Method for avoiding lateral ground contact during cornering for a motorcycle

Abstract

The invention relates to a method for avoiding lateral ground contact, in particular when cornering, for a motorcycle (1), which method comprises: a) determining (S1), using a number of sensors (11-14) arranged on the motorcycle (1), whether the distance between a lateral component (21, 22) of the motorcycle (1) and a road surface (2) has fallen below a minimum distance; and b) triggering (S2) a driving assistance function if it has been determined that the distance has fallen below the minimum distance.

Description

[0001] 2024PF02173

[0002] 1

[0003] METHOD TO AVOID LATERAL GROUND CONTACT WHEN CORNERING FOR A POWER BIKE

[0004] The present invention relates to the field of driver assistance functionality for motor vehicles and more specifically to a method and a control device for avoiding lateral ground contact, particularly when cornering, for a motorcycle and a corresponding motorcycle.

[0005] A motorized vehicle, such as a motorcycle or other two-wheeled motorized vehicle, leans to one side, especially, but not exclusively, when cornering. During this lean, a side component of the vehicle, such as a footrest, approaches the road surface. If the vehicle leans so far that the side component, or a part of the rider's body whose foot is resting on the side component, touches the road, an accident with a risk of injury and damage is likely. Traditionally, it is the rider's skill that is responsible for avoiding such accidents.

[0006] WO 2024 / 038076 A1 discloses a method for warning the driver of a two- or three-wheeled vehicle about safe driving based on the driver's body posture. The method includes receiving sensor and / or visual data relating to the driver from an imaging and sensing unit. The method then includes determining the absolute lean angle of the driver's body posture based on the sensor and / or visual data. Subsequently, the method includes determining a weight imbalance of the driver using the absolute lean angle and the sensor data if the absolute lean angle exceeds a predetermined threshold angle. Finally, the method includes warning the driver about safe driving once the weight imbalance has been determined.

[0007] Against this background, one object of the present invention is to further improve the safety of a moving motorcycle, particularly when cornering. 2024PF02173

[0008] 2

[0009] Accordingly, a method for avoiding lateral ground contact, particularly when cornering, is proposed for a motorcycle, as outlined in a first aspect. The proposed method comprises: a) determining, using a number of sensors mounted on the motorcycle, whether a minimum distance between a lateral component of the motorcycle and a road surface has been breached; and b) triggering a driver assistance function when it has been determined that the minimum distance has been breached.

[0010] The vehicle in question can be any motorized two-wheeler, such as a motorcycle, moped, scooter, e-bike, electric scooter, and the like. The vehicle leans, particularly when cornering, and excessive lean angles can cause the side component to make contact with the ground. Such contact can result in an accident and / or damage to the vehicle and / or injury to the rider.

[0011] The proposed method detects whether the minimum distance has been breached and ground contact is imminent, and reacts accordingly with a driver assistance function. This can advantageously prevent accidents or mitigate their consequences, thus improving safety.

[0012] In particular, step a) takes into account the actual position (an actual inclination, especially a cross slope) of the road surface. Since a minimum distance between the lateral component and the actual position of the road surface is considered, the proposed method can advantageously determine with particular accuracy whether or not the lateral component is at risk of ground contact, even when cornering on inclined roads. Accordingly, not only can safety be improved, but sporty driving can also be enabled, since, due to the particularly precise determination of the impending ground contact, an excessively restrictive threshold for detecting impending ground contact does not need to be set. 2024PF02173

[0013] 3

[0014] The side component could be a footrest, pedal, foot support, footboard, running board, kickstand, exhaust pipe, or similar item. For example, the side component could be the one that is most likely to make contact with the road surface when the motorcycle is leaning excessively.

[0015] The minimum distance, or any other value affecting the minimum distance, such as a maximum angle of inclination, may be specified, in particular including a safety distance to the actual distance or angle of inclination at which ground contact occurs.

[0016] Whether the minimum clearance is not maintained can be determined directly or indirectly. Direct determination involves measuring the actual distance between the side component and the road surface and comparing it to the minimum clearance. Indirect determination involves measuring another parameter that affects the distance between the side component and the road surface, such as the tilt angle of the motorcycle and / or the road surface, and comparing it to a corresponding limit value. Both methods are described in more detail below.

[0017] Here and in the following, a given "determination" can include measurement, computational determination, or a combination thereof, i.e., computational determination based on measurements performed.

[0018] The term "number" here and in the following refers to one or more elements, that is, to a number N>1.

[0019] "Triggering" the driver assistance function can be understood to mean that a unit of a control device performing the proposed method performs the driver assistance function, or that the unit of the control device performing the proposed method2024PF02173

[0020] 4

[0021] performs a signal to another unit of the same or a different control device to instruct it to perform the driver assistance function.

[0022] According to one embodiment, the driver assistance function includes issuing a warning to the driver of the motorcycle and / or intervening in the control of the motorcycle.

[0023] The warning can be, for example, a visual or an audible warning.

