DE10232362A1 - Stabilizing single-track motor vehicle involves reducing braking moment on at least one wheel of vehicle depending on output signal of at least one transverse acceleration sensor attached to vehicle - Google Patents
Stabilizing single-track motor vehicle involves reducing braking moment on at least one wheel of vehicle depending on output signal of at least one transverse acceleration sensor attached to vehicle Download PDFInfo
- Publication number
- DE10232362A1 DE10232362A1 DE2002132362 DE10232362A DE10232362A1 DE 10232362 A1 DE10232362 A1 DE 10232362A1 DE 2002132362 DE2002132362 DE 2002132362 DE 10232362 A DE10232362 A DE 10232362A DE 10232362 A1 DE10232362 A1 DE 10232362A1
- Authority
- DE
- Germany
- Prior art keywords
- output signal
- wheel
- motor vehicle
- acceleration sensor
- lateral acceleration
- 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.)
- Granted
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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
- B60T8/261—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels specially adapted for use in 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
- B60T8/32—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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Stabilisierung eines einspurigen Fahrzeugs.The invention relates to a method and a device for stabilizing a single-track vehicle.
Aus der
Die Erfindung betrifft ein Verfahren zur Stabilisierung eines einspurigen Kraftfahrzeugs während einer vorliegenden Kurvenbremsung, bei dem
- – das Ausgangssignal wenigstens eines am Kraftfahrzeug angebrachten Querbeschleunigungssensors ausgewertet wird und
- – abhängig von diesem Ausgangssignal an wenigstens einem Rad des Kraftfahrzeugs das Bremsmoment reduziert wird.
- - The output signal of at least one transverse acceleration sensor attached to the motor vehicle is evaluated and
- - Depending on this output signal, the braking torque is reduced on at least one wheel of the motor vehicle.
Durch die Auswertung des Ausgangssignals des Querbeschleunigungssensors ist es möglich, eine Rutschgefahr infolge zu geringer Seitenführungskraft zu detektieren und als Abhilfe das Bremsmoment in Längsrichtung zu reduzieren. Querbeschleunigungssensoren sind bewährte Bauelemente und werden im Rahmen der Fahrdynamikregelung von zweispurigen Fahrzeugen bereits serienmäßig eingesetzt.By evaluating the output signal of the Lateral acceleration sensor, it is possible to risk slipping cornering force too low to detect and as a remedy the braking torque in the longitudinal direction to reduce. Lateral acceleration sensors are proven components and are used in the driving dynamics control of two-lane vehicles already used as standard.
Eine vorteilhafte Ausführungsform ist dadurch gekennzeichnet, dass das Bremsmoment an wenigstens einem Rad dann reduziert wird, wenn die Änderung des Ausgangssignals des Querbeschleunigungssensor pro Zeiteinheit (d.h. die Änderung des Ausgangssignals dividiert durch die Länge des betrachteten Zeitintervalls) einen ersten Grenzwert überschreitet.An advantageous embodiment is characterized in that the braking torque on at least one Wheel is then reduced when the output signal changes of the lateral acceleration sensor per unit of time (i.e. the change of the output signal divided by the length of the time interval under consideration) exceeds a first limit.
Eine dazu alternative Ausführungsform ist dadurch gekennzeichnet, dass das Bremsmoment an wenigstens einem Rad dann reduziert wird, wenn das Ausgangssignal des Querbeschleunigungssensors einen zweiten Grenzwert überschreitet.An alternative embodiment is characterized in that the braking torque on at least one Wheel is then reduced when the output signal of the lateral acceleration sensor exceeds a second limit.
Beide Ausführungsformen sind in einem Steuergerät leicht und unaufwendig realisierbar.Both embodiments are easy in a control unit and easy to implement.
Eine vorteilhafte Ausgestaltung besteht darin, dass das Bremsmoment an wenigstens einem Rad soweit reduziert wird, bis das Ausgangssignal des Querbeschleunigungssensors einen dritten Grenzwert unterschreitet. Die Unterschreitung des dritten Grenzwerts durch das Ausgangssignal stellt sicher, dass sich das Fahrzeug wieder stabilisiert hat, eine weitere Verringerung des Bremsmoments ist dann nicht mehr notwendig.There is an advantageous embodiment in that the braking torque on at least one wheel is reduced so far until the output signal of the lateral acceleration sensor is one falls below the third limit. Falling short of the third Limit value by the output signal ensures that the Vehicle has stabilized again, further reducing the Braking torque is then no longer necessary.
