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US 11,414,089 B2Granted
Method to determine the roll angle of a motorcycle
AssigneeContinental Teves AG & Co. oHG
InventorsGabor Ambruzs, Robert Weisz, David Szaloky
Life of this patent
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Abstract
A method to determine a roll angle (λE) of a vehicle, wherein the roll angle (λE) is calculated as a combination of at least a first roll angle variable (λ1) and a second roll angle variable (λ2), wherein the first roll angle variable (λ1) is determined from an acquired rolling rate ({dot over (λ)}m) of the vehicle using a first method, wherein the second roll angle variable (λ2) is determined from one or more further vehicle movement dynamics characteristic variables using a second method.
Claims14
A method to determine a roll angle (λE) of a vehicle, comprising:
- determining, by a processor of the vehicle, a first roll angle variable (λ1) from an acquired rolling rate {dot over (λ)}m ({dot over (λ)}M) of the vehicle using a first method;
- determining, by the processor of the vehicle, a second roll angle variable (λ2) from one or more further vehicle movement dynamics characteristic variables using a second method;
- calculating, by a processor of the vehicle, the roll angle (λE) as a combination of at least the first roll angle variable (λ1) and the second roll angle variable (λ2) by:
- calculating a first combination, by combining the first roll angle variable of the first method high-passed filtered with a first cutoff frequency and the second roll angle variable of the second method low-passed filtered with the first cutoff frequency,
- calculating a second combination, by combining the first roll angle variable of the first method high-passed Filtered with a second cutoff frequency and the second roll angle variable of the second method low-passed filtered with the second cutoff frequency, and
- calculating a third combination as the roll angle (λE) by combining the result of the first combination low-passed filtered with a third cutoff frequency and the result of the second combination high-passed filtered with the third cutoff frequency,
- wherein the first, the second and the third cutoff-frequencies are different;
- and
- controlling, by the processor of the vehicle, an operation of the vehicle using the roll angle (λE).
6 more elements
A method to determine a roll angle (λE) of a vehicle, comprising:
- determining, by a processor of the vehicle, a first roll angle variable (λ1) from an acquired rolling rate ({dot over (λ)}M) of the vehicle using a first method;
- determining, by the processor of the vehicle, a second roll angle variable (λ2) from one or more further vehicle movement dynamics characteristic variables using a second method;
- calculating, by a processor of the vehicle, the roll angle (λE) as a combination of at least the first roll angle variable (λ1) and the second roll angle variable (λ2) and
- controlling, by the processor of the vehicle, an operation of the vehicle using the roll angle (λE),
- wherein the combination comprises multiple levels, wherein each level comprises at least one filtering step and at least one combination step, and
- wherein the number of levels is x, wherein the y-st level comprises 2x−y+1 filtering steps and 2x−y combination steps, wherein the output of level y is the input of level y+1, and wherein in the y-st level 2x−y cutoff frequencies are applied.
3 more elements
A device to determine a roll angle (λE) of a vehicle, comprising:
- a processor of the vehicle configured to:
- determine a first roll angle variable (λ1) from an acquired rolling rate ({dot over (λ)}M) of the vehicle using a first method;
- determine a second roll angle variable (λ2) from one or more further vehicle movement dynamics characteristic variables using a second method;
- calculate the roll angle (λE) as a combination of at least the first roll angle variable (λ1) and the second roll angle variable (λ2) by:
- calculating a first combination, by combining the first roll angle variable of the first method high-passed filtered with a first cutoff frequency and the second roll angle variable of the second method low-passed filtered with the first cutoff frequency,
- calculating a second combination, by combining the first roll angle variable of the first method high-passed filtered with a second cutoff frequency and the second roll angle variable of the second method low-passed filtered with the second cutoff frequency, and
- calculating a third combination as the roll angle (λE), by combining the result of the first combination low-passed filtered with a third cutoff frequency and the result of the second combination high-passed filtered with the third cutoff frequency,
- wherein the first, the second and the third cutoff-frequencies are different;
- and
- control an operation of the vehicle using the roll angle (λE).
7 more elements
Dependencies are inferred from the claim text.