SE0004515D0 - Roll angle indicator - Google Patents

Roll angle indicator

Info

Publication number
SE0004515D0
SE0004515D0 SE0004515A SE0004515A SE0004515D0 SE 0004515 D0 SE0004515 D0 SE 0004515D0 SE 0004515 A SE0004515 A SE 0004515A SE 0004515 A SE0004515 A SE 0004515A SE 0004515 D0 SE0004515 D0 SE 0004515D0
Authority
SE
Sweden
Prior art keywords
roll angle
vehicle
lateral acceleration
parameter
angle indicator
Prior art date
Application number
SE0004515A
Other languages
Swedish (sv)
Inventor
Markus Drevoe
Original Assignee
Nira Automotive Ab
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
Priority claimed from SE0002441A external-priority patent/SE0002441D0/en
Application filed by Nira Automotive Ab filed Critical Nira Automotive Ab
Priority to SE0004515A priority Critical patent/SE0004515D0/en
Publication of SE0004515D0 publication Critical patent/SE0004515D0/en
Priority to EP01944091A priority patent/EP1305568A1/en
Priority to PCT/SE2001/001497 priority patent/WO2002001151A1/en
Priority to AU2001266532A priority patent/AU2001266532A1/en

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
    • 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
    • B60T8/32—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 a speed condition, e.g. acceleration or deceleration
    • B60T8/321—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 a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3225—Systems specially adapted 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/11—Pitch movement
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/112—Roll movement
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Methods for determining the roll angle and pitch angle of a two-wheeled vehicle wherein the roll angle is measured in relation to the gravitational field. The invention is based on dynamic parameters detected by means of inertial sensors, for example accelerometers and rate gyros. The general sensor fusion approach requires a parameter that indicates the lateral acceleration of the vehicle. In a further development of the invention the lateral acceleration is combined with a parameter indicating the velocity of the vehicle. Advantageous embodiments of the invention comprise an adaptive filter in the shape of a Kalman filter. The yaw rate can also be generated as an addition sensor signal to achieve higher performance.
SE0004515A 2000-06-28 2000-12-06 Roll angle indicator SE0004515D0 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SE0004515A SE0004515D0 (en) 2000-06-28 2000-12-06 Roll angle indicator
EP01944091A EP1305568A1 (en) 2000-06-28 2001-06-28 Methods for estimating the roll angle and pitch angle of a two-wheeled vehicle, system and a computer program to perform the methods
PCT/SE2001/001497 WO2002001151A1 (en) 2000-06-28 2001-06-28 Methods for estimating the roll angle and pitch angle of a two-wheeled vehicle, system and a computer program to perform the methods
AU2001266532A AU2001266532A1 (en) 2000-06-28 2001-06-28 Methods for estimating the roll angle and pitch angle of a two-wheeled vehicle, system and a computer program to perform the methods

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0002441A SE0002441D0 (en) 2000-06-28 2000-06-28 Roll angle estimation
SE0004515A SE0004515D0 (en) 2000-06-28 2000-12-06 Roll angle indicator

Publications (1)

Publication Number Publication Date
SE0004515D0 true SE0004515D0 (en) 2000-12-06

Family

ID=26655164

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0004515A SE0004515D0 (en) 2000-06-28 2000-12-06 Roll angle indicator

Country Status (4)

Country Link
EP (1) EP1305568A1 (en)
AU (1) AU2001266532A1 (en)
SE (1) SE0004515D0 (en)
WO (1) WO2002001151A1 (en)

Families Citing this family (25)

