| 主权项 |
1. A method for controlling braking torque in a braking system of a two-wheeled vehicle, the vehicle having a front wheel and a rear wheel, the method comprising:
ascertaining a desired braking torque via at least one brake actuating device; dividing, using a control unit, the desired braking torque into a front wheel braking torque at the front wheel and a rear wheel braking torque at the rear wheel, wherein a sum of the front wheel braking torque and the rear wheel braking torque is equal to the desired braking torque; calculating a front wheel yawing torque based on the front wheel braking torque, a rear wheel yawing torque based on the rear wheel braking torque, and a total steering torque as the weighted difference between the front wheel yawing torque and the rear wheel yawing torque; comparing the total steering torque to a limiting value of the steering torque; actuating the front wheel braking torque at the front wheel and the rear wheel braking torque at the rear wheel, if the total steering torque is less than the limiting torque value; and dividing, using a control unit, the desired braking torque into a second front wheel braking torque at the front wheel and a second rear wheel braking torque at the rear wheel, and actuating the second front wheel braking torque at the front wheel and the second rear wheel braking torque at the rear wheel, if the total steering torque is greater than the limiting torque value; wherein a second total steering torque as the weighted difference between a second front wheel yawing torque and a second rear wheel yawing torque is less than a limiting value of the steering torque. |
