Method and device for lateral stabilization of a stationary single-track vehicle

Abstract

Title: Method and device for lateral stabilization of a stationary single-track vehicle Method for lateral stabilization of a single-track vehicle driven by an electric motor (100) and located at a standstill and in a raised position, the front wheel (202) of the vehicle having a steering angle for which the electric motor (100) is controlled to alternately exert a driving torque on the vehicle in the forward direction and in the rearward direction. Figure 2

Description

Title of the invention: Method and device for lateral stabilization of a stationary single-track vehicle Field of invention

[0001] The present invention relates to a method and a device for lateral stabilization of a single-track vehicle when stationary. State of the art

[0002] Document DE 10 2005 059 361 A1 relates to a two-wheeled vehicle with a battery-powered motor for a person standing on the vehicle platform and which maintains the platform in an angular position corresponding to the body position by a superstructure of the platform; a sensor installation determines the angular position of the platform relative to the horizontal direction to thereby control the drive of the wheels to keep the person in balance by accelerating and decelerating the vehicle; a special control is provided to be actuated to the right and to the left with different drive speeds for the two wheels.

[0003] Description and advantages of the invention

[0004] The present invention relates to a method for lateral stabilization of a single-track vehicle driven by an electric motor and located at a standstill and in a raised position, the front wheel of the vehicle having a steering angle for which the electric motor is controlled to alternately exert an engine torque on the vehicle in the forward direction and in the rearward direction.

[0005] The method allows the driver to remain seated on the vehicle without having to support himself with his legs to avoid tipping over as is the case, for example, when stopped at a red light.

[0006] An advantageous development of the invention is characterized in that with a sensor system, the lateral tilting direction of the vehicle is determined and for a tilting direction oriented in the direction of wheel steering, the electric motor is controlled to exert a torque acting in the forward direction on the vehicle and for a tilting direction turned in the opposite direction to that of wheel steering, the electric motor is controlled to exert a torque acting in the reverse direction. This ensures the balance of the vehicle.

[0007] According to an advantageous development of the invention, the method is neutralized when the driver confirms a start request by an engine torque request element and at the same time maneuvers the steering.

[0008] According to an advantageous development of the invention, the single-track vehicle is an electric scooter.

[0009] An advantageous development of the invention is characterized in that the raised, vertical state of the vehicle corresponds to the zero value of the tilt angle and the lateral stabilization of the vehicle is carried out by regulating the tilt angle to the zero value. The tilt angle is the lateral inclination angle of the vehicle which is also called the roll angle. The tilt angle is zero when the vehicle is raised vertically; this angle increases with the inclination until the tilted vehicle is at an angle of 90 degrees.

[0010] An advantageous development of the invention is characterized in that the tilting direction is determined by an inertial sensor.

[0011] The invention also relates to a device comprising means for implementing the method according to the invention. This is in particular a control device which contains a program code for implementing the method. Presentation of the drawings

[0012] The present invention will be described below according to an embodiment of the installation method using the attached drawings in which:

[0013] [fig. 1] is a side view of an electric scooter,

[0014] [fig.2] is a top view of a stationary electric scooter,

[0015] [fig.3] shows a regulatory structure for the implementation of the function self-stabilization.

[0016] Description of an embodiment of the invention

[0017] The invention relates to the self-stabilization function of an electric scooter or other single-track motor vehicle when stationary; the stabilization function is achieved without requiring any additional component. The invention allows the driver to remain seated on his scooter when stationary without having to place his feet on the ground. This is suitable, for example, for stopping at a red light in that the scooter stabilizes itself like a Segway. However, the stabilization takes place in the transverse direction, whereas for the Segway it takes place in the longitudinal direction of travel.

[0018] Figure 1 is a side view of a vehicle to which the invention is applied. The vehicle, which is an electric scooter shown, has a rear wheel driven by a motor 100; reference 101 designates an inertial sensor used, for example, to determine the tilt angle; reference 102 relates to a control apparatus which comprises and executes the program for implementing the invention. The vehicle shown as an example in Figure 1 is an electric scooter equipped with an electric motor 100 on its rear axle. The electric motor 100 is controlled by the control device 102. The control device 102 is connected to the inertial sensor 101 which can measure the driving speed and the acceleration around the characteristic axes. The roll speed is the angular speed around the longitudinal axis of the vehicle. The roll angle is the rotation angle around the longitudinal axis of the vehicle.