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DE102004060292A1 (en) * 2004-12-15 2006-07-06 Robert Bosch Gmbh Tilt angle determination for a motorcycle
DE102006002399A1 (en) * 2005-01-21 2006-10-05 Continental Teves Ag & Co. Ohg Method and device for controlling the braking and / or driving forces of a single-track vehicle
DE102006061483B4 (en) 2006-02-22 2024-01-25 Continental Automotive Technologies GmbH Method and device for determining the roll angle of a motorcycle
EP1832881A3 (en) * 2006-03-08 2007-09-26 Yamaha Hatsudoki Kabushiki Kaisha Acceleration estimation device and vehicle with such a device
US7292925B1 (en) 2006-03-08 2007-11-06 Yamaha Hatsudoki Kabushiki Kaisha Acceleration estimation device and vehicle
WO2007107935A1 (en) 2006-03-21 2007-09-27 Koninklijke Philips Electronics N.V. Apparatus and method for determining roll angle of a motorcycle
DE102006057667B4 (en) * 2006-12-07 2018-08-09 Bayerische Motoren Werke Aktiengesellschaft Device for determining a skew angle in a single-track vehicle
DE102008043794A1 (en) 2008-11-17 2010-05-20 Robert Bosch Gmbh Method and device for determining the angle of inclination of a two-wheeled vehicle
IT1392308B1 (en) * 2008-12-11 2012-02-24 Carones "VEHICLE TRIPLE LIMITER DEVICE"
JP5393432B2 (en) 2009-12-21 2014-01-22 ヤマハ発動機株式会社 Roll angle estimation device and transport equipment
BR112013024112A2 (en) 2011-04-04 2016-12-13 Scania Cv Ab road tilt estimation
US8548722B2 (en) 2011-08-12 2013-10-01 Deere & Company Tilt sensor and method for determining the tilt of a vehicle
DE102011084601A1 (en) * 2011-10-17 2013-04-18 Robert Bosch Gmbh Two-wheeler, in particular with electric drive, with driving dynamics assistance system
CN102673687A (en) * 2012-05-30 2012-09-19 许稳忠 Bicycle brake tail lamp
EP2886407A1 (en) * 2013-12-18 2015-06-24 x-log Elektronik GmbH Estimation of the roll angle of a single-track vehicle
CN104316055B (en) * 2014-09-19 2018-08-17 南京航空航天大学 A kind of double-wheel self-balancing robot attitude algorithm method based on improved expanded Kalman filtration algorithm
JP6366141B2 (en) * 2015-05-29 2018-08-01 本田技研工業株式会社 Saddle riding
ITUB20155838A1 (en) * 2015-11-24 2017-05-24 E Novia S R L Device for determining a kinematic size of a bicycle and the cadence of pedaling exerted on the pedals of said bicycle
JP6663006B2 (en) * 2015-12-11 2020-03-11 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 Vehicle behavior detection device
CN109070898B (en) 2016-03-04 2022-01-25 大陆-特韦斯股份有限公司 Method for determining the roll angle of a motorcycle
CN106295027B (en) * 2016-08-16 2019-08-23 郑州伊海电气设备有限公司 A kind of modeling method with the disturbance of adaptive reactance voltage
FR3083758B1 (en) * 2018-07-13 2020-07-03 Continental Automotive France LEARNING THE ANGULAR POSITION OF AN INTEGRATED THREE-AXIS ACCELEROMETER IN AN ELECTRONIC CONTROL UNIT OF A VEHICLE ENGINE
KR20200140449A (en) * 2019-06-05 2020-12-16 현대자동차주식회사 Vehicle and control method thereof
DE102021203686A1 (en) 2021-04-14 2022-10-20 Robert Bosch Gesellschaft mit beschränkter Haftung Method for determining a driving dynamics state of a bicycle
CN114132415B (en) * 2021-12-02 2023-06-02 南京快轮智能科技有限公司 Control method for vehicle steering lamp

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4989922A (en) * 1988-11-23 1991-02-05 Lucas Industries Public Limited Company Method of anti-lock brake control for motorcycle vehicle
DE4244112C2 (en) * 1992-12-24 2000-10-12 Bayerische Motoren Werke Ag Anti-lock control system for motorcycles
US6002974A (en) 1998-02-06 1999-12-14 Delco Electronics Corporation Vehicle rollover sensing using extended kalman filter
US6002975A (en) 1998-02-06 1999-12-14 Delco Electronics Corporation Vehicle rollover sensing
SE523023C2 (en) * 2000-04-12 2004-03-23 Nira Dynamics Ab Method and apparatus for determining by recursive filtration a physical parameter of a wheeled vehicle

Also Published As

Publication number Publication date
EP1305568A1 (en) 2003-05-02
WO2002001151A1 (en) 2002-01-03
AU2001266532A1 (en) 2002-01-08

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