Method for determining a position of a single-track vehicle and device for carrying out the method

Patent metadata

Field	Value
Publication number	US-10670403-B2
Application number	US-201715681991-A
Country	US
Kind code	B2
Filing date	Aug 21, 2017
Priority date	Mar 11, 2015
Publication date	Jun 2, 2020
Grant date	Jun 2, 2020

Abstract

A method is described for determining a position of a two-wheeled vehicle. The single-track vehicle has a vehicle path yaw rate when driving along curves and a yaw rate according to the inclined orientation which differs from the vehicle path yaw rate. An inclined orientation of the single-track vehicle and a speed of the single-track vehicle are measured. The vehicle path yaw rate of the single-track vehicle is determined from the measured inclined orientation and the measured speed. A device for carrying out the method is also described.

First claim

What is claimed is:

1. A method of determining a position of a single-track vehicle, wherein when traveling in a curve the single-track vehicle has a vehicle-path yaw rate (ω z ) and an inclined orientation-dependent yaw rate (ω z ′) which differs from the vehicle-path yaw rate (ω z ), the method comprising the acts of:
measuring an inclined orientation (φ) of the single-track vehicle inclined orientation-dependent yaw rate (ω z ′) and a speed (v) of the single-track vehicle using one or more of a wheel rotation sensor, a gyrometer and an inclination sensor;
determining, from the measured inclined orientation (φ) and the measured speed (v), the vehicle path yaw rate (ω z ) using a calculation unit executing a vehicle path yaw rate determining algorithm;
determining using the calculation unit the position of the single-track vehicle from the vehicle path yaw rate (ω z ) and a vehicle position previously determined by a GPS system; and
navigating the single-track vehicle based on the determined position of the single-track vehicle.

2. The method according to claim 1 , wherein the vehicle path yaw rate ω z is determined by the equation:
ω z =(sin(φ)· g )/( v ·cos(φ)),

where φ is an inclination angle or an inclined orientation of the single-track vehicle, v is the speed of the single-track vehicle, and g is a ground acceleration.

3. The method according to claim 2 , wherein, for determining the position of the single-track vehicle, a dead-reckoning algorithm is used which employs the vehicle path yaw rate (ω z ) to calculate the position of the single-track vehicle.

4. The method according to claim 1 , wherein, for determining the position of the single-track vehicle, a dead-reckoning algorithm is used which employs the vehicle path yaw rate (ω z ) to calculate the position of the single-track vehicle.

5. A device for determining a position of a single-track vehicle, the device comprising at least one calculating unit including a processor that executes at least one algorithm to:
measure an inclined orientation (φ) of the single-track vehicle and a speed (v) of the single-track vehicle using one or more of anwheel rotation sensor, a gyrometer and an inclination sensor;
determine, from the measured inclined orientation (φ) and the measured speed (v) the vehicle path yaw rate (ω z ) using a vehicle path yaw determining algorithm;
determine the position of the single-track vehicle from the vehicle path yaw rate (ω z ) and a vehicle position previously determined by a GPS system; and
navigate the single-track vehicle based on the determined position of the single-track vehicle.

6. The device according to claim 5 , wherein
at least one vehicle sensor measures the inclined orientation and the speed of the single-track vehicle, and
the calculating unit determines the vehicle path yaw rate of the single-track vehicle as a function of variables recorded by way of the at least one vehicle sensor.

7. The device according to claim 6 , wherein the calculating unit determines the vehicle path yaw rate based on the following equation:
ω z =(sin(φ)· g )/( v ·cos(φ)),

where φ is an inclination angle or an inclined orientation of the single-track vehicle, v is the speed of the single-track vehicle, and g is a ground acceleration.

8. The device according to claim 7 , wherein the calculating unit executes program code to determine the position of the single-track vehicle via a dead-reckoning algorithm that employs the vehicle path yaw rate to calculate the position of the single-track vehicle.

Assignees

• Bayerische Motoren Werke Ag

Inventors

• Schulz Juergen

Classifications

• G01C21/12 Primary

  executed aboard the object being navigated; Dead reckoning · CPC title

• B60W30/18145

  Cornering · CPC title

• G01S19/49

  whereby the further system is an inertial position system, e.g. loosely-coupled · CPC title

• G01S19/53

  Determining attitude · CPC title

• B60Y2300/1815

  Cornering · CPC title