Method and device for determining the load state of a motorcycle
Patent Information
- Application Number
- EP2023712261
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-04-07
- Filing Date
- 2023-03-20
- Publication Date
- 2025-02-12
AI Technical Summary
Existing methods fail to accurately determine the loading status and usage scenario of a motorcycle, which affects driving comfort and safety, as they do not effectively measure and utilize spring forces and state variables to adjust vehicle operations accordingly.
A device and method that measure spring forces of the front and rear wheel suspensions, estimate state variables like mass and center of gravity, and select usage scenarios using sensors and analytical models, allowing for precise operation adjustments based on these values.
Enhances driving comfort and safety by accurately determining the loading status and usage scenario, enabling efficient and reliable adjustments to improve handling and safety features.
Smart Images
Figure 1.1
Abstract
Description
[0001] Method and device for determining the loading condition of a
[0002] Motorcycle
[0003] The invention relates to a method and a corresponding device for determining the loading state and / or a usage scenario of a motorcycle.
[0004] A motorcycle can be used in different ways by a user, e.g., for solo riding, riding with a passenger, and / or riding with luggage. The respective usage scenario typically affects the motorcycle's handling and thus its ride comfort and / or safety.
[0005] This document addresses the technical task of increasing the riding comfort and / or safety of a motorcycle in an efficient and reliable manner.
[0006] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.According to one aspect, a device for determining a (loading and / or usage) state of a single-track vehicle, in particular a motorcycle, is described. The device is configured to determine measured values of spring forces of a front wheel suspension and a rear wheel suspension of the vehicle during a usage situation of the vehicle (e.g., while the vehicle is traveling). In particular, a measured value F can be determined. S f the spring force of the front wheel suspension and a measured value F s rthe spring force of the rear wheel suspension can be determined. For this purpose, the suspension state (e.g. the deflection along the spring direction) of the front wheel suspension and / or the suspension state (e.g. the deflection along the spring direction) of the rear wheel suspension can be determined using sensors. Based on the respective suspension state (e.g. based on the deflection of the respective suspension), the measured value of the respective spring force can then be determined (e.g. taking into account the spring constant of the respective suspension). The measured values of the spring forces can be determined for a specific (current) point in time. Furthermore, the spring forces can act along the spring direction of the respective suspension. The spring direction of a suspension typically deviates from the vertical direction (vertical to the road surface and / or the earth's surface).
[0007] The device is further configured to determine, based on the measured values of the spring forces, estimated values of several state variables of the vehicle, each of which relates to the vehicle load. The state variables can be the mass m of the vehicle and / or the position x cog the center of gravity of the vehicle (in the horizontal direction, parallel to the roadway and / or parallel to the earth's surface).
[0008] The estimated values of one or more state variables of the vehicle can be determined precisely using one or more (analytical) state variable models. Each of the one or more state variable models can have one or more model parameters. Examples of model parameters are: the vertical acceleration a zof the vehicle (at the current time) in the vertical direction, the roll angle <5 of the vehicle (at the current time) around the longitudinal axis of the vehicle, and / or the aerodynamic force F acting on the vehicle aero (at the current time), which typically acts in a horizontal direction.
[0009] The device can be configured to determine values of one or more model parameters (e.g., based on one or more sensors of the vehicle) and use them to determine the estimated values of one or more state variables of the vehicle. Thus, the estimated values of the one or more state variables can be determined particularly precisely.
[0010] The one or more state variable models may include (to determine the estimated value of the mass m), where g is the gravitational field strength; where F zis the measured value of a vertical force of the front wheel suspension (in the vertical direction), which depends on the measured value of the spring force of the front wheel suspension; and where F z r is the measured value of a vertical force of the rear wheel suspension (in the vertical direction), which depends on the measured value of the spring force of the rear wheel suspension.
[0011] The one or more state variable models can (to determine the estimated value of the position x cog the center of gravity of the vehicle), where x wb is the horizontal distance between the axle of the front wheel and the axle of the rear wheel of the vehicle; and where z is the effective height (from the road and / or earth's surface) at which the aerodynamic force acts on the vehicle (which has been determined, for example, experimentally in advance).
