Method for operating tilting vehicle
By detecting the braking torque of the rear wheels and reducing the center of gravity of the vehicle, and manipulating the brake unit and the drive device, the problem of the tilted vehicle losing ground contact is solved, and higher deceleration and braking effects are achieved.
Patent Information
- Application Number
- CN202480005153.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-01-31
- Filing Date
- 2024-01-12
- Publication Date
- 2025-07-08
AI Technical Summary
In dry road conditions, the rear wheels of the inclined vehicle lose ground contact due to dynamic wheel load transfer, resulting in limited maximum deceleration.
By detecting the braking torque of the rear wheel, the braking unit is operated to increase the braking torque of the rear wheel and reduce the center of gravity of the vehicle. The driving device generates a driving torque opposite to the braking torque to compress the spring strut, thereby achieving elastic compression of the rear wheel, thereby increasing the braking torque of the rear wheel.
The maximum deceleration of the tilt vehicle is improved, and the braking effect is enhanced, especially when the rear wheels are lifted.
Smart Images
Figure CN120282909A_ABST
Abstract
Description
Field of Technology
[0001] The present invention relates to a method for operating a tilting vehicle. Background Art
[0002] In dry road conditions, the maximum deceleration of a tilting vehicle is restricted especially by the fact that the rear wheels lose ground contact due to dynamic wheel load transfer. The deceleration when the rear wheels are lifted basically depends on the relationship between the wheelbase, the height of the center of gravity, and the position of the center of gravity in the longitudinal direction of the vehicle. Summary of the Invention
[0003] The object of an embodiment of the present invention is to provide a method for operating a tilting vehicle by which the maximum deceleration of a motorcycle can be increased.
[0004] This object is solved by a method for operating a tilting vehicle, which tilting vehicle includes: a vehicle frame; a front wheel; a rear wheel; a drive device which is fixed to the vehicle frame and by which the rear wheel can be driven; a rear-wheel swing arm which is fixed to the vehicle frame and on which the rear wheel is rotatably arranged; a spring strut by which the rear-wheel swing arm is supported on the frame; a brake unit which can be actuated by a brake actuating mechanism and by which at least the rear wheel can be braked; and a control unit to which a sensor device is functionally assigned, by which the driving state of the tilting vehicle can be detected, in which for each driving state, such as the speed of the tilting vehicle, the maximum braking torque of the rear wheel is stored, and by which the drive device and the brake unit can be actuated, the method comprising the following steps:
[0005] a. Actuate the brake actuating mechanism and increase the braking torque on at least the rear wheels of the tilting vehicle by the brake unit,
[0006] b. Detect by the control unit that the maximum braking torque on the rear wheel is reached or exceeded in the current driving state,
[0007] c. Lower the center of gravity of the tilting vehicle, and
[0008] d. Increase the maximum braking torque on the rear wheel by the brake unit to exceed the maximum braking torque for this driving state.
[0009] Since the center of gravity of the tilting vehicle is lowered when it is detected that the maximum braking torque on the rear wheel is reached or exceeded in the current driving state, the maximum braking torque on the rear wheel can be increased to exceed that of a driving state with a normal center of gravity height, whereby the braking effect of the tilting vehicle can be increased.
[0010] The maximum deceleration when the rear wheel is lifted basically depends on the relationship between the wheelbase, the height of the center of gravity, and the position of the center of gravity in the longitudinal direction of the vehicle. The larger the wheelbase and the lower and more rearward the center of gravity, the higher the maximum deceleration when the rear wheel is lifted. Since the center of gravity is lowered, the rear wheel is lifted only when the maximum deceleration increases, and thus the maximum braking torque on the rear wheel can increase beyond the normal state.
[0011] The driving state of the tilting vehicle is understood, for example, as the speed of the tilting vehicle, the tilting angle relative to the vertical line, and optionally the friction coefficient of the lane related to dry or wet lane conditions or the like.
[0012] The braking control mechanism can include a manually operable handbrake, a foot-operable footbrake, and / or an automatic brake. The automatic brake can, for example, be assigned to a collision monitoring unit.
[0013] The tilting vehicle is understood as a bicycle, a motorcycle, or a motorcycle-like motor vehicle, such as a moped, especially a two-wheel, three-wheel, or four-wheel moped, a scooter, a tilting tricycle, a four-wheeler, or the like.
[0014] The lowering of the center of gravity of the tilting vehicle can in principle be achieved in any way. For example, the seat of the tilting vehicle can be lowered when a braking process is detected, and in this way, the center of gravity of the entire system composed of the driver and the tilting vehicle is lowered.
