Control device and control method

Abstract

The invention provides a control device and a control method capable of reducing the workload of operation of a saddle-type vehicle. In a control device (20) and a control method according to the present invention, an acquisition unit of the control device (20) acquires drive source information, which is information relating to a drive source (engine (11)) of a saddle-type vehicle (1); further, an execution unit of the control device (20) executes a drive wheel lock that locks drive wheels (rear wheels (3)) of the saddle-type vehicle (1) by braking, without being operated by a rider of the saddle-type vehicle (1); when the drive source information is information indicating that the drive source has stopped, the execution unit starts drive wheel locking.

Description

Technical Field

[0001] The present disclosure relates to a control device and a control method capable of reducing the workload of operating a saddle-type vehicle. Background Art

[0002] As a conventional technology for riding-type vehicles such as motorcycles, there is a technology for assisting the rider. For example, Patent Document 1 discloses a driver assistance system that warns the rider of the motorcycle of inappropriate approach to an obstacle based on information detected by a sensor device that detects obstacles in the direction of travel or substantially in the direction of travel.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2009-116882 Summary of the invention

[0006] Technical problem to be solved by the invention

[0007] However, the parking brake is used to suppress the movement of the vehicle during parking. The driver can activate the parking brake by operating the operating unit linked to the parking brake. Here, when parking, in a riding type vehicle, the operation tends to be complicated because the rider needs to support the vehicle body with his feet, etc., compared with a four-wheeled car. Moreover, the above-mentioned operation related to the parking brake during parking becomes a cause of increasing the workload of the rider. Therefore, it is desired to assist the rider during parking to reduce the workload of the rider.

[0008] The present invention has been made against the background of the above-mentioned technical problems, and an object of the present invention is to obtain a control device and a control method capable of reducing the workload of operating a saddle-type vehicle.

[0009] Means for solving technical problems

[0010] The control device related to the present invention is a control device for controlling a riding type vehicle, comprising an acquisition unit for acquiring drive source information, wherein the drive source information is information related to the drive source of the aforementioned riding type vehicle; and an execution unit, wherein the execution unit executes drive wheel locking of the aforementioned riding type vehicle by braking without being based on the operation of the rider of the aforementioned riding type vehicle; the aforementioned execution unit starts the aforementioned drive wheel locking when the aforementioned drive source information is information indicating that the aforementioned drive source has stopped.

[0011] The control method related to the present invention is a control method for controlling a riding type vehicle, wherein an acquisition unit of a control device acquires information related to a driving source of the riding type vehicle, namely, driving source information; further, an execution unit of the control device executes driving wheel locking of the riding type vehicle by braking without relying on an operation of a rider of the riding type vehicle; and the execution unit starts the driving wheel locking when the driving source information indicates that the driving source has stopped.

[0012] Effects of the Invention

[0013] In the control device and control method of the present invention, the acquisition unit of the control device acquires information related to the driving source of the saddle-type vehicle, that is, driving source information; further, the execution unit of the control device executes driving wheel locking of the saddle-type vehicle by braking without relying on the operation of the rider of the saddle-type vehicle; the execution unit starts driving wheel locking when the driving source information is information indicating that the driving source has stopped. As a result, when the rider parks the saddle-type vehicle, the driving wheel locking can be started without relying on the rider's operation, the movement of the vehicle body can be suppressed, and the workload of operating the saddle-type vehicle can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram showing a schematic structure of a saddle-ride type vehicle according to an embodiment of the present invention.

[0015] Figure 2 It is a schematic diagram showing a schematic configuration of a brake system according to an embodiment of the present invention.

[0016] Figure 3 This is a block diagram showing an example of a functional configuration of a control device according to an embodiment of the present invention.

[0017] Figure 4 This is a flowchart showing an example of the flow of processing performed by the control device according to the embodiment of the present invention. DETAILED DESCRIPTION

[0018] Hereinafter, a control device and a control method according to the present invention will be described using the drawings.

[0019] In addition, the control device used in the two-wheeled motorcycle is described below (refer to Figure 1The present invention is a riding-type vehicle 1), but the vehicle to be controlled by the control device of the present invention may also be other riding-type vehicles other than two-wheeled motorcycles. A riding-type vehicle refers to a vehicle that a rider rides astride. Riding-type vehicles include, for example, motorcycles (motorized two-wheeled vehicles, motorized three-wheeled vehicles), buggies, snowmobiles, bicycles, and the like. Motorcycles include vehicles that use an engine as a power source, vehicles that use an electric motor as a power source, and the like. Motorcycles include, for example, motor bicycles, scooters, electric scooters, and the like. A bicycle refers to a vehicle that can be propelled on the road by the pedaling force of the rider applied to the pedals. Bicycles include ordinary bicycles, electric-assisted bicycles, electric bicycles, and the like.