[0012] By using one or more of the above-mentioned state variable models, the estimated values of one or more state variables can be determined in a particularly precise manner.
[0013] The device is further configured to operate the vehicle depending on the estimated values of the state variables and / or to provide the estimated values of the state variables or data based thereon to a vehicle-external unit. For example, during the vehicle's usage situation, one or more operating parameters of the vehicle can be adjusted depending on the estimated values of the state variables. Alternatively or additionally, estimated values of the state variables from the vehicle-external unit can be used to develop a new vehicle and / or to mechanically and / or electronically modify one or more components of the vehicle. In this way, the comfort and / or driving safety of single-track vehicles can be increased in an efficient and reliable manner.
[0014] The device can be configured to determine, based on the measured values of the spring forces and on the basis of a speed ratio of the suspension of the front wheel and / or a speed ratio of the suspension of the rear wheel of the vehicle, corresponding measured values of the vertical forces acting in the vertical direction on the front wheel and the rear wheel of the vehicle. The vertical direction can correspond to the direction in which the gravitational force of the earth acts. Alternatively, the vertical direction can correspond to the direction vertical to the road surface traveled by the vehicle. The speed ratio of the suspension of the front wheel and / or the speed ratio of the suspension of the rear wheel can have been determined (experimental) in advance of the usage situation. The device can in particular be configured to determine, based on the measured value F Sf of the spring force of the front wheel suspension (along the spring direction of the suspension) and based on the speed ratio Ty of the front wheel suspension the corresponding measured value F Z f of the vertical force on the front wheel, in particular as F Z f = F s * Ty.
[0015] In a corresponding manner, the device can be set up, on the basis of the measured value F s r the spring force of the rear wheel suspension and the speed ratio T r the rear wheel suspension the corresponding measured value F z r the vertical force on the rear wheel, in particular as F z r = F s r * T r .
[0016] The estimated values of the state variables can then be determined particularly precisely based on the measured values of the vertical forces. In particular, the estimated values of the state variables can be determined based on the measured value F zthe vertical force on the front wheel and based on the measured value F z r the vertical force on the rear wheel can be determined.
[0017] The speed ratio of the suspension can depend on the ratio of the spring travel along the spring direction of the suspension and the vertical travel corresponding to the spring travel along the vertical direction. Here, X S1 — ^s2 is the spring travel of the front wheel or rear wheel suspension between a first suspension state and a second suspension state. Furthermore, Z w2 ~ Z wi the corresponding vertical travel of the front wheel or the rear wheel between the first suspension state and the second suspension state of the suspension (which, when the travel X S1 — X s2 The speed ratio T of the front wheel or rear wheel suspension can then be determined as The device can be configured to determine current measured values of the spring forces at a sequence of consecutive points in time (repeatedly, in particular periodically). The estimated values of the state variables can then be updated using a recursive determination unit (e.g., using a Recursive Least Square (RLS) filter) based on the current measured values of the spring forces. In this way, particularly precise estimated values of the state variables can be determined recursively.
[0018] The device can be configured to select a usage scenario of the vehicle in the usage situation from a set of different usage scenarios based on the estimated values of the state variables. For this purpose, a machine-trained classification unit can be used. The set of different usage scenarios can include: a first usage scenario in which a rider rides alone without luggage; a second usage scenario in which the rider rides with a passenger; a third usage scenario in which the rider rides alone with luggage; and / or a fourth usage scenario in which the rider rides with a passenger and luggage.
[0019] The vehicle can then be operated in a particularly precise manner depending on the selected usage scenario. Alternatively or additionally, the selected usage scenario can be provided to the vehicle-external unit, e.g., to enable the particularly reliable development of a new vehicle type.
[0020] According to a further aspect, a device for determining a usage scenario of a single-track vehicle, in particular a motorcycle, is described. The features described in this document can be incorporated into this device individually or in combination. The device is configured to determine, during a usage situation of the vehicle, estimated values of several state variables of the vehicle, each relating to a load of the vehicle. The device is further configured to select, based on the estimated values of the state variables, a usage scenario of the vehicle in the usage situation from a set of different usage scenarios. Furthermore, the device is configured to operate the vehicle depending on the selected usage scenario and / or to provide the selected usage scenario to a vehicle-external unit.
