US 12,116,082 B2
Method for operating a two-wheeler
Alessandro Moia, Holzgerlingen (DE); Atsushi Nakamura, Niigata (JP); Daniel Baumgaertner, Tuebingen (DE); Felix Dauer, Tuebingen (DE); Georg Widmaier, Leonberg (DE); Oliver Maier, Stuttgart (DE); Silas Klug, Magstadt (DE); and Steffen Heil, Pfullingen (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Oct. 4, 2022, as Appl. No. 17/959,762.
Claims priority of application No. 10 2021 211 390.7 (DE), filed on Oct. 8, 2021.
Prior Publication US 2023/0110547 A1, Apr. 13, 2023
Int. Cl. B62M 6/50 (2010.01); B60T 8/17 (2006.01); B60T 8/1755 (2006.01)
CPC B62M 6/50 (2013.01) [B60T 8/1706 (2013.01); B60T 8/17554 (2013.01); B60T 2230/03 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for operating a two-wheeler, the two-wheeler including a drive unit and a sensor system, the sensor system including a rotation rate sensor, an acceleration sensor, and a wheel speed sensor, the wheel speed sensor being configured to detect at least one measuring pulse per revolution of a wheel of the two-wheeler, the method comprising the following steps:
detecting three-dimensional rotation rates of the two-wheeler using the rotation rate sensor;
detecting acceleration values of the two-wheeler using the acceleration sensor;
estimating a motion state of the two-wheeler based on the detected rotation rates, the motion state including estimated values for estimated acceleration values and for an estimated speed and for an estimated distance covered;
first correcting of the estimated motion state based on the detected acceleration values;
ascertaining an instantaneous steering angle of the two-wheeler based on the corrected estimated motion state; and
actuating the drive unit and/or an antilocking system of the two-wheeler as a function of the ascertained instantaneous steering angle.