Method for controlling the braking force of a two-wheeled vehicle with combined braking system and corresponding vehicle

Abstract

A method for controlling the braking force of a two-wheeled vehicle with a combined braking system. The method comprising the steps of measuring and / or estimating the total mass of the vehicle and / or the mass weighing on said at least one front wheel and / or on said at least one rear wheel during the motion of the vehicle, operating at least one front braking device and at least one rear braking device so as to obtain on the front and rear wheels corresponding braking force values belonging to a preset distribution curve as a function of said mass weighing on at least one front wheel and / or on at least one rear wheel. The operation of braking devices occurs following the actuation of at least one manual lever or pedal operating device by the user or on the initiative of a dynamic control of the vehicle carried out by a processing and control unit.

Description

METHOD FOR CONTROLLING THE BRAKING FORCE OF A TWO- WHEELED VEHICLE WITH COMBINED BRAKING SYSTEM AND CORRESPONDING VEHICLE DESCRIPTION FIELD OF APPLICATION

[0001] The present invention relates to a method for controlling the braking force of a two-wheeled vehicle with a combined braking system and to the corresponding vehicle .PRIOR ART

[0002] In vehicles, during braking action, a load transfer from the rear axle towards the front axle occurs, which generates a highly variable load distribution compared to the same distribution under static conditions .

[0003] In particular, as previously mentioned, the front axle of the vehicle is loaded more heavily while the rear axle is unloaded or lightened.

[0004] The variation in load under dynamic conditions is greater the shorter the wheelbase between the front axle and the rear axle (inversely proportional) , and the higher or more distant the centre of gravity of the vehicle is from the ground (directly proportional) .

[0005] The load variation may therefore generate strong dynamic imbalances in the vehicle during braking actions .

[0006] The phenomenon is particularly dangerous in the case of two-wheeled vehicles, such as bicycles andmotorcycles, which, compared to four-wheeled vehicles, exhibit more precarious balance .

[0007] In figure 2, the ideal distribution of the braking forces of a motorcycle based on static measurements is highlighted, wherein on the abscissa axis the ground braking force on the front axle is reported and on the ordinate axis the braking force on the rear axle is reported .

[0008] In particular, it is noted that the ground force on the front axle increases as the load transfer increases, while the ground force on the rear axle decreases due to the aforementioned load transfer . Therefore, said load transfer increases the vertical force on the wheel so as to admit a greater ground braking force before initiating wheel slip .

[0009] The ideal load distribution factor is given by the ratio between the mass weighing on the front axle and the total mass of the vehicle .

[0010] The actual operating conditions of the vehicle may vary greatly, especially in the case of motorcycles .

[0011] In fact, the motorcycle may carry only the rider or also a passenger, possibly with bags and / or luggage, and also in full fuel conditions .

[0012] Therefore, in the case of motorcycles, the total mass may vary by as much as 50% compared to the nominalvalue . This considerable variation non-negligibly modifies the graph of figure 2.

[0013] In particular, figure 3 shows the variation of the ideal distribution of the braking forces of the motorcycle as a function of the different total load weighing on the vehicle .

[0014] In motorcycles, there exist combined braking systems in which the user operates a single control, for example a lever and / or a pedal, and the braking system autonomously distributes the braking force between the two axles .

[0015] However, such known systems are not able to optimise the distribution of the braking forces between the two axles of the vehicle, depending on the countless and specific operating variations of a two-wheeled vehicle .DISCLOSURE OF THE INVENTION

[0016] There is a felt need to solve the aforementioned problems related to the known art .

[0017] Said need is satisfied by a method for controlling the braking force of a two-wheeled vehicle with a combined braking system in accordance with claim 1 and by a vehicle in accordance with claim 7 .

