Method for automatically balancing and stabilizing a motorized two-wheeled vehicle and motorized two-wheeled vehicle

Abstract

The invention relates to a method for automatically balancing a motorized two-wheeled vehicle (1), comprising the following steps: detecting (100) a steering angle of the two-wheeled vehicle (1) and / or at least one acceleration value of the two-wheeled vehicle by means of at least one sensor (2, 3, 4); analyzing (200) the detected steering angle and / or the detected at least one acceleration value by means of a control unit (5); if it is determined that the two-wheeled vehicle (1) is tilted, changing (300) the acceleration (B, A) of the two-wheeled vehicle (1) by changing the torque on the wheels of the two-wheeled vehicle (1). The invention also relates to a motorized two-wheeled vehicle (1) having a steering sensor (3) and / or at least one acceleration sensor (2, 4) and a control unit (5), wherein the control unit (5) is configured to carry out the method according to the invention.

Description

Technical Field

[0001] The invention relates to a method for automatically balancing and stabilizing a two-wheeled motor vehicle and a two-wheeled motor vehicle. Background Art

[0002] Two-wheeled vehicles can be operated with an internal combustion engine, electrically or in a hybrid manner. They can be designed as electric motorcycles, so-called electric scooters, bicycles with auxiliary motors, so-called electric bicycles, mopeds, scooters such as mopeds or mopeds, scooters, mopeds or motorcycles. They all have in common that they are vehicles with two wheels that run one behind the other in a lane, with the front wheel being connected to the handlebars.

[0003] The ability of a single-track vehicle to travel stably on a vertical axis without supporting wheels or other auxiliary devices is based on dynamic balance. Stability is lost when stationary. The conditions for stability are a minimum speed, the automatic inward deflection of the front wheels when the two-wheeled vehicle tilts, and the driver's ability to balance. When driving slowly, an inexperienced driver will have problems maintaining balance. Therefore, an inexperienced driver must support himself with one foot on the ground. Summary of the invention

[0004] According to the invention, a method for automatically balancing a two-wheeled motor vehicle and a two-wheeled motor vehicle are proposed, having the features of the independent claims. Advantageous embodiments are the subject matter of the dependent claims and the following description.

[0005] Advantages of the present invention

[0006] The invention is based on the measure that the acceleration and / or the steering angle of the two-wheeled vehicle are detected and, if a tilting of the two-wheeled vehicle is detected, the two-wheeled vehicle is stabilized based on these measured variables by changing the torque at the wheels of the two-wheeled vehicle.

[0007] This method stabilizes slow driving by means of suitable sensor devices and algorithms through intervention via the motor of the two-wheeled vehicle. The current state is obtained by additional sensor information, such as a measured variable obtained by a detected steering angle or at least one acceleration value. The current state is analyzed in the control device. If the tilt of the two-wheeled vehicle is identified here, the control device is slightly more strongly accelerated in the positive or negative direction or slightly less strongly accelerated in the positive or negative direction. Negative acceleration is equivalent to deceleration. Thus, the two-wheeled vehicle is balanced and stabilized, especially in combination with the steering movement that is actually continuously carried out during slow driving. The driver is assisted in stabilization by the change of longitudinal acceleration. This is particularly easy when driving slowly, because the driver only needs to operate the handlebars and does not need to use the throttle handle to adjust sensitively at the same time. Thus, the driver can drive the two-wheeled vehicle more stably and slowly with minimal additional cost.

[0008] Suitably, the lateral acceleration of the two-wheeled vehicle to the left or right is detected as at least one measured variable by means of at least one acceleration sensor and the tilt direction is determined therefrom. This is advantageous because the tilt direction is relevant to determining whether the forward acceleration needs to be increased or decreased for balancing stability.

[0009] Preferably, the steering angle of the two-wheeled vehicle is determined as at least one measured variable by means of at least one steering angle sensor. This is advantageous because the steering angle is relevant for determining whether the forward acceleration needs to be increased or reduced for balancing and stabilizing.

[0010] According to a first preferred embodiment, when it is determined that the two-wheeled vehicle is tilted in a first direction and the handlebars are deflected in the first direction, an increase in torque is generated on the wheels of the two-wheeled vehicle, so that the vehicle is stabilized again. Sensors for the steering angle and the lateral acceleration are required for this purpose. Stabilization is particularly assisted when the handlebars move in a second direction opposite to the first direction. Therefore, if the driver tilts to the right and the handlebars are deflected to the right, a short increase in longitudinal acceleration is generated as a torque increase on the wheels. In this case, when the driver moves the handlebars to the left, a particularly reliable stabilization is achieved. On the contrary: if the two-wheeled vehicle tilts to the left and the handlebars are deflected to the left, a short longitudinal acceleration is generated as a torque increase on the wheels. In this case, when the driver moves the handlebars to the right, a particularly reliable stabilization is achieved.

