Method and device for determining the roll angle of a motorcycle

A device for determining the roll angle of a motorcycle, said device comprising:

• at least one evaluation unit;
• a means for acquiring a rolling rate ({dot over (λ)}M) of the motorcycle;
• and
• at least one means for acquiring at least one vehicle movement dynamics characteristic variable;
• wherein the at least one vehicle movement dynamics characteristic variable is a vehicle velocity (v), a yaw rate ({dot over (ψ)}M) of the motorcycle, an acceleration ({umlaut over (z)}M, ÿM) of the motorcycle or a combination thereof;
• wherein the at least one evaluation unit comprises an adding circuit for adding two roll angle variables (λ1, λ2) to calculate a roll angle (λE), wherein a first roll angle variable (λ1) is determined from the rolling rate ({dot over (λ)}M) of the motorcycle, and a second roll angle variable (λ2) is determined using the at least one vehicle movement dynamics characteristic variable;
• wherein the at least one evaluation unit comprises a low pass filter for filtering the second roll angle variable (λ2) before calculating the roll angle (λE),
• wherein said at least one evaluation unit further comprises a high pass filter for filtering the first roll angle variable (λ1) before calculating the roll angle (λE), wherein the low pass filter has a cut-off frequency (fTrenn) that is substantially equal to a cut-off frequency of the high pass filter.

A method for determining a roll angle of a motorcycle comprising the steps of:

• acquiring a rolling rate ({dot over (λ)}M) of the motorcycle;
• determining a first roll angle variable (λ1) from the rolling rate ({dot over (λ)}M);
• acquiring at least one vehicle movement dynamics characteristic variable from a velocity (v), a rotational speed ({dot over (ψ)}M), an acceleration ({umlaut over (z)}M, ÿM) of the motorcycle or a combination thereof;
• determining a second roll angle variable (λ2) from one or more vehicle movement dynamics characteristic variables;
• calculating the roll angle (λE) on the basis of the roll angle variables (λ1, λ2);
• and
• filtering the rolling rate ({dot over (λ)}M) with a high pass filter having a cut-off frequency of approximately 0.01 Hz, prior to the step of determining the first roll angle variable (λ1).

A method for determining a roll angle of a motorcycle comprising the steps of:

• acquiring a rolling rate ({dot over (λ)}M) of the motorcycle;
• determining a first roll angle variable (λ1) from the rolling rate ({dot over (λ)}M);
• acquiring at least one vehicle movement dynamics characteristic variable from a velocity (v), a rotational speed ({dot over (ψ)}M), an acceleration ({umlaut over (z)}M, ÿM) of the motorcycle or a combination thereof;
• determining a second roll angle variable (λ2) from one or more vehicle movement dynamics characteristic variables;
• calculating the roll angle (λE) on the basis of the roll angle variables (λ1, λ2);
• determining two or more second roll angle variables (λ2, λ2″) in different ways from one or more of the vehicle movement dynamics characteristic variables ({dot over (ψ)}M, v, {umlaut over (z)}M, ÿM);
• determining at least one roll angle variable (λ2″) from at least one acceleration variable ({umlaut over (z)}M, ÿM) of the motorcycle;
• and
• comparing the second roll angle variables (λ2, λ2″) for plausibility checking of the roll angle (λE).

A method for determining a roll angle of a motorcycle comprising the steps of:

• acquiring a rolling rate ({dot over (λ)}M) of the motorcycle;
• determining a first roll angle variable (λ1) from the rolling rate ({dot over (λ)}M);
• acquiring at least a velocity (v) and a yaw rate ({dot over (ψ)}M) of the motorcycle;
• determining a second roll angle variable (λ2) from a product of the yaw rate ({dot over (ψ)}M) that is determined by a rotational speed sensor and the vehicle velocity (v) without using a measured lateral acceleration (ÿM), and
• calculating the roll angle (λE) on the basis of the roll angle variables (λ1, λ2).

A device for determining a roll angle of a motorcycle, said device comprising:

• at least one evaluation unit;
• a means for acquiring a rolling rate ({dot over (λ)}M) of the motorcycle;
• and
• at least one means for acquiring a vehicle velocity (v) and one means for acquiring a yaw rate ({dot over (ψ)}M) of the motorcycle;
• wherein the at least one evaluation unit comprises an adding circuit for adding two roll angle variables (λ1, λ2) to calculate the roll angle (λE), wherein a first roll angle variable (λ1) is determined from the rolling rate ({dot over (λ)}M) of the motorcycle, and a second roll angle variable (λ2) is determined from the product of the yaw rate ({dot over (ψ)}M) and the vehicle velocity (v) without using a measured lateral acceleration (ÿM).