[0024] The intervention in the control system can, for example, include the application of an impulse towards the upright position by an impulse generator or the effecting of a mass shift of a movable counterweight provided for this purpose on the motorcycle.

[0025] Accordingly, it is advantageous to make the driver aware of the impending ground contact and / or to effectively prevent the impending ground contact using technical means.

[0026] It is also conceivable that the intervention in the control system includes preparation for an unavoidable accident, such as airbag deployment, automatic braking, and the like. While this may not prevent the accident, it advantageously increases the driver's safety in the event of a crash.

[0027] According to a further embodiment, step a) includes determining: measuring a distance between the lateral component and the road surface using a distance measuring device of the motorcycle arranged on the lateral component; and comparing the measured distance with the minimum distance.

[0028] The distance measuring device is, for example, an ultrasonic sensor. 2024PF02173

[0029] 5

[0030] The distance measuring device is, for example, attached to the side component from below or is otherwise attached to the side component in such a way that a distance measurement downwards towards the road surface is possible.

[0031] Direct distance measurement as proposed automatically takes into account the actual position of the road surface, thus making it advantageously possible to determine with particular accuracy whether or not contact with the ground is imminent.

[0032] According to a further embodiment, step a) includes determining: measuring a relative inclination angle of the motorcycle with two distance measuring devices of the motorcycle, which are arranged on opposite sides of the motorcycle at the same height relative to the motorcycle, and determining that the minimum distance is not met if the measured relative inclination angle exceeds a predetermined maximum angle.

[0033] Therefore, an indirect method for determining whether the minimum distance has been violated is proposed, by determining a relative lean angle. The relative lean angle is a value that indicates the inclination of the motorcycle relative to any existing incline, that is, relative to the actual position of the road surface. For example, the relative lean angle is the angle between a surface normal of the (horizontal or inclined) road surface and a vertical axis of the (upright or inclined) motorcycle. Correspondingly, the relative lean angle is, for example, the angle between a horizontal axis of the (upright or inclined) motorcycle and the (horizontal or inclined) road surface.

[0034] The sensor does not need to be located on the side component itself, such as a footrest, but can be positioned elsewhere, for example further forward on the motorcycle, such as at the lower end of a front fork. Accordingly, it may be advantageously possible to detect when the minimum distance has been breached earlier, anticipating the situation. 2024PF02173

[0035] 6

[0036] According to a further embodiment, step a) includes determining: determining an absolute lean angle of the motorcycle; determining an absolute lean angle of the road surface; determining a relative lean angle of the motorcycle based on the determined absolute lean angle of the motorcycle and the determined absolute lean angle of the road surface; and determining that the minimum distance is not maintained if the determined relative lean angle exceeds a predetermined maximum angle.

[0037] Therefore, a further method of indirectly determining whether the minimum distance has been violated is proposed, namely by calculating a relative angle of inclination based on measured or determined absolute angles. The relative angle of inclination is defined as above. The respective absolute angle is an angle against the direction of gravity or against a horizontal direction orthogonal to the direction of gravity. In the present embodiment, the relative angle of inclination is not measured directly, but rather determined indirectly, i.e., computationally, based on the measured or computationally determined absolute angles of inclination of the motorcycle and the road surface.

[0038] The absolute lean angle of the motorcycle can be easily measured, for example, with an inertial measurement unit. However, the proposed approach is not to simply trigger the driver assistance functionality based on the measured absolute lean angle of the motorcycle, but rather to relate the motorcycle's absolute lean angle to the also determined or measured absolute lean angle of the road surface. The driver assistance functionality is only triggered if the resulting relative lean angle exceeds the maximum angle. In this way, the driver assistance functionality can be triggered earlier or later depending on the road surface's incline than if only the motorcycle's absolute lean angle were considered. This ensures that the intervention of the driver assistance functionality is better adapted to the actual driving situation and avoids unnecessary activation of the driver assistance system.

[0039] 7

[0040] Even if the vehicle is not responsive to the driver assistance system, it will not activate, although this would have been necessary. Since this allows for a high degree of accuracy in determining road contact, safety can be improved, while at the same time enabling sporty driving at the limit.

[0041] If the respective absolute angle of inclination cannot be measured directly, it is calculated based on a measurement of another parameter, as described in more detail below.

[0042] According to another embodiment, the absolute inclination angle of the motorcycle is measured with an inertia measuring unit of the motorcycle.

[0043] The absolute tilt angle of the motorcycle can therefore be obtained particularly easily by direct measurement.

[0044] The inertial measurement unit can also be called the Inertial Measurement Unit, or IMU.

[0045] According to another embodiment, the absolute inclination angle of the road surface is obtained from map data based on a measured position of the motorcycle.

[0046] This means that the motorcycle can also be equipped with a positioning device, such as a GPS sensor, as an additional sensor. Based on the position determined by the positioning device, a known gradient of the road surface at that location can be derived from a predefined or online map. Therefore, an actual measurement of the absolute gradient angle of the road surface is advantageously unnecessary.