Eine vorteilhafte Ausführungsform ist dadurch gekennzeichnet, dass das Bremsmoment an beiden Rädern reduziert wird.An advantageous embodiment is characterized in that the braking torque on both wheels is reduced becomes.
Durch die Reduktion des Bremsmoments an beiden Rädern wird gewährleistet, dass für beide Räder eine hinreichend große Seitenführungskraft aufgebaut werden kann.By reducing the braking torque on both wheels is guaranteed that for both wheels a sufficiently large one Cornering force can be built.
Eine weitere vorteilhafte Ausgestaltung der Erfindung ist dadurch charakterisiert, dass
- – zusätzlich das Ausgangssignal eines zweiten am Kraftfahrzeug angebrachten Querbeschleunigungssensors ausgewertet wird,
- – jeder der beiden Querbeschleunigungssensoren einem Rad zugeordnet ist und
- – abhängig vom Ausgangssignal von jedem der beiden Querbeschleunigungssensoren am jeweils zugeordneten Rad des Kraftfahrzeugs das Bremsmoment reduziert wird.
- The output signal of a second transverse acceleration sensor attached to the motor vehicle is additionally evaluated,
- - Each of the two transverse acceleration sensors is assigned to a wheel and
- - The braking torque is reduced as a function of the output signal from each of the two transverse acceleration sensors on the respectively assigned wheel of the motor vehicle.
Eine vorteilhafte Ausgestaltung der Erfindung besteht darin, dass
- – am Kraftfahrzeug zusätzlich ein Gierratensensor angebracht ist und
- – abhängig vom Ausgangssignal des Gierratensensors festgelegt wird, an welchem Rad (möglicherweise auch an beiden Rädern oder an keinem Rad) das Bremsmoment reduziert wird.
- - A yaw rate sensor is additionally attached to the motor vehicle and
- - Depending on the output signal of the yaw rate sensor, it is determined on which wheel (possibly also on both wheels or on no wheel) the braking torque is reduced.
Durch Auswertung des Ausgangssignals des Gierratensensors kann in einfacher Weise (durch das Vorzeichen) dasjenige Rad ermittelt werden, an welchem eine zu geringe Seitenführungskraft vorliegt. Ähnlich wie die Querbeschleunigungssensoren sind Gierratensensoren bewährte Bauelemente und werden im Rahmen der Fahrdynamikregelung von zweispurigen Fahrzeugen bereits serienmäßig eingesetzt.By evaluating the output signal of the yaw rate sensor can be easily (by the sign) determine the wheel on which the cornering force is too low is present. Similar like the lateral acceleration sensors, yaw rate sensors are proven components and are used in the driving dynamics control of two-lane vehicles already used as standard.
Die erfindungsgemäße Vorrichtung zur Stabilisierung eines einspurigen Kraftfahrzeugs während einer vorliegenden Kurvenbremsung umfasst
- – wenigstens einen am Kraftfahrzeug angebrachten Querbeschleunigungssensor sowie
- – Bremsmittel, durch die abhängig vom Ausgangssignal des Querbeschleunigungssensors wenigstens an einem Rad des Kraftfahrzeugs das Bremsmoment reduziert wird.
- - At least one transverse acceleration sensor attached to the motor vehicle and
- - Braking means by which the braking torque is reduced at least on one wheel of the motor vehicle depending on the output signal of the lateral acceleration sensor.
Eine vorteilhafte Ausgestaltung ist durch
- – einen zweiten am Kraftfahrzeug angebrachten Querbeschleunigungssensor,
- – wobei jeder der beiden Querbeschleunigungssensoren einem Rad zugeordnet ist und
- – durch die Bremsmittel an jedem Rad abhängig vom Ausgangssignal des zugeordneten Querbeschleunigungssensors das Bremsmoment reduziert wird, gekennzeichnet.
- A second lateral acceleration sensor attached to the motor vehicle,
- - Wherein each of the two transverse acceleration sensors is assigned to a wheel and
- - The braking torque is reduced by the braking means on each wheel as a function of the output signal of the assigned transverse acceleration sensor.
Eine weitere vorteilhafte Ausgestaltung ist gekennzeichnet durch
- – einen am Kraftfahrzeug zusätzlich angebrachten Gierratensensor, wobei
- – abhängig vom Ausgangssignal des Gierratensensors festgelegt wird, an welchen Rädern durch die Bremsmittel das Bremsmoment reduziert wird.
