Balancing a two-wheeled vehicle using dynamic referencing

Abstract

Approaches for balancing a two-wheeled vehicle, are described. In an example, balancing a two-wheeled vehicle is achieved using a control moment gyroscope (CMG) assembly which is controlled and operated based on a vehicle state information. The vehicle state information may be received from one or more sensors deployed in the two-wheeled vehicle. Once determined, the tilt corresponding to the vehicle state information may be compared a target position. The target position herein may refer to an equilibrium position wherein the two-wheeled vehicle is to remain balanced. In case the position of two-wheeled vehicle is at an offset with respect to the target position, i.e., is titled with respect to the target position, the control moment gyroscope (CMG) assembly installed in the two-wheeled vehicle may be actuated.

Description

BALANCING A TWO-WHEELED VEHICLE USING DYNAMIC REFERENCINGBACKGROUND

[0001] Two-wheeled vehicles, such as motorcycles and scooters, are inherently unstable when stationary or moving at low speeds. This instability poses challenges for riders, particularly those who are inexperienced or have limited physical abilities. Maintaining balance is crucial for safety and control, especially during stops, slow-speed manoeuvres, and in heavy traffic situations. There is a growing demand for innovative systems that may enhance the stability of two-wheeled vehicles without sacrificing fundamental characteristics. Thus, an effective balancing system may significantly improve safety, increase rider confidence, and potentially expand the accessibility of two-wheeled vehicles to a wider range of users.BRIEF DESCRIPTION OF DRAWINGS

[0002] The detailed description is provided with reference to the accompanying figures, wherein:

[0003] FIG. 1 illustrates a schematic representation of an environment depicting a vehicle, in accordance with one implementation of the present subject matter;

[0004] FIG. 2 illustrates a block diagram depicting components of a vehicle, in accordance with one implementation of the present subject matter;

[0005] FIG. 3 illustrates a control moment gyroscope assembly, in accordance with one implementation of the present subject matter;

[0006] FIG. 4(A-C) schematically illustrates various instances of a vehicle maintaining balance while having an eccentric load, in accordance with one implementation of the present subject matter.

[0007] FIG. 5 illustrates an example vehicle comprising a control moment gyroscope assembly, in accordance with one implementation of the present subject matter.

[0008] FIG. 6 illustrates an example method for balancing a twowheeled vehicle using dynamic referencing, in accordance with one implementation of the present subject matter.

[0009] Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements. The figures are not necessarily to scale, and the size of some parts may be exaggerated to more clearly illustrate the example shown. Moreover, the drawings provide examples and / or implementations consistent with the description; however, the description is not limited to the examples and / or implementations provided in the drawings.DETAILED DESCRIPTION

[0010] Two-wheeled vehicles provide inexpensive and a fast mode of mobility. They are a lifeline of commuters in most developing nations and are fairly environment friendly compared to other modes of mobility. Twowheeled vehicles serve as an efficient means of transportation, particularly in congested urban areas where traffic is a significant concern. Twowheeled vehicles offer a combination of affordability, efficiency, and reduced environmental impact.

[0011] In the realm of vehicular safety, two-wheeled vehicles may be inherently unsafe when stationary or moving at low speeds, wherein even a slightest deviation in the balance or orientation of the vehicle may cause the rider to lose balance. This may either result in the rider taking measures to retain balance of the vehicle, or in certain extreme instances may cause the vehicle to fall and cause injury. Also, the instability of two-wheeled vehicles may pose certain challenges for riders, specifically who are inexperienced or have limited physical capabilities. Thus, maintaining balance is crucial for safety and control, especially during stops, slower speed, manoeuvres, and during heavy traffic situations.

[0012] While various solutions are conventionally known to maintain balance of the two-wheeled vehicles, many compromise the vehicle’s performance, aesthetics, and overall riding experience. For example, conventional techniques address the issue of instability by including training wheels, outriggers, and use of gyroscopic systems. Training wheels, commonly used on children’s bicycles, although provide stability to the vehicle, limit the vehicle's ability to lean into turns thereby impacting ride quality and also mileage efficiencies. On the other hand, outriggers having retractable supporting wheels, may offer stability at low speeds or when stopped, but may be cumbersome or may interfere with vehicle’s manoeuvrability when deployed.

[0013] Two-wheeled vehicles relying on gyroscopic systems may affect balancing by generating torque on the wheels to maintain balance. Although, such gyroscopic systems are known to maintain balance and stability of the two-wheeled vehicle, these systems, however, do not take in account a scenario wherein the two-wheeled vehicle may be equipped with an unbalanced load. The unbalanced load may be eccentric and shift the center of gravity of the vehicle, which if not accounted for may cause instability despite the presence of balancing systems.