[0047] According to a further embodiment, the absolute inclination angle of the road surface and / or the absolute inclination angle of the motorcycle are determined by image processing of a 2024PF02173

[0048] 8

[0049] Determined the number of images taken with a forward-facing camera on the motorcycle.

[0050] Accordingly, the absolute inclination angle of the road can also be advantageously determined based on a measurement (taking the image).

[0051] Furthermore, it is advantageous that only the camera is required as a sensor, and the provision of additional sensor units, such as a distance measuring device and / or an inertial measurement unit, may be unnecessary. This advantage is particularly evident if a front camera is already fitted to the motorcycle for other reasons, such as navigation, dashcam functionality, tracking, semi- or fully autonomous driving, or similar applications.

[0052] Image processing can, for example, involve determining a horizon line in the image that indicates a horizontal direction defined by gravity. The absolute tilt angle of the motorcycle can then be determined as the angle of the horizon line with the image horizontal.

[0053] Image processing can, for example, involve determining equidistant characteristic points – such as the tops of guideposts, the tops of equidistant lane markings, or the like. The absolute slope angle of the road surface can then be calculated using a line through the two equidistant characteristic points and their relationship to a curvature of the road or similar features.

[0054] Image processing can also include, for example, creating and continuously updating a 3D environment model based on a temporal sequence of captured images. In this case, the horizon line and the slope angle of the road surface can be derived from the 3D environment model. 2024PF02173

[0055] 9

[0056] According to a second aspect, a computer program product is proposed which includes instructions which, when executed by a control device of a motorcycle, cause the control device to carry out the procedure as described above.

[0057] A computer program product, such as a computer program tool, can be provided or delivered from a server on a network, for example, as a storage medium such as a memory card, USB stick, CD-ROM, DVD, ROM, PROM, EEPROM, Flash RAM, or as a downloadable file. This can be done, for example, in a wireless communication network by transmitting the corresponding file containing the computer program product or tool.

[0058] According to a third aspect, a control device for a motorcycle is proposed. The control device comprises: a) a first unit configured to determine, using a number of sensors arranged on the motorcycle, whether a minimum distance between a lateral component of the motorcycle and a road surface has been breached; and b) a second unit configured to trigger a driver assistance function when it has been determined that the minimum distance has been breached.

[0059] The embodiments, advantages, features and definitions described for the method according to the first aspect also apply accordingly to the control device according to the third aspect.

[0060] The respective unit can be implemented in hardware and / or software. In a hardware implementation, the respective unit can, for example, be a computer or a microprocessor. In a software implementation, the respective unit can be a computer program product, a function, a routine, an algorithm, part of program code, or an executable object. Furthermore, each of the aforementioned units can also be part of a higher-level control system of the vehicle, such as a 2024PF02173

[0061] 10

[0062] be a central electronic control device and / or an engine control unit (ECU: Engine Control Unit).

[0063] According to a fourth aspect, a motorcycle is proposed with a lateral component, a number of sensors arranged on the motorcycle and the control device of the third aspect.

[0064] According to one embodiment, the motorcycle has a lateral component on each of two opposite sides, and the number of sensors includes a downward-pointing ultrasonic sensor arranged laterally or below the respective lateral component.

[0065] The ultrasonic sensors can advantageously be used for distance measurements to determine a real position of the road surface 2 and / or for angle measurements by measuring both distances and relating them to a known horizontal distance between the ultrasonic sensors.

[0066] According to a further embodiment of the proposed motorcycle, the number of sensors on each side in the area of ​​a lower end of a front fork of the motorcycle comprises a respective downward-facing ultrasonic sensor.

[0067] Accordingly, the ultrasonic sensors can advantageously be positioned particularly far forward on the motorcycle and detect an impending contact with the ground as soon as possible.

[0068] According to another embodiment of the proposed motorcycle, the number of sensors includes a forward-facing camera.

[0069] Accordingly, it is advantageous to determine an absolute tilt angle of the motorcycle and / or an absolute tilt angle of the 2024PF02173 by image processing of one or more camera images.

[0070] 11

[0071] The road surface can be determined and additional sensors, such as an inertial measurement unit, ultrasonic sensors and the like, may be unnecessary.

[0072] According to another embodiment of the proposed motorcycle, the number of sensors includes an inertial measurement unit.

[0073] The inertia measuring unit advantageously allows a direct measurement of the absolute inclination angle of the motorcycle and its use in the proposed method.

[0074] Other possible implementations of the invention also include combinations of features or embodiments described previously or subsequently with regard to the exemplary embodiments, even if not explicitly mentioned. In such cases, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention.

[0075] Further advantageous embodiments and aspects of the invention are the subject of the dependent claims and the exemplary embodiments of the invention described below. The invention will be explained in more detail below with reference to preferred embodiments and the accompanying figures.

