JP5538620B2 - 後輪が側方に滑った場合に二輪車を安定化するための方法 - Google Patents
後輪が側方に滑った場合に二輪車を安定化するための方法 Download PDFInfo
- Publication number
- JP5538620B2 JP5538620B2 JP2013504177A JP2013504177A JP5538620B2 JP 5538620 B2 JP5538620 B2 JP 5538620B2 JP 2013504177 A JP2013504177 A JP 2013504177A JP 2013504177 A JP2013504177 A JP 2013504177A JP 5538620 B2 JP5538620 B2 JP 5538620B2
- Authority
- JP
- Japan
- Prior art keywords
- motorcycle
- angle
- sensor
- slip angle
- side slip
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 12
- 230000000087 stabilizing effect Effects 0.000 title claims description 6
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000002238 attenuated effect Effects 0.000 claims description 2
- 241000965476 Darksidea beta Species 0.000 claims 1
- 230000003247 decreasing effect Effects 0.000 claims 1
- 238000004364 calculation method Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
Images
Classifications
-
- 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
- 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 tire sideslip angle or the vehicle body slip angle
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/16—Pitch
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/20—Sideslip angle
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
-
- 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
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Devices For Bicycles And Motorcycles (AREA)
Description
1.カーブ内側方向への二輪車のステアリングに対して操舵トルクを生成する:車線変更車両の特殊な走行物理によってより大きいカーブ半径がもたらされ、これにより、後輪の不可避的なコーナリング力が最終的に減衰される。操舵トルクは、例えば、操舵トルク調節器によって、および/または前輪におけるブレーキ圧の増大によって生成することができる。
2.後輪における縦方向力を低減し、これにより、コーナリング力を吸収する後輪の能力を改善する:後輪における駆動力が強すぎる場合にエンジントルクが自動的に低減され、および/またはブレーキ圧が増大される。ブレーキ力が強すぎる場合には、エンジントルクが増大され、および/またはブレーキ圧が低減される。後輪が持ち上がった場合には、前輪におけるブレーキ圧が低減される。いずれの場合にも後輪はコーナリング力をより多く吸収することができる。
3.車両速度を減衰する:これは、ホイールにおけるブレーキ圧の増大またはエンジントルクの低減によって達成される。
dvy/dt=ay−ωz・vx+ωx・vz−g・sinφ・cosΘ (1)
この場合、
dvy/dtは、横方向もしくはy方向の速度変化、
ayは、y方向に測定された横方向加速度、
ωzは、車両のヨーレート、
ωxは、ロールレート、
vxは、車両縦方向速度、
vzは、鉛直方向速度(車両基準システムにおける上記全ての変数)、
gは、重力加速度、
φは、傾斜角もしくは横揺れ角、および
Θは、例えばDIN70000にしたがったピッチ角を示す。
Vy=Vy0+∫dvy/dt
を推定することができ、この場合Vy0は初期値である。Vyおよび傾斜角φから、ホイール接触点における基準システムの横揺れ角もしくはスリップ角:
β=vy/(Vx・cosφ) (2)
が生じる。
Claims (9)
- 二輪車(1)がオーバステアした走行状態で二輪車(1)を安定化するための方法において、
二輪車(1)のオーバステアを記述する変数を調整変数として検出し、調整変数が所定の閾値を超過した場合には二輪車(1)を安定化する制御(3)を行い、
調整器(3)により横滑り角(β)および/または横滑り角変化(dβ/dt)を所定の目標値に調整することを特徴とする方法。 - 前記二輪車(1)のオーバステアを記述する変数を、横滑り角(β)、スリップ角または横滑り角もしくはスリップ角の経時変化(dβ/dt)とする、請求項1に記載の方法。
- 調整の範囲内で前記二輪車(1)のステアリングに対して操舵トルク(ML)を加え、および/または前輪ブレーキ(4)に作用するブレーキ圧を変更し、および/または後輪(9)における駆動トルク(Mmot)を低減または増大し、および/または後輪(9)におけるブレーキ圧(PH)を減衰または増大する、請求項2に記載の方法。
- 例えば、ホイール回転数センサなどの縦方向速度センサ、横方向加速度センサ、ヨーレートセンサおよびロールレートセンサ、ならびに横揺れ角および/またはピッチ角を検出するための随意の他のセンサ(8)によって前記二輪車(1)のオーバステアを記述する変数を決定する、請求項2または3に記載の方法。
- 前記センサ(8)の測定信号を、該測定信号から横滑り角(β)または横滑り角変化(dβ/dt)が決定される前に仮想測定点として後輪(9)のホイール接触点(11)に変換する、請求項4に記載の方法。
- 横滑り角(β)または横滑り角変化(dβ/dt)を、レーダセンサまたは光学センサによって測定する、請求項1から5までのいずれか一項に記載の方法。
- 前記二輪車(1)の傾斜度を検出し、現在の傾斜度に関係して前輪(10)におけるブレーキ圧(pV)を増大または低減する、請求項1から6までのいずれか一項に記載の方法。
- 前記二輪車(1)のステアリングに対して操舵トルク(ML)が加えられた場合に、操舵トルクを運転手がオーバステアできるようにする、請求項1から7までのいずれか一項に記載の方法。
