# US 12,214,767 B2 · Method and device for carrying out an autonomous brake application in a two-wheel motor vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,214,767 B2 - Document ID: US12214767B2 - Status: Granted - Kind: B2 - Application number: 17/277,615 - Filed: 2019-10-01 - Published: 2021-11-11 - Granted: 2025-02-04 - Earliest claimed: 2018-12-13 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Anja Wahl; Jan Schumacher; Markus Henzler; Matthias Klews - Web page: https://patentgrep.com/patent/US12214767B2 ## 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} - B60T 8/00: Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force (by changing number of effective brake cylinders in power brake systems B60T17/10) - B60T 8/17: Using electrical or electronic regulation means to control braking {(detecting or indicating faulty operation B60T8/885)} - B60T 8/171: Detecting parameters used in the regulation; Measuring values used in the regulation - B60T 8/261: {specially adapted for use in motorcycles} - B60T 8/3225: {Systems specially adapted for single-track vehicles, e.g. motorcycles (B60T8/3235 takes precedence)} - B60T 2201/022: Collision avoidance systems - B60T 2210/00: Detection or estimation of road or environment conditions; Detection or estimation of road shapes - 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 an autonomous brake application in a two-wheel motor vehicle. In the method, the need for a vehicle deceleration is detected with the aid of a surroundings sensor system; depending thereon, a driver-independent vehicle deceleration is initiated; once the vehicle deceleration has been initiated, a driver readiness variable characterizing the readiness of the driver to control the vehicle deceleration maneuver is ascertained; and the temporal progression of the vehicle deceleration is continued depending on the driver readiness variable. ## Claims ### Claim 1 A method for carrying out an autonomous brake application in a two-wheel motor vehicle, comprising: initiating a driver-independent vehicle deceleration in response to a surroundings sensor system; once the vehicle deceleration has been initiated, ascertaining a driver readiness variable characterizing a readiness of the driver to control a vehicle deceleration maneuver; and discontinuing a temporal progression of the vehicle deceleration as a function of the driver readiness variable, wherein: the driver readiness variable signals a neutral state of the driver, and in the neutral state of the driver, the autonomous brake application is carried out with the aid of a first braking force curve that, in comparison to a second braking force curve associated with a planned setpoint and implemented when the driver readiness variable signals that the driver is ready for the vehicle deceleration maneuver, has a lower deceleration and/or a less intense jolt. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein the surroundings sensor system includes 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 driver readiness variable may assume at least two different values. ### Claim 4 (depends on 3) The method as recited in claim 3, wherein when the driver readiness variable does not signal that the driver is ready for the vehicle deceleration maneuver and does not signal the neutral state of the driver, the driver readiness variable signals a state of the driver in which the driver is not ready for the vehicle deceleration maneuver. ### Claim 5 (depends on 4) The method as recited in claim 4, wherein: in the not ready state of the driver, the autonomous brake application is either: (i) aborted, or (ii) carried out with the aid of a braking force curve, which, in comparison to the braking force curve in the case of a neutral state of the driver, has a lower deceleration and/or a less intense jolt. ### Claim 6 (depends on 1) The method as recited in claim 1, wherein the driver readiness variable is ascertained after the initiation of the driver-independent vehicle deceleration based on output signals of an inertial sensor system mounted at the motor vehicle. ### Claim 7 (depends on 1) The method as recited in claim 1, wherein the driver readiness variable is ascertained after the initiation of the driver-independent vehicle deceleration based on a steering angle and/or a steering torque. ### Claim 8 (depends on 1) The method as recited in claim 1, wherein the driver readiness variable is ascertained after the initiation of the driver-independent vehicle deceleration based on output signals at pressure-sensitive contact sensors mounted at the motor vehicle. ### Claim 9 (depends on 1) The method as recited in claim 1, wherein the driver readiness variable is ascertained after the initiation of the driver-independent vehicle deceleration based on output signals of wheel speed sensors or compression travel sensors. ### Claim 10 A device for carrying out an autonomous brake application in a two-wheel motor vehicle, the device configured to: initiate a driver-independent vehicle deceleration in response to an output of a surroundings sensor system; once the vehicle deceleration has been initiated, ascertain a driver readiness variable characterizing a readiness of the driver to control a vehicle deceleration maneuver; and discontinue a temporal progression of the vehicle deceleration as a function of the driver readiness variable, wherein: the driver readiness variable signals a neutral state of the driver, and in the neutral state of the driver, the autonomous brake application is carried out with the aid of a first braking force curve that, in comparison to a second braking force curve associated with a planned setpoint and implemented when the driver readiness variable signals that the driver is ready for the vehicle deceleration maneuver, has a lower deceleration and/or a less intense jolt.