# US 11,077,865 B2 · Method for operating a two-wheeled vehicle, a device, and a two-wheeled vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,865 B2 - Document ID: US11077865B2 - Status: Granted - Kind: B2 - Application number: 16/310,129 - Filed: 2017-04-12 - Published: 2019-10-31 - Granted: 2021-08-03 - Earliest claimed: 2016-06-27 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Klaus Schwabe; Matthias Moerbe - Web page: https://patentgrep.com/patent/US11077865B2 ## CPC - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor - B60K 35/22: Display screens - B60K 35/25: using haptic output - B60K 35/26: using acoustic output - B60K 35/50: Instruments characterised by their means of attachment to or integration in the vehicle (B60K35/231 takes precedence) - B60K 35/60: Instruments characterised by their location or relative disposition in or on vehicles (arrangements of lighting devices on dashboards B60Q3/10) - B60K 35/80: Arrangements for controlling instruments - B60K 35/90: Calibration of instruments, e.g. setting initial or reference parameters; Testing of instruments, e.g. detecting malfunction - B60W 40/064: Degree of grip - B60W 40/112: Roll movement - B62J 6/24: warning or informing the rider, e.g. low fuel warning lights - B62J 27/00: Safety equipment - B62J 45/4151: {for sensing lateral inclination of the cycle} - B62J 50/22: electronic, e.g. displays - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - 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 - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - 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 - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A method is described for operating a two-wheeled vehicle, in particular a motorcycle, on a roadway, the method including the following steps: ascertaining an instantaneous coefficient of friction between at least one wheel of the two-wheeled vehicle and the roadway; calculating a critical tilt angle of the two-wheeled vehicle as a function of at least the instantaneous coefficient of friction; detecting an instantaneous tilt angle of the two-wheeled vehicle; determining the distance between the instantaneous tilt angle and the critical tilt angle; and outputting an item of information to the driver as a function of the determined distance. ## Claims ### Claim 1 A method for operating a two-wheeled vehicle on a roadway, comprising: a) ascertaining an instantaneous coefficient of friction between at least one wheel of the two-wheeled vehicle and the roadway; b) calculating a critical tilt angle of the two-wheeled vehicle as a function of at least the instantaneous coefficient of friction; c) detecting an instantaneous tilt angle of the two-wheeled vehicle; d) determining a distance between the instantaneous tilt angle and the critical tilt angle; and e) outputting an item of information to a driver of the two-wheeled vehicle as a function of the determined distance; wherein the instantaneous coefficient of friction is ascertained using a frictional force between a front wheel of the two-wheeled vehicle and a surface of the roadway, wherein a slip or a slip value due to a movement of at least the front wheel of the two-wheeled vehicle is determined, wherein the movement of the front wheel is determined with a rotational speed sensor, wherein a value that determines a diameter of Kamm's circle and therefore the critical tilt angle is determined from the slip value and the coefficient of friction, wherein the critical tilt angle of the two-wheeled vehicle is calculated as a function of at least the instantaneous coefficient of friction, wherein the instantaneous tilt angle of the two-wheeled vehicle is detected with an acceleration sensor, and wherein the instantaneous tilt angle is determined within a predefinable period of time and/or within a fraction of a full wheel rotation, wherein the outputting of the item of information includes optically displaying, via an optical signaling device, the item of information to the driver, wherein the item of information is to the distance of the instantaneous tilt angle from the critical tilt angle, wherein the determined distance is displayed to the driver by a status pointer and a status bar, wherein the status bar represents an annulus sector, and the driver is able to read out an item of information regarding a tilting status of the two-wheeled vehicle with the status bar, wherein a starting point of the status bar is defined at a first location, which is a balanced position of the two-wheeled vehicle, wherein the balanced position corresponds to the position that two-wheeled vehicle assumes when a vertical axis of the two-wheeled vehicle is aligned parallel to a direction of a force of gravity, and parallel to a direction of the roadway normal during straight-ahead travel or during a standstill, wherein an end point of the status bar at a second location is defined by the value of the critical tilt angle, and wherein the determined distance is displayed to the driver as a number, and wherein a pointer, which is situated between the first and second locations and allocated to the status bar, indicates to the driver the position of the distance relative to the balanced position and the critical tilt angle. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein the two-wheeled vehicle is a motorcycle. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein the instantaneous coefficient of friction is ascertained during one of an acceleration operation of the two-wheeled vehicle and a braking operation of the two-wheeled vehicle. ### Claim 4 (depends on 1) The method as recited in claim 1, wherein the outputting of the item of information includes at least one of acoustically indicating the item of information to the driver and haptically indicating the item of information to the driver. ### Claim 5 (depends on 1) The method as recited in claim 1, wherein the optically displaying includes displaying at least one of a graphic and a symbol to the driver for displaying the determined distance. ### Claim 6 (depends on 5) The method as recited in claim 5, wherein a scale is allocated to a status that is displayed as a color scale in the status bar. ### Claim 7 (depends on 5) The method as recited in claim 5, wherein the status bar is subdivided into at least two warning stage segments as a function of the