Granted Patent B2

US 12,534,078 · App. 17/269,789 · Granted Jan 27, 2026

Inventors: Jacob R. Horn (North Branch, MN); Marcus A. Wetterlund (Forest Lake, MN)

Assignee: INDIAN MOTORCYCLE INTERNATIONAL, LLC

B60W30/16B62J45/4151B62J45/42B62J50/22B62J50/25B62K11/04B60W2300/367B60W2420/408B60W2520/18G01S2013/9325

Abstract

Claims (124)

1 . A method of operating a wheeled powered vehicle assembly having two or three wheels and having an automatic speed control system, comprising:

determining a probable path of the wheeled powered vehicle based at least in part on a sensed condition;

sensing, with a sensor, an object in an environment exterior to the wheeled powered vehicle assembly;

transmitting a sense signal regarding the object to a processor system;

recalling a target distance;

executing instructions with the processor system to determine if the target distance is present between the wheeled powered vehicle assembly and the object; and

if the target distance is not present, automatically altering a speed of the wheeled powered vehicle assembly to achieve the target distance.

2 . The method of claim 1 , further comprising:

receiving a selected speed input from a rider of the wheeled powered vehicle assembly;

controlling a powerplant of the wheeled powered vehicle assembly to achieve the selected speed.

3 . The method of claim 2 , further comprising:

recalling the target distance and/or a target following criteria from a memory;

wherein the object is a wheeled powered vehicle assembly having two or three wheels.

4 . The method of claim 3 , further comprising:

executing instructions with the processor system to either (i) transmit a speed plus signal if the object is at a criteria greater than the target distance and/or the target following criteria or (ii) transmit a speed minus signal if the object is at a criteria less than the target distance and/or the target following criteria.

5 . The method of claim 3 , wherein the target distance and/or the target following criteria includes a first following criteria and a second following criteria, wherein the second following criteria is greater than the first following criteria;

wherein the object includes a first object and a second object;

wherein the sensing, with a sensor, the object includes sensing both the first object and the second object;

wherein the first following criteria relates to the first object and the second following criteria relates to the second object.

6 . The method of claim 1 , further comprising:

determining if the first object is offset from the wheeled powered vehicle assembly based on the sensing of the first object; and

sending a cruise control speed signal based on a determined distance to increase or decrease a speed of the wheeled powered vehicle.

7 . The method of claim 5 , further comprising:

determining a first measured distance to the first object from the wheeled powered vehicle assembly;

generating a first comparison comparing the first measured distance to the first following criteria; and

outputting the first comparison.

8 . The method of claim 7 , further comprising:

when the output of the first comparison is that the first measured distance is less than the first following criteria, transmitting the speed minus signal to slow the powerplant speed of the wheeled powered vehicle assembly.

9 . The method of claim 7 , further comprising:

when the output of the first comparison is that the first measured distance is greater than the first following criteria, transmitting the speed plus signal to increase the powerplant speed of the wheeled powered vehicle assembly.

10 . The method of claim 9 , further comprising:

determining if the second object is in an intended path the wheeled powered vehicle assembly based on the sensing of the second object.

11 . The method of claim 10 , further comprising:

determining a second measured distance to the second object from the wheeled powered vehicle assembly;

generating a second comparison of the second measured distance to the second following criteria; and

outputting the second comparison.

12 . The method of claim 11 , further comprising:

when the output of the second comparison is that the second measured distance is less than the second following criteria, transmitting the speed minus signal to slow the powerplant speed of the wheeled powered vehicle assembly.

13 . The method of claim 11 , further comprising:

when the output of the second comparison is that the second measured distance is greater than the second following criteria, transmitting the speed plus signal to increase the powerplant speed of the wheeled powered vehicle assembly.