- - An additional yaw rate sensor attached to the motor vehicle, wherein
- - Depending on the output signal of the yaw rate sensor, it is determined on which wheels the braking torque is reduced by the braking means.
Die beiden letztgenannten Ausgestaltungen der Erfindung ermöglichen vorteilhafterweise eine radindividuelle Steuerung der Rücknahme des Bremsmoments. Jedoch ist dafür ein zusätzlicher Querbeschleunigungssensor oder Gierratensensor notwendig.The latter two configurations of Enable invention advantageously a wheel-specific control of the return of the braking torque. However, it is for that an additional Lateral acceleration sensor or yaw rate sensor necessary.
Ein Ausführungsbeispiel der Erfindung
ist in den Zeichnungen
Ausführungsbeispieleembodiments
Bei stabilen Kurvenfahrten herrscht
für ein einspuriges
Kraftfahrzeug ein solches Kräftegleichgewicht
aus Zentrifugalkraft Fz und Erdanziehungskraft G, dass die resultierende
Kraftlinie vom Schwerpunkt des einspurigen Kraftfahrzeugs (bzw.
Motorrads) durch die Reifenaufstandsfläche geht. Dies ist in
Findet bei einem Bremseingriff eine starke Veränderung des Querbeschleunigungssignals statt, dann ist dies ein deutliches Zeichen dafür, dass der Fahrzustand kritisch ist und dass mehr Seitenführungskraft benötigt wird, um das Fahrzeug wieder zu stabilisieren. Deshalb wird vorgeschlagen, dass das Bremsmoment soweit reduziert wird, bis sich das Querbeschleunigungssignal wieder innerhalb noch zu bestimmender Grenzen befindet. Beispielsweise kann das Bremsmoment am wenigstens einem Rad dann reduziert werden, wenn die Änderung pro Zeiteinheit des Ausgangssignals aq des Querbeschleunigungssensors einen ersten Grenzwert daq1/dt (die Notation daq1/dt kennzeichne einen ersten Grenzwert bzgl. der Größe daq/dt) überschreitet. Alternativ dazu ist es auch möglich, dass das Bremsmoment dann reduziert wird, wenn das Ausgangssignal aq des Querbeschleunigungssensors einen zweiten Grenzwert aq2 überschreitet. Diese Reduktion des Bremsmomentes wird solange fortgesetzt, bis das Ausgangssignal aq wieder einen dritten Grenzwert aq3 unterschreitet.Finds one during a brake intervention strong change of the lateral acceleration signal, this is a clear one Signs of that the driving condition is critical and that more cornering power needed to stabilize the vehicle again. Therefore it is suggested that the braking torque is reduced until the lateral acceleration signal is again within limits yet to be determined. For example the braking torque on at least one wheel can be reduced if the change per unit time of the output signal aq of the lateral acceleration sensor a first limit daq1 / dt (denote the notation daq1 / dt exceeds a first limit with respect to the size daq / dt). Alternatively is it also possible that the braking torque is reduced when the output signal aq of the lateral acceleration sensor exceeds a second limit value aq2. This reduction in braking torque continues until the output signal aq again falls below a third limit value aq3.
Der Ablauf des erfindungsgemäßen Verfahrens
ist in
In einer weiteren Austauschstufe dieses Reglers kann beispielsweise mit zwei räumlich getrennten Querbeschleunigungssensoren gearbeitet werden, um festzustellen an welchem Rad zu hoher Seitenschlupf aufgebaut wurde. Dabei ist jeder dieser beiden Querbeschleunigungssensoren einem Rad zugeordnet. Diese Entscheidung kann auch mittels eines Gierratensensors getroffen werden, dessen Meßachse beispielsweise in Richtung der Motorradhochachse weist. Korreliert die Veränderung des Querbeschleunigungssignals mit einer Zu- oder Abnahme der Gierrate, dann hat entweder das Vorder- oder das Hinterrad zu wenig Seitenführungskraft, denn die Gierrate ist ein Maß für die Drehbewegung und Drehrichtung des Kraftfahrzeugs. Deshalb kann das „Wegrutschen" eine Rades über die Gierrate beobachtet werden. Findet beim Bremsvorgang eine schnelle Variation der gemessenen Querbeschleunigung statt, wobei sich das Gierratensignal nicht verändert, dann liegt ein Verlust der Seitenführungskräfte an beiden Rädern vor.In a further exchange stage this controller can, for example, with two spatially separate transverse acceleration sensors to determine which wheel has too much side slip was built up. Each of these two transverse acceleration sensors assigned to a wheel. This decision can also be made using a Yaw rate sensor are taken, whose measuring axis, for example, in the direction the motorcycle vertical axis points. Correlates the change in the lateral acceleration signal with an increase or decrease in yaw rate, then has either the front or the rear wheel lacks cornering power, because the yaw rate is a measure of the rotational movement and Direction of rotation of the motor vehicle. Therefore, the "slipping" a wheel over the Yaw rate can be observed. Finds a quick one when braking Variation of the measured lateral acceleration instead, whereby the Yaw rate signal not changed, then there is a loss of cornering forces on both wheels.
