Method and device for operating a motorcycle

Patent metadata

Field	Value
Publication number	US-12497065-B2
Application number	US-202117791206-A
Country	US
Kind code	B2
Filing date	Jan 18, 2021
Priority date	Mar 10, 2020
Publication date	Dec 16, 2025
Grant date	Dec 16, 2025

Abstract

A method for operating a motorcycle. In the method, an environment of the motorcycle is acquired and free spaces in the environment that are usable by the motorcycle are detected, and a change in the free spaces and a trajectory of the motorcycle are predicted and evaluated for conflicts, and in a conflict case, a conflict-free alternative trajectory is ascertained for the motorcycle and communicated to a rider of the motorcycle.

First claim

What is claimed is:

1 . A method for operating a motorcycle, the method comprising the following steps:
acquiring images of an environment of the motorcycle using a camera on the motorcycle; detecting, based on the acquired images, free spaces in the environment that are usable by the motorcycle; predicting, using the acquired images, a change in the free spaces in a future time period based on changes in the free spaces during a past time period, wherein the predicting of the change in free spaces is also based on a movement prediction of other road users; predicting a future trajectory of the motorcycle in the future time period using a trajectory of the motorcycle that was detected during the past time period, the trajectory being detected via sensors on the motorcycle; evaluating for conflicts, using an electrical device of the motorcycle having a processor and memory, the predicted change in the free spaces and the predicted future trajectory; based on detecting a conflict, ascertaining a conflict-free alternative trajectory for the motorcycle, and communicating, via a communication system of the motorcycle, the conflict-free alternative trajectory to a rider of the motorcycle; wherein the motorcycle is actuated to follow the alternative trajectory when the rider shows no reaction to the communication within a reaction time; wherein the movement prediction of other road users upon which the prediction of the change in free spaces is based on trajectory information of other road users, the trajectory information of at least one of the other road users being received from the one of the other road users via a digital communication channel; wherein a characteristic ego movement of the motorcycle is taken into consideration for predicting the future change in the free spaces, the characteristic ego movement including a serpentine line due to a speed of the motorcycle.

2 . The method as recited in claim 1 , wherein a drivability of the alternative trajectory is ascertained using a mathematical single-track model of the motorcycle.

3 . The method as recited in claim 1 , wherein light signals of the other road users are acquired when detecting the environment and the movement prediction is made using the light signals.

4 . The method as recited in claim 1 , wherein warning signals are transmitted to the other road users based on predicting the conflict.

5 . The method as recited in claim 1 , wherein the alternative trajectory is communicated to the rider by the communication system using haptic signals.

6 . The method as recited in claim 1 , wherein the alternative trajectory is optically communicated to the rider by the communication system.

7 . The method as recited in claim 1 , wherein the alternative trajectory is ascertained using map information of the environment.

8 . The method according to claim 1 , wherein the camera on the motorcycle is a helmet camera on the rider of the motorcycle.

9 . The method according to claim 1 , wherein the free spaces in the environment are detected by detecting, using the images and machine vision, objects in the environment, and usable free spaces between the detected objects is identified and imaged in free space information, and wherein the predicting of the change in the free spaces being based on at least two items of the free space information produced at a time offset from one another.

10 . The method as recited in claim 1 , wherein the actuating of the motorcycle to follow the alternative trajectory when the rider shows no reaction to the communication within the reaction time includes actuating a steering actuator of the motorcycle using which the steering as adjusted.

11 . The method as recited in claim 1 , wherein the serpentine line becomes progressively more pronounced with decreasing speed of the motor vehicle.

12 . A device comprising a processor and memory, the device configured to operate a motorcycle, the device configured to:
acquire images of an environment of the motorcycle using a camera on the motorcycle; detect, based on the acquired images, free spaces in the environment that are usable by the motorcycle; predict, using the acquired images, a change in the free spaces in a future time period based on changes in the free spaces during a past time period, wherein the predicting of the change in free spaces is also based on a movement prediction of other road users; predict, by the electrical device, a future trajectory of the motorcycle in the future time period using a trajectory of the motorcycle that was detected during the past time period, the trajectory being detected via sensors on the motorcycle; evaluate for conflicts, using an electrical device of the motorcycle having a processor and memory, the predicted change in the free spaces and the predicted future trajectory; based on detecting a conflict, ascertain a conflict-free alternative trajectory for the motorcycle, and communicate, via a communication system of the motorcycle, the conflict-free alternative trajectory to a rider of the motorcycle; wherein the motorcycle is actuated to follow the alternative trajectory when the rider shows no reaction to the communication within a reaction time; wherein the movement prediction of other road users upon which the prediction of the change in free spaces is based on trajectory information of other road users, the trajectory information of at least one of the other road users being received from the one of the other road users via a digital communication channel; wherein a required space of the motorcycle on the predicted trajectory is predicted using a characteristic ego movement of the motorcycle so that a safety distance from detected objects is considered in the evaluation for conflicts, the characteristic ego movement having a greater space requirement than a projection of the motorcycle onto the ground due to a tilt of the motorcycle while driving through a curve.

13 . A non-transitory machine-readable memory medium on which is stored a computer program for operating a motorcycle, the computer program, when executed by a computer, causing the computer to perform the following steps:
acquiring images of an environment of the motorcycle using a camera on the motorcycle; detecting, based on the acquired images, free spaces in the environment that are usable by the motorcycle; predicting, using the acquired images, a change in the free spaces in a future time period based on changes in the free spaces during a past time period, wherein the predicting of the change in free spaces is also based on a movement prediction of other road users; predicting a future trajectory of the motorcycle in the future time period using a trajectory of the motorcycle that was detected during the past time period, the trajectory being detected via sensors on the motorcycle; evaluating for conflicts, using an electrical device of the motorcycle having a processor and memory, the predicted change in the free spaces and the predicted future trajectory; based on detecting a conflict, ascertaining a conflict-free alternative trajectory for the motorcycle, and communicating, via a communication system of the motorcycle, the conflict-free alternative trajectory to a rider of the motorcycle; wherein the motorcycle is actuated to follow the alternative trajectory when the rider shows no reaction to the communication within a reaction time; wherein the movement prediction of other road users upon which the prediction of the change in free spaces is based on trajectory information of other road users, the trajectory information of at least one of the other road users being recei

Assignees

• Bosch Gmbh Robert

Inventors

• Hack Almut
• Schulz Udo

Classifications

• B60W2300/36

  Cycles; Motorcycles; Scooters · CPC title

• B62J3/10

  Electrical devices · CPC title

• B62J6/26

  warning or informing other road users, e.g. police flash lights · CPC title

• B62J50/21

  intended to provide information to rider or passenger · CPC title

• B62J45/20

  Cycle computers as cycle accessories · CPC title