[0021] According to a further aspect, a (road) motor vehicle (in particular a motorcycle) is described which comprises at least one of the devices described in this document.
[0022] According to a further aspect, a method for determining a state of a single-track vehicle, in particular a motorcycle, is described. The state can be described by one or more state variables. The method comprises, during a usage situation of the vehicle, determining measured values of spring forces of a suspension of the front wheel and a suspension of the rear wheel of the vehicle. The method further comprises determining, based on the measured values of the spring forces, estimated values of several state variables of the vehicle, each relating to the load of the vehicle. Furthermore, the method comprises operating the vehicle depending on the estimated values of the state variables and / or providing the estimated values of the state variables or data based thereon to a unit external to the vehicle.
[0023] According to a further aspect, a method for determining a usage scenario of a single-track vehicle, in particular a motorcycle, is described. The method comprises, during a usage situation of the vehicle, determining estimated values of several state variables of the vehicle, each relating to a load of the vehicle (with a passenger and / or with luggage). Furthermore, the method comprises selecting, based on the estimated values of the state variables, a usage scenario of the vehicle in the usage situation from a set of different usage scenarios. The method further comprises operating the vehicle depending on the selected usage scenario and / or providing the selected usage scenario to a vehicle-external unit.
[0024] According to a further aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a control unit of a vehicle) and thereby to perform at least one of the methods described in this document.
[0025] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out at least one of the methods described in this document.
[0026] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features.
[0027] The invention will be described in more detail below using exemplary embodiments.
[0028] Figure 1 shows an exemplary motorcycle;
[0029] Figures 2a to 2c show exemplary physical variables on a motorcycle; Figure 3a shows an exemplary determination unit for determining the estimated value of a state variable of the motorcycle;
[0030] Figure 3b shows an exemplary temporal course of the estimated value of a state variable;
[0031] Figure 4 exemplary clusters for different usage scenarios;
[0032] Figure 5a is a flowchart of an exemplary method for determining state variables of a motorcycle; and
[0033] Figure 5b is a flowchart of an exemplary method for determining a usage scenario of a motorcycle.
[0034] As stated at the beginning, this document deals with increasing the riding comfort and / or riding safety of a motorcycle, or generally of a single-track vehicle. In this context, Fig. 1 shows exemplary components of a motorcycle 110 as an example of a (single-track) vehicle. The motorcycle 110 comprises wheels 116, in particular a front wheel and a rear wheel, each of which rotates about a wheel axle 119. The front wheel 116 can be steered by means of a steering bar 115. Furthermore, the motorcycle 110 comprises a drive motor 112 (e.g., a gasoline engine and / or an electric machine). Furthermore, the motorcycle 110 comprises an energy storage device 114 (e.g., a fuel tank) and a seat or bench 113 for one or more users (in particular for a driver and possibly for a pillion passenger) 120 of the motorcycle 110. Furthermore, the motorcycle 110 can have a luggage rack 117 for luggage. In addition, Fig.1 shows an exemplary control device 111 of the motorcycle 110, which can be configured to carry out one of the methods described in this document.
[0035] The front wheel 116 may be connected to the frame of the motorcycle 110 via a suspension 118. Similarly, the rear wheel 116 may have a suspension 118. The suspensions 118 typically each have an angle relative to the vertical 101 (which is oriented vertically to the earth's surface and / or to the roadway 140) that is non-zero. In other words, the suspension direction of a suspension 118 typically deviates from the vertical direction.
[0036] When the motorcycle 110 travels over a road surface 140, a vertical spring force F z on the axle 119 of the front wheel 116 and a vertical spring force F z r on the axle 119 of the rear wheel 116. Furthermore, an aerodynamic force F aeroon the motorcycle 110 (in the horizontal direction). Furthermore, a gravitational force F g = m * g (along the vertical 101) on the center of gravity 130 of the motorcycle 110, where m is the mass of the motorcycle 110.
[0037] In Fig. 1, x wb the distance between the front wheel axle 119 and the rear wheel axle 119. Furthermore, x cog the distance of the center of gravity 130 (in horizontal direction) from the front wheel axle 119.