[0020] In addition, the following describes a method for outputting a drive wheel (specifically, Figure 1 The rear wheel 3 in the embodiment is driven by an engine (specifically, the rear wheel 3 described later) as a driving source of power. Figure 1 The present invention does not involve the case of the engine 11 in the figure, but other drive sources other than the engine (such as an electric motor) may be installed as the drive source, or multiple drive sources may be installed.

[0021] In addition, the following description is as follows: Figure 1 The rear wheel 3) in the embodiment of the present invention is braked by a mechanism that uses electric power to brake the drive wheel (specifically, the rear wheel described later). Figure 2 In the case of the rear wheel brake mechanism 32 in the embodiment of the present invention, a mechanism that brakes the drive wheel using brake fluid may be used as the mechanism that brakes the drive wheel. In addition, as the mechanism that brakes the drive wheel, a mechanism that brakes the drive wheel using electricity when the drive wheel lock described later is executed and brakes the drive wheel using brake fluid when the drive wheel lock is not executed may also be used.

[0022] In addition, the configuration and operation etc. described below are merely examples, and the control device and control method according to the present invention are not limited to such configuration and operation etc.

[0023] In addition, the same or similar descriptions are appropriately simplified or omitted below. In addition, in each figure, for the same or similar parts or portions, the reference numerals are omitted or the same reference numerals are given. In addition, the detailed structure is appropriately simplified or omitted.

[0024] <Structure of a riding type vehicle>

[0025] Reference Figure 1 to Figure 3 , the structure of the saddle-ride type vehicle 1 according to the embodiment of the present invention will be described.

[0026] Figure 11 is a schematic diagram showing a schematic structure of a saddle-type vehicle 1. The saddle-type vehicle 1 is a two-wheeled motorcycle corresponding to an example of a saddle-type vehicle according to the present invention. Figure 1 As shown, it is equipped with front wheels 2, rear wheels 3, side stands 4, an engine 11, a transmission mechanism 12, a hydraulic control unit 13, an ignition switch 14, an inertial measurement unit (IMU) 15, a side stand sensor 16, a front wheel speed sensor 17, a rear wheel speed sensor 18 and a control unit (ECU) 20.

[0027] The engine 11 is equivalent to an example of a driving source of the riding type vehicle 1, and can output power for driving the rear wheel 3 as a driving wheel. For example, the engine 11 is provided with one or more cylinders forming a combustion chamber inside, a fuel injection valve and a spark plug for injecting fuel toward the combustion chamber. By injecting fuel from the fuel injection valve, a mixed gas containing air and fuel is formed in the combustion chamber, and the mixed gas is ignited by the spark plug and burns. As a result, the piston arranged in the cylinder reciprocates, causing the crankshaft to rotate. In addition, a throttle valve is provided in the intake pipe of the engine 11, so that the intake amount to the combustion chamber changes according to the opening degree of the throttle valve, that is, the throttle opening.

[0028] The speed change mechanism 12 is an automatic speed change mechanism that can change the speed ratio without relying on the operation performed by the rider. That is, the saddle-type vehicle 1 is an automatic speed change vehicle. The input shaft of the speed change mechanism 12 is connected to the crankshaft of the engine 11. The output shaft of the speed change mechanism 12 is connected to the rear wheel 3 as a driving wheel. Therefore, the power output from the engine 11 is transmitted to the speed change mechanism 12, and the speed is changed by the speed change mechanism 12 and transmitted to the rear wheel 3. The speed change mechanism 12 is a speed change mechanism that cannot lock the rear wheel 3 as a driving wheel when the engine 11 stops.

[0029] The hydraulic control unit 13 is a unit that is responsible for controlling the braking force generated on the wheels. For example, the hydraulic control unit 13 includes components (e.g., control valves and pumps) that are provided in the oil circuit connecting the master cylinder and the wheel cylinder to control the brake fluid pressure of the wheel cylinder. By controlling the actions of the components of the hydraulic control unit 12, the braking force generated on the wheels is controlled.

[0030] The brake system 10 including the hydraulic control unit 13 will be described in detail later. The hydraulic control unit 13 is provided with a control device 20, and the operation of the brake system 10 is controlled by the control device 20. The control device 20 will be described in detail later.

