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1. (WO2019032092) METHOD AND SYSTEM FOR LEAN ANGLE ESTIMATION OF MOTORCYCLES
Nota: O texto foi obtido por processos automáticos de reconhecimento ótico de caracteres.
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CLAIMS

What is claimed is:

1. A system for estimating a lean angle of a motorcycle, the system comprising:

a memory, configured to store gravity information and driving information; and

a processor, configured to:

determine a base attitude comprising estimated gravity values of the motorcycle when the motorcycle is determined to be in an upright position, from information associated with one or more timestamps of the gravity information and the driving information;

determine a measured attitude from the gravity information and the driving information for a timestamp from the one or more timestamps; and,

determine the lean angle of the motorcycle for the timestamp from the one or more timestamps, based on differences between the measured attitude and the base attitude for the timestamp from the one or more timestamps.

2. The system of claim 1, wherein the processor is further configured to generate a visualization of the lean angle of the motorcycle across a plurality of timestamps.

3. The system of claim 1, wherein the processor is configured to determine a lean direction of the motorcycle for the timestamp from the one or more timestamps, based on at least one of: assignment of the lean directional based on a curving direction of the motorcycle at the timestamp from the one or more timestamps, an acceleration direction along a vertical direction of the motorcycle at the timestamp from the one or more timestamps, and changes to components of the estimated gravity values compared to the base attitude.

4. The system of claim 1, wherein the processor is configured to determine the base attitude based on at least one of: an average of the estimated gravity values over a trip of the motorcycle, an average of the estimated gravity values over one or more time periods of driving when the motorcycle is driving at a speed above a speed threshold, an average of the estimated gravity values over one or more time periods of driving when the

motorcycle is determined to be driving straight, and an average of the estimated gravity values when g-force is determined not to exist.

5. The system of claim 1, wherein the driving information comprises latitude velocity of the motorcycle, longitude velocity of the motorcycle, curvature measurement of the motorcycle, latitude acceleration of the motorcycle, and longitude acceleration of the motorcycle;

wherein the processor is configured to determine that the motorcycle is in an upright position based on at least one of: a magnitude of the latitude velocity and the longitude velocity being above a velocity threshold, the curvature measurement being within a curvature threshold from zero, and a magnitude of the latitude acceleration and the longitude acceleration being within an acceleration threshold from zero.

6. The system of claim 1, wherein the gravity information comprises gravity values along an x-axis, y-axis and z-axis, wherein the processor is configured to derive the gravity information from acceleration information and rotational information received from a mobile device associated with the motorcycle.

7. The system of claim 1, wherein the processor is configured to determine the lean angle based on an equation


wherein Θ is the lean angle, gr is the measured attitude, and g is the base attitude.

8. A non-transitory computer readable medium, storing instructions for estimating a lean angle of a motorcycle, the instructions comprising:

storing gravity information and driving information;

determining a base attitude comprising estimated gravity values of the motorcycle when the motorcycle is determined to be in an upright position, from

information associated with one or more timestamps of the gravity information and the driving information;

determining a measured attitude from the gravity information and the driving information for a timestamp from the one or more timestamps; and,

determining the lean angle of the motorcycle for the timestamp from the one or more timestamps, based on differences between the measured attitude and the base attitude for the timestamp from the one or more timestamps.

9. The non-transitory computer readable medium of claim 8, further comprising generating a visualization of the lean angle of the motorcycle across a plurality of timestamps.

10. The non-transitory computer readable medium of claim 8, wherein the determining a lean direction of the motorcycle for the timestamp from the one or more timestamps is based on at least one of: assignment of the lean directional based on a curving direction of the motorcycle at the timestamp from the one or more timestamps, an acceleration direction along a vertical direction of the motorcycle at the timestamp from the one or more timestamps, and changes to components of the estimated gravity values compared to the base attitude.

11. The non-transitory computer readable medium of claim 8, wherein the determining the base attitude is based on at least one of: an average of the estimated gravity values over a trip of the motorcycle, an average of the estimated gravity values over one or more time periods of driving when the motorcycle is driving at a speed above a speed threshold, an average of the estimated gravity values over one or more time periods of driving when the motorcycle is determined to be driving straight, and an average of the estimated gravity values when g-force is determined not to exist.

12. The non-transitory computer readable medium of claim 8, wherein the driving information comprises latitude velocity of the motorcycle, longitude velocity of the motorcycle, curvature measurement of the motorcycle, latitude acceleration of the motorcycle, and longitude acceleration of the motorcycle;

wherein the determining that the motorcycle is in an upright position is based on at least one of: a magnitude of the latitude velocity and the longitude velocity being above a velocity threshold, the curvature measurement being within a curvature threshold from zero, and a magnitude of the latitude acceleration and the longitude acceleration being within an acceleration threshold from zero.

13. The non-transitory computer readable medium of claim 8, wherein the gravity information comprises gravity values along an x-axis, y-axis and z-axis, wherein the deriving the gravity information from acceleration information and rotational information received from a mobile device associated with the motorcycle.

14. The non-transitory computer readable medium of claim 8, wherein the determining the lean angle based on an equation


wherein Θ is the lean angle, gr is the measured attitude, and g is the base attitude.

15. A method for estimating a lean angle of a motorcycle, the method comprising:

storing gravity information and driving information;

determining a base attitude comprising estimated gravity values of the motorcycle when the motorcycle is determined to be in an upright position, from information associated with one or more timestamps of the gravity information and the driving information;

determining a measured attitude from the gravity information and the driving information for a timestamp from the one or more timestamps; and,

determining the lean angle of the motorcycle for the timestamp from the one or more timestamps, based on differences between the measured attitude and the base attitude for the timestamp from the one or more timestamps.