[0018] In particular, said need is satisfied by a method for controlling the braking force of a two-wheeled vehicle with a combined braking system, comprising the steps of :- arranging a two-wheeled vehicle provided with a front axle supporting at least one front wheel and a rear axle supporting at least one rear wheel,the vehicle being provided with at least one front braking device, acting on said at least one front wheel, and at least one rear braking device, acting on said at least one rear wheel,- the vehicle being provided with at least one manual lever or pedal operating device, operable by the user and operatively connected to said at least one front braking device and at least one rear braking device, so as to control the operation of said braking devices, and a processing and control unit operatively connected to said manual lever or pedal operating device and / or to said braking devices,- the method further comprising the steps of measuring and / or estimating the total mass of the vehicle and / or the mass weighing on said at least one front wheel and / or on said at least one rear wheel during the motion of the vehicle,- operating the at least one front braking device and the at least one rear braking device so as to obtain on the front and rear wheels corresponding braking force values belonging to a preset distribution curve as a function of said mass weighing on said at least one front wheel and / or on said at least one rear wheel,- wherein the operation of said braking devices occurs following the actuation of said at least one manual lever or pedal operating device by the user or on the initiative of a dynamic control of the vehicle carried out by said processing and control unit .

[0019] In accordance with one embodiment, said distribution curve has a parabolic trend with downward concavity, wherein on the abscissa axis the braking force value on the at least one front wheel Fx_ant is reported and on the ordinate axis the braking force value on the at least one rear wheel Fx_post is reported.

[0020] In accordance with one embodiment,Fx_ant = ( (L_b [m] + (decel_req [g] *h_COG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]Fx_post = ( (L_a [m] - (decel_req [g] *h_COG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]whereinL_b [m] = D_ideal*Vehicle_wheelbaseL_a [m] = ( 1-D_ideal ) *Vehicle_wheelbaseD_ideal = Mtot / MantMtot = Total vehicle massMant = Mass on vehicle front wheeldecel_req [g] is a deceleration request bythe driver h_COG = height from the ground of the vehicle ' s centre of gravity .

[0021] In accordance with one embodiment, the step of estimating the total mass also provides for the measurement or estimation of the slope of the road section travelled by the vehicle, so as to vary the distribution of the vehicle mass on the wheels .

[0022] In accordance with one embodiment, the step of modifying said preset curve is provided, as a function of the slipping and / or locking with respect to the ground, occurring on at least one of said front or rear wheels, during the motion of the vehicle .

[0023] In accordance with one embodiment, the step of modifying said preset curve is provided, as a function of a yaw angle and / or a roll angle and / or a lateral acceleration of the vehicle, during the motion of the vehicle .

[0024] The technical problem of the present invention is also solved by a two-wheeled vehicle with a combined braking system comprising:- a front axle supporting at least one front wheel and a rear axle supporting at least one rear wheel,- at least one front braking device, acting on said at least one front wheel, and at least one rear braking device, acting on said at least one rear wheel,- at least one manual lever or pedal operating device, operable by the user and operatively connected to said at least one front braking device and at least one rearbraking device, so as to control the operation of said braking devices,- a processing and control unit operatively connected to said manual lever or pedal operating device and / or to said braking devices,- the processing and control unit being programmed so as to measure and / or estimate the total mass of the vehicle and / or the mass weighing on said at least one front wheel and / or on said at least one rear wheel, during the motion of the vehicle,- wherein the processing and control unit is programmed so as to operate the at least one front braking device and the at least one rear braking device according to a preset distribution curve as a function of said mass weighing on said at least one front wheel and / or on said at least one rear wheel .

[0025] In accordance with one embodiment, said distribution curve has a parabolic trend with downward concavity, wherein on the abscissa axis the braking force value on the at least one front wheel Fx_ant is reported and on the ordinate axis the braking force value on the at least one rear wheel Fx_post is reported.

[0026] In accordance with one embodiment,Fx_ant = ( (L_b [m] + (decel_req [g] *h_COG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]Fx_post = ( (L_a [m] - (decel_req [g] *h_COG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]WhereL_b [m] = D_ideal* Vehicle_wheelbaseL_a [m] = ( 1-D_ideal) * Vehicle_wheelbaseD_ideal = Mtot / MantMtot = Total vehicle massMant = Mass on vehicle front wheeldecel_req [g] is a deceleration request bythe driver h_COG = height from the ground of the vehicle ' s centre of gravity .