14 . A method of operating a wheeled motorized vehicle assembly having two or three wheels and having an automatic speed control system, comprising:

sensing, with a sensor, an object in an environment exterior to the wheeled motorized vehicle assembly;

transmitting a sense signal regarding the object to a processor system;

recalling a target distance;

executing instructions with the processor system to determine if the target distance is present between the wheeled motorized vehicle assembly and the object; and

if the target distance is not present, automatically altering a speed of the wheeled motorized vehicle assembly to achieve the target distance;

determining if the first object is offset from the wheeled motorized vehicle assembly based on the sensing of the first object; and

sending a cruise control speed signal based on a determined distance to increase or decrease a speed of the wheeled motorized vehicle;

determining if the first object moves into the intended path of the wheeled motorized vehicle assembly;

if the first object moves into the intended path of the wheeled motorized vehicle assembly, determining the that first object is the second object.

15 . The method of claim 6 , further comprising:

determining a lean angle of the wheeled powered vehicle based on the sensed condition; and

evaluating a probable path of the wheeled powered vehicle based at least in part of the determined lean angle;

wherein sensing, with the sensor, the object includes receiving a reflected radar signal from the object and acquiring an image of a surface on which the wheeled powered vehicle assembly is intended to travel.

16 . A method of operating a wheeled vehicle assembly having two or three wheels, a powerplant, and an automatic speed control system, comprising:

measuring a first criterion from the wheeled vehicle assembly to a first object in an environment;

measuring a second criterion from the wheeled vehicle assembly to a second object in the environment;

executing instructions with the processor system to:

determine a first intended path of the wheeled powered vehicle based at least in part on the measured first criterion;

identify the first object as offset laterally an offset distance from the first intended path of the wheeled vehicle assembly;

recall a first target criterion;

determine a first difference between the recalled first target criterion and the first measured criterion;

generate a first output based on the determined first difference;

recall a second target criterion;

determine a second difference between the recalled second target criterion and the second measured criterion; and

generate a second output based on the determined second difference; and

if the first difference or the second difference is different than a threshold amount, altering a speed of the powerplant of the wheeled vehicle assembly to at least achieve the threshold amount.

17 . The method of claim 16 , further comprising:

executing instructions with the processor system for determining that the offset distance is a selected distance lateral of the first intended path of the wheeled vehicle assembly.

18 . The method of claim 17 , further comprising:

receiving a selected speed input from the rider; and

controlling the powerplant of the wheeled vehicle assembly to achieve the selected speed.

19 . The method of claim 18 , wherein altering the speed of the powerplant of the wheeled vehicle assembly includes executing instructions with the processor system for either (i) transmitting a speed plus signal or (ii) transmitting a speed minus signal.

20 . The method of claim 19 , wherein transmitting the speed minus signal occurs if either of the first difference or the second difference is determined to be smaller than a selected threshold.

21 . The method of claim 19 , wherein transmitting the speed plus signal occurs if either of the first difference or the second difference is determined to be greater than a selected threshold.

22 . The method of claim 21 , further comprising:

stopping the transmission or execution of the speed plus signal if the wheeled powered vehicle is at a lean angle at or above a selected threshold.

23 . A method of operating a wheeled motorized vehicle assembly having two or three wheels and having an automatic speed control system, comprising:

measuring a first criterion from the wheeled motorized vehicle assembly to a first object in an environment;

measuring a second criterion from the wheeled motorized vehicle assembly to a second object in the environment;

receiving a selected speed input from the rider;

controlling a motor of the wheeled motorized vehicle assembly to achieve the selected speed;

executing instructions with the processor system for:

identifying the first object as offset laterally an offset distance from a first intended path of the wheeled motorized vehicle assembly;

recalling a first target criterion;

determining a first difference between the recalled first target criterion and the first measured criterion;

generating a first output based on the determined first difference;

recalling a second target criterion;

determining a second difference between the recalled second target criterion and the second measured criterion; and

generating a second output based on the determined second difference;

if the first difference or the second difference is different than a threshold amount, altering a speed of the motor of the wheeled motorized vehicle assembly;

determining that the offset distance is a selected distance lateral of the first intended path of the wheeled motorized vehicle assembly;

wherein altering the speed of the motor of the wheeled motorized vehicle assembly includes executing instructions with the processor system for either (i) transmitting a speed plus signal or (ii) transmitting a speed minus signal; and

determining that the first object moves into the first intended path of the wheeled motorized vehicle assembly;

changing an identification of the first object to a new second object.