[0014] Additionally, many two-wheeled vehicles nowadays may have an issue of slow start of a gyroscope, a limited turning capability, and may therefore fail to achieve commercial scale-up. The lack of commercialised self-balancing technologies may also hinder widespread adoption of safer and user-friendly two-wheeled vehicles. Also, safety concerns for new or shorter riders may be particularly significant, since such groups often struggle with maintaining balance on traditional two-wheeled vehicles. For specially-abled individuals, a limited riding assistance may pose a barrier to mobility and independence.

[0015] Therefore, there is a need for providing efficient mechanisms for maintaining balance on two-wheeled vehicles, and for reducing the learningcurve of novice riders. An effective mechanism, may therefore, induce enhanced safety, and cause reduction in accidents and injuries associated with loss of balance during low-speeds manoeuvres or stoppage.

[0016] Approaches for balancing a two-wheeled vehicle, are described. In an example, for balancing a two-wheeled vehicle is achieved using a control moment gyroscope (CMG) assembly which is controlled and operated based on a vehicle state. In an example, vehicle state based on data received from one or more sensors deployed in the two-wheeled vehicle, may be determined. The vehicle state may refer to one or more parameters that may determine the state of motion and / or position of the vehicle. Examples of such parameters include, but is not limited to, tilt, speed, and a rate of change of speed of the two-wheeled vehicle. Other types of state information may also be gathered by the sensors, without deviating from the scope of the present subject matter. Once determined, the tilt corresponding to the vehicle state may be compared a target position. The target position herein may refer to an equilibrium position wherein the two-wheeled vehicle is to remain balanced. In case the position of twowheeled vehicle is at an offset with respect to the target position, i.e., is titled with respect to the target position, the control moment gyroscope (CMG) assembly installed in the two-wheeled vehicle may be actuated.

[0017] As will be explained in considerable detail, the CMG assembly comprises a flywheel positioned within a flywheel housing. The flywheel is to rotate about an axis which extends in a horizontal plane when the vehicle is in an upright balanced position. The flywheel housing of the CMG assembly is adapted such that the flywheel housing is rotated about an axis which is perpendicular to the axis of rotation of the flywheel. The rotation of the flywheel housing may be implemented using an actuator mechanism. In an example, the rotation of the flywheel and the flywheel housing may be controlled using a control unit. The control unit, in such case, may control the operation of the CMG assembly based at least on the vehicle state.

[0018] Returning to the present subject matter, the CMG assembly when actuated is to cause generation of a counter torque for affecting balancing of the two-wheeled vehicle. To this end, the counter torque generated by the CMG assembly urges the vehicle against the tilting so as to orient or align the vehicle along the target position. In an example, the counter torque may be about a roll axis of the two-wheeled vehicle which may cause the two-wheeled vehicle to balance such that it is maintained in the target position. The above process may be implemented continuously to ensure that the vehicle continues to be maintained in the target position.

[0019] The above and other features, aspects, and advantages of the subject matter will be better explained with regard to the following description and accompanying figures. It should be noted that the description and figures merely illustrate the principles of the present subject matter along with examples described herein and, should not be construed as a limitation to the present subject matter. It is thus understood that various arrangements may be devised that, although not explicitly described or shown herein, embody the principles of the present disclosure. Moreover, all statements herein reciting principles, aspects, and examples thereof, are intended to encompass equivalents thereof. Further, for the sake of simplicity, and without limitation, the same numbers are used throughout the drawings to reference like features and components. While aspects of the described system may be implemented in any number of different electric motors, environments, and / or implementation, the examples are described in the context of the following example motor(s). It may be noted that drawings of the present subject matter shown here are for illustrative purposes and are not to be construed as limiting the scope of the subject matter claimed.

[0020] FIG. 1 illustrates a schematic representation of an environment 100 depicting a vehicle, for example a two-wheeled vehicle 102 (hereinafter referred to as vehicle 102) on a road, according to an example of the presentsubject matter. The vehicle 102 may be moving on the road, or may even be stationary. The vehicle 102 is depicted as being titled at a certain angle with respect to a fixed vertical position. Herein, axis 106 is the pitch axis of the vehicle 102 and axis 104 represents roll axis of the vehicle 102 and axis 108 represents yaw axis of the vehicle 102.

