Cornering brake control

Patent metadata

Field	Value
Publication number	US-9840239-B2
Application number	US-201514881573-A
Country	US
Kind code	B2
Filing date	Oct 13, 2015
Priority date	Oct 13, 2015
Publication date	Dec 12, 2017
Grant date	Dec 12, 2017

Abstract

A method and system for determining a maximum cornering braking threshold for a motorcycle includes determining an absolute lean angle with respect to horizontal and a relative lean angle for the motorcycle relative to a road surface. The maximum cornering braking threshold is determined from at least the absolute lean angle and the relative lean angle. The maximum cornering braking threshold is used to provide stability during motorcycle cornering. A multi-dimensional look-up table stores different maximum cornering braking thresholds that correspond to different combinations of absolute lean angles and relative lean angles. The relative lean angle is determined by processing video data from a video sensor. Values for additional conditions, such as motorcycle speed, wheel slip coefficient, steering angle, mue and type of road way are stored in the multi-dimensional look-up table to assist in determining the maximum cornering braking threshold.

First claim

What is claimed is:

1. A method for determining a maximum cornering braking threshold for a motorcycle that is cornering, the method comprising:
determining, with a processor an absolute lean angle relative to horizontal;
determining a relative lean angle for the motorcycle relative to a road surface;
storing, a plurality of values for absolute lean angles and a plurality of values for relative lean angles in a multi-dimensional lookup table;
determining the maximum cornering braking threshold based on at least the absolute lean angle and the relative lean angle in the multi-dimensional look-up table; and
preventing the motorcycle from exceeding the maximum cornering braking threshold during cornering.

2. The method according to claim 1 , including
sensing front wheel speed;
sensing rear wheel speed;
determining a motorcycle speed and a wheel slip coefficient from the front wheel speed and the rear wheel speed; and
the determining of the maximum cornering braking threshold with the multi-dimensional look-up table for at least the absolute lean angle and the relative lean angle, further includes values for motorcycle speed and values for the wheel slip coefficient.

3. The method according to claim 1 , including obtaining a difference between the absolute lean angle and the relative lean angle to determine the maximum cornering braking threshold.

4. The method according to claim 1 , the determining of the relative lean angle for the motorcycle relative to the road surface including processing video data from a camera mounted on the motorcycle.

5. The method according to claim 1 , the determining of the absolute lean angle for the motorcycle relative to horizontal including a tilt sensor mounted on the motorcycle.

6. The method according to claim 1 , the determining of the maximum cornering braking threshold including a multi-dimensional look-up table of values for at least absolute lean angles and relative lean angles, and the preventing of the motorcycle from exceeding the maximum cornering braking threshold during cornering includes controlling a brake distribution between a front wheel and a rear wheel of the motorcycle.

7. The method according to claim 1 , including
determining mue from video data from a video sensor mounted on the motorcycle, and
determining a type of road way from the video data,
wherein the determining of the maximum cornering braking threshold from at least the absolute lean angle and the relative lean angle further includes the mue and the type of road way.

8. A system for determining a maximum cornering braking threshold for a motorcycle that is cornering comprising:
an absolute lean angle sensor for sensing an absolute lean angle relative to horizontal for the motorcycle;
a video sensor secured to the motorcycle for providing video data; and
a processor configured to:
process the video data to determine a relative lean angle for the motorcycle relative to a road surface;
determine the maximum cornering braking threshold from at least the absolute lean angle and the relative lean angle with a multi-dimensional look-up table storing a plurality of values for absolute lean angles and storing a plurality of values for relative lean angles; and
control at least a brake control system to prevent the motorcycle from exceeding the maximum cornering braking threshold during motorcycle cornering.

9. The system according to claim 8 , wherein the multi-dimensional look-up table includes a plurality of values for the maximum cornering braking threshold based on the absolute lean angle and the relative lean angle, and wherein the relative lean angle for the motorcycle differs from the absolute lean angle in a banked curve of a road way.

10. The system according to claim 9 , including:
a front wheel speed sensor; and
a rear wheel speed sensor,
wherein the processor is configured to determine a wheel slip coefficient from wheel speed signals, the multi-dimensional look-up table includes values for the wheel slip coefficient, and the maximum cornering braking threshold is based upon the absolute lean angle, the relative lean angle, and the wheel slip coefficient.

11. The system according to claim 10 , wherein the processor is configured to determine a coefficient of friction of a road surface and a type of road way from the video data, and the maximum cornering braking threshold is based upon the absolute lean angle, the relative lean angle, the wheel slip coefficient, the coefficient of friction and the type of road way.

12. The system according to claim 11 , including a steering angle sensor for sensing a steering angle of the motorcycle, and wherein the maximum cornering braking threshold is based upon the absolute lean angle, the relative lean angle, the wheel slip coefficient, the coefficient of friction, the type of road way and the steering angle.

13. The system according to claim 8 , wherein the processor is configured to:
obtain a difference between the absolute lean angle and the relative lean angle for the determining of the maximum cornering braking threshold.

14. The system according to claim 8 , wherein the control of at least the brake control system to prevent the motorcycle from exceeding the maximum cornering braking threshold during the motorcycle cornering includes controlling brake distribution between a front wheel and a rear wheel of the motorcycle.

15. The system according to claim 14 , wherein the control of at least the brake control system to prevent the motorcycle from exceeding the maximum cornering braking threshold during cornering includes controlling an anti-lock brake system of the brake control system.

Assignees

• Bosch Gmbh Robert

Inventors

• Meier Michael R

Classifications

• B60T2210/12

  Friction · CPC title

• B60T8/241

  Lateral vehicle inclination · CPC title

• 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 (road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02) · CPC title

• B60T8/172

  Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} · CPC title

• B60T8/1766

  Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle · CPC title