Method for Determining a Position of a Single-Track Vehicle and Device for Carrying out the Method

Abstract

A method is described for determining a position of a two-wheeled vehicle. The single-track vehicle has a vehicle path yaw rate when driving along curves and a yaw rate according to the inclined orientation which differs from the vehicle path yaw rate. An inclined orientation of the single-track vehicle and a speed of the single-track vehicle are measured. The vehicle path yaw rate of the single-track vehicle is determined from the measured inclined orientation and the measured speed. A device for carrying out the method is also described.

Claims

1. A method of determining a position of a single-track vehicle, wherein when traveling in a curve the single-track vehicle has a vehicle-path yaw rate (ω.sub.z) and an inclined orientation-dependent yaw rate (ω.sub.z′) which differs from the vehicle-path yaw rate (ω.sub.z), the method comprising the acts of: measuring an inclined orientation (φ) of the single-track vehicle and a speed (v) of the single track vehicle; determining, from the measured inclined orientation (φ) and the measured speed (v), the vehicle path yaw rate (ω.sub.z); and using the determined vehicle path yaw rate (ω.sub.z) to determine the position of the single-track vehicle.

2. The method according to claim 1, wherein the vehicle path yaw rate ω.sub.z is determined by the equation:
ω.sub.z=(sin(φ).Math.g)/(v.Math.cos(φ)) where φ is an inclination angle or an inclined orientation of the single-track vehicle, v is the speed of the single-track vehicle, and g is a ground acceleration.

3. The method according to claim 2, wherein, for determining the position of the single-track vehicle, a dead-reckoning algorithm is used which employs the vehicle path yaw rate (ω.sub.z) to calculate the position of the single-track vehicle.

4. The method according to claim 1, wherein, for determining the position of the single-track vehicle, a dead-reckoning algorithm is used which employs the vehicle path yaw rate (ω.sub.z) to calculate the position of the single-track vehicle.

5. A device for determining a position of a single-track vehicle, the device comprising a calculating unit including a processor that executes program to: measure an inclined orientation (φ) of the single-track vehicle and a speed (v) of the single track vehicle; determine, from the measured inclined orientation (φ) and the measured speed (v) the vehicle path yaw rate (ω.sub.z); and use the determined vehicle path yaw rate (ω.sub.z) to determine the position of the single-track vehicle.

6. The device according to claim 5, wherein at least one vehicle sensor measures the inclined orientation and the speed of the single-track vehicle, and the calculating unit determines the vehicle path yaw rate of the single-track vehicle as a function of variables recorded by way of the at least one vehicle sensor.

7. The device according to claim 6, wherein the calculating unit determines the vehicle path yaw rate based on the following equation:
ω.sub.z=(sin(φ).Math.g)/(v.Math.cos(φ)) where φ is an inclination angle or an inclined orientation of the single-track vehicle, v is the speed of the single-track vehicle, and g is a ground acceleration.

8. The device according to claim 7, wherein the calculating unit executes program code to determine the position of the single-track vehicle via a dead-reckoning algorithm that employs the vehicle path yaw rate to calculate the position of the single-track vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWING

[0016] FIG. 1 is a schematic view of a single-track vehicle 1 when traveling in a curve according to one example of embodiment.

DETAILED DESCRIPTION OF THE DRAWING

[0017] In FIG. 1, while traveling in a curve, the single-track vehicle 1 exhibits an angle of inclination φ between the vertical axis of the vehicle 3 and roadway 2.

[0018] In FIG. 1, the force of gravity F.sub.G, the component F.sub.G′ of the weight perpendicular to the vertical axis 3 of the vehicle and the centrifugal force F.sub.Zf acting on the center of gravity 4 of the single-track vehicle 1 are also shown.

[0019] When traveling through the curve the single-track vehicle 1 exhibits a vehicle path yaw rate ω.sub.z perpendicular to a surface of the roadway and an inclination orientation-dependent yaw rate ω.sub.z′ in the direction of the vertical axis 3 of the vehicle.

[0020] In the method described here, in order to determine the position of the single-track vehicle 1, the inclined orientation φ of the single-track vehicle 1 and the speed v of the single-track vehicle 1 are measured.

[0021] From the measured inclined orientation φ and speed v, the vehicle path yaw rate ω.sub.z of the single-track vehicle is determined. The vehicle path yaw rate ω.sub.z can in particular be determined via the equation: ω.sub.z=(sin φ.Math.g)/(v.Math.cos φ), where φ is the inclination angle or the inclined orientation of the single-track vehicle, v the speed of the single-track vehicle and g the ground acceleration.

[0022] By way of the method described here the navigation of a single-track vehicle is advantageously made possible in the event of a short-term failure of the GPS signal. In addition to the navigation of a single-track vehicle this is also particularly of relevance in connection with the breaking off of emergency calls (known as “E-call”).

[0023] In accordance with a further form of embodiment, in order to determine the position of the single-track vehicle, a dead-reckoning algorithm is used which employs the vehicle path yaw rate for calculating the position of the single-track vehicle. Advantageously, through the determined vehicle path yaw rate of the single-track vehicle, dead-reckoning algorithms known from the private car sector can be used for dead reckoning in the case of the single track vehicle.

[0024] In addition, a device for implementing the method described here is set out. The device can have one or more features of the forms of embodiment already cited in connection with the method.

[0025] For example, the device can comprise one or more vehicle sensors, such as a wheel rotation sensor, gyrometer, inclination sensor etc. Furthermore, the device can comprise a calculation unit, such as a computer having a processor and associated memory, to execute a programmed method for determining the vehicle path yaw rate of the single-track vehicle on the basis of the variables determined by way of the vehicle sensor(s), in particular the inclined orientation and the speed of the single-track vehicle.

LIST OF REFERENCE NUMBERS

[0026] 1. Single track vehicle [0027] 2. Ground [0028] 3. Vertical axis of the vehicle [0029] 4. Centre of gravity [0030] m Mass [0031] v Speed [0032] F.sub.G Force of gravity [0033] F.sub.G′ Component of F.sub.G perpendicular to the vertical axis of the vehicle [0034] F.sub.zf Centrifugal force [0035] ω.sub.z Vehicle path yaw rate [0036] ω.sub.z′ Inclined orientation-dependent yaw rate [0037] φ Angle of inclination

[0038] The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.