US 11,731,596 B2
Method for the traction control of a single-track motor vehicle taking the slip angle of the rear wheel into consideration
Martin Heidrich, Laufen-Leobendorf (DE); and Josef Rank, Suenzhausen (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 17/417,940
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed Dec. 2, 2019, PCT No. PCT/EP2019/083275
§ 371(c)(1), (2) Date Jun. 24, 2021,
PCT Pub. No. WO2020/151860, PCT Pub. Date Jul. 30, 2020.
Claims priority of application No. 10 2019 101 392.5 (DE), filed on Jan. 21, 2019.
Prior Publication US 2022/0073041 A1, Mar. 10, 2022
Int. Cl. B60T 8/17 (2006.01); B60T 8/1755 (2006.01); B60W 30/045 (2012.01); B60W 30/18 (2012.01); B60W 40/072 (2012.01); B60W 40/101 (2012.01); B60W 50/00 (2006.01)
CPC B60T 8/1706 (2013.01) [B60T 8/17552 (2013.01); B60W 30/045 (2013.01); B60W 30/18172 (2013.01); B60W 40/072 (2013.01); B60W 40/101 (2013.01); B60W 50/00 (2013.01); B60T 2210/24 (2013.01); B60T 2210/36 (2013.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2520/16 (2013.01); B60W 2520/18 (2013.01); B60W 2530/10 (2013.01); B60W 2540/18 (2013.01); B60W 2552/30 (2020.02); B60W 2552/40 (2020.02); B60W 2556/35 (2020.02); B60W 2556/50 (2020.02)] 15 Claims
OG exemplary drawing
 
1. A method for determining a slip angle λr of a rear wheel of a single-track motor vehicle for the traction control of the rear wheel of the single-track motor vehicle by a control loop, comprising the acts of:
determining the slip angle λr of the rear wheel as a feedback variable of the control loop by at least one of
determining a first slip angle λr1 using a first state estimator, wherein input variables of the first state estimator are at least one steering angle δ on a front wheel of the single-track motor vehicle and an orientation of the single-track motor vehicle in space,
determining a second slip angle λr2 using a second state estimator, wherein input variables of the second state estimator are at least one steering angle δ on the front wheel of the single-track motor vehicle and a movement vector of the single-track motor vehicle in a mass center of gravity of the single-track motor vehicle, and
determining a third slip angle λr3, wherein the third slip angle λr3 is determined from a predetermined relationship for a single-track model between the steering angle δ, an Ackermann angle ΔA, a slip angle λf of a front wheel, and the third slip angle λr3
wherein
the slip angle λf is determined from a predetermined ratio of the slip angle λf to a vehicle status, and
the first slip angle λr1, the second slip angle λr2, or the third slip angle λr3 represents the slip angle λr, or the slip angle λr is determined from at least two of the slip angles λr1, λr2, and λr3.