[0076] Fig. 1 shows a motorcycle cornering on a level road surface;

[0077] Fig. 2 shows the motorcycle cornering on an inclined road surface;

[0078] Fig. 3 shows a motorcycle according to a first embodiment during cornering on an inclined road surface;

[0079] Fig. 4 illustrates functional units of a motorcycle control device according to the first embodiment;2024PF02173

[0080] 12

[0081] Fig. 5 illustrates steps of a method for avoiding ground contact according to the first embodiment;

[0082] Fig. 6 shows a motorcycle according to a second embodiment during cornering on an inclined road surface;

[0083] Fig. 7 illustrates partial steps of a method for avoiding ground contact according to a third embodiment;

[0084] Fig. 8 shows a motorcycle according to a variant of the third embodiment; and

[0085] Fig. 9 shows an image taken by a camera according to a variant of the third embodiment.

[0086] In the figures, identical or functionally equivalent elements have been given the same reference symbols, unless otherwise indicated.

[0087] First, some preliminary considerations are made.

[0088] Fig. 1 shows a motorized vehicle 1, such as a motorcycle, cornering on a horizontal road surface 2. The motorized vehicle 21 has a left footrest 21 and a right footrest 22. The footrests 21 and 22 are examples of lateral components of the motorized vehicle 1. When cornering at high speed, the motorized vehicle 1 leans to the side, as shown. In this case, the left footrest 21 of the motorized vehicle 1 approaches the road surface 2. If the footrest 21, or a body part such as a foot, knee, or lower leg of the rider (not shown), whose foot is resting on the footrest 21, makes contact with the ground, i.e., touches the road surface 2, an accident occurs, resulting in damage to the motorized vehicle 1 and injury to the rider. Conventional motorcycles rely solely on the rider's skill to avoid such accidents. 2024PF02173

[0089] 13

[0090] In the embodiments described later, it is proposed to equip the motorcycle 1 with one or more sensors to determine when ground contact is imminent and, accordingly, to issue a warning or intervene in the motorcycle's control system to reduce its lean angle. A simple approach to detecting imminent ground contact would be to determine the absolute lean angle α of the motorcycle 1, for example, using an inertial measurement unit (not shown in Fig. 1; also referred to as an inertial measurement unit or IMU), and, if the absolute lean angle α is too large, to issue a warning or trigger intervention in the motorcycle's control system.

[0091] The angular relationships are briefly discussed with reference to Fig. 1. Crucial for determining whether ground contact is imminent is the relative angle y between the vertical axis 3 of the motorcycle 2 and the road surface 2. The relative angle y between the vertical axis 3 of the motorcycle 2 and the road surface 2 is related to the relative lean angle θ of the motorcycle 1 via the formula θ = 90° - y. The relative lean angle θ is defined as the angle between the vertical axis 3 of the motorcycle 1 and the surface normal 5 of the road surface 2. Since, for a horizontal road surface 2, the surface normal 5 of the road surface 2 coincides with the vertical direction in world coordinates, i.e., with the direction of gravity 8, the relative lean angle θ – and thus also the relative angle y – can be easily determined by measuring the absolute lean angle α with an inertial measurement unit (not shown).

[0092] In the example shown in Fig. 1, the absolute tilt angle α (and likewise the relative tilt angle θ) is approximately 35°. The 35° value thus represents a suitable threshold for triggering a driver assistance function when it is reached or exceeded.

[0093] Fig. 2, in contrast, shows the motorcycle 1 cornering on an inclined road surface 2. The road surface 2 is inclined at an absolute angle β to the 2024PF02173

[0094] 14

[0095] The horizontal direction 6 is inclined in world coordinates. The horizontal direction 6 is a direction orthogonal to the direction of gravity 8. In Fig. 2, the absolute inclination angle β of the road surface 2 is approximately 13°. Due to the inclination of the road surface 2, the surface normal 5 of the road surface 2 does not coincide with the direction of gravity 8. The relative inclination angle θ of the motorcycle 1 relative to the surface normal 5 of the road surface 2 is approximately 37°, so ground contact is imminent. However, the absolute inclination angle a of the motorcycle 1 (angle between the vertical axis 3 and the direction of gravity 8), measurable with an inertial measurement unit, is only approximately 24°. With a threshold value for the absolute inclination angle a set to 35° or higher, the imminent ground contact could therefore not be reliably detected.

[0096] One of the ideas of the invention presented below is therefore that, in order to reliably detect impending ground contact, in addition to the absolute inclination angle a of the motorcycle 1, the absolute inclination angle ß of the possibly inclined road surface 2 should also be taken into account.

[0097] Fig. 3 shows a motorcycle 1 according to a first embodiment cornering on an inclined road surface 2. Fig. 4 shows a steering device of the motorcycle according to the first embodiment; and Fig. 5 illustrates steps of a method for avoiding ground contact according to the first embodiment. Reference is made to Figs. 3 to 5. The definitions described in the preceding preliminary considerations with regard to the motorcycle 1 from Figs. 1 and 2, in particular those of features of the motorcycle 1, and of angles a-o and directions 3, 5, 8, 6, also apply to the description of the first and further embodiments.