- 二輪車(1)のオーバステアを記述する変数を決定するためのセンサ装置(2,8)ならびに二輪車のホイールブレーキ(4,7)、操舵調整器(5)および/または駆動エンジン(6)を制御するための手段(3)を備え、
前記手段は、横滑り角(β)および/または横滑り角変化(dβ/dt)を所定の目標値に調整する、二輪車(1)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010003951.9 | 2010-04-14 | ||
DE102010003951A DE102010003951A1 (de) | 2010-04-14 | 2010-04-14 | Verfahren zum Stabilisieren eines Zweirads bei seitlich rutschendem Hinterrad |
PCT/EP2011/052180 WO2011128130A1 (de) | 2010-04-14 | 2011-02-15 | Verfahren zum stabilisieren eines zweirads bei seitlich rutschendem hinterrad |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013523532A JP2013523532A (ja) | 2013-06-17 |
JP5538620B2 true JP5538620B2 (ja) | 2014-07-02 |
Family
ID=44025237
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013504177A Active JP5538620B2 (ja) | 2010-04-14 | 2011-02-15 | 後輪が側方に滑った場合に二輪車を安定化するための方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20130090828A1 (ja) |
EP (1) | EP2558340B1 (ja) |
JP (1) | JP5538620B2 (ja) |
DE (1) | DE102010003951A1 (ja) |
WO (1) | WO2011128130A1 (ja) |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5418512B2 (ja) * | 2011-01-18 | 2014-02-19 | 株式会社デンソー | 二輪車、二輪車用姿勢安定化装置及び二輪車用姿勢安定化方法 |
JP5827699B2 (ja) * | 2012-02-10 | 2015-12-02 | ヤマハ発動機株式会社 | 車両および吸気量制御装置 |
DE102012205520A1 (de) | 2012-04-04 | 2013-10-10 | Robert Bosch Gmbh | Verfahren zur Lenkmomentreduzierung bei Kurvenfahrten eines Zweirads |
DE102012211963A1 (de) | 2012-07-10 | 2014-01-30 | Robert Bosch Gmbh | Verfahren zur Stabilisierung eines Zweirads bei Kurvenfahrt |
US9758205B2 (en) | 2012-07-25 | 2017-09-12 | Bosch Corporation | Two-wheeled vehicle overturn prevention method and device |
DE102012219935B4 (de) * | 2012-10-31 | 2014-08-28 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Baugruppe zur Bestimmung der Abweichung der Fahrzeuglängsachse von einer Bewegungsrichtung eines Motorrades sowie Fahrassistenzsystem und Verfahren zu seiner Betätigung |
DE102012222884A1 (de) | 2012-12-12 | 2014-06-12 | Robert Bosch Gmbh | Verfahren zur Stabilisierung eines Zweirads |
DE102013212606A1 (de) | 2013-06-28 | 2014-12-31 | Robert Bosch Gmbh | Verfahren zur querdynamischen Stabilisierung eines einspurigen Kraftfahrzeugs |
US9067573B2 (en) | 2013-07-03 | 2015-06-30 | Wabco Europe Bvba | Method, system and device for controlling a vehicle brake system |
JP5844331B2 (ja) * | 2013-10-21 | 2016-01-13 | ヤマハ発動機株式会社 | 縦力制御装置およびそれを備えた鞍乗り型車両 |
DE102014000068A1 (de) | 2014-01-09 | 2015-07-09 | Wabco Gmbh | Verfahren, Steuereinrichtung und Fahrdynamik-Regelsystem zur Stabilitätsregelung eines Fahrzeuges |
DE102014216671A1 (de) * | 2014-08-21 | 2016-02-25 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Sturzverhinderung eines Fahrradfahrers |
JP5945572B2 (ja) * | 2014-09-03 | 2016-07-05 | ヤマハ発動機株式会社 | 駆動力制御システムおよび鞍乗り型車両 |
JP5945571B2 (ja) | 2014-09-03 | 2016-07-05 | ヤマハ発動機株式会社 | トラクション制御システムおよび鞍乗り型車両 |
AU2016342272A1 (en) * | 2015-10-23 | 2018-05-10 | Yamaha Hatsudoki Kabushiki Kaisha | Robot and robot control system |
CN109661343B (zh) | 2016-05-15 | 2021-09-24 | 机械模拟公司 | 稳定摩托车的***和方法 |
DE102016220388A1 (de) * | 2016-10-18 | 2018-04-19 | Audi Ag | Verfahren zur Berechnung der Quergeschwindigkeit eines Fahrzeugs |
