# US 12,109,995 B2 · Method and device for carrying out a distance or speed-regulating function for a single-track motor vehicle

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- Number: US 12,109,995 B2
- Document ID: US12109995B2
- Status: Granted
- Kind: B2
- Application number: 17/637,528
- Filed: 2020-08-11
- Published: 2022-09-08
- Granted: 2024-10-08
- Earliest claimed: 2019-10-01
- Assignees: Robert Bosch GmbH
- Applicants: Robert Bosch GmbH
- Inventors: Mathieu Grelaud; Michael Schoenherr
- Web page: https://patentgrep.com/patent/US12109995B2

## CPC

- B60T 8/1706: {for single-track vehicles, e.g. motorcycles}
- 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}
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B62L 3/00: Brake-actuating mechanisms {(for back-pedalling brakes B62L5/00)}; Arrangements thereof
- B60T 2201/022: Collision avoidance systems
- B60W 2300/36: Cycles; Motorcycles; Scooters
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2420/54: Audio sensitive means, e.g. ultrasound
- B60W 2540/12: Brake pedal position
- B60W 2710/18: Braking system
- B60Y 2200/12: Motorcycles, Trikes; Quads; Scooters
- 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
- 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
- B62L: BRAKES SPECIALLY ADAPTED FOR CYCLES {(arrangements in cycles for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions B60T8/00)}
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY

## Abstract

A method for carrying out a distance-regulating or speed-regulating function for a single-track motor vehicle. An activated distance-regulating or speed-regulating function can be deactivated by the driver through actuation of a brake operating element, if the actuation intensity of the brake operating element exceeds a first threshold value. The presence of a collision risk is ascertained by an environmental sensor system. When there is a risk of collision, an emergency braking assistance function is activated through the actuation of the brake operating element by the driver with an actuation intensity exceeding a second threshold value. The second threshold value is lower than the first threshold value. The activated distance-regulating or speed-regulating function is continued independently of the driver after the termination of the emergency braking assistance function, with the settings that were present before the activation of the emergency braking assistance function.

## Claims

### Claim 1

A method for a single-track motor vehicle, the method comprising:
continually performing, by the single-track motor vehicle, surroundings monitoring in which the single-track motor vehicle:
obtains output from one or more environmental sensors; and
determines, based on the output, whether or not the single-track motor vehicle is in a danger state in which the single-track motor vehicle is characterized as being in danger of collision;
in response to a first manual actuation, by a driver of the single-track motor vehicle, of a mechanical interface to a wheel brake of the single-track motor vehicle while a distance-regulating or speed-regulating function of the single-track motor vehicle is active:
comparing, in a first comparison, an intensity of the first manual actuation to each of a first intensity threshold and a second intensity threshold, the second intensity threshold being higher than the first intensity threshold; and
in response to satisfaction of a first predefined programmed condition, of executed program code, that (a) a result of the first comparison is that the intensity of the first manual actuation is above the first intensity threshold and below the second intensity threshold, and (b) a result of the determination of the surroundings monitoring is that the single-track motor vehicle is in the danger state at a time when the first manual actuation occurs:
temporarily interrupting the distance-regulating or speed-regulating function to execute an automatic emergency braking of the wheel brake; and
upon completing the automatic emergency braking of the wheel brake, automatically resuming the temporarily interrupted distance-regulating or speed-regulating function according to settings of the distance-regulating or speed-regulating function that were active when the interrupting was performed without a new activation of the distance-regulating or speed-regulating function by the driver; and
in response to a second manual actuation, by the driver of the single-track motor vehicle, of the mechanical interface to the wheel brake of the single-track motor vehicle while the resumed distance-regulating or speed-regulating function of the single-track motor vehicle is active:
comparing, in a second comparison, an intensity of the second manual actuation to at least the second intensity threshold; and
in response to satisfaction of a second predefined programmed condition, of the executed program code, that a result of the second comparison is that the intensity of the first manual actuation is above the second intensity threshold, cancelling the active distance-regulating or speed-regulating function, so that resumption of the active distance-regulating or speed-regulating function requires a manual reactivation of the active distance-regulating or speed-regulating function.

### Claim 2 (depends on 1)

The method as recited in claim 1, wherein the mechanical interface is a brake pedal or a brake lever or a brake rotary handle.

### Claim 3 (depends on 1)

The method as recited in claim 1, wherein the single-track motor vehicle is a motorcycle.

### Claim 4 (depends on 1)

The method as recited in claim 1, wherein the one or more environmental sensors include at least one of a radar sensor, a video sensor, a lidar sensor, and an ultrasonic sensor.

### Claim 5 (depends on 1)

The method as recited in claim 1, wherein the intensities of the first and second manual actuations are measures of a braking force or a braking torque or a brake pressure.

### Claim 6 (depends on 1)

The method as recited in claim 1, wherein the program code provides that manual actuation of the mechanical interface:
cancels the distance-regulating or speed-regulating function only if a respective intensity of the manual actuation is above the second threshold;
temporarily interrupts the distance-regulating or speed-regulating function when the single-track motor vehicle is in the danger state only if the respective intensity of the manual actuation is above the first threshold and below the second threshold; and
temporarily interrupts the distance-regulating or speed-regulating function when the respective intensity of the manual actuation is above the first threshold and below the second threshold only if the manual actuation is performed when the single-track motor vehicle is in the danger state.

### Claim 7

A a single-track motor vehicle that is programmed with program code to execute a method, the method comprising:
continually performing, by the single-track motor vehicle, surroundings monitoring in which the single-track motor vehicle:
obtains output from one or more environmental sensors; and
determines, based on the output, whether or not the single-track motor vehicle is in a danger state in which the single-track motor vehicle is characterized as being in danger of collision;
in response to a first manual actuation, by a driver of the single-track motor vehicle, of a mechanical interface to a wheel brake of the single-track motor vehicle while a distance-regulating or speed-regulating function of the single-track motor vehicle is active:
comparing, in a first comparison, an intensity of the first manual actuation to each of a first intensity threshold and a second intensity threshold, the second intensity threshold being higher than the first intensity threshold; and
in response to satisfaction of a first predefined programmed condition, of executed program code, that (a) a result of the first comparison is that the intensity of the first manual actuation is above the first intensity threshold and below the second intensity threshold, and (b) a result of the determination of the surroundings monitoring is that the single-track motor vehicle is in the danger state at a time when the first manual actuation occurs:
temporarily interrupting the distance-regulating or speed-regulating function to execute an automatic emergency braking of the wheel brake; and
upon completing the automatic emergency braking of the wheel brake, automatically resuming the temporarily interrupted distance-regulating or speed-regulating function according to settings of the distance-regulating or speed-regulating function that were active when the interrupting was performed without a new activation of the distance-regulating or speed-regulating function by the driver; and
in response to a second manual actuation, by the driver of the single-track motor vehicle, of the mechanical interface to the wheel brake of the single-track motor vehicle while the resumed distance-regulating or speed-regulating function of the single-track motor vehicle is active:
comparing, in a second comparison, an intensity of the second manual actuation to at least the second intensity threshold; and
in response to satisfaction of a second predefined programmed condition, of the executed program code, that a result of the second comparison is that the intensity of the first manual actuation is above the second intensity threshold, cancelling the active distance-regulating or speed-regulating function, so that resumption of the active distance-regulating or speed-regulating function requires a manual reactivation of the active distance-regulating or speed-regulating function.