[0098] The motorcycle 1 according to the first embodiment has footrests 21 and 22 (examples of side components) on opposite sides of the motorcycle 1. A respective ultrasonic sensor 11, 12 is attached to each of the footrests 21 and 22 such that the ultrasonic sensor 11, 12 maintains a distance 31, 32 from the area below the footrests 21 and 22.

[0099] 15

[0100] The ultrasonic sensor 11, 12 can measure the road surface 2. In the example shown, the respective ultrasonic sensor 11, 12 is attached to the underside of the respective footrest 21, 22. However, it is also conceivable that the respective ultrasonic sensor 11, 12 is attached to the side of the respective footrest 21, 22, as long as there is a downward line of sight. It should be noted that the ultrasonic sensors 11, 12 are arranged on each side of the motorcycle 1 at the same height relative to the motorcycle 1.

[0101] The ultrasonic sensor 11, 12 is an example of a distance measuring device 11, 12. The ultrasonic sensor 11 continuously or at regular intervals measures the distance 31 of the footrest 21 to the road surface 2 while the motorcycle 1 is in motion, in particular at least during cornering. The ultrasonic sensor 21 also continuously or at regular intervals measures the distance 32 of the footrest 22 to the road surface 2 while the motorcycle 1 is in motion.

[0102] The motorcycle 1 according to the first embodiment further comprises a control device 15 (Fig. 4). The control device 15 can be an ECU (Electronic Control Unit) or a section of an ECU and can be arranged at any suitable position on or in the motorcycle 1. The control device 15 comprises two functional units, a first unit 16 and a second unit 17. The functional units 16, 17 can be implemented in hardware or in software. In a software-based implementation, the functional units 16, 17 can, for example, be configured and perform their functions when a computer program product according to the first embodiment is executed by a processor of the control device 15.

[0103] In a first step S1 of the proposed method of the first embodiment, the first unit 16 of the control device 15 determines, using the sensors 11, 12 arranged on the motorcycle 1, in the present embodiment on the footrests 21, 22 of the motorcycle 1, in the present embodiment the ultrasonic sensors 11, 12, whether a minimum distance exists between one of the lateral components 21, 22 of the motorcycle, in the 2024PF02173

[0104] 16

[0105] in the present embodiment of the footrests 21, 22, and the road surface 2 is below the required level.

[0106] In the present first embodiment, this determination is made directly. That is, for example, the first unit 16 determines whether the smaller of the distances 31, 32 measured by the ultrasonic sensors 11, 12 is smaller than a predefined minimum distance. The predefined minimum distance is suitably chosen, taking into account a safety margin, so that it is ensured that when this minimum distance is reached or slightly undershot, there is still no contact between the road surface 2 and the footrests 21, 22 or body parts of the rider whose foot rests on the footrests 21, 22.

[0107] In a second step S2 of the proposed method of the first embodiment, the second unit 17 of the control device 15 triggers a driver assistance function if, in step S1, the first unit 16 has determined that the minimum distance has been reached or fallen below.

[0108] For example, according to one variant of the first embodiment, the second unit 17 of the control device 15 causes a warning signal, such as a warning tone or an optical display, to be issued to the driver of the motorcycle 1.

[0109] For example, according to an alternative or additional second variant of the first embodiment, the second unit 17 of the control device 15 intervenes in the control of the motorcycle 1. For this purpose, counterweights provided on the motorcycle 1 could be automatically shifted, or an impulse could be generated by other suitable means to reduce the lean angle of the motorcycle 1, or a braking process could be initiated.

[0110] Thus, according to the first embodiment, the distances 31, 32 to the road surface 2 are directly determined, and therefore it is directly determined whether the predetermined 2024PF02173

[0111] 17

[0112] The minimum distance to the road surface 2 is not maintained. Accordingly, the driver assistance function can advantageously be reliably triggered independently of the inclination angle β of the road surface 2, since the measured distances 31, 32 correlate directly with the relative inclination angle θ of the motorcycle 1 and not with the absolute inclination angle of the motorcycle a.

[0113] The rider and the motorcycle 1 can thus be advantageously and reliably protected from accidents caused by contact with the ground of the side components 21 , 21 or body parts of the rider resting on them, and safety can be advantageously improved.

[0114] According to a further development of the first embodiment, it is possible to determine indirectly whether the minimum distance to the road surface 2 has been undercut. In an indirect determination, there is no comparison with a specific value of the minimum distance. Instead, for example, a maximum angle for the relative inclination angle θ is specified, and it is checked whether the maximum angle has been reached or exceeded.