[0038] Fig. 2a illustrates a model of the motorcycle 110 from Fig. 1 with the front wheel suspension 118 and the rear wheel suspension 118, wherein when riding on the front wheel suspension 118 the (non-vertical) spring force F s 201 and on the rear wheel suspension 118 the (non-vertical) spring force F s r202. The forces 201, 202 each act in the (spring) direction of the respective spring 118. The springs 118 can be configured to provide measured values with respect to the respective spring force 201, 202 (e.g., each with a specific measuring rate).
[0039] Based on the spring forces 201, 202, the corresponding vertical forces F Z f 211 or F z r 212 can be determined (as shown in Fig. 2b). For this purpose, the speed ratio T of the respective suspension 118 can be used. For the vertical forces 211, 212,
[0040] Fz,f = ^s,f * T f where Tf is the speed ratio of the front wheel suspension 118, and where T r the speed ratio of the rear wheel suspension is 118.
[0041] Fig. 2c illustrates the determination of the speed ratio of the front wheel suspension 118. A first suspension state of the suspension 118 is considered (left), in which the suspension 118 has a first spring length X S1 which results in a first vertical center distance Z W1 to a reference plane. Furthermore, a second spring state of the suspension 118 with a second spring length X s2 and the resulting second vertical center distance Z w2 The speed ratio can then be determined as
[0042] In a corresponding manner, the speed ratio of the rear wheel suspension 118 can be determined.
[0043] The measured values of the spring forces 201, 202 can thus be converted into measured values of the vertical forces 211, 212. The speed ratios of the springs 118 can be determined in advance.
[0044] The measured values of the vertical forces 211, 212 can be used to determine values of one or more state variables of the motorcycle 110. In particular, the value of the mass m of the motorcycle 110 can be determined, e.g., as where g is the acceleration due to gravity and / or the gravitational field strength, where a z is the vertical acceleration of the motorcycle 110 (in the vertical direction), and where <5 is the bank angle or roll angle of the motorcycle 110. The motorcycle 110 may include one or more sensors (not shown) that allow a measurement and / or estimation of the roll angle <5 and / or the vertical acceleration a z of the motorcycle 110. Another state variable is the position x cog of the center of gravity 130 of the motorcycle 110 can be determined, e.g. from the following state variable model co aq where z t is the reference altitude at which the aerodynamic force F aero attacks.
[0045] The aerodynamic force F aero can be determined based on the driving speed of the motorcycle 110.
[0046] Based on the measured values of the spring forces 201, 202, estimated values for one or more state variables, in particular for the mass m and / or for the (horizontal) position x cog of the center of gravity 130 of the motorcycle 110, which relate to the current usage situation of the motorcycle 110.
[0047] The individual measured values of the spring forces 201, 202 may each contain measurement noise, which impairs the accuracy of the determined estimates for the one or more state variables. Fig. 3a shows an exemplary determination unit 300 that makes it possible to determine an estimated value of a state variable with increased accuracy in an iterative and / or recursive manner based on the measured values of the spring forces 201, 202 for a sequence of consecutive points in time. For this purpose, the determination unit 300 uses, for example, an RLS (recursive least squares) filter.
[0048] The determination unit 300 shown in Fig. 3a uses an estimation unit 301, which is set up to calculate the value of the state variable based on the current estimated value 315 and on the basis of the (measured) values 311 of one or more model parameters (e.g. the vertical acceleration a z , the roll angle <5, the aerodynamic force F aero, etc.) to determine current estimated values 312 for the spring forces 201, 202 (or the vertical forces 211, 212), which are compared with the current measured values 313 of the spring forces 201, 202 (or the vertical forces 211, 212) to determine a current error value 314. The current error value 314 can be used by an update unit 302 to update the estimated value 315 of the state variable. The estimation unit 301 can use one of the state variable models described in this document.
[0049] Fig. 3b illustrates how the determination unit 300 can recursively determine a temporal progression 315 of estimated values 315 of a state variable based on the measured values 313 of the spring forces 201, 202 (or the vertical forces 211, 212) for a sequence of points in time, which progression converges in a relatively precise manner to the actual value 320 of the state variable.