[0031] The ignition switch 14 is a switch for starting the engine 11. The rider can start or stop the engine 11 by operating the ignition switch 14. Figure 1In an example, information related to the engine 11, namely, driving source information, is output to the control device 20. For example, information indicating ignition ON can be cited as the driving source information. Ignition ON means the state in which the engine 11 is started. In addition, for example, information indicating ignition OFF can be cited as the driving source information. Ignition OFF means the state in which the engine 11 is stopped.

[0032] The inertial measurement device 15 includes a three-axis gyro sensor and a three-way acceleration sensor to detect the posture of the riding type vehicle 1. The inertial measurement device 15 is, for example, disposed on the body of the riding type vehicle 1. For example, the inertial measurement device 15 detects the pitch angle of the riding type vehicle 1 and outputs the detection result. The inertial measurement device 15 may also be a device that detects other physical quantities that can be substantially converted into the pitch angle of the riding type vehicle 1. The pitch angle is equivalent to an angle indicating the longitudinal inclination of the body (specifically, the vehicle body) of the riding type vehicle 1 relative to the horizontal direction. In other words, the pitch angle is equivalent to an angle indicating to what extent the body of the riding type vehicle 1 has rotated from the posture toward the horizontal direction in the pitch direction, which is a rotation direction centered on the axis in the left-right direction of the vehicle.

[0033] The inertial measurement device 15 may include only a part of the three-axis gyro sensor and the three-axis acceleration sensor.

[0034] The side stand sensor 16 detects information related to the side stand 4. The side stand 4 is provided to support the body of the saddle-type vehicle 1 when the saddle-type vehicle 1 is parked. When the saddle-type vehicle 1 is traveling, the side stand 4 is in a state of retreating to the side of the body (hereinafter, also referred to as a retreated state). On the other hand, when the saddle-type vehicle 1 is parked, the side stand 4 protrudes toward the ground side and is in a state of being able to support the body (hereinafter, also referred to as a protruding state). For example, the side stand sensor 16 detects information indicating whether the side stand 4 is in a retreated state or a protruding state as information related to the side stand 4.

[0035] The front wheel speed sensor 17 is a wheel speed sensor that detects the wheel speed of the front wheel 2 (for example, the rotation speed per unit time [rpm] or the moving distance per unit time [km / h] of the front wheel 2), and outputs the detection result. The front wheel speed sensor 17 may also be a device that detects other physical quantities that can be substantially converted to the wheel speed of the front wheel 2. The front wheel speed sensor 17 is provided on the front wheel 2.

[0036] The rear wheel speed sensor 18 is a wheel speed sensor that detects the wheel speed of the rear wheel 3 (for example, the rotation speed per unit time [rpm] or the moving distance per unit time [km / h] of the rear wheel 3), and outputs the detection result. The rear wheel speed sensor 18 may also be a device that detects other physical quantities that can be substantially converted to the wheel speed of the rear wheel 3. The rear wheel speed sensor 18 is provided on the rear wheel 3.

[0037] Here, refer to Figure 2 A schematic configuration of the brake system 10 of the saddle-ride type vehicle 1 and control of the braking force generated in the saddle-ride type vehicle 1 will be described. Figure 2 Schematic diagram showing the schematic structure of the brake system 10. Figure 2 As shown, the front wheel brake mechanism 31, the rear wheel brake mechanism 32, the first brake operating part 41 and the second brake operating part 42 are provided. The first brake operating part 41 is, for example, a brake lever. The front wheel brake mechanism 31 is at least linked to the first brake operating part 41 to brake the front wheel 2. The second brake operating part 42 is, for example, a brake pedal. The rear wheel brake mechanism 32 is at least linked to the second brake operating part 42 to brake the rear wheel 3. A part of the front wheel brake mechanism 31 is included in the hydraulic control unit 13.

[0038] The front wheel brake mechanism 31 comprises: a master cylinder 51 having a built-in piston (not shown); an accumulator 52 attached to the master cylinder 51; a brake caliper 53 held on the body of the riding type vehicle 1 and having a brake pad (not shown); a wheel cylinder 54 provided on the brake caliper 53; a main flow path 55 for circulating the brake fluid of the master cylinder 51 to the wheel cylinder 54; and a secondary flow path 56 for discharging the brake fluid of the wheel cylinder 54.

[0039] The main flow path 55 is provided with a filling valve (EV) 61. The secondary flow path 56 bypasses between the wheel cylinder 54 side and the master cylinder 51 side of the filling valve 61 in the main flow path 55. The secondary flow path 56 is provided with a release valve (AV) 62, a reservoir 63, and a pump 64 in order from the upstream side.