[0115] Referring to Fig. 3, the distances 31, 32 measured according to the first embodiment and a known horizontal distance 33 (relative to the motorcycle 1) between the installation positions of the ultrasonic sensors 11, 12 can be used to construct the previously unknown course of the road surface 2 and to determine the angle θ between the horizontal axis 4 of the motorcycle 1 and the road surface 2, which (see Fig. 2) is by definition equal to the relative inclination angle θ between the vertical axis 4 of the motorcycle 1 and the surface normal 5 of the road surface 2. Since this determination of the relative inclination angle θ is based on the distance measurements of the ultrasonic sensors 11, 12, it is also referred to as measuring the relative inclination angle θ.

[0116] Accordingly, by comparing the relative inclination angle θ measured in this way with the ultrasonic sensors 11, 12 with a predetermined maximum angle, it is possible to indirectly 2024PF02173

[0117] 18

[0118] It will be determined whether a minimum distance to the road surface 2 has been breached or whether contact with the ground is imminent.

[0119] Fig. 6 shows a motorcycle 1 according to a second embodiment during cornering on an inclined road surface 2. The second embodiment is based on the first embodiment and the preliminary considerations, and the description focuses primarily on the differences and omits the description of identical situations.

[0120] According to the second embodiment, the ultrasonic sensors 11, 12 are not attached to the footrests 21, 22, but are mounted as far forward as possible on the motorcycle 1. In the example shown, the ultrasonic sensors 11, 12 are arranged, for example, in the area of ​​the lower ends of the front fork 18 of the motorcycle 1. Otherwise, the same measuring principles apply, i.e., measuring distances 31, 32 and / or measuring the relative inclination angle θ, as described for the first embodiment. When considering the distances 31, 32, a known positional relationship between the mounting position of the ultrasonic sensors 11, 12 and the footrests 21, 22—the components whose ground contact is to be prevented—must be taken into account in order to determine a suitable reference value (predetermined minimum distance).

[0121] By arranging the ultrasonic sensors 11, 12 as far forward as possible on the motorcycle 1, the imminent ground contact of the footrests 21, 22 located further back can be detected a little earlier than in the first embodiment and can therefore be reacted to even more proactively.

[0122] Fig. 7 illustrates partial steps of a method for avoiding ground contact according to a third embodiment. Reference is made to Fig. 7 and Fig. 2.

[0123] The third embodiment differs from the other embodiments in that no direct measurement of the relative inclination angle θ of the motorcycle 1 is carried out. 2024PF02173

[0124] 19

[0125] and no measurement of distances 31, 32 to the road surface 2 is carried out. Rather, an indirect determination is made as to whether a minimum distance to the road surface 2 has been undercut, based on a calculated determination of the relative inclination angle θ and using various other measured values.

[0126] The partial steps S11 to S14 illustrated in Fig. 7 are partial steps of step S1 (Fig.

[0127] 4), which are carried out by the first unit 16 (Fig. 5) to determine whether the minimum distance to the road surface 4 is not maintained, according to the third embodiment. Further reference is made to Fig. 7 and Fig. 2.

[0128] In sub-step S11, the absolute inclination angle a of the motorcycle 1 is determined.

[0129] In sub-step S12, the absolute angle of inclination β of the road surface 2 is determined.

[0130] In sub-step S13, the relative tilt angle θ of the motorcycle 1 relative to the road surface 2 is determined based on the absolute tilt angle a of the motorcycle 1 determined in sub-step S11 and the absolute tilt angle β of the road surface 2 determined in sub-step S12. For example, with reference to Fig. 2, the relative tilt angle θ can be determined by the formula θ = a + β.

[0131] In sub-step S14, it is then determined that the minimum distance is considered to be undercut if the relative inclination angle ö determined in sub-step S13 is greater than a predetermined maximum angle.

[0132] According to the third embodiment, an impending ground contact can thus be advantageously determined without the need for distance measurements with ultrasonic sensors 11, 12 (Fig. 3).

[0133] Based on the variants of the third embodiment described below, it is discussed how the absolute tilt angle a2024PF02173 can be determined without the use of ultrasonic sensors.

[0134] 20

[0135] of the motorcycle 1 and the absolute inclination angle β of the road surface can be determined.

[0136] Fig. 8 shows a motorcycle 1 according to a variant of the third embodiment. The motorcycle 1 has a forward-facing camera 13, an inertial measurement unit (IMU) 14, and a control device 15 (not shown, Fig. 5), which, with the exception of the aspects described below, corresponds to the control device 15 of the first and second embodiments. Reference is made to Fig. 8, Fig. 7, and Fig. 2.

[0137] According to the present variant of the third embodiment, the absolute inclination angle a of the motorcycle 1 can be easily measured using the inertial measurement unit 14 in sub-step S11.

[0138] Furthermore, by processing the images 10 (Fig. 9) taken with the camera 13, the absolute inclination angle β of the road surface 2 can be determined, as discussed below.

