JP6838058B2 - 二輪動力車両のステアリング要素をドライバーに依存せずに制御する方法および装置 - Google Patents
二輪動力車両のステアリング要素をドライバーに依存せずに制御する方法および装置 Download PDFInfo
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- JP6838058B2 JP6838058B2 JP2018519691A JP2018519691A JP6838058B2 JP 6838058 B2 JP6838058 B2 JP 6838058B2 JP 2018519691 A JP2018519691 A JP 2018519691A JP 2018519691 A JP2018519691 A JP 2018519691A JP 6838058 B2 JP6838058 B2 JP 6838058B2
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- 238000000034 method Methods 0.000 title claims description 30
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 230000000977 initiatory effect Effects 0.000 claims 1
- 230000003139 buffering effect Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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Classifications
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- 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
- 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
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the 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
- 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
- B60W10/18—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
- B60W10/184—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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K21/00—Steering devices
-
- 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
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- 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
- B60T2201/03—Brake assistants
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
-
- 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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
-
- 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
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/13—Bicycles; Tricycles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
ドライバーに依存せずに実施される二輪動力車両の緊急ブレーキ過程があるか、或いは、間近に迫っているか検知し、
これに依存して、前記ステアリング要素のドライバーに依存しない制御を行う、
方法に関する。
104 ステアリング要素の制御
Claims (4)
- ドライバーに依存せずに実施される緊急ブレーキ過程で、二輪動力車両のステアリング要素をドライバーに依存せずに制御するための方法において、
周辺センサ装置の出力信号を評価して(101)、ドライバーに依存せずに実施される緊急ブレーキ過程を実施するか否かを判定し(102)、該緊急ブレーキ過程を実施すると判定した場合に、該緊急ブレーキ過程を始動させ(103)、同時に前記ステアリング要素のドライバーに依存しない制御を行うことにより(104)、前記二輪動力車両の姿勢を安定化し、
前記ステアリング要素が、操舵角をドライバーに依存せずに調整するためのステアリングアクチュエータであり、該ステアリングアクチュエータを、緊急ブレーキ過程の際に、前記二輪動力車両が直進走行を続けるように、ドライバーに依存せずに起動させる(104)
方法。 - 前記二輪動力車両がオートバイである、請求項1に記載の方法。
- ドライバーに依存しない緊急ブレーキ過程を、予測性のある周辺センサ装置の信号に依存して始動させる(102)、請求項1に記載の方法。
- 請求項1から3のいずれか1項に記載の方法を実施する装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015220901.6A DE102015220901A1 (de) | 2015-10-27 | 2015-10-27 | Verfahren und Vorrichtung zur fahrerunabhängigen Beeinflussung eines Lenkungselementes eines einspurigen Kraftfahrzeugs |
DE102015220901.6 | 2015-10-27 | ||
PCT/EP2016/072355 WO2017071882A1 (de) | 2015-10-27 | 2016-09-21 | Verfahren und vorrichtung zur fahrerunabhängigen beeinflussung eines lenkungselementes eines einspurigen kraftfahrzeugs |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019501053A JP2019501053A (ja) | 2019-01-17 |
JP6838058B2 true JP6838058B2 (ja) | 2021-03-03 |
Family
ID=56990431
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2018519691A Active JP6838058B2 (ja) | 2015-10-27 | 2016-09-21 | 二輪動力車両のステアリング要素をドライバーに依存せずに制御する方法および装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10752241B2 (ja) |
EP (1) | EP3368394B1 (ja) |
JP (1) | JP6838058B2 (ja) |
CN (1) | CN108290607B (ja) |
DE (1) | DE102015220901A1 (ja) |
WO (1) | WO2017071882A1 (ja) |
Families Citing this family (17)