DE102016223070A1 (de) | 2016-11-23 | 2018-05-24 | Robert Bosch Gmbh | Verfahren und Steuergerät zum Erkennen von kritischen Fahrsituationen eines Kraftzweirads |
JP6948157B2 (ja) * | 2017-05-24 | 2021-10-13 | 川崎重工業株式会社 | 車両制御装置 |
DE102017212123B4 (de) | 2017-07-14 | 2021-03-25 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Kurvenstabilisierung eines Fahrrads |
CN109693663B (zh) * | 2017-10-24 | 2020-09-22 | 上汽通用汽车有限公司 | 基于主动干预转向***的车辆稳定性控制*** |
DE102018207135A1 (de) * | 2018-05-08 | 2019-11-14 | Zf Friedrichshafen Ag | Stabilisierung eines einspurigen, zweiachsigen Fahrzeugs |
DE102018213298A1 (de) * | 2018-08-08 | 2020-02-13 | Robert Bosch Gmbh | Motorrad sowie Verfahren und Steuergerät zum Steuern eines aktiven Lenkbeeinflussungssystems eines Motorrads |
DE102018218969B4 (de) * | 2018-11-07 | 2021-05-12 | Robert Bosch Gmbh | Mit Muskelkraft und / oder elektrisch antreibbares Fahrrad sowie Verfahren zum Ansteuern eines elektrischen Antriebs |
US11027786B2 (en) | 2018-11-20 | 2021-06-08 | Harley-Davidson Motor Company Group, LLC | Gyroscopic rider assist device |
DE102019101392A1 (de) | 2019-01-21 | 2020-07-23 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Traktionskontrolle eines einspurigen Kraftfahrzeugs unter Berücksichtigung des Schräglaufwinkels des Hinterrades |
DE102019216056A1 (de) * | 2019-10-17 | 2021-04-22 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Verhinderung eines Überschlags nach vorn eines einspurigen Kraftfahrzeugs |
DE102019128447B4 (de) * | 2019-10-22 | 2021-07-15 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zur Bestimmung einer Übersteuer-Kennzahl als Maß für das Übersteuern eines Fahrzeugs |
DE102020205610A1 (de) * | 2020-05-04 | 2021-11-04 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und Vorrichtung zur Fahrdynamikregelung bei einem elektrisch an der Hinterachse angetriebenen Kraftfahrzeug |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB8610310D0 (en) * | 1986-04-28 | 1986-06-04 | Vickers Plc | Dynamometers |
US4989922A (en) * | 1988-11-23 | 1991-02-05 | Lucas Industries Public Limited Company | Method of anti-lock brake control for motorcycle vehicle |
US5895433A (en) * | 1996-05-23 | 1999-04-20 | General Motors Corporation | Vehicle chassis system control method and apparatus |
US7593838B2 (en) * | 2000-03-28 | 2009-09-22 | Robert Bosch Gmbh | Model-supported allocation of vehicles to traffic lanes |
DE10235378B4 (de) * | 2002-08-02 | 2015-06-25 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Bremsenregelung |
DE10247991A1 (de) * | 2002-10-15 | 2004-04-29 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Ermittlung des Schwimmwinkels eines Kraftfahrzeugs |
DE10328979B4 (de) * | 2003-06-27 | 2021-07-22 | Robert Bosch Gmbh | Verfahren zur Koordination eines Fahrdynamikregelungssystems mit einem aktiven Normalkraftverstellsystem |
DE10350046A1 (de) * | 2003-10-27 | 2005-05-25 | Schubach, Rudolf, Dipl.-Ing. | Vorrichtung zum dynamischen Messen des Rollwinkels von Fahrzeugen |
DE102005037478A1 (de) * | 2005-08-09 | 2007-02-15 | Bayerische Motoren Werke Ag | Betriebsverfahren für ein einachsiges Wankstabilisierungssystem eines zweiachsigen, zweispurigen Fahrzeugs |