[0040] The filling valve 61 is, for example, an electromagnetic valve that opens in a non-energized state and closes in an energized state. The release valve 62 is, for example, an electromagnetic valve that closes in a non-energized state and opens in an energized state.

[0041] The hydraulic control unit 13 includes components for controlling brake hydraulic pressure, including a filling valve 61, a release valve 62, a reservoir 63 and a pump 64; and a base 13a in which these components are installed and a flow path for constituting a main flow path 55 and a secondary flow path 56 is formed inside.

[0042] The base 13a may be formed of one member or a plurality of members. When the base 13a is formed of a plurality of members, each component may be provided separately in a different member.

[0043] The operations of the above-mentioned components of the hydraulic control unit 13 are controlled by the control device 20. Thus, the braking force generated by the front wheel brake mechanism 31 on the front wheel 2 is controlled.

[0044] In normal times (i.e., when the wheel is set to generate a braking force corresponding to the braking operation performed by the rider), the filling valve 61 is opened and the release valve 62 is closed by the control device 20. In this state, if the first brake operating unit 41 is operated, in the front wheel brake mechanism 31, the piston (not shown) of the master cylinder 51 is pushed in, the hydraulic pressure of the brake fluid in the wheel cylinder 54 increases, and the brake pad (not shown) of the brake caliper 53 is pressed against the rotor 2a of the front wheel 2, thereby generating a braking force on the front wheel 2.

[0045] The rear wheel brake mechanism 32 includes a brake caliper 71, which is held on the body of the saddle-type vehicle 1 and has a brake pad (not shown); and an actuator 72, which is provided on the brake caliper 71. The actuator 72 is a device driven by electricity, such as a motor. When the actuator 72 is driven, the brake pad (not shown) of the brake caliper 71 is pressed against the rotor 3a of the rear wheel 3.

[0046] The operation amount of the second brake operation part 42 is output to the control device 20. The control device 20 controls the actuator 72 so that the pressing force corresponding to the operation amount of the second brake operation part 42 acts on the rotor 3a of the rear wheel 3 via the brake pad (not shown) of the brake caliper 71. Thus, the braking force generated on the rear wheel 3 is controlled by the rear wheel brake mechanism 32.

[0047] Under normal circumstances (i.e., when the wheel is set to generate a braking force corresponding to the braking operation performed by the rider), if the second brake operating unit 42 is operated, the actuator 72 is driven with the aid of the control device 20, and in the rear wheel brake mechanism 32, the brake pad (omitted in the figure) of the brake caliper 71 is pushed against the rotor 3a of the rear wheel 3, thereby generating a braking force on the rear wheel 3.

[0048] Figure 3 1 is a block diagram showing an example of the functional structure of the control device 20. The control device 20 controls the riding type vehicle 1. For example, a part or all of the control device 20 is composed of a microcomputer, a microprocessor unit, etc. In addition, for example, a part or all of the control device 20 may be composed of an updateable element such as firmware, or a program module executed according to an instruction from a CPU, etc. The control device 20 may be, for example, one or more.

[0049] The control device 20 is as follows Figure 3 As shown, for example, an acquisition unit 21 and an execution unit 22 are provided. In addition, the control device 20 communicates with each device of the saddle-ride type vehicle 1.

[0050] The acquisition unit 21 acquires information from each device of the saddle-type vehicle 1 and outputs it to the execution unit 22. For example, the acquisition unit 21 acquires information from the ignition switch 14, the inertial measurement device 15, the side stand sensor 16, the front wheel speed sensor 17, and the rear wheel speed sensor 18. In addition, in this specification, the acquisition of information may include extraction or generation of information.

[0051] The actuator 22 performs various controls by controlling the operation of each device of the saddle-type vehicle 1. For example, the actuator 22 controls the operation of the filling valve 61, the release valve 62, the pump 64, and the actuator 72. In particular, the actuator 22 performs drive wheel locking. The drive wheel locking is a control to lock the drive wheel (specifically, the rear wheel 3) of the saddle-type vehicle 1 by braking without relying on the operation of the rider of the saddle-type vehicle 1.

[0052] The actuator 22 performs the drive wheel lock when the second brake operating unit 42 is not operated. The actuator 22 drives the actuator 72 of the rear wheel brake mechanism 32 during the drive wheel lock. As a result, the rear wheel 3 as the drive wheel is locked by braking without relying on the rider's operation. Therefore, it is possible to suppress the saddle-type vehicle 1 from moving (for example, the saddle-type vehicle 1 slides down a slope due to its weight, the saddle-type vehicle 1 moves while parked, etc.).

