Method for determining a position of a single-track vehicle and device for carrying out the method
AssigneeBayerische Motoren Werke Aktiengesellschaft
InventorJuergen Schulz
Life of this patent
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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.
Claims8
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 (ωz) and an inclined orientation-dependent yaw rate (ωz′) which differs from the vehicle-path yaw rate (ωz), the method comprising the acts of:
- measuring an inclined orientation (φ) of the single-track vehicle inclined orientation-dependent yaw rate (ωz′) 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 (ωz) 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 (ωz) 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.
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 (ωz) using a vehicle path yaw determining algorithm;
- determine the position of the single-track vehicle from the vehicle path yaw rate (ωz) 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.
Dependencies are inferred from the claim text.