[0050] Thus, estimated values 315 can be determined for several state variables, in particular for the mass and the position of the center of gravity 130 of the motorcycle 110. The estimated values 315 of the state variables can be used to identify the current usage scenario of the motorcycle 110 from a set of predefined usage scenarios. Examples of usage scenarios are:
[0051] • a first usage scenario in which the driver travels alone without luggage;
[0052] • a second usage scenario in which the rider rides with a passenger;
[0053] • a third usage scenario where the driver travels alone with luggage; and / or
[0054] • a fourth usage scenario in which the rider rides with a passenger and luggage.
[0055] The device 111 of the motorcycle 110 can be configured to determine the current usage scenario based on the estimated values 315 of the state variables using a classification unit, in particular a machine-learned one. Fig. 4 shows exemplary measuring points 410 for a multitude of uses of the motorcycle 110. A measuring point 410 has a plurality of coordinates 401, 402, wherein the individual coordinates 401, 402 each correspond to a state variable. The estimated values 315 of N state variables (with N>2) can thus be combined to form an N-dimensional measurement vector, wherein the measurement vector corresponds to a measuring point 410 in an N-dimensional space. Fig. 4 shows an example for N=2 state variables, wherein the first coordinate 401 corresponds, for example, to the center of gravity 130 and the second coordinate 402 corresponds, for example, to the mass.
[0056] Using a clustering algorithm, the measurement points 410 can be assigned to different clusters 411 for different usage scenarios. The clusters 411 and / or the centroids of the clusters 411 can then be used as a classification unit. Alternatively or additionally, the classification unit can be determined using a linear discriminant analysis (LDA) based on the plurality of measurement points 410.
[0057] The (control) device 111 can thus be configured to record measured values 313 of the spring forces 201, 202 (or the vertical forces 211, 212) for a usage event or for a usage situation of the motorcycle 110 in order to determine estimated values 315 of state variables of the motorcycle 110 based thereon. Based on the estimated values 315 of the state variables, the usage scenario of the motorcycle 110 can be determined during the usage event (e.g., during a ride) of the motorcycle 110.
[0058] The device 111 can further be configured to store the usage scenarios of the individual usage events of the motorcycle 110 and / or to provide them to a vehicle-external unit. This information can be determined and provided from a plurality of different motorcycles 110. In this way, the vehicle-external unit can determine a precise overview of the typical usage of motorcycles 110, which can be taken into account, for example, in the development of a new motorcycle type. Alternatively or additionally, the device 111 can be configured to set and / or adapt one or more operating parameters of the motorcycle 110 for a usage event depending on the determined usage scenario of the motorcycle 110 and / or depending on the estimated values 315 of the one or more state variables.For example, one or more operating parameters of a driver assistance function, such as a distance and / or cruise control, and / or a braking function, such as ABS, can be set and / or adjusted. This can increase the comfort and / or driving safety of the motorcycle 110.
[0059] Fig. 5a shows a flowchart of a (possibly computer-implemented) method 500 for determining a (loading) state of a single-track vehicle 110, in particular a motorcycle. The method 500 comprises, during a usage situation or during a usage event of the vehicle 110 (e.g., while the vehicle 110 is traveling), determining 501 measured values 313 of spring forces 201, 202 of a suspension 118 of the front wheel 116 and a suspension 118 of the rear wheel 116 of the vehicle 110 (based on one or more sensors of the vehicle 110).
[0060] The method 500 further includes determining 502, based on the measured values 313 of the spring forces 201, 202, estimated values 315 of a plurality of state variables of the vehicle 110, each of which relates to a load of the vehicle 110 (with a passenger and / or with luggage). In particular, an estimated value 315 of the mass of the vehicle 110 and / or an estimated value 315 of the (horizontal) position of the center of gravity 130 of the vehicle 110 can be determined.
[0061] Furthermore, method 500 includes operating 503 the vehicle 110 depending on the estimated values 315 of the state variables, and / or providing the estimated values 315 of the state variables or data based thereon to a vehicle-external unit. For example, one or more operating parameters of the vehicle 110 can be adjusted depending on the estimated values 315 of the state variables (specifically for the respective usage situation). This can increase the comfort and / or safety of the vehicle 110.
