Method for determining angle of deviation of vehicle longitudinal axis of traveling direction of motorcycle, involves determining velocity vectors to two points in vehicle directions from skew angles and kinematic turning radius

摘要

The method involves determining preliminary kinematic turning radius from traveling status data of motorcycle (10). A kinematic turning radius (16) and skew angle of front and rear wheels (18,28) are determined from preliminary kinematic turning radius. The velocity vectors to two points in vehicle longitudinal and lateral directions are determined from skew angles and kinematic turning radius. The angle (alpha ) of deviation of vehicle longitudinal axis (20) of traveling direction (14) of motorcycle is determined based on the velocity vectors. Independent claims are included for the following: (1) component for determination of deviation of vehicle longitudinal axis of traveling direction of motorcycle; and (2) driving assistance system.