[0021] The vehicle 102 may further include one or more sensors (not depicted in FIG. 1 ) which continuously gather data pertaining to one or more vehicle related parameters. Examples of such parameters include, but not limited to, speed, rate of change of speed, tilt of the vehicle. These parameters may be generally considered as depicting a vehicle state. For example, based on the parameters, it may be determined that the vehicle is in a state of motion or stationary, the speed at which it may be moving, whether it is traversing a turn, and other parameters.

[0022] In operation, the vehicle 102 may be moving along a path on a road, with its sensors obtaining data which may be used for determining vehicle state of the vehicle 102. Upon receiving the vehicle state, a control unit, such as control unit 1 10 of the vehicle 102 may, based on the vehicle state, determine a target position. The target position referred to herein may refer to an equilibrium position wherein the vehicle 102 is to remain balanced. The balanced position may refer to the position of the vehicle 102 where the center of gravity (of the vehicle 102) is to be maintained in a stable and persistent manner, while the vehicle is at motion or at rest. In instances where the vehicle 102 is stationary, the balanced position may be such when the yaw axis 108 coincides with the fixed vertical position.

[0023] Further, the control unit 1 10 may detect that the position of vehicle 102 is at an offset with respect to the target position. In case the position of vehicle 102 is at an offset, for example, is titled with respect to the target position, the control unit 110 may generate control instructions to trigger a control moment gyroscope (CMG) assembly (not shown in FIG. 1 )installed in the vehicle 102 to cause generation of a counter torque for affecting balancing of the vehicle 102.

[0024] In instances where the vehicle 102 bears an eccentric load (not shown in FIG. 1 ), the above-mentioned approaches may also be utilized. For instance, an eccentric load may be a bag hung on the handle of the vehicle 102, which may cause the centre of gravity to shift. As may be understood, under normal conditions, the centre of gravity may be present along the zero or vertical line of the vehicle. The centre of gravity however may be displaced away from the vertical centre line depending on the positioning of the eccentric load.

[0025] In such instances, the vehicle 102 for it to be balanced may be caused to be tilted to at an offset respective to the fixed vertical position, such that the shifted centre of gravity of the vehicle 102 (wherein the shifting is cause due to the eccentric load) is aligned with the zero line with respect to the vehicle 102. To this end, the CMG assembly may be controlled and operated for affecting balancing of the vehicle 102 may further be explained with respect to FIGS. 2 -5.

[0026] FIG. 2 illustrates a block diagram 200 depicting components of a vehicle, for example, the vehicle 102 as shown in FIG. 1. In an example, the vehicle 102 may include a plurality of components and / or sensor(s) placed at specific locations to monitor and generate data to be used while driving the vehicle 102. The vehicle 102 may include a control unit, for example a control unit, hereinafter referred to as control unit 202 (same as control unit 1 10) which may be implemented as a hardware or softwarebased application on the vehicle 102. For example, the control unit 202 may be implemented by way of electronic circuitry which may enable the control unit 202 to perform a variety of functions, such as torque control, and also generating control instructions for controlling the operation of the vehicle 102. When implemented as electronic circuitry, the control unit 202 may include multiple electronic or electrical components, such as MOSFETs,and the like. In another example, the control unit 202 may either be implemented or may include one or more processing elements within specifically programmed one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or a combination thereof. For a firmware and / or software implementation, the methodologies may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein.

[0027] In an example, the control unit 202 may be further coupled to a dynamic referencing control unit 206 (hereinafter referred to as DRCU 206). In an example, the control unit 202 and the DRCU 206 may be implemented within a single unit without deviating from the scope of the current subject matter. For the purposes of the current description, reference to the control unit 202 would also include within its scope, control unit 202 coupled to the DRCU 206 or control unit 202 implemented as a composite control unit incorporating and implemented about with the DRCU 206, without any limitation.

[0028] The vehicle 102 or the control unit 202 may further include instructions. In an example, the instructions are fetched from a memory and executed by a processor included within the vehicle 102 or the control unit 202. Such instructions may be stored on a non-transitory machine-readable storage medium which may be coupled either directly with the vehicle 102 or indirectly (for example, through networked means). In an example, the control unit 202 may include a processing resource, for example, either a single processor or a combination of multiple processors, to execute such instructions. In the present examples, the non-transitory machine-readable storage medium may store instructions, that when executed by theprocessing resource, implement control unit. In other examples, the control unit may be implemented as electronic circuitry.