[0027] In accordance with one embodiment, said vehicle comprises at least one mass measurement sensor operatively connected with said processing and control unit, so as to provide the processing and control unit with the value of the total mass of the vehicle and / or of the mass weighing on the front wheel and / or the value of the mass weighing on the rear wheel, during the motion of the vehicle .

[0028] In accordance with one embodiment, said at least one mass measurement sensor is a strain gauge which measures the excursion of a fork or a suspension of the vehicle supporting said front wheel or said rear wheel .

[0029] In accordance with one embodiment, said vehicle comprises a sensor which returns the speed of the wheels, said speed value of the wheels being provided to theprocessing and control unit and being compared with the travel speed of the vehicle, so as to :detect the condition of slipping and / or locking of the wheel, according to the following formula: slipping = (wheel_speed - vehicle_speed) / vehicle_speedmodify said preset curve, as a function of the slipping and / or locking with respect to the ground, occurring on at least one of said front or rear wheels, during the motion of the vehicle .

[0030] In accordance with one embodiment, said vehicle comprises a gyroscope and / or an accelerometer operatively connected to the processing and control unit so as to modify said preset curve, as a function of a slope of the road travelled, the yaw angle and / or a roll angle and / or a lateral acceleration of the vehicle, during the motion of the vehicle .DESCRIPTION OF THE DRAWINGS

[0031] Further characteristics and advantages of the present invention will become more apparent from the following description of its preferred and non-limiting embodiments, in which:

[0032] Figure 1 shows a schematic view of a two-wheeled vehicle in accordance with one embodiment of the present invention;

[0033] Figure 2 shows the ideal distribution of the braking forces of a motorcycle, wherein on the abscissa axis the ground braking force on the front axle is reported and on the ordinate axis the ground braking force on the rear axle is reported;

[0034] Figure 3 shows the variation of the ideal distribution of the ground braking forces of the motorcycle as a function of the different total load weighing on the vehicle;

[0035] Figure 4 shows the variation of the ideal distribution of the braking forces of the motorcycle as a function of the different total load weighing on the vehicle, in accordance with one embodiment of the present invention;

[0036] Figure 5 shows the variation of the ideal distribution of the braking forces of the motorcycle as a function of the different roll angle of the vehicle, in accordance with one embodiment of the present invention.

[0037] The elements or parts of elements in common between the embodiments described below will be indicated with the same reference numerals .DETAILED DESCRIPTION

[0038] With reference to the above figures, a schematic overall view of a vehicle in accordance with the present invention is globally indicated by 8.

[0039] The two-wheeled vehicle 8 with combined braking system comprises a front axle 12 supporting at least one front wheel 16 and a rear axle 20 supporting at least one rear wheel 24 .

[0040] The vehicle 8 further comprises at least one front braking device 28, acting on said at least one front wheel 16, and at least one rear braking device 32, acting on said at least one rear wheel 24. Said front and rear braking devices 28, 32 may comprise for example disc or drum brakes .

[0041] The vehicle 8 comprises at least one manual operating device 36, lever or pedal type, operable by the user and operatively connected to said at least one front braking device 28 and at least one rear braking device 32, so as to control the operation of said braking devices 28, 32 .

[0042] The vehicle 8 further comprises a processing and control unit 40 operatively connected to said manual operating device 36, lever or pedal type, and / or to said braking devices 28, 32.

[0043] The processing and control unit 40 is programmed so as to measure and / or estimate the total mass of the vehicle 8 (Mtot) and / or the mass weighing on said at least one front wheel 16 (Mant) and / or on said at least one rear wheel 24 (Mpost) , during the motion of the vehicle 8 .

[0044] The processing and control unit 40 is programmed so as to operate the at least one front braking device 28 and the at least one rear braking device 32 according to a preset distribution curve as a function of said mass weighing on said at least one front wheel 16 (Mant) and / or on said at least one rear wheel 24 (Mpost) .

[0045] In accordance with one embodiment, said distribution curve has a parabolic trend with downward concavity, wherein on the abscissa axis the braking force value on the at least one front wheel 16 (Fx_ant) is reported and on the ordinate axis the braking force value on the at least one rear wheel 24 (Fx_post) is reported.