[0139] Fig. 9 shows an image 10 taken by a camera 13. The image shows a horizon line 8 and a road 7. The image also shows a left road edge 72 and a right road edge 71. The road edges 71, 72 can be identified, for example, by material differences between the road surface 2 (Fig. 2) of road 7 and the surrounding ground and / or by demarcation lines on road 7. Furthermore, along road 7, on both road edges 71, 72, there are pairs of equidistant points (arranged at equal distances from the camera 13 along the direction of travel of road 7). In this example, guideposts 711, 712, 713 are arranged at equal intervals along the road edges 71, 72 on the right road edge 71 and guideposts 721, 722, 723 on the left road edge 72. Knowing that guideposts 711-723 are generally arranged equidistantly and are all the same height, it follows that, for example, the obe-2024PF02173

[0140] 21

[0141] The ends of each pair of guideposts 711, 721; 712, 722; and 713, 723 represent characteristic equidistant point pairs along the road 7. By constructing a line through each characteristic equidistant point pair, such as line 70 through the upper ends of the equidistant guideposts 712, 722, information about the course of the absolute inclination angle β of the surface 2 (Fig. 2) of the road 7 along its course can be obtained by comparing several such lines 70 and taking into account the course of the road 7 as well as the absolute inclination angle α of the motorcycle 1, which corresponds to the angle between the horizon line 8 and the image horizontal 19, using computational 3D image processing.Particularly preferably, a 3D model of the landscape in front of the motorcycle 1 can be created based on several images 10 taken in temporal sequence and continuously updated during the journey, and the information about the inclination angle β of the road surface 2 (Fig. 2) can be extracted from the 3D model. In this way, the absolute inclination angle β of the road surface 2 can be determined by image processing of the image(s) 10 taken with the camera 13 of the motorcycle 1 in the third embodiment.

[0142] Although the present invention has been described using exemplary embodiments, it can be modified in many ways.

[0143] The side component 21, 22 of the motorcycle 1, whose ground contact is to be anticipated and prevented, has been described as the footrests 21, 22. However, there is no restriction on this, and the side component 21, 22 could instead be an accelerator pedal, a side rail, an exhaust pipe, a stand, a footrest, and the like. For example, the side component 21, 22 of the motorcycle 1 that would first come into contact with the road surface if the motorcycle 1 were to lean too far could be chosen.

[0144] Ultrasonic sensors 11, 12 have been described as the distance measuring device 11, 12. However, any type of distance measuring device 11, 12 can be used, for example, infrared, radar, or lidar. 2024PF02173

[0145] 22

[0146] The camera 13 of the third embodiment is optional, and in variants of the third embodiment, the motorcycle 1 can have a GPS sensor in addition to or instead of the camera 13. The GPS sensor can measure the position of the motorcycle 1 and then determine the absolute inclination angle β of the road surface 2 from map data stored in the control device 15 or retrieved online from it, in which the inclination of the road surface 2 is mapped as a function of a position on the map.

[0147] The inertial measurement unit 14 of the third embodiment is optional, and in variants of the embodiment, the motorcycle 1 may only have the camera 13. In this case, the horizon line 8 can be determined in the image 10 captured by the camera 13 by means of image processing, and the absolute inclination angle α of the motorcycle 1 can be determined, as shown in Fig. 9, as the angle between the horizon line 8 and the image horizontal 19.

[0148] The image processing of variants of the third embodiment does not depend on the presence of guideposts 711-733, and the 3D model can also be constructed using other characteristic points or in other ways, provided the camera images have a sufficiently high resolution and the image processing is sufficiently detailed. For example, a distance along road 7 can be determined by counting the dashes of a dashed center line (not shown) of road 7, and transverse lines can be constructed at each dash. By changing the position of these transverse lines relative to the curvature of the road, information about the inclination angle β of the road surface 2 can be obtained.

[0149] The vehicle 1 can be any motorized two-wheeled vehicle that leans when cornering, for example, a motorcycle, a moped, a scooter, an electric bicycle, an electric scooter, and the like. 2024PF02173

[0150] 23

[0151] The driver assistance measures to be triggered were described as warnings to the rider and automatic measures to correct excessive lean of the motorcycle. However, it is also conceivable that the driver assistance measure includes a preparatory measure for an already unavoidable accident, such as automatic braking, airbag deployment, and the like. Whether a driver assistance measure to warn and / or correct the lean or a driver assistance measure to prepare for an unavoidable accident is selected can be decided, for example, depending on speed, steering angle, absolute lean angle, and the like. 2024PF02173

[0152] 24

[0153] REFERENCE MARK LIST

[0154] 1 motorcycle

[0155] 2 Road surface

[0156] 3 vertical axis of the motorcycle

[0157] 4 horizontal axis of the power council

[0158] 5 Surface normal of the road surface

[0159] 6 horizontal direction

[0160] 7th Street

[0161] 8 vertical direction, direction of gravity

[0162] 9 Horizon line

[0163] 10 images

[0164] 11 Distance measuring device, e.g. ultrasonic sensor

[0165] 12. Distance measuring device, e.g. ultrasonic sensor

[0166] 13 Camera

[0167] 14 Inertial measurement unit

[0168] 15 Control device

[0169] 16 first unit

[0170] 17 second unit

[0171] 18 front fork

[0172] 19 Image horizontal

[0173] 21. Side component, footrest

[0174] 22 side component, footrest

[0175] 31 Distance to the road surface

[0176] 32 m distance to the road surface

[0177] 70 Line through equidistant points on the left and right side of the road 71 Right side of the road

