Family
ID=35515703
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05803354A Withdrawn EP1827930A1 (de) | 2004-12-15 | 2005-10-17 | Neigungswinkelermittlung für ein motorrad |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1827930A1 (de) |
JP (1) | JP2008523403A (de) |
DE (1) | DE102004060292A1 (de) |
WO (1) | WO2006063886A1 (de) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006036818A1 (de) * | 2006-08-07 | 2008-02-14 | Siemens Ag | Verfahren und Vorrichtung zum Ermitteln einer Orientierung eines Kraftfahrzeugs |
DE102006038584B3 (de) * | 2006-08-17 | 2008-04-10 | Siemens Ag | Verfahren zur Bestimmung eines Wankwinkels |
DE102006057667B4 (de) * | 2006-12-07 | 2018-08-09 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung zur Ermittlung eines Schräglagenwinkels bei einem Einspurfahrzeug |
DE102006061249A1 (de) * | 2006-12-22 | 2008-06-26 | Siemens Ag | Verfahren und Vorrichtung zum Ermitteln einer Reibkennzahl |
AT505363B1 (de) | 2007-06-14 | 2013-02-15 | Zizala Lichtsysteme Gmbh | Verfahren und messanordnung zur ermittlung des rollwinkels eines einspurigen kraftfahrzeuges |
JP5152778B2 (ja) * | 2007-07-19 | 2013-02-27 | 本田技研工業株式会社 | 自動二輪車の傾斜角検出装置 |
DE102009001306A1 (de) | 2009-03-03 | 2010-09-09 | Robert Bosch Gmbh | Verfahren zur Stabilisierung eines Kraftfahrzeugs, insbesondere eines einspurigen Kraftfahrzeugs |
JP5393432B2 (ja) | 2009-12-21 | 2014-01-22 | ヤマハ発動機株式会社 | ロール角推定装置および輸送機器 |
DE102010015859A1 (de) | 2010-03-08 | 2011-09-08 | POLO EXPRESSVERSAND Gesellschaft für Motorradbekleidung und Sportswear mbH | Verfahren und Vorrichtung zu Schräglagenbestimmung von Einspurfahrzeugen |
DE102012208623A1 (de) | 2012-05-23 | 2013-11-28 | Robert Bosch Gmbh | Vorrichtung und Verfahren zum Ausüben von Drehmoment auf ein Objekt |
DE102012220182A1 (de) | 2012-11-06 | 2014-05-08 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Schutz der Pedale eines Zweirads während einer Kurvenfahrt |
EP2886407A1 (de) | 2013-12-18 | 2015-06-24 | x-log Elektronik GmbH | Schätzung des Wankwinkels eines einspurigen Fahrzeugs |
DE102021200509A1 (de) | 2021-01-21 | 2022-07-21 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und Vorrichtung zur Kalibrierung des Kadenzsensors eines Zweirads |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3765862B2 (ja) * | 1996-02-15 | 2006-04-12 | 本田技研工業株式会社 | 車両用環境認識装置 |
JP3794149B2 (ja) * | 1998-02-12 | 2006-07-05 | 三菱電機株式会社 | 自律誘導飛しょう監視装置 |
US6292759B1 (en) * | 1998-11-19 | 2001-09-18 | Delphi Technologies, Inc. | Vehicle attitude angle estimation using sensed signal blending |
SE0004515D0 (sv) * | 2000-06-28 | 2000-12-06 | Nira Automotive Ab | Roll angle indicator |
JP2002174531A (ja) * | 2000-12-07 | 2002-06-21 | Matsushita Electric Ind Co Ltd | 移動方位算出装置、移動方位算出方法および移動方位算出プログラムを記録した記録媒体 |
DE10115217C1 (de) * | 2001-03-28 | 2002-08-14 | Bosch Gmbh Robert | Verfahren zum Bestimmen der Winkellage eines Fahrzeugs |
JP4290950B2 (ja) * | 2001-10-19 | 2009-07-08 | ヤマハ発動機株式会社 | 自動二輪車の転倒検出装置 |
DE10242124B4 (de) * | 2002-09-11 | 2009-12-10 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Einstellung des Motormoments eines einspurigen Kraftfahrzeugs |
US7092808B2 (en) * | 2003-02-26 | 2006-08-15 | Ford Global Technologies, Llc | Integrated sensing system for an automotive system |
JP4175167B2 (ja) * | 2003-04-22 | 2008-11-05 | 日産自動車株式会社 | 車載情報提供装置 |
DE10350046A1 (de) * | 2003-10-27 | 2005-05-25 | Schubach, Rudolf, Dipl.-Ing. | Vorrichtung zum dynamischen Messen des Rollwinkels von Fahrzeugen |
-
2004
- 2004-12-15 DE DE102004060292A patent/DE102004060292A1/de not_active Withdrawn
-
2005
- 2005-10-17 EP EP05803354A patent/EP1827930A1/de not_active Withdrawn
- 2005-10-17 WO PCT/EP2005/055300 patent/WO2006063886A1/de active Application Filing
- 2005-10-17 JP JP2007545997A patent/JP2008523403A/ja active Pending
Non-Patent Citations (1)
Title |
---|
See references of WO2006063886A1 * |
Also Published As
Publication number | Publication date |
---|---|
JP2008523403A (ja) | 2008-07-03 |
WO2006063886A1 (de) | 2006-06-22 |
DE102004060292A1 (de) | 2006-07-06 |
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Legal Events
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
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17P | Request for examination filed |
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17Q | First examination report despatched |
Effective date: 20071113 |
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DAX | Request for extension of the european patent (deleted) | ||
RBV | Designated contracting states (corrected) |
Designated state(s): AT DE FR IT |
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RIC1 | Information provided on ipc code assigned before grant |
Ipc: B60T 8/17 20060101AFI20141030BHEP |
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STAA | Information on the status of an ep patent application or granted ep patent |
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Effective date: 20150429 |