[0046] In particular :

[0047] Fx_ant = ( (L_b [m] + (decel_req [g] *h_COG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]

[0048] Fx_post = ( (L_a [m] - (decel_req [g] *h_COG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]

[0049] Wherein

[0050] L_b [m] = D_ideal* Vehicle_wheelbase

[0051] L_a [m] = ( 1-D_ideal ) *Vehicle_wheelbase

[0052] D_ideal = Mtot / Mant

[0053] Mtot = Total vehicle mass

[0054] Mant = Mass on vehicle front wheel

[0055] decel_req [g] is a deceleration request bythe driver

[0056] h_COG = height from the ground of the vehicle ' s centre of gravity.

[0057] In accordance with one embodiment, said vehicle 8 comprises at least one mass measurement sensor operatively connected with said processing and control unit 40, so as to provide the processing and control unit 40 with the value of the total mass (Mtot) of the vehicle 8 and / or of the mass weighing on the front wheel 16 (Mant) and / or the value of the mass weighing on the rear wheel 24 (Mpost) , during the motion of the vehicle 8.

[0058] In accordance with one embodiment of the present invention, said at least one mass measurement sensor is a strain gauge which measures the excursion of a fork 44 or of a suspension 48 of the vehicle 8 supporting said front wheel 16 or said rear wheel 24.

[0059] In accordance with one embodiment of the present invention, said vehicle 8 comprises a sensor which returns the speed of the wheels 16, 24, said wheel speed value 16, 24 being provided to the processing and control unit 40 and being compared with the travel speed of the vehicle 8, so as to :

[0060] - detect the condition of slipping and / or locking of the wheel 16, 24, according to the following formula :

[0061] slipping = (wheel_speed - vehicle_speed) / vehicle_speed

[0062] - modify said preset curve, as a function of the slipping and / or locking with respect to the ground,occurring on at least one of said front or rear wheels 16, 24 during the motion of the vehicle 8.

[0063] In accordance with one embodiment of the present invention, said vehicle 8 comprises a gyroscope and / or an accelerometer operatively connected to the processing and control unit 40 so as to modify said preset curve, as a function of a slope of the road travelled, of the yaw angle and / or of a roll angle and / or of a lateral acceleration of the vehicle 8, during the motion of the vehicle 8 .

[0064] The gyroscope and / or accelerometer sensor are units called IMU (inertial measurement unit) which internally comprise sensors mounted on a platform isolated from any external rotational movement by gimbal suspensions, so that it can rotate on three cardinal axes . The gyroscopes mounted on the base of the platform (stable member) detect any spatial rotation while three different feedback signals are sent to a system of rotors which counter-rotate the joints so as to cancel their rotation and keep the platform aligned with the global reference frame .

[0065] The accelerometers instead consist of a body of known mass immersed in a fluid. Each time it is subj ected to a force, the mass undergoes a displacement from its initial position. Knowing the mass and the forceexperienced, it is possible to calculate the acceleration .

[0066] The fastening of the gyroscope and / or accelerometer sensor on the vehicle 8 is not univocal; preferably, said gyroscope and / or accelerometer sensor is applied in the proximity of the centre of gravity of the vehicle 8, but it is possible to mount it in any fixed area of the vehicle 8 and subsequently rotate and translate its components .

[0067] The method for controlling the braking force of a two-wheeled vehicle with a combined braking system, in accordance with the present invention, will now be described .

[0068] In particular, the method comprises the steps of :

[0069] - arranging a two-wheeled vehicle 8 provided with a front axle 12 supporting at least one front wheel 16 and a rear axle 20 supporting at least one rear wheel 24,

[0070] - the vehicle 8 being provided with at least one front braking device 28, acting on said at least one front wheel 16, and at least one rear braking device 32, acting on said at least one rear wheel 24,

[0071] - the vehicle 8 being provided with at least one manual operating device 36, lever or pedal type, operable by the user and operatively connected to said at least one front braking device 28 and at least one rear braking device 32, so as to control the operation of said brakingdevices 28, 32, and a processing and control unit 40 operatively connected to said manual operating device 36, lever or pedal type, and / or to said braking devices 28, 32 .