[0029] Continuing further, the vehicle 102 may also include a control moment gyroscope (CMG) assembly 208 installed therein which is controlled and operated based on a vehicle state, such as vehicle state 204. The control moment gyroscope assembly 208 may comprise at least one flywheel 210 housed within a flywheel housing (not shown in FIG. 2) and may be coupled to a flywheel motor 212 and a precession device or a precession actuator, for example, precession device 216, respectively. The flywheel housing of the CMG assembly 208 is adapted such that the flywheel housing is to rotate about an axis which is perpendicular to the axis of rotation of the flywheel 210. The rotation of the flywheel housing may be implemented using the precession device 216. In an example, the rotation of the flywheel 210 and the flywheel housing may be controlled by the control unit 202, which in such a case, may control the operation of the CMG assembly 208 based at least on the vehicle state 204. Further, a flywheel speed sensor 214 and the precession device sensor 218 may note speed of the flywheel 210 and the precession device 216 for calculating flywheel speed and precession speed, respectively, during balancing of the vehicle 102.

[0030] During operation, the vehicle 102 may be moving along a path on a road. While moving, the vehicle 102 may be tilted at a certain angle with respect to a fixed vertical position. The ‘tilt’ in the present context may be referred to as an offset position of the vehicle 102 respective to the fixed vertical position when the center of gravity of the vehicle is not aligned to the fixed vertical position. Generally, the center of gravity of a vehicle lies along the fixed vertical position when the vehicle is at a stable position or when the vehicle is stationary. However, such ideal conditions may not always be present in the vehicle 102. For instance, when the vehicle 102may have some unbalanced load, the center of gravity of the vehicle 102 may not be aligned at the fixed vertical position and may shift accordingly.

[0031] In such an instance, for balancing the vehicle 102, the control unit 202 receive vehicle related parameters, such as vehicle state 204 from one or more sensors of the vehicle 102. The vehicle state 204, may include, but not limited to, tilt, speed, and rate of change of speed. For example, tilt may be received from an inertial measurement unit (IMU) and speed may be received from a speedometer of the vehicle 102. When the vehicle 102 may be stationary or moving at a certain speed (either accelerating or decelerating), in order to maintain stability of the vehicle 102, the control unit 202 may, based on the received vehicle state 204, determine a target position. The control unit 202 may then compare the tilt of the vehicle 102 corresponding to the vehicle state with respect to the target position (which may or may not be the same as a fixed vertical position).

[0032] However, to balance the vehicle 102, a position of the vehicle 102 may also be constantly updated respective to a fixed vertical position using dynamic referencing. As may be understood, dynamic referencing in the present context, may imply that instead of using a fixed vertical position as a reference position to balance the vehicle 102, the control unit 202 may continuously update the target position dynamically based on real-time changing conditions. Also, when the vehicle 102 may be carrying the eccentric load, the ideal balanced position may not be perfectly vertical, and instead may be at an offset to the fixed vertical position, such that the vehicle 102 is balanced. Other factors influencing dynamic referencing may include, but not limited to, position of the rider, road conditions, vehicle dynamics such as acceleration or deceleration. With dynamic referencing, the control unit 202 may calculate an optimal target position may not be perfectly vertical, but rather a position that may provide stability under given conditions.

[0033] On detecting that the position of the vehicle 102 is at an offset respective to the target position, the control unit 202 may generate control instructions to cause adjustment of the control moment gyroscope assembly 208 in a direction that may generate a force countering fall of the vehicle 102. The vehicle 102 may be balanced towards the target position such that the center of gravity of the vehicle 102 may be balanced at a stable position and aligned with the fixed vertical position.

[0034] Further, when the vehicle 102, for example, may be carrying an eccentric load, the control unit 202 may affect balancing of the vehicle 102 towards the target position, such that the center of gravity of the vehicle 102 may be balanced at a stable position based on dynamic referencing. This may ensure stability of the vehicle 102, and help the rider maintain balance. The functioning of the control moment gyroscope assembly 208 may further be explained in conjunction with FIG. 3.

