METHOD FOR DETECTING RESTRICTED MOBILITY OF A THROTTLE GRIP FOR A MOTORCYCLE, CONTROL UNIT AND MOTORCYCLE SYSTEM

Description

Field of the invention

[0001] The invention relates to a method for detecting restricted mobility of a throttle grip for a motorcycle. Furthermore, the invention relates to a control unit, a computer program, and a computer-readable medium for executing such a method, as well as to a motorcycle system equipped with such a control unit. State of the art

[0002] A motorcycle's throttle grip can be damaged by severe mechanical stress, such as when the motorcycle tips over sideways, to the point where its movement is restricted. For example, the throttle grip may be equipped with a return spring that causes it to automatically return to its original position when released. This return spring can break due to external influences and, in unfortunate cases, cause the throttle grip to become difficult to turn or even jam.

[0003] The current position of the throttle grip can be detected, for example, using a two-channel throttle grip sensor and verified by comparing the sensor signals of both channels.

[0004] The prior art is EP 1 647 808 A1, and discloses the following features of claim 1: a throttle grip and a method for checking the rotation angle sensors of the throttle grip. Disclosure of the invention

[0005] Against this background, the approach presented here provides a method for detecting restricted mobility of a throttle grip for a motorcycle, a corresponding control unit, a corresponding motorcycle system, a corresponding computer program, and a corresponding computer-readable medium according to the independent claims. Advantageous further developments and improvements of the approach presented here emerge from the description and are described in the dependent claims. Advantages of the invention

[0006] Embodiments of the present invention make it possible to automatically check the mobility of a motorcycle's throttle grip. This allows for early detection of restricted throttle grip mobility, for example, due to excessive stress. In this case, appropriate safety measures can be automatically implemented. This can reduce the risk of accidents.

[0007] A first aspect of the invention relates to a computer-implemented method for detecting restricted mobility of a throttle grip for a motorcycle. The method comprises at least the following steps: generating a control signal for controlling a throttle grip actuator to adjust the throttle grip; receiving sensor data generated by a throttle grip sensor system in response to the control of the throttle grip actuator, which data indicate a deflection of the throttle grip from an initial position and / or a force applied to the throttle grip; and detecting the restricted mobility by evaluating the sensor data.

[0008] The process can be carried out automatically by a processor, such as a control unit of the motorcycle.

[0009] A motorcycle is generally understood to be a single-track vehicle with a drive engine in the form of an internal combustion engine and / or an electric motor. A motorcycle can also be an electric scooter or an electric bicycle. However, a motorcycle can also be a motorcycle-like two-track vehicle, also called a quad bike, or a personal watercraft, also called a jet ski.

[0010] A throttle grip is a control element that can be operated by the rider of a motorcycle and controls the speed of the motorcycle. The throttle grip is designed as a twist grip.

[0011] The throttle grip sensor system can comprise one or more sensors. For example, the throttle grip sensor system can comprise a first sensor for detecting the deflection of the throttle grip, for example, its angle of rotation, and a second sensor for detecting the force applied to the throttle grip, for example, a torque applied to the throttle grip.

[0012] The sensor data may indicate at least the deflection and / or the force measured by the throttle grip sensor during the actuation of the throttle grip actuator.

[0013] The throttle actuator can be embodied, for example, as an electric motor or an electromechanical actuator. The throttle actuator can be configured to adjust the throttle in one direction or in opposite directions. In other words, the throttle actuator can apply equal or opposite adjustment forces to the throttle. The throttle actuator can also be configured to adjust the throttle across its entire possible adjustment range or only within a specific portion of its possible adjustment range. The throttle actuator can be mechanically coupled to the throttle.

[0014] It is possible that the throttle actuator also functions as a sensor to detect the deflection and / or force.