[0072] The method further comprises the steps of :

[0073] - measuring and / or estimating the total mass of the vehicle 8 (Mtot) and / or the mass weighing on said at least one front wheel 16 (Mant) and / or on said at least one rear wheel 24 (Mpost) during the motion of the vehicle 8,

[0074] - operating the at least one front braking device 28 and the at least one rear braking device 32 so as to obtain on the front wheels 16 and rear wheels 24 corresponding braking force values belonging to a preset distribution curve as a function of said mass weighing on said at least one front wheel 16 (Mant) and / or on said at least one rear wheel 24 (Mpost) .

[0075] The operation of said braking devices 28, 32 occurs following the actuation of said at least one manual operating device 36, lever or pedal type, by the user or on the initiative of a dynamic control of the vehicle 8 carried out by said processing and control unit 40.

[0076] In accordance with one embodiment of the present invention, said distribution curve has a parabolic trend with downward concavity, wherein on the abscissa axis the braking force value on the at least one front wheel 16(Fx_ant) is reported and on the ordinate axis the braking force value on the at least one rear wheel 24 (Fx_post) is reported.

[0077] In particular :

[0078] Fx_ant = ( (L_b [m] + (decel_req [g] *h_COG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]

[0079] Fx_post = ( (L_a [m] - (decel_req [g] *h_COG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]

[0080] wherein

[0081] L_b [m] = D_ideal* Vehicle_wheelbase

[0082] L_a [m] = ( 1-D_ideal) * Vehicle_wheelbase

[0083] D_ideal = Mtot / Mant

[0084] Mtot = Total vehicle mass

[0085] Mant = Mass on vehicle front wheel

[0086] decel_req [ g] is a deceleration request bythe driver,

[0087] h_COG = height from the ground of the vehicle' s centre of gravity.

[0088] In accordance with one embodiment of the present invention, the step of estimating the total mass (Mtot) also provides for the measurement or estimation of the slope of the road section travelled by the vehicle, so as to vary the distribution of the vehicle mass on the wheels .

[0089] In accordance with one embodiment of the present invention, the step of modifying said preset curve is provided, as a function of the slipping and / or lockingwith respect to the ground, occurring on at least one of said front wheels 16 or rear wheels 24, during the motion of the vehicle 8.

[0090] In accordance with one embodiment of the present invention, the step of modifying said preset curve is provided, as a function of a yaw angle and / or of a roll angle and / or of a lateral acceleration of the vehicle 8, during the motion of the vehicle 8.

[0091] As can be appreciated from what has been described, the present invention allows to overcome the drawbacks presented in the known art .

[0092] Thanks to the present invention, the driver will not need to manually compensate for the load variations of the vehicle by applying significantly more force to the manual lever or pedal operating devices .

[0093] Indeed, by increasing the vehicle load, the braking force required will increase, forcing the driver to apply a greater force and therefore a greater effort to the manual controls .

[0094] Thanks to this embodiment, the braking control will itself identify this change in vehicle load and will not cause further effort for the driver .

[0095] Moreover, the correction of the braking distribution allows to distribute, consistently with the vertical load, the braking force to the ground on the front and rear wheels, maximising the deceleration that can beobtained from the vehicle before entering ABS and ensuring the simultaneous reaching of the adhesion limit for both wheels of the vehicle .

[0096] A skilled person in the field, in order to meet contingent and specific needs, may make numerous modifications and variations to the solutions described above .