US8321088B2 (en) * | 2006-08-30 | 2012-11-27 | Ford Global Technologies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine lateral velocity |
EP2146880B1 (de) * | 2007-03-16 | 2015-07-01 | Continental Teves AG & Co. oHG | Verfahren und vorrichtung zur stabilisierung eines einspurigen kraftfahrzeugs |
DE102007061114A1 (de) * | 2007-12-19 | 2009-06-25 | Robert Bosch Gmbh | Motorrad mit einem Brems- und Lenkassistent |
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 |
JP4960929B2 (ja) * | 2008-07-02 | 2012-06-27 | 壽夫 浅海 | 自動二輪車のブレーキ制御装置及び挙動解析装置 |
US8123240B2 (en) * | 2009-07-10 | 2012-02-28 | Bombardier Recreational Products Inc. | Control system for leaning vehicle |
-
2010
- 2010-04-14 DE DE102010003951A patent/DE102010003951A1/de not_active Withdrawn
-
2011
- 2011-02-15 JP JP2013504177A patent/JP5538620B2/ja active Active
- 2011-02-15 EP EP11705842.0A patent/EP2558340B1/de active Active
- 2011-02-15 WO PCT/EP2011/052180 patent/WO2011128130A1/de active Application Filing
- 2011-02-15 US US13/640,805 patent/US20130090828A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
JP2013523532A (ja) | 2013-06-17 |
US20130090828A1 (en) | 2013-04-11 |
WO2011128130A1 (de) | 2011-10-20 |
DE102010003951A1 (de) | 2011-10-20 |
EP2558340B1 (de) | 2017-04-12 |
EP2558340A1 (de) | 2013-02-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5538620B2 (ja) | 後輪が側方に滑った場合に二輪車を安定化するための方法 | |
US6718248B2 (en) | System for detecting surface profile of a driving road | |
EP2862764B1 (en) | Longitudinal force control apparatus and saddled or straddle type vehicle having the same | |
JP6494612B2 (ja) | 単車の横方向動特性を安定させる方法 | |
KR101697809B1 (ko) | 브레이킹 및 드라이빙 동작들로 드라이빙 역학에 영향을 미치는 방법 및 브레이킹 시스템 | |
KR101415208B1 (ko) | 차량 제어 장치 및 방법 | |
JP2008546586A (ja) | モータ化単線車両の駆動動的制御方法と駆動動的制御器 | |
EP3437945B1 (en) | Brake control device for motorcycle | |
JP2011507744A (ja) | カーブ走行における自動二輪車のドライバの支援装置および方法 | |
JP2004155412A (ja) | 自動二輪車におけるブレーキ制御方法および装置 | |
JP2012519110A (ja) | 自動車特に自動二輪車の安定化方法 | |
US10549733B2 (en) | Method and control unit for recognizing critical driving situations of a two-wheeled motor vehicle | |
JP2007008450A (ja) | 自動車の運転動特性調整方法 | |
JP2019535594A5 (ja) | ||
JP4402379B2 (ja) | 二輪車両の安定化方法及び装置 | |
JP2018507136A (ja) | 二輪車のリーン角を決定する方法 | |
AU2015306430A1 (en) | Method and device for preventing a cyclist from falling | |
KR101997432B1 (ko) | 차량 자세 제어장치 및 그 제어방법 | |
KR101152296B1 (ko) | 차량 안전성 제어시스템 | |
JP3705077B2 (ja) | 車輌の運動制御装置 | |
KR102080978B1 (ko) | 차량 모터 또는 엔진 제어에 의한 차량 안전주행방법 | |
KR20130048411A (ko) | 조향각 추정 장치 및 그 방법 | |
JP5460325B2 (ja) | 車輪を選択的に制動する第1手段と、後輪を旋回させる第2手段とを備えた自動車の進路を補正する装置 | |
KR101165118B1 (ko) | 차량 전복 방지제어 방법 | |
KR101237224B1 (ko) | 전자 제어 가능 차동 락의 락킹 정도를 제어하는 방법 및 디바이스 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20131107 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20140108 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20140331 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5538620 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20140428 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |