This invention relates to a method for estimating, by means of rigid body kinematic equations, the relative acceleration along the vertical axis of the corners of a vehicle on the basis of measurements of linear acceleration along the vertical axis and angular velocities provided by a single IMU whose position with respect to the comers of the vehicle is known. The linear acceleration and angular velocities are suitably filtered in order to obtain an estimate of the acceleration of the corners that is more faithful to the real acceleration, i.e. the acceleration measured by sensors positioned on the corners.
G01P 15/00 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration
G01P 21/00 - Testing or calibrating of apparatus or devices covered by the other groups of this subclass
B60W 40/10 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to vehicle motion
B60G 17/019 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
A suspension (1) for a bicycle (101) comprising an elastic element (2) and a blocking/releasing device (3) of the elastic element (2). The blocking/releasing device (3) comprises: - a closed hydraulic circuit (4) containing a working fluid (5); - a cylinder-piston assembly (60) comprising a cylinder (10) and a piston (6) slidable inside said cylinder, said cylinder-piston assembly (60) being inserted in the hydraulic circuit (4) and being operatively disposed in parallel with said elastic element; - a valve (8) commanded by an actuator (9) inserted in the hydraulic circuit (4) and configurable according to an open configuration, so that the working fluid (5) freely flows in the hydraulic circuit for enabling movements of the piston (6) inside the cylinder (10), and a closed configuration, so that the working fluid (5) is prevented from flowing in the hydraulic circuit (4) and the piston (6) is kept blocked by the working fluid (5); - a main housing (11) receiving inside the cylinder-piston assembly (60); wherein the hydraulic circuit (4) is made in a space formed between the walls of the main housing (11) and the walls of the cylinder (10).
B62K 25/10 - Axle suspensions for mounting axles resiliently on cycle frame or fork with telescopic fork, e.g. including auxiliary rocking arms for rear wheel
F16F 13/00 - Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
3.
METHOD AND DEVICE FOR DETERMINING MULTIPLICATIVE FAULTS OF A SENSOR INSTALLED IN A SYSTEM COMPRISING A PLURALITY OF SENSORS
A method is described for determining multiplicative faults of a sensor installed in a system comprising a plurality of sensors, comprising the steps of: - detecting an effective target signal (s) from a target sensor, representative of a target quantity of the system; - detecting one or more auxiliary signals respectively from one or more auxiliary sensors of the system besides the target sensor, representative of auxiliary quantities of the system; - determining an estimated target signal (s*) representative of the target quantity from the one or more auxiliary signals; - determining a first quadratic difference (r+) between the effective target signal (s) multiplied by a multiplicative positive factor (c+) greater than 1, and the estimated target signal (s*); - determining a second quadratic difference (r) between the effective target signal (s) and estimated target signal (s*); - determining a third quadratic difference (r-) between the effective target signal (s) multiplied by a positive multiplicative factor (c-) smaller than 1, and the estimated target signal (s*); - determining a first ratio (r/r+) between the second (r) and first quadratic differences (r+); - determining a second ratio (r/r-) between the second (r) and third quadratic differences (r-); - comparing the first (r/r+) and second ratios (r/r-) with a first comparison factor (Kf); - determining the square of the effective target signal (s); - determining the square of the estimated target signal (s*); - comparing the square of the effective target signal (s) and square of estimated target signal (s*) with a second comparison factor (Ke); - establishing the presence of multiplicative faults of target sensor if at least one between the first (r/r+) and second ratios (r/r-) is greater than the first comparison factor (Kf), and at least one between the square of the effective target signal (s) and square of the estimated target signal (s*) is greater than said second comparison factor (Ke).
B60G 17/018 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
B60G 17/0185 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method for failure detection
4.
METHOD AND DEVICE FOR DETERMINING MULTIPLICATIVE FAULTS OF A SENSOR INSTALLED IN A SYSTEM COMPRISING A PLURALITY OF SENSORS
A method is described for determining multiplicative faults of a sensor installed in a system comprising a plurality of sensors, comprising the steps of: - detecting an effective target signal (s) from a target sensor, representative of a target quantity of the system; - detecting one or more auxiliary signals respectively from one or more auxiliary sensors of the system besides the target sensor, representative of auxiliary quantities of the system; - determining an estimated target signal (s*) representative of the target quantity from the one or more auxiliary signals; - determining a first quadratic difference (r+) between the effective target signal (s) multiplied by a multiplicative positive factor (c+) greater than 1, and the estimated target signal (s*); - determining a second quadratic difference (r) between the effective target signal (s) and estimated target signal (s*); - determining a third quadratic difference (r-) between the effective target signal (s) multiplied by a positive multiplicative factor (c-) smaller than 1, and the estimated target signal (s*); - determining a first ratio (r/r+) between the second (r) and first quadratic differences (r+); - determining a second ratio (r/r-) between the second (r) and third quadratic differences (r-); - comparing the first (r/r+) and second ratios (r/r-) with a first comparison factor (Kf); - determining the square of the effective target signal (s); - determining the square of the estimated target signal (s*); - comparing the square of the effective target signal (s) and square of estimated target signal (s*) with a second comparison factor (Ke); - establishing the presence of multiplicative faults of target sensor if at least one between the first (r/r+) and second ratios (r/r-) is greater than the first comparison factor (Kf), and at least one between the square of the effective target signal (s) and square of the estimated target signal (s*) is greater than said second comparison factor (Ke).
B60G 17/018 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
B60G 17/0185 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method for failure detection
5.
Method and system of controlling the stability of a two-wheeled vehicle by electronically adjustable suspension
The present invention relates to a method of controlling the stability of a two-wheeled vehicle including a first wheel associated with a first suspension and a second wheel associated with a second suspension. The method includes: detecting a signal representing the roll angle and detecting a signal representing the roll angular speed of the vehicle; detecting a signal representing the first force imposed on the first suspension; detecting a control signal representing the reference force to impose to the second suspension according to the signals representing the roll angle, of the roll angular speed and the first force. The present invention is also related to a system for controlling the stability of a two-wheeled vehicle.
B60G 17/015 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
B62K 25/04 - Axle suspensions for mounting axles resiliently on cycle frame or fork
6.
METHOD AND SYSTEM OF CONTROLLING THE STABILITY OF A TWO-WHEELED VEHICLE BY ELECTRONICALLY ADJUSTABLE SUSPENSION
The present invention relates to a method of controlling the stability of a two-wheeled vehicle (100) including a first wheel (101 ) associated with a first suspension (103) and a second wheel (102) associated with a second suspension (104). The method comprises the steps of: - detecting (204) a signal representing the roll angle (ϕ) and detecting (205) a signal representing the roll angular speed (ϕ) of the vehicle (100); - detecting (201 ) a signal representing the first force ( Fs,1 ) imposed on the first suspension (103); - detecting (209) a control signal representing the reference force (F0 S,2) to impose to the second suspension (104) according to the signals representing the roll angle (ϕ), of the roll angular speed (ϕ) and the first force ( Fs,1 ). The present invention is also related to a system for controlling the stability of a two-wheeled vehicle.
patents