[0062] Fig. 5b shows a flowchart of a (possibly computer-implemented) method 510 for determining a usage scenario of a single-track vehicle 110, in particular a motorcycle. The features of method 510 can be implemented individually or in combination with the features of method 510.
[0063] The method 510 comprises, during a usage situation of the vehicle 110 (e.g., during a trip), determining 511 estimated values 315 of a plurality of state variables of the vehicle 110, each of which relates to a load of the vehicle 110 (with a passenger and / or with luggage). In particular, an estimated value 315 of the mass of the vehicle 110 and / or an estimated value 315 of the (horizontal) position of the center of gravity 130 of the vehicle 110 can be determined.
[0064] The method 510 further comprises selecting 512, based on the estimated values 315 of the state variables, a usage scenario of the vehicle 110 in the usage situation from a set of different usage scenarios. Furthermore, the method 510 comprises operating 513 the vehicle 110 depending on the selected usage scenario and / or providing the selected usage scenario to a vehicle-external unit. For example, one or more operating parameters of the vehicle 110 can be adjusted depending on the selected usage scenario (specifically for the respective usage situation). This can increase the comfort and / or safety of the vehicle 110.
[0065] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.
Claims
Claims 1) Device (111) for determining the condition of a single-track vehicle (110), in particular a motorcycle, wherein the device (111) is configured to detect the condition during a usage situation of the vehicle (110), - To determine measured values (313) of spring forces (201, 202) of a suspension (118) of a front wheel (116) and a suspension (118) of a rear wheel (116) of the vehicle (110); - to determine, based on the measured values (313) of the spring forces (201, 202), estimated values (315) of several state variables of the vehicle (110), each relating to a load of the vehicle (110); and - to operate the vehicle (110) depending on the estimated values (315) of the state variables, and / or to provide the estimated values (315) of the state variables or data based thereon to a vehicle-external unit. 2) Device (111) according to claim 1, wherein the device (111) is configured, - to determine, based on the measured values (313) of the spring forces (201, 202) and on the basis of a speed ratio of the suspension (118) of the front wheel (116) and / or the suspension (118) of the rear wheel (116) of the vehicle (110), corresponding measured values (313) of vertical forces (211, 212) acting in a vertical direction on the front wheel (116) and on the rear wheel (116) of the vehicle (110); wherein the speed ratio of the suspension (118) depends on a ratio of a spring travel along a spring direction of the suspension (118) and a vertical path corresponding to the spring travel along the vertical direction; and to determine the estimated values (315) of the state variables based on the measured values (313) of the vertical forces (211, 212). ) Device (111) according to claim 2, wherein the device (111) is configured, - based on the measured value F Sf (313) of the spring force (201) of the suspension (118) of the front wheel (116) and, based on a speed ratio Tf of the suspension (118) of the front wheel (116), the corresponding measured value F Z f (313) of the vertical force (211) on the front wheel (116) to be determined, in particular as Fz,f = ^s,f * T / ' - based on the measured value F s r (313) the spring force (202) of the suspension (118) of the rear wheel (116) and based on a speed ratio T r the corresponding measured value F of the suspension (118) of the rear wheel (116) z r (313) to determine the vertical force (212) on the rear wheel (116), in particular as and - the estimated values (315) of the state variables based on the measured value F Z f (313) of the vertical force (211) on the front wheel (116) and based on the measured value F z r(313) to determine the vertical force (212) on the rear wheel (116). ) Device (111) according to one of claims 2 to 3, wherein - X S1 — X s2 the travel of the suspension (118) of the front wheel (116) or the rear wheel (116) between a first suspension state and a second suspension state of the suspension (118); - Z w2 ~ the corresponding vertical path of the front wheel (116) or the rear wheel (116) between the first suspension state and the second suspension state of the suspension (118); and - the speed ratio T of the suspension (118) of the front wheel (116) or of the rear wheel (116) is given by 5) Device (111) according to one of the preceding claims, wherein the state variables comprise, - a mass m of the vehicle (110); and / or - a position x cog of a center of gravity (130) of the vehicle (110). 