Der Aufbau der erfindungsgemäßen Vorrichtung
ist in
Dabei kennzeichnet Block
- – entweder ein Querbeschleunigungssensor,
- – oder zwei Querbeschleunigungssensoren oder
- – ein Querbeschleunigungssensor und ein Gierratensensor
- - either a lateral acceleration sensor,
- - or two transverse acceleration sensors or
- - A lateral acceleration sensor and a yaw rate sensor
Die Ausgangssignale der Sensormittel
Der Ablauf des erfindungsgemäßen Verfahrens
bei der Ausführungsform
mit einem Querbeschleunigungssensor und einem Gierratensensor ist in
- – in Block
404 die Bremskraft am Vorderrad reduziert und/oder - – in
Block
406 die Bremskraft am Hinterrad reduziert.
- - in block
404 the braking force on the front wheel is reduced and / or - - in block
406 the braking force on the rear wheel is reduced.
Im Falle des Einsatzes von zwei Querbeschleunigungssensoren
läuft beispielsweise
für jedes Rad
das in
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10232362.3A DE10232362B4 (en) | 2002-07-17 | 2002-07-17 | Method and device for stabilizing a single-track motor vehicle |
JP2003178151A JP4402379B2 (en) | 2002-07-17 | 2003-06-23 | Method and apparatus for stabilizing two-wheeled vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10232362.3A DE10232362B4 (en) | 2002-07-17 | 2002-07-17 | Method and device for stabilizing a single-track motor vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
DE10232362A1 true DE10232362A1 (en) | 2004-01-29 |
DE10232362B4 DE10232362B4 (en) | 2018-03-15 |
Family
ID=29796407
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE10232362.3A Expired - Fee Related DE10232362B4 (en) | 2002-07-17 | 2002-07-17 | Method and device for stabilizing a single-track motor vehicle |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP4402379B2 (en) |
DE (1) | DE10232362B4 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004019525A1 (en) * | 2004-04-22 | 2005-11-10 | Bayerische Motoren Werke Ag | Inclination sensor for single-track motor vehicle has float body on axle parallel to vehicle longitudinal axis in container filled with liquid , arrangement for detecting rotation angle of axle relative to container |
DE102004021590A1 (en) * | 2004-05-03 | 2005-12-01 | Continental Aktiengesellschaft | Device and method for determining the angle of inclination of a two-wheeler and method for level control of a sprung two-wheeler |
WO2006077211A1 (en) | 2005-01-21 | 2006-07-27 | Continental Teves Ag & Co. Ohg | Method and device for regulating the braking force and/or driving force of a two-wheeled vehicle |
DE102005047145A1 (en) * | 2005-09-30 | 2007-04-05 | Bayerische Motoren Werke Ag | High-speed oscillation eliminating system for e.g. motorcycle, has control device generating control signal to control actuators, where one actuator is designed such that interruption is realized in vehicle control to counteract oscillation |
WO2008113666A1 (en) * | 2007-03-16 | 2008-09-25 | Continental Teves Ag & Co. Ohg | Method and device for stabilizing a single-track motor vehicle |
WO2012143238A2 (en) | 2011-04-19 | 2012-10-26 | Meissner Marita | Dynamic stability control using gnss and ins |
WO2012163567A1 (en) * | 2011-05-27 | 2012-12-06 | Robert Bosch Gmbh | Inclination-dependent adaptation of brake force regulation in single-tracked vehicles |
EP2813691A4 (en) * | 2012-02-10 | 2015-12-16 | Yamaha Motor Co Ltd | Vehicle and intake air amount control device |
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EP2106980B1 (en) | 2008-03-31 | 2020-01-01 | Nissin Kogyo Co., Ltd. | Deriving method and deriving apparatus of lateral acceleration, and bar handle vehicle brake controller |