[0015] When the lowering of the center of gravity of the tilting vehicle includes the elastic compression of the spring strut, the center of gravity of the tilting vehicle can be lowered in a simple way.
[0016] Due to the elastic compression of the spring strut of the tilting vehicle, the center of gravity of the tilting vehicle is displaced in the direction towards the ground and thus lowered.
[0017] The elastic compression of the spring strut can in principle be achieved in any way. For example, an adjustment drive device can be provided, which actively elastically compresses the spring strut by means of its own drive mechanism.
[0018] In an improved version of the method, it is provided that the lowering of the center of gravity of the tilting vehicle includes applying or increasing a driving torque opposite to the braking torque on the rear wheel by means of a drive device.
[0019] In this case, the spring strut is also elastically compressed. However, in the previously described embodiments, an interaction force is generated between the drive device and the braking unit, that is, the driving torque and the opposing braking torque act on the rear wheel. As a result, the rear wheel of the tilting vehicle is elastically compressed. The braking torque is supported on the rear wheel swing arm, and the driving torque is supported on the vehicle frame. The torque balance between the vehicle frame and the rear wheel swing arm results in the elastic compression of the spring strut. Through the elastic compression of the rear wheel, the center of gravity of the tilting vehicle is lowered.
[0020] In principle, it can be envisaged that the braking unit can only be controlled by a braking control mechanism.
[0021] In one embodiment of the method, it is provided that the braking unit of the tilting vehicle includes an ABS (antilock braking system), wherein when the braking control mechanism is actuated, a braking torque is increased at least on the rear wheels of the tilting vehicle by actively building up a braking pressure via an ABS modulator.
[0022] In this case, the driver actuates the braking control mechanism and the ABS modulator, i.e., the antilock braking system modulator, generates an excessive braking torque on the rear wheels by actively building up a braking pressure on the rear wheels. This is recognized by the control unit and triggers a lowering of the center of gravity of the tilting vehicle.
[0023] Detecting that the maximum braking torque is reached or exceeded on the rear wheels can in principle be achieved in any way. In one embodiment of the method, it is provided that detecting that the maximum braking torque is reached or exceeded on the rear wheels in the current driving state includes detecting by means of a sensor device that the longitudinal force and / or the wheel load of the rear wheels is / are below a limit value stored in the control unit, in particular: detecting that the maximum braking torque is reached on the rear wheels includes detecting at least 8%, in particular at least 10%, in particular at least 12% longitudinal slip.
[0024] Alternatively or additionally thereto, in a further refinement of the method, detecting that the maximum braking torque is reached or exceeded on the rear wheels can include detecting by means of a sensor device a complete or at least almost complete elastic rebound of the spring strut. Thereby, the spring strut moves out completely or at least almost completely shortly before or when the rear wheel lifts.
[0025] Furthermore, as a supplement or alternative to the aforementioned variants, reaching or exceeding the maximum braking torque on the rear wheels can be determined by an embodiment of the method in which detecting that the maximum braking torque is reached or exceeded on the rear wheels includes detecting that the vehicle longitudinal acceleration is below a speed-dependent negative acceleration threshold, in particular: the vehicle longitudinal acceleration is determined based on the wheel speed of the rear wheels.
[0026] In a further refinement of the last-mentioned embodiment, it is provided that the at least one sensor device includes an inertial sensing device of the tilting vehicle, and the vehicle longitudinal acceleration is determined by means of this inertial sensor device.
[0027] When detecting that the maximum braking torque is reached or exceeded on the rear wheels, including detecting more than one vehicle pitch angle, two of the aforementioned variants of the method can be improved or supplemented, the vehicle pitch angle being determined by an inertial sensing device, wherein the signals detectable by the inertial sensing device include the rotational rate or angle along all three spatial axes.
[0028] Finally, it has proven advantageous to detect full braking of an articulated vehicle by detecting, via the at least one sensor device, a limit value of the sum of the braking torques and / or the braking pressure on the front wheels and / or rear wheels that is exceeded. Description of the Drawings
[0029] Other features, details and advantages of the present invention result from the appended claims, the drawings and the following description of the preferred embodiments of the method.
[0030] In the drawings:
[0031] Figure 1 A schematic flow chart showing an embodiment of the method according to the present invention is shown. Detailed Description
[0032] Figure 1 A schematic flow chart showing an example of the method according to the present invention is shown.
[0033] In a first step 100, the braking actuating mechanism is actuated and thereby the braking torque on at least the rear wheels of the articulated vehicle is increased by a braking unit.