[0097] The scope of protection of the invention is defined by the following claims .LIST OF REFERENCES :8 : vehicle12 : front axle16 : front wheel20 : rear axle24 : rear wheel28 : front braking device32 : rear braking device36 : manual operating device 40 : processing and control unit 44 : fork48 : suspension

Claims

CLAIMS1 . A method for controlling the braking force of a twowheeled vehicle ( 8 ) with a combined braking system, comprising the steps of- arranging a two-wheeled vehicle ( 8 ) equipped with a front axle ( 12 ) supporting at least one front wheel ( 16 ) and a rear axle ( 20 ) supporting at least one rear wheel ( 24 ) ,- the vehicle ( 8 ) being provided with at least one front braking device ( 28 ) , acting on said at least one front wheel ( 16 ) , and at least one rear braking device ( 32 ) , acting on said at least one rear wheel ( 24 ) ,- the vehicle ( 8 ) being provided with at least one manual lever or pedal operating device ( 36 ) , operable by the user and operatively connected to said at least one front braking device ( 28 ) and at least one rear braking device ( 32 ) , so as to control the operation of said braking devices ( 28 , 32 ) , and a processing and control unit ( 40 ) operatively connected to said manual lever or pedal operating device ( 36 ) and / or to said braking devices ( 28 , 32 ) ,- the method further comprising the steps of- measuring and / or estimating the total mass (Mtot ) of the vehicle ( 8 ) and / or the mass (Mant ) weighing on said at least one front wheel ( 16 ) and / or the mass (Mpost )weighing on said at least one rear wheel (24 ) during the motion of the vehicle ( 8 ) travel,- operating the at least one front braking device (28 ) and the at least one rear braking device (32 ) so as to obtain on the front and rear wheels ( 16, 24 ) corresponding braking force values belonging to a preset distribution curve as a function of said mass (Mant) weighing on said at least one front wheel ( 16) and / or said mass (Mpost) weighing on said at least one rear wheel (24 ) ,- wherein the operation of said braking devices (28, 32 ) occurs following the operation of said at least one manual lever or pedal operating device (36) by the user or on the initiative of a dynamic control of the vehicle carried out by said processing and control unit (40) .

2. A method for controlling the braking force of a twowheeled vehicle with a combined braking system, according to claim 1, wherein said distribution curve has a parabolic trend with a downward concavity, wherein the braking force value on the at least one front wheel (Fx_ant) is reported on the abscissa axis and the braking force value on the at least one rear wheel (Fx_post) is reported on the ordinate axis .

3. A method for controlling the braking force of a twowheeled vehicle with a combined braking system according to claim 2, whereinFx_ant = ( (L_b [m] + (decel_req [g] *h_COG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]Fx_post = ( (L_a [m] - (decel_req [g] *h_COG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]whereL_b [m] = D_ideal* Vehicle wheelbaseL_a [m] = ( 1-D_ideal) * Vehicle_wheelbaseD_ideal = Mtot / MantMtot = Total vehicle massMant = Mass on vehicle front wheeldecel_req [g] is a deceleration request bythe driver h_COG = height from the ground of the vehicle ' s centre of gravity .

4. A method for controlling the braking force of a twowheeled vehicle with a combined braking system according to claim 1, 2 or 3, wherein the step of estimating the overall mass of the vehicle also includes measuring or estimating the slope of the section of road travelled by the vehicle ( 8 ) , so as to vary the distribution of the mass of the vehicle ( 8 ) on the wheels (16, 24 ) .

5. A method for controlling the braking force of a twowheeled vehicle with a combined braking system according to claim 1, 2, 3 or 4, wherein the step of modifying said preset curve is included, as a function of slipping and / or locking with respect to the ground, occurring onat least one of said front ( 16 ) or rear ( 24 ) wheels , during the motion of the vehicle ( 8 ) .