24 . The method of claim 16 , further comprising:

acquiring an image of a surface on which the wheeled vehicle assembly is traveling;

executing instructions with the processor system for determining partitions of the surface based on the acquired image of the surface;

wherein identifying the first object as offset from the first intended path of the wheeled vehicle assembly includes determining that the first object is traveling in a lane partition of a single lane different than the wheeled vehicle assembly.

25 . A wheeled powered vehicle assembly having two or three wheels, comprising:

a frame assembly having a front portion and a rear portion;

a first wheel assembly rotatably mounted to the frame assembly to support the frame assembly near the front portion;

a second wheel assembly rotatably mounted to the frame assembly to support the frame assembly near the rear portion;

an engine supported by the frame assembly and configured to drive the at least one of the first wheel assembly or the second wheel assembly;

a first sensor mounted to the frame assembly configured to sense an environment exterior to the frame assembly to collect information regarding the environment in a first manner and generate a first sense signal;

a second sensor configured to sense a condition of the frame assembly and generate a second sense signal;

a cruise control system configured to receive an input rider selected speed via an input and selectively maintain the wheeled powered vehicle assembly at the rider selected speed;

a processor system configured to:

execute instructions, based on the first sense signal, to determine a presence of an object at least in an intended path of the wheeled powered vehicle assembly;

execute instructions, based on the second sense signal, to determine a probable intended path of the wheeled powered vehicle assembly;

if the presence of an object is determined, (i) recall a selected parameter relative to the object and (ii) generate a plus signal or a minus signal to alter a current speed of the wheeled powered vehicle assembly;

wherein the cruise control system is operable to receive the generated plus signal or minus signal to alter the current speed of the wheeled powered vehicle assembly from the rider selected speed and attempt to achieve the recalled selected parameter.

26 . The wheeled powered vehicle assembly of claim 25 , wherein the first sensor includes a radar assembly.

27 . The wheeled powered vehicle assembly of claim 25 , further comprising:

a third sensor configured to sense the environment in a second manner and generate a third sense signal;

wherein the processor system is further configured to:

execute instructions, based on both the first sense signal and the third sense signal, to determine a presence of an object at least in an intended path of the wheeled powered vehicle assembly.

28 . The wheeled powered vehicle assembly of claim 27 , wherein the first sensor is a radar sensor assembly and the third sensor is a camera;

wherein the radar assembly is operable to identify an exterior object relative to the frame assembly in the environment;

wherein the camera is operable to acquire an image of a surface exterior to the frame assembly;

wherein the wherein the processor system is further configured to execute instructions, based on both the first sense signal and the third sense signal, to determine a partition of a lane of travel of the wheeled powered vehicle assembly, a partition in which the wheeled powered vehicle assembly is traveling, and the presence of the object in the lane of travel.

29 . The wheeled powered vehicle assembly of claim 28 , wherein the processor system is further configured to execute instructions to determine, at least based on one of the first sense signal or third sense signal, when the object moves into the partition of the lane of the wheeled powered vehicle assembly;

wherein the processor assembly generates the plus signal or the minus signal to alter the speed of the wheeled powered vehicle assembly when the processor system determines that the object has moved into the partition of the lane of the wheeled powered vehicle assembly;

wherein the speed of the wheeled powered vehicle assembly is altered automatically based on the generated plus signal or the minus signal.

Assignments (3)

Continuity (2)

References Cited (245)