[0035] FIG. 3 illustrates an example control moment gyroscope assembly 300 (same as control moment gyroscope assembly 208) installed in a vehicle, such as vehicle 102. A flywheel 306 may be housed in a flywheel housing 316. In one example, the flywheel housing 316 may comprise a top mounting plate 302, a bottom mounting plate 310. The flywheel 306 may be coupled to a flywheel motor 314 (same as ‘212’ of FIG. 2). The flywheel housing 316 may be coupled to a precession device 312 (Same as ‘216’ of FIG. 2). The orientation of the control moment gyroscope assembly 300 may be such that spin axis 308 of the flywheel 306 coincides with the pitch axis 106 of the vehicle 102, precession axis 304 of the flywheel 306 coincides with the yaw axis 108 of the vehicle 102, and correcting torque axis 318 of the flywheel 306 coincides with the roll axis 104 of the vehicle 102. In one example, the flywheel 306 may spin about the spin axis 308 such that the flywheel 306 is precessed about the precession axis 304 of the vehicle 102.

[0036] Herein, the at least one flywheel 306 of the control moment gyroscope assembly 300 may be spinnable in a first direction around a flywheel shaft and may affect balancing of the vehicle 102. Although, FIG. 3 depicts one flywheel 306 spinnable in the first direction, it may be noted that multiple such flywheel(s) may also be utilized for affecting balancing of the vehicle, without deviating from the scope of the present subject matter. In one example, the flywheel 306 is to rotate about an axis which extends in a horizontal plane when the vehicle 102 is at an upright balanced position. The flywheel housing 316 may be such that the flywheel housing 316 is to rotate about an axis perpendicular to the axis of rotation of the flywheel 306.

[0037] Particularly, the control moment gyroscope assembly 300 may affect balancing of the vehicle 102 wherein the flywheel 306 is rotated about an axis using a flywheel motor, such as the flywheel motor 212 shown in FIG. 2 and a precession device, such as the precession device 216 shown in FIG. 2 for rotating the flywheel 306 about spin axis 308 of the flywheel 306, such that the control moment gyroscope assembly 300 may be precessed about an axis orthogonal to the spin axis 308 of the flywheel 306. Thus, the control moment gyroscope assembly 300 may generate a counter torque about the roll axis of the vehicle 102 based on one of the precession speed, the flywheel spin speed, and mass moment inertia of the flywheel 306.

[0038] Although, it has been shown in FIG. 3 that the spin axis 308 of the flywheel 306 coincides with the pitch axis 106 of the vehicle 102, precession axis 304 of the flywheel 306 coincides with the yaw axis 108 of the vehicle 102, the same should not be construed as a limitation. For instance, the spin axis 308 of the flywheel 306 may also coincide with yaw axis 108 of the vehicle 102, and precession axis 304 of the flywheel 306 may also coincide with pitch axis 106 of the vehicle 102, without deviating from the scope of the present subject matter.

[0039] FIG. 4(A-C) schematically illustrates various instances of a vehicle 400 maintaining balance while having an eccentric load, for example eccentric load 406. The description of FIG. 4 has been described in conjunction with FIGs. 1 -3. FIG. 4(A-C) depicts a schematic wherein position of vehicle 400 (same as vehicle 102 described in FIG. 1 ) at an offset with respect to a target position. For example, numeral ‘402’ may represent a fixed vertical position of the vehicle wherein which the vehicle 400 may be ideally balanced, numeral ‘404’ may represent a vehicle central position, numeral ‘406’ may represent the eccentric load on one side of the vehicle, and numeral '408' may represent a combined center of gravity of the vehicle 400 and the eccentric load 406, thereby causing the vehicle to lose balance. It may be noted that the control unit 202 (of FIG. 2) may affect balancing of the two-wheeled vehicle 400 when a precession angle of the flywheel 306 is between -90 degrees to +90 degrees. Beyond the same, the control unit 202 may start supporting unbalancing by generating a coupled supporting fall of the vehicle 400. Since the control unit 202 receives the vehicle state, for example, vehicle state 204, the control unit 202 may note changes in the speed of the flywheel 306 along with the speed and direction of the precession of the control moment gyroscope assembly, for example the control moment gyroscope assembly 300 and may generate a correcting couple to balance the two-wheeled vehicle 400.

[0040] Herein, to balance the vehicle 400, a position of the vehicle 400 may be constantly updated respective to the fixed vertical position 402. To maintain stability of the vehicle 400, control instructions may be generated by the control unit 202 to generate a counter torque for countering fall of the vehicle 400. For example, the control instructions may be given to compare position of the vehicle 400 with respect to a target position which may or may not be the same as the fixed vertical position 402. For example, the vehicle 400 may be tilted at an angle respective to the target position. The tilt may be due to the eccentric load 406 present on either side of the vehicle400 such that vehicle central line 404 coincides with the target position and the center of gravity lies on the fixed vertical position 402 or the vehicle central line 404 so that there may be no unbalanced force when the vehicle 102 is moving or stationary on a road. The vehicle 400 may be balanced towards the target position such that the combined center of gravity 408 may be balanced at a stable position of the vehicle 400 and aligns with the fixed vertical position 402.

[0041] FIG. 5 illustrates an example vehicle 500 comprising a control moment gyroscope assembly, such as control moment gyroscope assembly 300 as shown in FIG. 3, in accordance with examples of the present subject matter. Herein, the vehicle 502 (same as vehicle 102) may be moving or stationary on a road. The control moment gyroscope assembly 300 comprises a flywheel 510 (same as the flywheel 306) housed within a flywheel housing 514 (same as the flywheel housing 316). Herein, the numeral ‘504’ represents precession axis of the flywheel 510, numeral ‘506’ represents spin axis of the flywheel 510, and the numeral ‘508’ represents a correcting torque axis of the CMG assembly 300. The precession axis 504 of the flywheel 510 may coincide with the yaw axis 108 of the vehicle 502. The spin axis 506 of the flywheel 510 may coincide with the pitch axis 106 of the vehicle 502. The correcting torque axis 508 of the CMG assembly 300 may coincide with the roll axis 104 of the vehicle 502.

[0042] Herein, in FIG. 5, a single flywheel 510 has been depicted. In case when the single flywheel 510 may be used to balance the vehicle 502, the CMG assembly 300 may be arranged such that the spin axis 506 of the flywheel 510 is along yaw axis 108 of the vehicle 102. In this scenario, when the vehicle 502 may start to lean towards one direction, (for example, the right direction) while taking the turn, the act of leaning towards the right may cause the precession of the flywheel 510 about the roll axis 104 of the vehicle 502. This may generate a gyroscopic couple (different from the correcting couple) about pitch axis 106 of the vehicle 502, which may bereflected as normal forces (shown as 512) at a point of contact between a tyre of the vehicle 502 and the road on which the vehicle 502 may be traversing.

[0043] Further, as shown in FIG. 5, the CMG assembly 300 is installed in the vehicle 502, the same should not be construed as a limitation. For instance, the CMG assembly may also be used as a separate accessory which may be mounted anywhere in a plane of the vehicle (for example, in rear grab rails of the vehicle) for effectively balance the vehicle. Such implementations would also fall within the scope of the present subject matter.

[0044] FIG. 6 illustrates an example vehicle 600 comprising a control moment gyroscope assembly (similar to CMG assembly 300). Herein, the CMG assembly comprises a dual-flywheel setup 602, installed in the vehicle 600 (similar to vehicle 102). In the dual-flywheel setup 602, each of the flywheels may have own spin axis 604, precession axis 608, and correcting couple axis 606 aligned to the yaw axis 108, pitch axis 106, and roll axis 104 of the vehicle 600, respectively. Also, both the flywheels may have an opposite direction of spin and precession with respect to each other. The correcting torque generated by each of these flywheels may be in a same direction and about the roll axis 104 of the vehicle. The total correcting torque may be summation of individual torques generated by each of the flywheels of the dual-flywheel setup 602. The dual-flywheel setup 602 with two flywheels having opposing direction of spin and precession may enable cancellation of any other extra torque components that may arise due to vehicle dynamics. In case of the vehicle 600 leans in one direction (for example, the right direction) causes the precession of both the flywheels about the roll axis 104 of the vehicle 600. Since both the flywheels have opposite direction of spin, the torque generated about the pitch axis 106 of the vehicle 600 will be in opposite direction, and hence, will cancel out eachother. Thus, there is no resulting normal forces that may alter the vehicle 600 traction on the path of the road.

[0045] FIG. 7 illustrates an example method 700 for balancing a twowheeled vehicle using dynamic referencing, in accordance with examples of the present subject matter. The order in which the above-mentioned methods are described is not intended to be construed as a limitation, and some of the described method blocks may be combined in a different order to implement the methods, or alternative method.

[0046] Furthermore, the above-mentioned methods may be implemented in a suitable hardware, computer-readable instructions, or combination thereof. The steps of such methods may be performed by either a system under the instruction of machine executable instructions stored on a non-transitory computer readable medium or by dedicated hardware circuits, microcontrollers, or logic circuits. For example, the methods may be performed by a control unit, such as the control unit 202 of the vehicle, such as vehicle 102. Herein, some examples are also intended to cover non-transitory computer readable medium, for example, digital data storage media, which are computer readable and encode computer-executable instructions, where said instructions perform some or all the steps of the above-mentioned methods.