critical tilt angle, each warning stage segment having a different respective color. ### Claim 8 A device for operating a two-wheeled vehicle on a roadway, comprising: a control unit capable of: a) ascertaining an instantaneous coefficient of friction between at least one wheel of the two-wheeled vehicle and the roadway; b) calculating a critical tilt angle of the two-wheeled vehicle as a function of at least the instantaneous coefficient of friction; c) detecting an instantaneous tilt angle of the two-wheeled vehicle; d) determining a distance between the instantaneous tilt angle and the critical tilt angle; and e) outputting an item of information to a driver of the two-wheeled vehicle as a function of the determined distance; wherein the instantaneous coefficient of friction is ascertained using a frictional force between a front wheel of the two-wheeled vehicle and a surface of the roadway, wherein a slip or a slip value due to a movement of at least the front wheel of the two-wheeled vehicle is determined, wherein the movement of the front wheel is determined with a rotational speed sensor, wherein a value that determines a diameter of Kamm's circle and therefore the critical tilt angle is determined from the slip value and the coefficient of friction, wherein the critical tilt angle of the two-wheeled vehicle is calculated as a function of at least the instantaneous coefficient of friction, wherein the instantaneous tilt angle of the two-wheeled vehicle is detected with an acceleration sensor, and wherein the instantaneous tilt angle is determined within a predefinable period of time and/or within a fraction of a full wheel rotation, wherein the outputting of the item of information includes optically displaying, via an optical signaling device, the item of information to the driver, wherein the item of information is to the distance of the instantaneous tilt angle from the critical tilt angle, wherein the determined distance is displayed to the driver by a status pointer and a status bar, wherein the status bar represents an annulus sector, and the driver is able to read out an item of information regarding a tilting status of the two-wheeled vehicle with the status bar, wherein a starting point of the status bar is defined at a first location, which is a balanced position of the two-wheeled vehicle, wherein the balanced position corresponds to the position that two-wheeled vehicle assumes when a vertical axis of the two-wheeled vehicle is aligned parallel to a direction of a force of gravity, and parallel to a direction of the roadway normal during straight-ahead travel or during a standstill, wherein an end point of the status bar at a second location is defined by the value of the critical tilt angle, and wherein the determined distance is displayed to the driver as a number, and wherein a pointer, which is situated between the first and second locations and allocated to the status bar, indicates to the driver the position of the distance relative to the balanced position and the critical tilt angle. ### Claim 9 (depends on 8) The device as recited in claim 8, wherein the two-wheeled vehicle is a motorcycle. ### Claim 10 A two-wheeled vehicle, comprising: at least one sensor for detecting an instantaneous tilt angle; and a device for operating the two-wheeled vehicle on a roadway, the device including: a control unit capable of: a) ascertaining an instantaneous coefficient of friction between at least one wheel of the two-wheeled vehicle and the roadway; b) calculating a critical tilt angle of the two-wheeled vehicle as a function of at least the instantaneous coefficient of friction; c) detecting an instantaneous tilt angle of the two-wheeled vehicle; d) determining a distance between the instantaneous tilt angle and the critical tilt angle; and e) outputting an item of information to a driver of the two-wheeled vehicle as a function of the determined distance; wherein the instantaneous coefficient of friction is ascertained using a frictional force between a front wheel of the two-wheeled vehicle and a surface of the roadway, wherein a slip or a slip value due to a movement of at least the front wheel of the two-wheeled vehicle is determined, wherein the movement of the front wheel is determined with a rotational speed sensor, wherein a value that determines a diameter of Kamm's circle and therefore the critical tilt angle is determined from the slip value and the coefficient of friction, wherein the critical tilt angle of the two-wheeled vehicle is calculated as a function of at least the instantaneous coefficient of friction, wherein the instantaneous tilt angle of the two-wheeled vehicle is detected with an acceleration sensor, and wherein the instantaneous tilt angle is determined within a predefinable period of time and/or within a fraction of a full wheel rotation, wherein the outputting of the item of information includes optically displaying, via an optical signaling device, the item of information to the driver, wherein the item of information is to the distance of the instantaneous tilt angle from the critical tilt angle, wherein the determined distance is displayed to the driver by a status pointer and a status bar, wherein the status bar represents an annulus sector, and the driver is able to read out an item of information regarding a tilting status of the two-wheeled vehicle with the status bar, wherein a starting point of the status bar is defined at a first location, which is a balanced position of the two-wheeled vehicle, wherein the balanced position corresponds to the position that two-wheeled vehicle assumes when a vertical axis of the two-wheeled vehicle is aligned parallel to a direction of a force of gravity, and parallel to a direction of the roadway normal during straight-ahead travel or during a standstill, wherein an end point of the status bar at a second location is defined by the value of the critical tilt angle, and wherein the determined distance is displayed to the driver as a number, and wherein a pointer, which is situated between the first and second locations and allocated to the status bar, indicates to the driver the position of the distance relative to the balanced position and the critical tilt angle. ### Claim 11 (depends on 10) The two-wheeled vehicle as recited in claim 10, wherein the two-wheeled vehicle is a motorcycle.