[0015] The control signal can be generated, for example, by applying several consecutive force pulses, i.e., a force pulse, to the throttle grip via the throttle actuator. The frequency and / or intensity of these pulses can be selected so that they are not perceived by the driver, or at least not perceived as disturbing. Based on the deflection and / or force values ​​measured by the throttle grip sensor, a damping of the force pulses can then be detected, for example, which allows a conclusion to be drawn as to whether the throttle grip is being held by the driver's hand or not.

[0016] When evaluating the sensor data, it is possible, for example, to determine how far the throttle grip is deflected when a certain adjustment force is applied to the throttle grip using the throttle actuator and / or the magnitude of the counterforce acting against the adjustment force. For example, the deflection and / or force measured by the throttle grip sensor can be compared with corresponding threshold values, whereby the restricted mobility can be detected depending on the comparison results.

[0017] It is possible that the sensor data is evaluated using the control signal to detect the restricted mobility of the throttle grip.

[0018] The procedure described here and below can reduce the risk of injuries and accidents caused by jammed throttle grips. This is especially true for motorcycles used in public fleets, as such motorcycles are typically used by inexperienced riders and are subject to heavy wear and tear, for example, due to frequent sideways tipping.

[0019] A second aspect of the invention relates to a control unit. The control unit comprises a processor configured to execute the method according to an embodiment of the first aspect of the invention. Features of the method according to an embodiment of the first aspect of the invention can also be features of the control unit, and vice versa.

[0020] The control unit may include hardware and / or software modules. In addition to the processor, the control unit may include a memory and data communication interfaces for data communication with peripheral devices.

[0021] A third aspect of the invention relates to a motorcycle system. The motorcycle system comprises a throttle actuator for adjusting a throttle grip for a motorcycle, a throttle sensor system for measuring a deflection of the throttle grip from an initial position and / or a force applied to the throttle grip, and a control unit according to an embodiment of the second aspect of the invention.

[0022] A fourth aspect of the invention relates to a computer program. The computer program comprises instructions that, when executed by the processor, cause the method according to an embodiment of the first aspect of the invention.

[0023] A fifth aspect of the invention relates to a computer-readable medium on which the computer program according to an embodiment of the fourth aspect of the invention is stored. The computer-readable medium may be a volatile or non-volatile data storage device. For example, the computer-readable medium may be a hard disk, a USB storage device, a RAM, ROM, EPROM, or flash memory. The computer-readable medium may also be a data communications network enabling a download of program code, such as the Internet or a data cloud.

[0024] Features of the method according to an embodiment of the first aspect of the invention may also be features of the computer program and / or the computer-readable medium and vice versa.

[0025] Ideas for embodiments of the present invention can be considered, among other things, to be based on the thoughts and findings described below.

[0026] According to one embodiment, the holding force with which the throttle grip is held by a driver can be determined from the sensor data. The restricted mobility can be detected taking the holding force into account. In other words, it can be detected whether the throttle grip is held in its current position due to a desired action by the driver or due to an undesired restricted mobility of the throttle grip. If the throttle grip is not held by the driver and is simultaneously deflected from its initial position, it can be assumed with a high degree of probability that the throttle grip is damaged, unless, for example, the throttle grip is intentionally held in its current position by a mechanical locking device.

[0027] According to one embodiment, the restricted mobility can be detected when the holding force is less than a threshold value and the throttle grip is deflected. This allows the restricted mobility to be detected efficiently and reliably.

[0028] According to one embodiment, the control signal can be generated to alternately adjust the throttle grip in opposite directions. This makes it possible, for example, to move the throttle grip from its initial position to a target position, for example, to an end stop, and from there back to the initial position when the motorcycle is stationary—i.e., when the throttle grip is not being held by the rider. This makes it possible to determine whether the throttle grip is stiff or jammed. However, the throttle grip actuator can also be controlled while the motorcycle is moving so that the throttle grip is subjected to an adjusting force in opposite directions.