[0047] In an example, the method 700 may be implemented by the control unit 202 for balancing the vehicle 102. At block 702, vehicle state may be received. For example, the control unit 202 of the vehicle 102 may receive vehicle state from one or more sensors deployed in the vehicle 102. In one example, the vehicle state may include, but not limited to, tilt, speed, and a rate of change of speed of the vehicle 102.

[0048] At block 704, the tilt of the vehicle may be compared. For example, the control unit 202 upon determining vehicle state, may compare tilt of the vehicle 102 corresponding to the vehicle state with respect to atarget position. The target position referred to herein may refer to an equilibrium position wherein the vehicle 102 is to remain balanced.

[0049] At block 706, an offset of the vehicle may be detected. For example, the control unit 202 may detect that the position of the vehicle 102 is at an offset with respect to the target position. In case the position of vehicle 102 is at an offset, for example, is titled with respect to the target position, the control unit 202 may generate control instructions to affect balancing of the vehicle 102.

[0050] At block 708, a control moment gyroscope assembly may be triggered. Upon detecting that the position of vehicle 102 is at an offset with respect to the target position, the control unit 202 may trigger a control moment gyroscope assembly, such as the control moment gyroscope assembly 300 to cause generation of a counter torque for affecting balancing of the vehicle 102. The counter torque may be about a roll axis of the vehicle 102 for balancing the vehicle 102 towards the target position. The balanced position may refer to the position of the vehicle 102 where the center of gravity (of the vehicle 102) is to be maintained in a stable and persistent manner, while the vehicle is at motion or at rest. In instances where the vehicle 102 is stationary, the balanced position may be such when the yaw axis 108 coincides with the fixed vertical position.

[0051] The above-mentioned examples provide a sophisticated and dynamic solution to the challenge of balancing two-wheeled vehicles. By utilizing advanced gyroscopic principles and adaptive control algorithms, it offers enhanced stability and safety for riders, particularly in low-speed or stationary situations. The system's ability to adjust to changing conditions and external loads makes it particularly versatile and effective across a wide range of riding scenarios.

[0052] Although implementations of present subject matter have been described in language specific to structural features and / or methods, it is to be noted that the present subject matter is not necessarily limited to thespecific features or methods described. Rather, the specific features and methods are disclosed and explained in the context of a few implementations for the present subject matter.

Claims

l / We Claim:1 . A balancing system for a two-wheeled vehicle comprising: a control moment gyroscope assembly comprising at least one flywheel coupled to a precession device; a control unit coupled to one or more sensors and the control moment gyroscope assembly, wherein the control unit is to: receive vehicle state from a sensor installed in the twowheeled vehicle, wherein the vehicle state comprises one of a tilt, a speed, a rate of change of speed of the two-wheeled vehicle, and combinations thereof; compare tilt of the two-wheeled vehicle corresponding to the vehicle state with respect to a target position; and on detecting that the two-wheeled vehicle is at an offset with respect to the target position, trigger the control moment gyroscope assembly to cause generation of a counter torque for affecting balancing of the two-wheeled vehicle about a roll axis of the twowheeled vehicle to balance the two-wheeled vehicle towards the target position, wherein the flywheel is spinnable in a first direction around a flywheel shaft for affecting balancing of the two-wheeled vehicle, and wherein the target position refers to an equilibrium position wherein the two-wheeled vehicle is to remain balanced.

2. The balancing system as claimed in claim 1 , wherein for affecting balancing of the two-wheeled vehicle, the control unit is to: receive position data of the two-wheeled vehicle from the one or more sensors, wherein the position data corresponds to position of the two-wheeled with respect to a fixed vertical position;based on the position data, generate control instructions to continuously update the target position of the two-wheeled such that the center of gravity of the two-wheeled vehicle is balanced at a stable position and aligns with the reference zero position.

3. The balancing system as claimed in claim 2, wherein the twowheeled vehicle has an eccentric external load affecting the center of gravity of the two-wheeled vehicle.

4. The balancing system as claimed in claim 2, wherein the target position lies at an offset with respect to the fixed vertical position of the two-wheeled vehicle.

5. The balancing system as claimed in claim 1 , wherein the control moment gyroscope assembly is to affect balancing of the two-wheeled vehicle by rotating the flywheel about an axis extending in a horizontal plane when the two-wheeled vehicle is an upright balanced position.

6. The balancing system as claimed in claim 5, wherein the flywheel is housed in a flywheel housing, and wherein for affecting balancing of the two-wheeled vehicle, the control moment gyroscope assembly is to rotate the flywheel housing about an axis which is perpendicular to the axis of rotation of the flywheel.

