US 11,866,021 B2
Method and device for preventing a forward flip-over of a single-track motor vehicle
Markus Henzler, Stuttgart (DE); Florian Bauer, Markgroeningen (DE); and Markus Lemejda, Ludwigsburg (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Sep. 17, 2020, as Appl. No. 17/024,348.
Claims priority of application No. 102019216056.5 (DE), filed on Oct. 17, 2019.
Prior Publication US 2021/0114568 A1, Apr. 22, 2021
Int. Cl. B60T 8/17 (2006.01); B60T 8/172 (2006.01)
CPC B60T 8/1706 (2013.01) [B60T 8/172 (2013.01); B60T 2230/03 (2013.01); B60T 2240/06 (2013.01); B60T 2270/10 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method for preventing a forward flip-over of a single-track motor vehicle during a braking action of a front wheel, the method comprising the following steps:
ascertaining, for each of a plurality of dynamics characteristics of the motor vehicle that are respectively obtained from respective output of sensors of the motor vehicle, a respective value of a risk that a rear wheel of the of the motor vehicle will lift off a ground surface or has lifted off the ground surface;
ascertaining a lift-off indicator parameter based on a combination of all of the ascertained values of the risk, wherein the ascertained lift-off indicator parameter represents a present risk of occurrence of a flip-over of the motor vehicle by lift off of the rear wheel; and
reducing a braking force at the front wheel as a function of the ascertained lift-off indicator parameter to prevent the forward flip-over;
wherein the method includes at least one of the following two features (a) and (b):
(a) the plurality of dynamics characteristics includes a pitch angle of the motor vehicle, a pitch angle velocity of the motor vehicle, and an angle characterizing a lateral offset of the rear wheel; and
(b) the combination is a mathematical summation adding to one another the values of the risk ascertained for the plurality of dynamics characteristics.