Two-Wheeler Steering Angle Estimation With Single-Pulse Speed Sensing
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Solution Overview
Problem
Existing two-wheeler systems face inaccuracies in determining movement variables, particularly at low speeds, due to the use of single-pulse sensors, which can lead to reduced control precision for drive units and anti-lock braking systems.
Innovation Solution
A method utilizing a combination of rotation rate, acceleration, and wheel speed sensors to detect three-dimensional rotation rates, estimate movement states, and correct them for precise determination of speed, distance, and steering angle, allowing for precise actuation of drive units and anti-lock braking systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single-pulse sensor with a single magnet on the wheel is used, then cost, simplicity, and weight are reduced, but measurement precision deteriorates, especially at low speeds
Solution Approach 1:
The patent combines multiple sensor types (yaw rate sensor, acceleration sensor, and wheel speed sensor) into an integrated sensor system that works together to determine movement variables. This merging allows the system to compensate for the limitations of the single-pulse sensor by using complementary data from other sensors, thereby maintaining measurement precision without increasing individual sensor complexity
Solution Approach 2:
The control device acts as an intermediary that processes data from multiple sensors and calculates movement variables (speed, distance, steering angle) through mathematical operations. This intermediary processing layer transforms the limited single-pulse sensor data into precise movement information by combining it with data from yaw rate and acceleration sensors
2Measurement precision
If multi-pulse sensors are used to increase accuracy, then measurement precision improves, but device complexity, cost, and weight increase
Solution Approach 1:
Instead of using a complex multi-pulse sensor, the patent merges a simple single-pulse sensor with other less complex sensors (yaw rate sensor and acceleration sensor) to achieve the same or better measurement precision. This combination approach distributes the measurement function across multiple simple sensors rather than concentrating it in one complex sensor
Solution Approach 2:
The patent replaces the mechanical complexity of multi-pulse sensors with a computational approach using electronic sensors and mathematical processing. The control device uses algorithms to calculate precise movement variables from the combined data of multiple simple sensors, substituting mechanical sensor complexity with electronic and computational simplicity
3Ease of manufacture
If a single-pulse wheel speed sensor is used, then cost and simplicity are improved, but measurement precision at low speeds deteriorates
Solution Approach 1:
The control device serves as an intermediary that processes the limited single-pulse sensor data and combines it with yaw rate and acceleration sensor data to calculate accurate low-speed movement variables. This intermediary processing enables precise low-speed measurement without requiring a more complex wheel speed sensor
Solution Approach 2:
The system changes the approach to measurement by not relying solely on wheel speed sensor parameters but by incorporating yaw rate and acceleration parameters into the calculation of movement variables. This parameter diversification allows accurate low-speed measurement even with a simple single-pulse wheel speed sensor
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables high-precision movement variable determination and actuation, even at low speeds, enhancing safety and control during maneuvers like cornering and braking, while reducing complexity and cost by using a single-pulse wheel speed sensor.
Implementation Method 1
Detecting, in particular three-dimensional, rotation rates of the two-wheeler by means of the rotation rate sensor
Implementation Method 2
detecting acceleration values of the two-wheeler by means of the acceleration sensor
Implementation Method 3
A magnet is usually attached to one of the bicycle wheels. A magnetic sensor attached to the bicycle frame records a pulse for each rotation of the wheel
Data Source
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AI summary
The invention relates to a method for operating a two-wheeler (1) and to a two-wheeler (1), wherein the two-wheeler (1) comprises a drive unit (12) and a sensor system (2), wherein the sensor system (2) has a yaw rate sensor (21), an acceleration sensor (22), and a wheel speed sensor (23), wherein the wheel speed sensor (23) is configured to detect at least one measurement pulse per revolution of a wheel (11) of the two-wheeler (1), and wherein the method comprises the steps: acquiring (51) yaw rates of the two-wheeler (1), in particular three-dimensional rates, by means of the yaw rate sensor (21), acquiring (52) acceleration values of the two-wheeler (1) by means of the acceleration sensor (22), estimating (53) a state of motion of the two-wheeler (1) based on the acquiring yaw rates, wherein the state of motion comprises estimates for estimated acceleration values, for an estimated speed, and for an estimated distance traveled.first correction (54) of the estimated state of motion based on the recorded acceleration values, determination (56) of an instantaneous steering angle (δ) of the two-wheeler (1) based on the corrected estimated state of motion, and actuation (58) of the drive unit (12) and/or an anti-lock braking system (13) of the two-wheeler (1) depending on the determined instantaneous steering angle (δ).