[0011] According to another preferred embodiment, a torque drop is generated at the wheels of the two-wheeled vehicle when it is determined that the two-wheeled vehicle is tilted in a second direction opposite to the first direction and the handlebars are deflected in the first direction. When the handlebars are deflected in the second direction, a particularly reliable stabilization is achieved. Thus, as long as the driver tilts to the right and the handlebars are deflected to the left, a brief drop in longitudinal acceleration is generated as a torque drop. In this case, a particularly reliable stabilization is achieved when the driver moves the handlebars to the right. On the contrary: if the two-wheeled vehicle tilts to the left and the handlebars are deflected to the right, a brief drop in longitudinal acceleration is generated as a torque drop. In this case, a particularly reliable stabilization is achieved when the driver moves the handlebars to the left.

[0012] Preferably, a steering display is output which shows the driver a suggestion as to the direction in which he should move the handlebars in order to achieve a balanced and stable ride. This further simplifies creeping. Although there is usually no actuator for the steering angle, the driver can still be assisted in steering correctly.

[0013] Preferably, the positive or negative longitudinal acceleration and / or the acceleration due to gravity of the two-wheeled vehicle is determined as at least one measured variable by means of at least one acceleration sensor. The determination of the longitudinal acceleration advantageously allows a better control of the change in the torque on the wheels of the two-wheeled vehicle. The determination of the acceleration due to gravity advantageously allows a more precise determination of the current tilt angle of the two-wheeled vehicle.

[0014] The torque at the wheels of the two-wheeled vehicle is advantageously changed with respect to the average torque, which is adjusted by the throttle grip of the two-wheeled vehicle. For example, the air volume, for example a throttle, is thus changed using a Bowden cable. This is advantageous because the driver still has full control over the average acceleration in this way.

[0015] Preferably, the torque is changed via an electronic interface for balancing stabilization. For example, the load of the electric machine or the torque of the internal combustion engine can be changed thereby. This allows a particularly precise change of the torque.

[0016] According to an advantageous embodiment, the two-wheeled vehicle has an internal combustion engine and a generator, wherein the change in the torque at the wheels of the two-wheeled vehicle comprises a change in the torque of the internal combustion engine and / or the generator, for example by means of an ignition angle and / or an injection quantity of the internal combustion engine and / or a load on the generator. Since the ignition angle, the injection quantity and the load on the generator are in particular electronically controlled variables, these variables can be easily changed by means of an electronic control device.

[0017] The method is preferably only carried out when the speed is below a preset threshold value. In this way, the system can independently recognize that stabilization is necessary and activate itself. Thus, the preset threshold value can be less than or equal to 12 km / h, less than or equal to 10 km / h, less than or equal to 6 km / h or less than or equal to 3 km / h. Alternatively or additionally, the method can also be activated by a switch.

[0018] According to a preferred embodiment, the mobile phone is coupled to the control unit and exchanges data with the control unit, wherein an acceleration sensor of the mobile phone sends measured acceleration values ​​to the control unit. Since many mobile phones already have an acceleration sensor, an acceleration sensor in or on the two-wheeled vehicle can be dispensed with in this way.

[0019] According to another preferred embodiment, the mobile phone is coupled to the control unit and exchanges data with the control unit, wherein the method is switched on and / or off by means of the mobile phone. This is advantageous because additional operating interfaces on the two-wheeled vehicle can be omitted in this way.

[0020] The two-wheeled motor vehicle expediently has an electric motor as the motor, an internal combustion engine or a hybrid drive, wherein preferably there is no freewheel arrangement between the motor and the drive wheels. Electric motors without freewheel arrangements are particularly advantageous, since they allow for continuous balancing. In conventional freewheel arrangements, however, the torque cannot be easily increased by the electric motor.

[0021] Further advantages and embodiments of the invention are apparent from the description and the accompanying drawings.

[0022] It is to be understood that the features mentioned above and those yet to be explained below can be used not only in the respectively indicated combination but also in other combinations or alone, without departing from the scope of the present invention.