[0019] To balance the electric scooter, the engine torque exerted by the drive motor 100 must result in lateral forces. Therefore, when stationary, the driver must keep the handlebars turned to the side, as shown in Figure 2. In this figure, the handlebars 201 and the front wheel 202 are turned to the right. Figure 2 shows a top view of the electric scooter, when stationary and in this figure the handlebars 201 are turned to the left. The driver sits on the seat 204. Reference 205 designates the rear wheel of the electric scooter. The following operations take place:

[0020] when the electric motor provides a positive torque that moves the electric scooter in the forward direction, then a force Fl acting to the left is applied to the center of gravity 203,

[0021] if the electric motor provides a negative torque that moves the electric scooter in reverse, then a force F2 acts in the right direction on the center of gravity 203.

[0022] This effect makes it possible to modulate the lateral forces acting on the center of gravity in that the engine torque exerted by the electric motor is chosen so that the change in direction of the transverse forces F1 and F2 opposes the onset of tilting.

[0023] Figure 3 is a regulation diagram which applies to the automatic stabilization of a single-track motor vehicle. The application of the regulator can be done according to the following steps:

[0024] 1) It is detected that the single-track vehicle is stopped.

[0025] 2) The engine torque is slightly modulated and the output signals of the inertial sensor to determine if the brake is no longer applied and if the steering direction needs to be determined.

[0026] 3) If the road is inclined in the longitudinal direction, the engine acts as auxiliary hold and keeps the scooter stationary so the driver does not have to operate the brake.

[0027] 4) The regulator parameters are adapted to the situation, for example, to the handlebar direction, road slope and driver weight.

[0028] 5) The regulator is activated and the scooter is held in its raised position, that's to say <bcons=0. Dans cette relation denotes the setpoint value of the roll angle. In block 302 the setpoint angle Ocons is determined using the actual value Oréel determined by the inertial sensor 301. The roll angle and the deviation from the regulator 303 which requires the torque M necessary to stabilize the two-wheeled vehicle. Thus the longitudinal movement of the two-wheeler, as in the case of a Segway, is modulated very smoothly so that the driver perceives nothing or practically nothing.

[0029] 6) The regulator which detects that the driver moves the steering again and accelerates again for forward gear, cuts out.

[0030] 7) The repetition of operations from step 1) is done at the next stop of the vehicle.

Claims

Claims

1. Method for lateral stabilization of a single-track vehicle driven by an electric motor (100) and located at a standstill and in a raised position, the front wheel (202) of the vehicle having a steering angle for which the electric motor (100) is controlled to alternately exert a driving torque on the vehicle in the forward direction and in the rearward direction.

2. Method according to claim 1, characterized in that the lateral tilting direction of the vehicle is determined using a sensor system (101) and for a tilting direction oriented in the steering direction, the electric motor (100) is controlled to exert a torque acting on the vehicle in the forward direction and for a tilting direction directed in the opposite direction to the steering, the electric motor (100) is controlled to exert a torque acting on the vehicle in the rearward direction.

3. Method according to claim 1, characterized in that the actuation of an engine torque request element, starting request and at the same time of the steering (201) by the driver neutralizes the method.

4. Method according to claim 1, characterized in that the single-track vehicle is an electric scooter.

5. Method according to claim 1, characterized in that the vertically oriented state of the motor vehicle corresponds to the zero value of the tilt angle and the lateral stabilization of the vehicle is carried out by regulating the tilt angle to the zero value.

6. Method according to claim 2, characterized in that the tilting direction is determined using an inertial sensor.

7. Device for implementing the method according to any one of claims 1 to 6, for the lateral stabilization of a single-track vehicle driven by an electric motor (100) and being stationary and in a raised position, the front wheel (202) of the vehicle having a steering angle for which the electric motor (100) is controlled to alternately exert a driving torque on the vehicle in the forward direction and in the rearward direction.

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