[0029] According to one embodiment, the method may further comprise the following steps: converting the deflection into a desired torque for controlling a drive and / or a brake of the motorcycle; if restricted mobility has been detected: using a predetermined torque instead of the desired torque to control the drive and / or the brake. If restricted mobility has not been detected, however, the desired torque can be used instead of the predetermined torque to control the drive and / or the brake. The predetermined torque can be constant or variable. For example, the predetermined torque can be selected such that the motorcycle is braked to a standstill and / or held at a standstill. The predetermined torque can also simply be zero. This can reduce the risk of accidents in the event of a jammed or stiff throttle grip.

[0030] For example, by applying a torque pulse to the throttle grip and measuring the resulting mechanical movement of the throttle grip and the applied torque, it can be detected whether the rider's hand is on the throttle grip. This embodiment is suitable for situations in which the throttle grip is constantly in a position outside its initial or zero position for an extended period of time.

[0031] If it is detected that the driver's hand is not on the throttle grip and the throttle grip is in a position outside its initial position, the restricted mobility of the throttle grip can be detected, for example, after a configurable filter time has elapsed. In response, the driver's desired torque derived from the sensor data, more precisely from the measured deflection of the throttle grip, can be set to zero or another suitable alternative value.

[0032] According to one embodiment, the control signal can be generated while the motorcycle is moving. For example, the throttle grip can be vibrated while the motorcycle is moving using the throttle grip actuator to determine whether the throttle grip is jammed or stiff. Thus, the mobility of the throttle grip can be continuously monitored.

[0033] It is conceivable, for example, that torque pulses are applied to the throttle grip by means of the throttle actuator via a "pluck" function carried out while driving and that these torque pulses, for example based on their damping, can be used to detect jamming or stiffness of the throttle grip, similar to the function implemented in some motor vehicles for detecting whether the driver has his hands on the steering wheel. Short description of the drawings

[0034] Embodiments of the invention are described below with reference to the accompanying drawings, wherein neither the drawings nor the description are to be construed as limiting the invention. Fig. 1 shows a motorcycle equipped with a motorcycle system according to an embodiment of the invention. Fig. 2 shows a flowchart of a method according to an embodiment of the invention.

[0035] The figures are merely schematic and not to scale. The same reference numerals throughout the figures indicate identical or equivalent features. Embodiments of the invention

[0036] Fig. 1 shows a motorcycle 100 with a throttle grip 102 in the form of a twist grip. The motorcycle 100 is equipped with a motorcycle system 104, which includes a throttle grip sensor system 106 for measuring a deflection of the throttle grip 102 from its initial position, a throttle grip actuator 108 mechanically coupled to the throttle grip 102 in the form of an electrically controllable servomotor for applying a torque to the throttle grip 102, and a control unit 110 for evaluating sensor data 112 provided by the throttle grip sensor system 106 and for controlling the throttle grip actuator 108 by generating and outputting a corresponding control signal 114.

[0037] The throttle grip sensor system 106 may include one or more sensors. For example, the throttle grip sensor system 106 may include a potentiometer for measuring the current deflection of the throttle grip 102, i.e., its current angle of rotation. Additionally, the throttle grip sensor system 106 may include a torque sensor for measuring the torque applied to the throttle grip 102.

[0038] Using the motorcycle system 104, a restricted mobility of the throttle grip 102 can be detected. A corresponding method is described in Fig. 2 This can be performed when the motorcycle 100 is stationary or while it is moving by executing a corresponding computer program by a processor of the control unit 110.

[0039] For this purpose, in a step S10, the control signal 114 is first generated, whereby the throttle grip 102 is subjected to a specific torque by means of the throttle grip actuator 108, possibly in addition to a holding torque applied by the driver when holding the throttle grip 102.

[0040] In a step S20, the throttle grip sensor 106 measures the resulting deflection of the throttle grip 102 and / or the resulting applied torque and outputs the corresponding sensor data 112.