[0178] 72 left side of the road

[0179] 711-723 Guideposts

[0180] a absolute tilt angle of the motorcycle 2024PF02173

[0181] 25

[0182] ß absolute angle of inclination of the road surface Y relative angle between motorcycle and road surface ö relative angle of inclination of the motorcycle

[0183] S1 Procedure step

[0184] S2 process step

[0185] S11-S14 Substeps of Step S1

Claims

2024PF02173 26 PATENT CLAIMS 1. Method for avoiding lateral ground contact, especially when cornering, for a motorcycle (1), comprising: a) Determine (S1), using a number of sensors (11-14) arranged on the motorcycle (1), whether a minimum distance between a lateral component (21, 22) of the motorcycle (1) and a road surface (2) is not maintained; and b) Activation (S2) of a driver assistance function when it has been determined that the minimum distance has been undercut.

2. Method according to claim 1, characterized in that the driver assistance function comprises issuing a warning to a driver of the motorcycle (1) and / or intervening in the control of the motorcycle (1).

3. Method according to claim 1 or 2, characterized in that step a) includes determining (S1): Measuring a distance (31, 32) between the lateral component (21, 22) and the road surface (2) with a distance measuring device (11, 12) of the motorcycle (1) arranged on the lateral component (21, 22); and Comparing the measured distance (31 , 32) with the minimum distance.

4. Method according to one of the preceding claims, characterized in that step a) comprises determining (S1): Measuring a relative lean angle (θ) of the motorcycle (1) with two distance measuring devices (11, 12) of the motorcycle (1) arranged on opposite sides of the motorcycle (1) at the same height relative to the motorcycle (1); and determining that the minimum distance is not maintained if the measured relative lean angle (θ) exceeds a predetermined maximum angle. 2024PF02173 27 5. Method according to one of the preceding claims, characterized in that step a) comprises determining (S1): Determining an absolute inclination angle (a) of the motorcycle (1); Determining an absolute angle of inclination (β) of the road surface (2); Determining a relative inclination angle (θ) of the motorcycle (1) based on the determined absolute inclination angle (α) of the motorcycle (1) and the determined absolute inclination angle (β) of the road surface (2); and Determine that the minimum distance is not maintained if the specified relative inclination angle (θ) exceeds a predetermined maximum angle.

6. Method according to claim 5, characterized in that the absolute inclination angle (a) of the motorcycle (1) is measured with an inertia measuring unit (14) of the motorcycle (1).

7. Method according to claim 5 or 6, characterized in that the absolute inclination angle (β) of the road surface (2) is obtained from map data based on a measured position of the motorcycle (1).

8. Method according to one of claims 5 to 7, characterized in that the absolute inclination angle (β) of the road surface (2) and / or the absolute inclination angle (α) of the motorcycle (1) are determined by image processing of a number of images (10) taken with a forward-facing camera (13) of the motorcycle (1).

9. Computer program product comprising instructions which, when executed by a control device of a motorcycle (1), cause the control device (15) to carry out the method according to any one of claims 1 to 8.

10. Control device (15) for a motorcycle (1), comprising: a) a first unit (16) configured to determine, using a number of sensors (11-14) arranged on the motorcycle (1), whether a minimum distance2024PF02173 28 the distance between a lateral component (21, 22) of the motorcycle (1) and a road surface (2) is less than the specified distance; and b) a second unit (17) which is configured to trigger a driver assistance function when it has been determined that the minimum distance has been undercut.

11. Motorcycle (1 ) with a lateral component (21 , 22), a number of sensors (11-14) arranged on the motorcycle (1 ) and the control device (15) according to claim 10.

12. Motorcycle (1) according to claim 11, which has a respective lateral component (21, 22) on two opposite sides, and wherein the number of sensors (11-14) comprises a respective ultrasonic sensor (11, 12) arranged laterally or below on the respective lateral component (21, 22) and pointing downwards.

13. Motorcycle (1 ) according to claim 11 or 12, wherein the number of sensors (11-14) comprises a downward-pointing ultrasonic sensor (11 , 12) arranged on a respective side of the motorcycle (1) in the region of a lower end of a front fork (18) of the motorcycle (1).

14. Motorcycle (1) according to one of claims 11 to 13, wherein the number of sensors (11-14) comprises a forward-facing camera (13).

15. Motorcycle (1) according to one of claims 11 to 14, wherein the number of sensors (11-14) comprises an inertial measurement unit (14).

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