6) Device (111) according to one of the preceding claims, wherein the device (111) is configured, - to determine the estimated values (315) of the one or more state variables of the vehicle (110) using one or more state variable models; wherein the one or more state variable models each have one or more model parameters; and - To determine the values of one or more model parameters and to use them to determine the estimated values (315) of one or more vehicle state variables (110). 7) Device (111) according to claim 6, wherein the device comprises one or more model parameters, - a vertical acceleration of the vehicle (110); - a roll angle of the vehicle (100); and / or - an aerodynamic force acting on the vehicle (110). 8) Device (111) according to one of claims 6 to 7, comprising one or more state variable models, where - m is a mass of the vehicle (110); - a z a vertical acceleration of the vehicle (110); - <5 is a roll angle of the vehicle (110); - g is the gravitational field strength; - F Z f is the measured value (313) of a vertical force (211) of the suspension (118) of the front wheel (116), which depends on the measured value (313) of the spring force (201) of the suspension (118) of the front wheel (116); and - F z r the measured value (313) of a vertical force (212) of the suspension (118) of the rear wheel (116), which depends on the measured value (313) of the spring force (202) of the suspension (118) of the rear wheel (116); and / or where - x wb a horizontal distance between an axle (119) of the front wheel (116) and an axle (119) of the rear wheel (116) of the vehicle (110); - F aeroan aerodynamic force acting on the vehicle (110); and - Zi is an effective height at which the aerodynamic force acts on the vehicle (110). ) Device (111) according to one of the preceding claims, wherein the device (111) is configured to measure at a sequence of successive time points, - to determine the current measured values (313) of the spring forces (201, 202); and - to update the estimated values (315) of the state variables using a recursive determination unit (300) based on the respective current measured values (313) of the spring forces (201, 202). ) Device (111) according to one of the preceding claims, wherein the device (111) is configured, - to select a usage scenario of the vehicle (110) from a set of different usage scenarios based on the estimated values (315) of the state variables; and - to operate the vehicle (110) depending on the selected usage scenario, and / or to provide the selected usage scenario to the vehicle-external unit. ) Device (111) according to claim 10, wherein the device (111) is configured to select the usage scenario of the vehicle (110) in the usage situation based on a machine-trained classification unit. ) Device (111) according to any one of claims 10 to 11, wherein the set of different usage scenarios comprises, - a first usage scenario in which a driver travels alone without luggage; - a second usage scenario in which the driver rides with a passenger; - a third usage scenario in which the driver travels alone with luggage; and / or - a fourth usage scenario in which the driver is traveling with a passenger and luggage. ) Device (111) for determining a usage scenario of a single-track vehicle (110), in particular a motorcycle, wherein the device (111) is configured to, during a usage situation of the vehicle (110), - To determine estimated values (315) of several state variables of the vehicle (110), each relating to a load of the vehicle (110); - to select a usage scenario of the vehicle (110) from a set of different usage scenarios based on the estimated values (315) of the state variables; and - to operate the vehicle (110) depending on the selected usage scenario, and / or to provide the selected usage scenario to a vehicle-external unit. ) Method (500) for determining a state of a single-track vehicle (110), in particular a motorcycle, wherein the method (500) comprises during a usage situation of the vehicle (110), - Determining (501) measured values (313) of spring forces (201, 202) of a suspension (118) of a front wheel (116) and a suspension (118) of a rear wheel (116) of the vehicle (110); - Determine (502), based on the measured values (313) of the spring forces (201, 202), estimated values (315) of several state variables of the vehicle (110), each relating to a load of the vehicle (110); and - Operating (503) the vehicle (110) depending on the estimated values (315) of the state variables, and / or providing the estimated values (315) of the state variables or data based thereon to a vehicle-external unit. ) Method (510) for determining a usage scenario of a single-track vehicle (110), in particular a motorcycle, wherein the method (510) comprises during a usage situation of the vehicle (110). - Determining (511) estimates (315) of several vehicle state variables (110), each relating to a vehicle load (110); - Selecting (512), based on the estimated values (315) of the state variables, a usage scenario of the vehicle (110) in the usage situation from a set of different usage scenarios; and - Operating (513) the vehicle (110) depending on the selected usage scenario, and / or providing the selected usage scenario to a vehicle-external unit.