[0041] In step S30, the sensor data 112 is evaluated in the control unit 110 to determine whether the throttle grip 102 is movable normally or only to a limited extent. It is possible for the sensor data 112 to be evaluated using the control signal 114.

[0042] Based on the sensor data 112, for example, the current holding torque with which the throttle grip 102 is held by the driver in its current position can be determined.

[0043] Depending on the current holding torque and the current angle of rotation of the throttle grip 102, it can then be determined whether the throttle grip 102 is normally movable or only to a limited extent.

[0044] The fact that the throttle grip 102 is only movable to a limited extent can be detected, for example, whenever the holding torque is less than a predetermined holding torque threshold value and, at the same time, the angle of rotation is greater than a predetermined angle of rotation threshold value, for example, greater than zero.

[0045] If the restricted mobility of the throttle grip 102 is detected, it is optionally possible to prevent a driver's desired torque derived from the current angle of rotation from being used to control a drive and / or a brake of the motorcycle 100. For this purpose, the driver's desired torque can be overwritten, for example, with a suitable alternative value.

[0046] It is possible for the throttle grip 102 to be adjusted in one or opposite directions by appropriately controlling the throttle grip actuator 108 by the control unit 110.

[0047] For example, the throttle grip 102 can be adjusted alternately in opposite directions across its entire adjustment range while the motorcycle 100 is stationary to ensure that the throttle grip 102 is functional, which can also be referred to as an actuator test. Both end stops of the throttle grip 102 can be approached. Such an actuator test can be performed, for example, when starting, stopping, or temporarily stopping the motorcycle 100, for example, at an intersection.

[0048] In addition to the throttle actuator 108, the throttle grip 102 may include a return spring that causes the throttle grip 102 to return to its original position as soon as the rider releases the throttle grip 102. This return function may also be implemented by the throttle actuator 108 itself. In this case, the return spring may be omitted.

[0049] Finally, it should be noted that terms such as "comprising," "having," etc., do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a plurality. Reference signs in the claims are not to be considered limiting.

Claims

1. Method for identifying limited movability of a throttle grip (102) for a motorcycle (100), wherein the method comprises: generating a control signal (114) for activating a throttle grip actuator (108) for adjusting the throttle grip (102); receiving sensor data (112), which are generated by a throttle grip sensor system (106) in response to the activation of the throttle grip actuator (108) and which indicate a deflection of the throttle grip (102) from a starting position and / or a force applied to the throttle grip (102); and identifying the limited movability by evaluating the sensor data (112).

2. Method according to Claim 1, wherein a holding force, by way of which the throttle grip (102) is held by a driver, is determined from the sensor data (112); wherein the limited movability is identified taking into account the holding force.

3. Method according to Claim 2, wherein the limited movability is identified when the holding force is less than a threshold value and the throttle grip (102) is deflected from the starting position.

4. Method according to any of the preceding claims, wherein the control signal (114) is generated in order to alternately adjust the throttle grip (102) in opposite directions.

5. Method according to any of the preceding claims, wherein the control signal (114) is generated during riding of the motorcycle (100).

6. Method according to any of the preceding claims, further comprising: converting the deflection into a desired torque for controlling a drive and / or a brake of the motorcycle (100); if limited movability has been identified: using a specified torque instead of the desired torque to control the drive and / or the brake.

7. Controller (110) comprising a processor, which is configured to execute the method according to any of the preceding claims.

8. Motorcycle system (104), comprising: a throttle grip actuator (108) for adjusting a throttle grip (102) for a motorcycle (100); a throttle grip sensor system (106) for measuring a deflection of the throttle grip (102) from a starting position and / or a force applied to the throttle grip (102); and a controller (110) according to Claim 7.

9. Computer program comprising instructions that, when the computer program is executed by a processor, cause the processor to execute the method according to any of Claims 1 to 6.

10. Computer-readable medium, on which the computer program according to Claim 9 is stored.