[0034] In step 101, it is detected by the control unit that the maximum braking torque on the rear wheels is reached or exceeded in the current driving state.
[0035] This leads to step 102, in which the center of gravity of the articulated vehicle is lowered. The lowering of the center of gravity of the articulated vehicle can be achieved, for example, by the elastic compression of the spring struts. The elastic compression of the spring struts can be achieved by applying or increasing the driving torque by the drive device that is opposite to the braking torque on the rear wheels.
[0036] In a subsequent step 103, the maximum braking torque on the rear wheels is increased by the braking unit to exceed the maximum braking torque for this driving state. Thereby, the deceleration of the articulated vehicle is increased.
[0037] The features of the present invention disclosed in the above description, the claims and the drawings, whether individually or in any combination, are important for implementing the present invention in different embodiments of the present invention within the scope of protection of the following claims.
[0038] List of Reference Numerals
[0039] 100 - 103 Method steps
Claims
1. A method for operating a tilting vehicle, the tilting vehicle comprising: Vehicle frame; Front wheel; Rear wheel; Drive device, which is fixed to the vehicle frame and the rear wheel can be driven by this drive device; Rear wheel swing arm, which is fixed to the vehicle frame and the rear wheel is rotatably arranged on this rear wheel swing arm; Spring strut, the rear wheel swing arm is supported on the frame by this spring strut; Braking unit that can be controlled by a braking control mechanism, at least the rear wheel can be braked by this braking unit; and a control unit, a sensor device is functionally assigned to this control unit, through which the driving state of the tilting vehicle can be detected, and for each driving state, such as the speed of the tilting vehicle, the maximum braking torque of the rear wheel is stored in this control unit, and the drive device and the braking unit can be controlled by this control unit. The method includes the following steps: a. Operate the braking control mechanism and increase the braking torque on at least the rear wheel of the tilting vehicle through the braking unit. b. Detect through the control unit that the maximum braking torque on the rear wheel is reached or exceeded in the current driving state. c. Lower the center of gravity of the tilting vehicle, and d. Increase the maximum braking torque on the rear wheel through the braking unit to exceed the maximum braking torque for this driving state.
2. The method according to claim 1, wherein Lowering the center of gravity of the tilting vehicle includes elastically compressing the spring strut.
3. The method according to claim 1 or 2, characterized in that, Lowering the center of gravity of the tilting vehicle includes applying or increasing a driving torque opposite to the braking torque on the rear wheel through the drive device.
4. The method according to any one of the preceding claims, characterized in that, The braking unit of the tilting vehicle includes an ABS, i.e., an anti-lock braking system, wherein when the braking control mechanism is operated, the braking torque is increased at least on the rear wheel of the tilting vehicle by actively establishing a braking pressure via an ABS modulator.
5. The method according to any one of the preceding claims, characterized in that, Detecting that the maximum braking torque on the rear wheel is reached or exceeded in the current driving state includes detecting through the sensor device that the longitudinal force and / or wheel load of the rear wheel is lower than the limit value stored in the control unit, in particular: Detecting that the maximum braking torque is reached on the rear wheel includes detecting at least 8% longitudinal slip, in particular at least 10% longitudinal slip, in particular at least 12% longitudinal slip.
6. The method according to any one of the preceding claims, characterized in that, Detecting that the maximum braking torque on the rear wheel is reached or exceeded includes detecting through the sensor device the complete or at least almost complete elastic rebound of the spring strut.
7. The method according to any one of the preceding claims, characterized in that, Detecting that the maximum braking torque on the rear wheel is reached or exceeded includes detecting that the vehicle longitudinal acceleration is lower than a speed-related negative acceleration threshold, in particular the vehicle longitudinal acceleration is determined based on the wheel speed of the rear wheel.
8. The method according to claim 7, wherein The at least one sensor device includes an inertial sensing device of the tilting vehicle, and the vehicle longitudinal acceleration is determined through this inertial sensor device.
9. The method according to claim 7 or 8, characterized in that Detecting that the maximum braking torque on the rear wheel is reached or exceeded includes detecting more than one vehicle pitch angle, which is determined through the inertial sensing device, wherein the signals that can be detected through the inertial sensing device include the rotation rate or angle along all three spatial axes.
10. The method according to any one of the preceding claims, characterized in that, Detecting full braking of the tilting vehicle comprises detecting, by means of the at least one sensor device, a limit value of the sum of braking torques and / or braking pressure on the front wheel and / or the rear wheel that is exceeded.