JP5580937B2 (en) * | 2011-07-28 | 2014-08-27 | ヤマハ発動機株式会社 | Attitude control device and saddle riding type vehicle equipped with the same |
DE102012211963A1 (en) * | 2012-07-10 | 2014-01-30 | Robert Bosch Gmbh | Method for stabilizing a two-wheeler when cornering |
JP5844331B2 (en) * | 2013-10-21 | 2016-01-13 | ヤマハ発動機株式会社 | Longitudinal force control device and saddle riding type vehicle equipped with the same |
EP3133006B1 (en) | 2014-04-16 | 2017-12-20 | Yamaha Hatsudoki Kabushiki Kaisha | System for estimating camber thrust, method for estimating camber thrust, and vehicle |
JP5945572B2 (en) | 2014-09-03 | 2016-07-05 | ヤマハ発動機株式会社 | Driving force control system and saddle riding type vehicle |
JP5945571B2 (en) * | 2014-09-03 | 2016-07-05 | ヤマハ発動機株式会社 | Traction control system and saddle-ride type vehicle |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3839520A1 (en) | 1988-11-23 | 1990-05-31 | Lucas Ind Plc | Antilock brake system for single-track motor vehicles |
DE4000212A1 (en) | 1990-01-05 | 1991-07-11 | Lucas Ind Plc | METHOD FOR BLOCKING PROTECTED BRAKING OF A MOTORCYCLE AND FOR DETERMINING THE LIABILITY |
DE4244112C2 (en) | 1992-12-24 | 2000-10-12 | Bayerische Motoren Werke Ag | Anti-lock control system for motorcycles |
-
2002
- 2002-07-17 DE DE10232362.3A patent/DE10232362B4/en not_active Expired - Fee Related
-
2003
- 2003-06-23 JP JP2003178151A patent/JP4402379B2/en not_active Expired - Fee Related
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004019525A1 (en) * | 2004-04-22 | 2005-11-10 | Bayerische Motoren Werke Ag | Inclination sensor for single-track motor vehicle has float body on axle parallel to vehicle longitudinal axis in container filled with liquid , arrangement for detecting rotation angle of axle relative to container |
DE102004019525B4 (en) * | 2004-04-22 | 2012-09-06 | Bayerische Motoren Werke Aktiengesellschaft | Tilt sensor for a single-track motor vehicle |
DE102004021590A1 (en) * | 2004-05-03 | 2005-12-01 | Continental Aktiengesellschaft | Device and method for determining the angle of inclination of a two-wheeler and method for level control of a sprung two-wheeler |
WO2006077211A1 (en) | 2005-01-21 | 2006-07-27 | Continental Teves Ag & Co. Ohg | Method and device for regulating the braking force and/or driving force of a two-wheeled vehicle |
DE102005047145A1 (en) * | 2005-09-30 | 2007-04-05 | Bayerische Motoren Werke Ag | High-speed oscillation eliminating system for e.g. motorcycle, has control device generating control signal to control actuators, where one actuator is designed such that interruption is realized in vehicle control to counteract oscillation |
WO2008113666A1 (en) * | 2007-03-16 | 2008-09-25 | Continental Teves Ag & Co. Ohg | Method and device for stabilizing a single-track motor vehicle |
US8494747B2 (en) | 2007-03-16 | 2013-07-23 | Continental Teves Ag & Co. Ohg | Method and device for stabilizing a single-track motor vehicle |
WO2012143238A2 (en) | 2011-04-19 | 2012-10-26 | Meissner Marita | Dynamic stability control using gnss and ins |
WO2012163567A1 (en) * | 2011-05-27 | 2012-12-06 | Robert Bosch Gmbh | Inclination-dependent adaptation of brake force regulation in single-tracked vehicles |
EP2813691A4 (en) * | 2012-02-10 | 2015-12-16 | Yamaha Motor Co Ltd | Vehicle and intake air amount control device |
US9435269B2 (en) | 2012-02-10 | 2016-09-06 | Yamaha Hatsudoki Kabushiki Kaisha | Vehicle and intake amount control device |
Also Published As
Publication number | Publication date |
---|---|
DE10232362B4 (en) | 2018-03-15 |
JP4402379B2 (en) | 2010-01-20 |
JP2004051091A (en) | 2004-02-19 |
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