[0023] The invention is illustrated schematically in the drawings on the basis of exemplary embodiments and is described below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A perspective view shows a motorized two-wheeled vehicle according to a preferred embodiment of the present invention;

[0025] Figure 2 A flow chart of a preferred specific embodiment of the method according to the invention is shown. DETAILED DESCRIPTION

[0026] A preferred embodiment of the motorized two-wheeled vehicle is Figure 11 and denoted by 1. In this embodiment, the two-wheeled motor vehicle 1 is designed as a moped. The moped has an internal combustion engine as a motor 6. The internal combustion engine is coupled to the wheels of the moped via an automatic transmission. The internal combustion engine is controlled via a throttle grip 7 on the handlebars 8 of the moped. The internal combustion engine has a generator for supplying energy to the onboard electrical system. The generator is driven by the internal combustion engine.

[0027] In addition, the moped has two acceleration sensors 2, 4. One of the acceleration sensors 4 is configured to detect the longitudinal acceleration A, B of the moped. The other of the acceleration sensors 2 is configured to detect the lateral acceleration to the left L or to the right R. In addition, the moped has a steering angle sensor 3 on its handlebar 8 for detecting the steering angle to the left L or to the right R.

[0028] Furthermore, the moped has a control unit 5 which is provided for carrying out an embodiment of the method according to the invention.

[0029] Now with the help of Figure 1 and 2 To describe an embodiment of the method according to the invention, the control unit 5 of the moped is configured to carry out the method.

[0030] In a first method step 100, the steering angle of the handlebar 8 of the moped is detected by means of the steering angle sensor 3 of the moped. In addition, in this method step, an acceleration value for a tilting movement of the two-wheeled vehicle 1 to the left L or to the right R is determined by means of the acceleration sensor 2. Optionally, the longitudinal acceleration B, A and / or the acceleration due to gravity can be detected by means of a further acceleration sensor 4. The determination of the longitudinal acceleration advantageously allows a better control of the change in the torque on the wheels of the two-wheeled vehicle 1. The determination of the acceleration due to gravity advantageously allows a more precise determination of the current tilt angle of the two-wheeled vehicle.

[0031] In a second method step 200, the acceleration values ​​of the tilting movement and the detected steering angle are evaluated by means of the control unit 5 of the moped. From the acceleration values ​​of the tilting movement, for example, the current tilting angle to the right R or to the left L can be determined. If a tilting of the moped is detected, the control unit determines in this method step how the control unit can contribute to the stabilization of the moped by changing the longitudinal accelerations B, A.

[0032] If the automatic transmission is now in the engaged gear, that is, if the motor 6 and the wheels of the moped are coupled to one another, the accelerations B, A of the moped can be changed in a third method step 300. This is achieved by the control unit 5 changing the torque at the wheels of the two-wheeled vehicle by means of the motor 6 or generator.

[0033] Preferably, in this embodiment, the generator load is varied in order to vary the torque on the wheels of the two-wheeled vehicle. In this case, the average torque of the motor is adjusted by the accelerator handle 7. The torque acting on the wheels is obtained by deducting the existing load torque from the drive torque of the motor 6, wherein a significant load torque is caused by the generator. The change in the longitudinal acceleration B, A is modulated to the torque on the wheels of the two-wheeled vehicle.

[0034] In this embodiment, the longitudinal accelerations B and A of the moped are varied as follows:

[0035] If the two-wheeled vehicle 1 is tilted in a first direction L, R and the handlebar 8 is deflected in the first direction L, R, a torque increase is generated on the wheels of the two-wheeled vehicle. The steering display sends a signal to the driver, so that the driver should move the handlebar 8 in a second direction L, R opposite to the first direction L, R. This can be achieved, for example, by two small lights or a display on a mobile phone. In this way, when the driver follows the instructions and the handlebar 8 moves in a second direction L, R opposite to the first direction L, R, the two-wheeled vehicle 1 is stabilized again. Therefore, if the driver, without losing generality, tilts to the right R and the handlebar 8 is deflected to the right R, a short increase in the longitudinal acceleration B, A is generated as a torque increase on the wheel, and the steering moment for turning to the left L is displayed to the driver.

[0036] The steering process on the part of the driver has a relatively large influence on the balance and stabilization of the two-wheeled vehicle 1. Therefore, if the driver immediately turns to the right R when the two-wheeled vehicle 1 tilts to the right, a rapid balance and stabilization can be achieved. If the driver turns in the right direction, that is, in this case to the right R, the driver can be assisted in the balance and stabilization by a positive torque change B on the wheels of the two-wheeled vehicle 1. If the driver turns in the wrong direction, that is, in this case to the left L, the negative torque change A on the wheels of the two-wheeled vehicle 1 can be used to control the vehicle in the opposite direction in a balanced and stable manner.