7. The balancing system as claimed in claim 5, wherein the control moment gyroscope is to generate a counter torque based one of precession speed, the flywheel spin speed, and mass moment inertia of the flywheel.

8. The balancing system as claimed in claim 6, wherein the control moment gyroscope is to activate a precession device to adjust the flywheel a direction generating the counter torque to prevent fall of the two-wheeled vehicle.

9. The balancing system as claimed in claim 1 , wherein spin axis of the of the flywheel coincides with pitch axis of the two-wheeled vehicle, precession axis of the flywheel coincides with yaw axis of the twowheeled vehicle, and the correcting torque axis of the flywheel coincides with roll axis of the vehicle.

10. A method for balancing a two-wheeled vehicle comprising: receiving vehicle state from a sensor installed in the twowheeled vehicle, wherein the vehicle state comprises one of a tilt, a speed, a rate of change of speed of the two-wheeled vehicle, and combinations thereof; comparing tilt of the two-wheeled vehicle corresponding to the vehicle state with respect to a target position; and on detecting that the two-wheeled vehicle is at an offset with respect to the target position, triggering a control moment gyroscope assembly installed in the two-wheeled vehicle to cause generation of a counter torque for affecting balancing of the two-wheeled vehicle about a roll axis of the two-wheeled vehicle to balance the twowheeled vehicle towards the target position, wherein the flywheel is spinnable in a first direction around a flywheel shaft for affecting balancing of the two-wheeled vehicle, and wherein the target position refers to an equilibrium position wherein the two-wheeled vehicle is to remain balanced.1 1 . The method as claimed in claim 10, wherein for affecting balancing of the two-wheeled vehicle, the method comprises: receiving position data of the two-wheeled vehicle from the one or more sensors, wherein the position data corresponds to position of the two-wheeled about the roll-axis of the two-wheeled vehicle with respect to a fixed vertical position; based on the position data, continuously updating the target position of the two-wheeled such that the center of gravity of the twowheeled vehicle aligns with the fixed vertical position.

12. The method as claimed in claim 10, wherein the two-wheeled vehicle has an external load affecting the center of gravity of the twowheeled vehicle.

13. The method as claimed in claim 10, wherein the target position lies at an offset with respect to the fixed vertical position of the twowheeled vehicle.

14. The method as claimed in claim 10, wherein the control moment gyroscope assembly is to affect balancing of the two-wheeled vehicle by rotating the flywheel about an axis extending in a horizontal plane when the two-wheeled vehicle is an upright balanced position.

15. The method as claimed in claim 14, wherein the flywheel is housed in a flywheel housing, and wherein for affecting balancing of the twowheeled vehicle, the control moment gyroscope assembly is to rotate the flywheel housing about an axis which is perpendicular to the axis of rotation of the flywheel.

16. The method as claimed in claim 10, wherein the control moment gyroscope is to generate a counter torque based one of precession speed, the flywheel spin speed, and mass moment inertia of the flywheel.

17. The method as claimed in claim 15, wherein the control moment gyroscope is to activate a precession device to adjust the flywheel a direction generating the counter torque to prevent fall of the twowheeled vehicle.

18. The method as claimed in claim 10, wherein spin axis of the of the flywheel coincides with pitch axis of the two-wheeled vehicle, precession axis of the flywheel coincides with yaw axis of the twowheeled vehicle, and the correcting torque axis of the flywheel coincides with roll axis of the vehicle.

19. A two-wheeled vehicle comprising: a balancing system comprising a control moment gyroscope assembly; a control unit coupled to the balancing system, wherein the control unit is to: receive vehicle state from a sensor installed in the twowheeled vehicle, wherein the vehicle state comprises one of a tilt, a speed, a rate of change of speed of the two-wheeled vehicle, and combinations thereof; compare tilt of the two-wheeled vehicle corresponding to the vehicle state with respect to a target position; and on detecting that the two-wheeled vehicle is at an offset with respect to the target position, trigger the control moment gyroscope assembly to cause generation of a counter torque for affectingbalancing of the two-wheeled vehicle about a roll axis of the twowheeled vehicle to balance the two-wheeled vehicle towards the target position, wherein the flywheel is spinnable in a first direction around a flywheel shaft for affecting balancing of the two-wheeled vehicle, and wherein the target position refers to an equilibrium position wherein the two-wheeled vehicle is to remain balanced.

Images