Method for determining angle of inclination of motorcycle, involves determining angle of inclination based on torque balance of lateral force and weight in focus to intersection point of motorcycle by focus with road surface

摘要

The method involves determining a longitudinal speed of a motorcycle (11) from a steering angle (delta ), a deviation angle (beta ) of a vehicle longitudinal axis (28) and the speed of a front wheel (21). The acceleration (a) transverse to the vehicle longitudinal axis is determined from a yaw rate (phi ) and the longitudinal speed. An angle of inclination (gamma ) is determined based on a torque balance of a lateral force (A) and a weight (M) in a focus (10) to an intersection point to the vertical line of the motorcycle by the focus with a road surface (19). Independent claims are included for the following: (1) an assembly for determining the angle of inclination of a motorcycle; and (2) a driving assistance system for a motorcycle.