[0037] If the handlebar 8 is turned in a first direction L, R and the two-wheeled vehicle 1 is tilted in a second direction L, R opposite to the first direction L, R, a torque drop B, A is generated at the wheels of the two-wheeled vehicle. The steering display signals the driver that the driver should move the handlebar 8 in the second direction L, R opposite to the first direction L, R. If the driver follows this instruction, the two-wheeled vehicle 1 is stabilized again. Thus, if the driver, without loss of generality, leans to the right R and turns the handlebar 8 to the left L, a brief drop B, A in the longitudinal acceleration B, A is generated as a torque drop, and the steering moment for steering to the right R is displayed to the driver.

Claims

1. A method for automatically balancing and stabilizing a motorized two-wheeled vehicle (1), the method comprising the following steps: - detecting (100) at least one measured variable by means of at least one sensor (2, 3, 4), said measured variable being selected from at least one acceleration value of the two-wheeled vehicle (1); - analyzing (200) the at least one detected measurement variable by means of a control unit (5) and determining on the basis of the analysis whether the two-wheeled vehicle (1) is tilted; - if it is determined that the two-wheeled vehicle (1) is tilted, changing (300) the acceleration (B, A) of the two-wheeled vehicle (1) by changing the torque on the wheels of the two-wheeled vehicle (1), wherein the steering angle of the handlebar (8) of the two-wheeled vehicle (1) is detected as the at least one measurement variable, When it is determined that the two-wheeled vehicle (1) is tilted in a first direction and the handlebar (8) is deflected in the first direction (L, R), a torque increase (B) is generated on the wheels of the two-wheeled vehicle (1), When it is determined that the two-wheeled vehicle (1) is tilted in a second direction (L, R) opposite to the first direction (L, R) and the handlebar (8) is deflected in the first direction (L, R), a torque drop (A) is generated on the wheels of the two-wheeled vehicle (1).

2. The method according to claim 1, wherein: The lateral acceleration of the two-wheeled vehicle (1) to the left (L) or to the right (R) is detected as the at least one measured variable.

3. The method according to claim 1, wherein: A steering display is output, which shows the driver a suggestion on the direction in which he should move the handlebar (8) in order to achieve a stable balance.

4. The method according to any one of claims 1 to 3, wherein: The torque on the wheels of the two-wheeled vehicle (1) is changed with respect to an average torque (B, A), and the average torque is adjusted by a throttle handle (7) of the two-wheeled vehicle (1).

5. The method according to any one of claims 1 to 3, wherein: The two-wheeled vehicle (1) has an internal combustion engine and a generator, wherein changing the torque on the wheels of the two-wheeled vehicle includes changing the torque of the internal combustion engine and / or the generator.

6. The method according to any one of claims 1 to 3, wherein: A positive or negative longitudinal acceleration (B, A) and / or the acceleration due to gravity of the two-wheeled vehicle (1) is ascertained as a measured variable.

7. The method according to any one of claims 1 to 3, wherein: The method is performed only when the speed of the two-wheeled vehicle is below a preset threshold value.

8. The method according to any one of claims 1 to 3, wherein: A mobile phone is coupled to the control unit (5) and exchanges data with the control unit (5), wherein an acceleration sensor of the mobile phone sends a measured acceleration value, i.e., the at least one measured variable, to the control unit (5) and / or the method is switched on and / or off by means of the mobile phone.

9. The method according to any one of claims 1 to 3, wherein: The two-wheeled motor vehicle (1) has an electric motor as the motor (6), an internal combustion engine or a hybrid drive.

10. The method according to claim 9, wherein: There is no free wheel structure between the motor (6) and the drive wheel.

11. A motorized two-wheeled vehicle (1) having at least one sensor and a control unit (5), wherein: The control unit (5) is configured to carry out the method according to any one of claims 1 to 10.

12. The motorized two-wheeled vehicle (1) according to claim 11, wherein: The at least one sensor (2, 3, 4) comprises a steering angle sensor (3), which is used to detect the steering angle of the two-wheeled vehicle (1).

13. A motorized two-wheeled vehicle (1) according to claim 11 or 12, wherein: The at least one sensor comprises an acceleration sensor (2, 4) with which a longitudinal acceleration (B, A) and / or a transverse acceleration is detected.

14. The two-wheeled motor vehicle (1) according to claim 11 or 12, which has a steering display which can indicate to the driver a suggestion as to the direction in which he should move the handlebars (8) in order to achieve a stable balance.

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