# US 11,993,341 B2 · Method and device for carrying out autonomous braking in a two-wheeled motor vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,341 B2 - Document ID: US11993341B2 - Status: Granted - Kind: B2 - Application number: 17/596,392 - Filed: 2020-04-28 - Published: 2022-05-26 - Granted: 2024-05-28 - Earliest claimed: 2019-07-04 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Anja Wahl; Markus Henzler - Web page: https://patentgrep.com/patent/US11993341B2 ## CPC - B62L 3/00: Brake-actuating mechanisms {(for back-pedalling brakes B62L5/00)}; Arrangements thereof - B60T 7/12: for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)} - B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} - B60T 8/1706: {for single-track vehicles, e.g. motorcycles} - B60T 8/17551: {determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters} - B60T 8/17555: {specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies} - B60T 8/17558: {specially adapted for collision avoidance or collision mitigation (road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09)} - B60T 8/3225: {Systems specially adapted for single-track vehicles, e.g. motorcycles (B60T8/3235 takes precedence)} - B60T 2201/022: Collision avoidance systems - B60T 2210/32: Vehicle surroundings - B60T 2220/02: Driver type; Driving style; Driver adaptive features - B60T 2250/04: Vehicle reference speed; Vehicle body speed - B62L: BRAKES SPECIALLY ADAPTED FOR CYCLES {(arrangements in cycles for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions B60T8/00)} - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES ## Abstract A method for carrying out autonomous braking in a two-wheeled motor vehicle, where the necessity of vehicle deceleration is detected with the aid of a surround sensor system. When vehicle deceleration is necessary, prior to its execution, a test braking action independent of a rider and of a predefined temporal length is carried out. During or after the execution of the test braking action, a rider readiness variable characterizing the readiness of the rider to master the vehicle deceleration detected as necessary is ascertained. After completion of the test braking action, the vehicle deceleration is initiated, the time characteristic of the vehicle deceleration being a function of the rider readiness variable. ## Claims ### Claim 1 A method for carrying out autonomous braking in a two-wheeled motor vehicle, the method comprising the following steps: detecting a necessity of vehicle deceleration using a surround sensor system; carrying out, based on detecting that the vehicle deceleration is necessary and prior to execution of the vehicle deceleration, a test by: initiating a preliminary braking action that is independent of the rider and that is of a predefined temporal length; modeling a reaction of the rider to the preliminary braking action in a period beginning from a time of the initiation of the preliminary braking action, the modeling being based on at least one of measurement of a roll motion of the motor vehicle, a yaw motion of the motor vehicle, a pitch motion of the motor vehicle, a steering angle of the motor vehicle; and ascertaining, based on the modeled reaction, a rider readiness variable characterizing readiness of the rider to master the vehicle deceleration detected as necessary; and initiating, after completion of the test, the vehicle deceleration, wherein a time characteristic of the vehicle deceleration is set as a function of the rider readiness variable. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein the surround sensor system is a radar sensor system, or a lidar sensor system, or a video sensor system. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein the rider readiness variable may assume at least two different values. ### Claim 4 (depends on 3) The method as recited in claim 3, wherein the rider readiness variable may assume two values, where: one of the two values signals a rider state ready for the vehicle deceleration detected as necessary; and the other of the two values signals a rider state not ready for the vehicle deceleration detected as necessary. ### Claim 5 (depends on 4) The method as recited in claim 4, wherein: in response to the ready state of the rider, the autonomous braking is carried out, using a planned, desired braking-force characteristic; and in response to a not ready state of the rider, the autonomous braking is carried out, using a braking-force characteristic, which includes a lower deceleration and/or a lesser jerk in comparison with the braking-force characteristic in the case of the ready state of the driver. ### Claim 6 (depends on 1) The method as recited in claim 1, wherein the modeling is performed using output signals of an inertial sensor system attached to the motor vehicle. ### Claim 7 (depends on 1) The method as recited in claim 1, wherein the modeling is performed based on the steering angle and/or a steering torque. ### Claim 8 (depends on 1) The method as recited in claim 1, wherein the rider readiness variable is ascertained in light of output signals of pressure-sensitive contact sensors attached to the motor vehicle. ### Claim 9 (depends on 1) The method as recited in claim 1, wherein the rider readiness variable is ascertained in light of output signals of wheel speed sensors or compression travel sensors. ### Claim 10 An apparatus configured to carry out autonomous braking in a two-wheeled motor vehicle, the apparatus configured to: detect a necessity of vehicle deceleration using a surround sensor system; carry out, based on detecting that the vehicle deceleration is necessary and prior to execution of the vehicle deceleration, a test by: initiating a preliminary braking action that is independent of the rider and that is of a predefined temporal length; modeling a reaction of the rider to the preliminary braking action in a period beginning from a time of the initiation of the preliminary braking action, the modeling being based on at least one of measurement of a roll motion of the motor vehicle, a yaw motion of the motor vehicle, a pitch motion of the motor vehicle, a steering angle of the motor vehicle; and ascertaining, based on the modeled reaction, a rider readiness variable characterizing readiness of the rider to master the vehicle deceleration detected as necessary; and initiate, after completion of the test, the vehicle deceleration, wherein a time characteristic of the vehicle deceleration is set as a function of the rider readiness variable.