6. A method for controlling the braking force of a twowheeled vehicle with a combined braking system, according to claim 1 , 2 , 3 , 4 or 5 , wherein the step of modi fying said preset curve is included, as a function o f a yaw angle and / or a roll angle and / or a lateral acceleration of the vehicle ( 8 ) , during the motion of the vehicle ( 8 ) .7 . A two-wheeled vehicle ( 8 ) with a combined braking system comprising :- a front axle ( 12 ) supporting at least one front wheel ( 16 ) and a rear axle ( 20 ) supporting at least one rear wheel ( 24 ) ,- at least one front braking device ( 28 ) , acting on said at least one front wheel ( 16 ) , and at least one rear braking device ( 32 ) , acting on said at least one rear wheel ( 20 ) ,- at least one manual lever or pedal operating device ( 36 ) , operable by the user and operatively connected to said at least one front braking device ( 28 ) and at least one rear braking device ( 32 ) , so as to control the operation of said braking devices ( 28 , 32 ) ,a processing and control unit ( 40 ) operatively connected to said manual lever or pedal operating device ( 36 ) and / or to said braking devices ( 28 , 32 ) ,- the processing and control unit (40) being programmed so as to measure and / or estimate the total mass (Mtot) of the vehicle ( 8 ) and / or the mass (Mant) weighing on said at least one front wheel ( 16) and / or the mass (Mpost) weighing on said at least one rear wheel (24 ) during the motion of the vehicle ( 8 )wherein the processing and control unit (40) is programmed so as to operate the at least one front braking device (28 ) and the at least one rear braking device (32 ) according to a preset distribution curve as a function of said mass (Mant) weighing on said at least one front wheel ( 16) and / or said mass (Mpost) weighing on said at least one rear wheel (24 ) .

8. A two-wheeled vehicle ( 8 ) with a combined braking system, according to claim 7, wherein said distribution curve has a parabolic trend with a downward concavity, wherein the braking force value on the at least one front wheel (Fx_ant) is reported on the abscissa axis and the braking force value on the at least one rear wheel (Fx_post) is reported on the ordinate axis .

9. A two-wheeled vehicle ( 8 ) with a combined braking system according to claim 8, whereinFx ant ( (L_b [m] + (decel_req [g] *h_cogCOG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]Fx_post = ( (L_a [m] - (decel_req [g] *h_cogCOG) ) / Vehicle_wheelbase [m] ) *g*Mtot* decel_req [g]whereL_b [m] = D_ideal* Vehicle wheelbaseL_a [m] = ( 1-D_ideal) * Vehicle_wheelbaseD_ideal = Mtot / MantMtot = Total vehicle massMant = Mass on vehicle front wheeldecel_req [g] is a deceleration request bythe driverh_COG = height from the ground of the vehicle ' s centre of gravity .

10. A two-wheeled vehicle ( 8 ) with a combined braking system according to claim 7, 8 or 9, wherein said vehicle ( 8 ) comprises at least one mass measurement sensor operatively connected with said processing and control unit, so as to provide the processing and control unit with the value of the total mass (Mtot) of the vehicle ( 8 ) and / or the mass (Mant) weighing on the front wheel ( 16) and / or the value of the mass (Mpost) weighing on the rear wheel (24 ) , during the motion of the vehicle ( 8 ) .

11. A two-wheeled vehicle ( 8 ) with a combined braking system according to claim 10, wherein said at least onemass measurement sensor is a strain gauge which measures the excursion of a fork ( 44 ) or a suspension ( 48 ) of the vehicle ( 8 ) supporting said front wheel ( 16 ) or said rear wheel ( 24 ) .12 . A two-wheeled vehicle ( 8 ) with a combined braking system according to claim 7 , 8 , 9 , 10 or 11 , wherein said vehicle ( 8 ) comprises a sensor which returns the speed of the wheels ( 16 , 24 ) , said speed value of the wheels ( 16 , 24 ) being provided to the processing and control unit ( 40 ) and being compared with the travel speed of the vehicle ( 8 ) , so as to :- detect the sl ipping and / or locking condition of the wheel ( 16 , 24 ) , according to the following formula :slipping = (wheel_speed - vehicle_speed) / vehicle_speed- modi fying said preset curve , as a function of the slipping and / or locking with respect to the ground, occurring on at least one of said front ( 16 ) or rear ( 24 ) wheels , during the motion of the vehicle ( 8 ) .

13. A two-wheeled vehicle ( 8 ) with a combined braking system according to any one of claims 7 to 12 , wherein said vehicle ( 8 ) comprises a gyroscope and / or an accelerometer operatively connected to the processing and control unit ( 40 ) so as to modi fy said preset curve , as a function of a slope of the road travelled, the yaw angleand / or a roll angle and / or a lateral acceleration of the vehicle ( 8 ) , during the motion of the vehicle ( 8 ) .

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