JP6770203B2 - 自動二輪車のクリティカルな走行状況を認識する方法および制御装置 - Google Patents

自動二輪車のクリティカルな走行状況を認識する方法および制御装置 Download PDF

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JP6770203B2
JP6770203B2 JP2019546976A JP2019546976A JP6770203B2 JP 6770203 B2 JP6770203 B2 JP 6770203B2 JP 2019546976 A JP2019546976 A JP 2019546976A JP 2019546976 A JP2019546976 A JP 2019546976A JP 6770203 B2 JP6770203 B2 JP 6770203B2
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max
angle
latest
slip
slip angle
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Japanese (ja)
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JP2019535594A (ja
JP2019535594A5 (enExample
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ハース，ハーディー
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Robert Bosch GmbH
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Robert Bosch GmbH
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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
    • B60T8/17—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
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tyre sideslip angle or the vehicle body slip angle
    • 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
    • B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B60T2210/124—Roads with different friction levels
    • 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
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • 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
    • B60T2230/03—Overturn, rollover

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
JP2019546976A 2016-11-23 2017-10-05 自動二輪車のクリティカルな走行状況を認識する方法および制御装置 Active JP6770203B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016223070.0A DE102016223070A1 (de) 2016-11-23 2016-11-23 Verfahren und Steuergerät zum Erkennen von kritischen Fahrsituationen eines Kraftzweirads
DE102016223070.0 2016-11-23
PCT/EP2017/075287 WO2018095634A1 (de) 2016-11-23 2017-10-05 Verfahren und steuergerät zum erkennen von kritischen fahrsituationen eines kraftzweirads

Publications (3)

Publication Number Publication Date
JP2019535594A JP2019535594A (ja) 2019-12-12
JP6770203B2 true JP6770203B2 (ja) 2020-10-14
JP2019535594A5 JP2019535594A5 (enExample) 2020-10-15

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JP2019546976A Active JP6770203B2 (ja) 2016-11-23 2017-10-05 自動二輪車のクリティカルな走行状況を認識する方法および制御装置

Country Status (5)

Country Link
US (1) US10549733B2 (enExample)
EP (1) EP3544868A1 (enExample)
JP (1) JP6770203B2 (enExample)
DE (1) DE102016223070A1 (enExample)
WO (1) WO2018095634A1 (enExample)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016223070A1 (de) * 2016-11-23 2018-05-24 Robert Bosch Gmbh Verfahren und Steuergerät zum Erkennen von kritischen Fahrsituationen eines Kraftzweirads
DE102018213755A1 (de) * 2018-08-15 2020-02-20 Robert Bosch Gmbh Verfahren zum Betreiben eines motorisierten Zweirads, insbesondere eines Motorrads, sowie Computerprogramm zur Durchführung des Verfahrens
DE102019101392A1 (de) * 2019-01-21 2020-07-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Traktionskontrolle eines einspurigen Kraftfahrzeugs unter Berücksichtigung des Schräglaufwinkels des Hinterrades
US12195083B2 (en) * 2019-06-26 2025-01-14 The Regents Of The University Of Michigan Lane change maneuvers with minimized tire slip
DE102020101650A1 (de) 2020-01-24 2021-07-29 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Beeinflussen einer Schräglage eines Einspurfahrzeugs
US12115974B2 (en) * 2022-05-25 2024-10-15 GM Global Technology Operations LLC Data fusion-centric method and system for vehicle motion control

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2629383B2 (ja) * 1989-11-16 1997-07-09 日産自動車株式会社 操舵力制御装置
DE102005003980B3 (de) * 2005-01-28 2006-09-14 Bayerische Motoren Werke Ag Schlupfregelsystem für ein einspuriges Kraftfahrzeug
DE102008001970A1 (de) * 2008-05-26 2009-12-03 Robert Bosch Gmbh Verfahren zum Stabilisieren von Fahrbewegungen eines einspurigen Kraftfahrzeugs, unter Nutzung des Neigungswinkels und des Schwimmwinkels sowie Vorrichtung dafür
DE102009046226A1 (de) * 2009-10-30 2011-05-19 Robert Bosch Gmbh Verfahren und Vorrichtung zur Reduktion der auf ein Motorrad wirkenden Querkräfte
DE102010003951A1 (de) * 2010-04-14 2011-10-20 Robert Bosch Gmbh Verfahren zum Stabilisieren eines Zweirads bei seitlich rutschendem Hinterrad
US20130168171A1 (en) * 2012-01-03 2013-07-04 Erik Buell Ridden vehicle with hybrid power system
DE102012211963A1 (de) 2012-07-10 2014-01-30 Robert Bosch Gmbh Verfahren zur Stabilisierung eines Zweirads bei Kurvenfahrt
DE102013200020A1 (de) * 2013-01-02 2014-07-03 Robert Bosch Gmbh Verfahren und Vorrichtung zur Fahrstabilisierung eines motorisierten Zweirads
FR3032523B1 (fr) * 2015-02-11 2017-03-10 Continental Automotive France Procede de detection d'une inclinaison par rapport au sol d'une roue
DE102016211421A1 (de) * 2016-06-27 2017-12-28 Robert Bosch Gmbh Verfahren zur querdynamischen Stabilisierung eines einspurigen Kraftfahrzeugs
DE102016223070A1 (de) * 2016-11-23 2018-05-24 Robert Bosch Gmbh Verfahren und Steuergerät zum Erkennen von kritischen Fahrsituationen eines Kraftzweirads

Also Published As

Publication number Publication date
US10549733B2 (en) 2020-02-04
JP2019535594A (ja) 2019-12-12
DE102016223070A1 (de) 2018-05-24
EP3544868A1 (de) 2019-10-02
US20190283722A1 (en) 2019-09-19
WO2018095634A1 (de) 2018-05-31

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