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DE102015220901A1 (de) * | 2015-10-27 | 2017-04-27 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur fahrerunabhängigen Beeinflussung eines Lenkungselementes eines einspurigen Kraftfahrzeugs |
JP2018176861A (ja) * | 2017-04-06 | 2018-11-15 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 制御装置、制御方法及びブレーキシステム |
JP2018177046A (ja) | 2017-04-17 | 2018-11-15 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 制御装置、制御方法及びブレーキシステム |
DE102017221642A1 (de) * | 2017-12-01 | 2019-06-06 | Continental Automotive Gmbh | Vorrichtung zum Betreiben eines Kraftrads, System und Verfahren zum Betreiben eines Kraftrads |
DE102018213298A1 (de) * | 2018-08-08 | 2020-02-13 | Robert Bosch Gmbh | Motorrad sowie Verfahren und Steuergerät zum Steuern eines aktiven Lenkbeeinflussungssystems eines Motorrads |
US11027786B2 (en) | 2018-11-20 | 2021-06-08 | Harley-Davidson Motor Company Group, LLC | Gyroscopic rider assist device |
US11679834B2 (en) * | 2019-03-29 | 2023-06-20 | Honda Motor Co., Ltd. | Driving assistance device for saddle type vehicle |
WO2020202278A1 (ja) * | 2019-03-29 | 2020-10-08 | 本田技研工業株式会社 | 鞍乗り型車両の運転支援装置 |
JP2020175690A (ja) * | 2019-04-15 | 2020-10-29 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 制御システム及び制御方法 |
DE102019209864A1 (de) | 2019-07-04 | 2021-01-07 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Durchführung einer autonomen Bremsung bei einem einspurigen Kraftfahrzeug |
CN114450217B (zh) * | 2019-09-30 | 2024-02-13 | 本田技研工业株式会社 | 跨骑型车辆的转向辅助装置 |
DE112020004670T5 (de) * | 2019-09-30 | 2022-06-15 | Honda Motor Co., Ltd. | Lenkassistenzvorrichtung für ein Fahrzeug vom Aufsitztyp |
DE102019215101A1 (de) * | 2019-10-01 | 2021-04-01 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Durchführung einer Abstands- oder Geschwindigkeitsregelungsfunktion für ein einspuriges Kraftfahrzeug |
JP6967092B2 (ja) | 2020-01-16 | 2021-11-17 | 本田技研工業株式会社 | 自動二輪車 |
DE102020209952A1 (de) | 2020-08-06 | 2022-02-24 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und Vorrichtung zur Verbesserung der Fahrzeugstabilität eines einspurigen Kraftfahrzeugs |
JP7436551B2 (ja) | 2022-03-30 | 2024-02-21 | 本田技研工業株式会社 | 自動二輪車の転舵制御装置 |
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JP4232338B2 (ja) | 2001-01-29 | 2009-03-04 | パナソニック電工株式会社 | 動力車 |
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DE102015220901A1 (de) * | 2015-10-27 | 2017-04-27 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur fahrerunabhängigen Beeinflussung eines Lenkungselementes eines einspurigen Kraftfahrzeugs |
-
2015
- 2015-10-27 DE DE102015220901.6A patent/DE102015220901A1/de active Pending
-
2016
- 2016-09-21 US US15/768,897 patent/US10752241B2/en active Active
- 2016-09-21 JP JP2018519691A patent/JP6838058B2/ja active Active
- 2016-09-21 CN CN201680062640.2A patent/CN108290607B/zh active Active
- 2016-09-21 EP EP16770480.8A patent/EP3368394B1/de active Active
- 2016-09-21 WO PCT/EP2016/072355 patent/WO2017071882A1/de active Application Filing
Also Published As
Publication number | Publication date |
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US20190077396A1 (en) | 2019-03-14 |
WO2017071882A1 (de) | 2017-05-04 |
DE102015220901A1 (de) | 2017-04-27 |
EP3368394B1 (de) | 2021-08-18 |
EP3368394A1 (de) | 2018-09-05 |
US10752241B2 (en) | 2020-08-25 |
CN108290607B (zh) | 2020-11-03 |
JP2019501053A (ja) | 2019-01-17 |
CN108290607A (zh) | 2018-07-17 |
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