[0053] <Control Device Operation>

[0054] Reference Figure 4 , the operation of the control device 20 according to the embodiment of the present invention will be described.

[0055] As described above, the execution unit 22 of the control device 20 can execute the drive wheel lock. Here, the execution unit 22 starts the drive wheel lock when the drive source information is information indicating that the drive source (the engine 11 in the above example) is stopped. As a result, as described later, the workload of the operation of the saddle-type vehicle 1 is reduced.

[0056] Figure 4 This is a flowchart showing an example of the overall process flow performed by the control device 20 . Figure 4 Step S101 in corresponds to Figure 4 The control flow shown in Figure 1 begins. Figure 4 When the control flow shown is started, the drive wheel lock is not executed.

[0057] if Figure 4When the control flow shown in FIG. 1 is started, the execution unit 22 determines whether the engine 11 is ignition OFF in step S102. The execution unit 22 makes the determination in step S102 based on the drive source information obtained from the ignition switch 14, for example. The determination that the engine 11 is ignition OFF corresponds to the case where the drive source information is information indicating that the engine 11 is stopped.

[0058] If it is determined that the engine 11 is ignited ON (step S102 / No), step S102 is repeated. On the other hand, if it is determined that the engine 11 is ignited OFF (step S102 / Yes), the process proceeds to step S103.

[0059] If the determination result in step S102 is YES, in step S103, the execution unit 22 determines whether the vehicle speed (i.e., the speed of the vehicle body) of the saddle-type vehicle 1 is lower than the reference vehicle speed. The vehicle speed of the saddle-type vehicle 1 can be obtained based on the detection result of the front wheel speed sensor 17 and the detection result of the rear wheel speed sensor 18, for example. The reference vehicle speed is set to a value near 0, for example. The case where the vehicle speed of the saddle-type vehicle 1 is lower than the reference vehicle speed is equivalent to the case where the saddle-type vehicle 1 is stopped.

[0060] If it is determined that the speed of the saddle-type vehicle 1 is greater than the reference speed (step S103 / No), the process returns to step S102. On the other hand, if it is determined that the speed of the saddle-type vehicle 1 is less than the reference speed (step S103 / Yes), the process proceeds to step S104.

[0061] If the determination in step S103 is YES, in step S104 the execution unit 22 determines whether the side stand 4 is in the protruding state. The execution unit 22 makes the determination in step S104 based on information on the side stand 4 acquired from the side stand sensor 16, for example.

[0062] When it is determined that the side stand 4 is in the retracted state (step S104 / No), the process returns to step S102. On the other hand, when it is determined that the side stand 4 is in the protruding state (step S104 / Yes), the process proceeds to step S105.

[0063] If the determination result in step S104 is YES, in step S105, the execution unit 22 determines whether the absolute value of the slope of the road surface is greater than the reference value. The value of the slope of the road surface can be obtained based on the pitch angle of the saddle-type vehicle 1 obtained from the inertial measurement device 15, for example. The reference value is set to a value near 0, for example. The case where the absolute value of the slope of the road surface is greater than the reference value corresponds to the case where the saddle-type vehicle 1 has stopped on a slope, and the case where the absolute value of the slope of the road surface is less than the reference value corresponds to the case where the saddle-type vehicle 1 has stopped on a flat road.

[0064] If the absolute value of the road surface gradient is determined to be less than the reference value (step S105 / No), the process returns to step S102. On the other hand, if the absolute value of the road surface gradient is determined to be greater than the reference value (step S105 / Yes), the process proceeds to step S106.

[0065] If it is determined to be YES in step S105, the execution unit 22 starts the drive wheel locking in step S106. As described above, the execution unit 22 drives the actuator 72 of the rear wheel brake mechanism 32 to brake and lock the rear wheel 3 as the drive wheel during the drive wheel locking.

[0066] The braking force generated by the rear wheel 3 during the drive wheel lock is, for example, set in advance to a braking force large enough to suppress the sliding of the saddle-type vehicle 1. However, from the viewpoint of appropriately suppressing the sliding of the saddle-type vehicle 1, the execution unit 22 preferably changes the braking force generated by the rear wheel 3 during the drive wheel lock based on the information on the slope of the road surface. For example, the execution unit 22 increases the braking force generated by the rear wheel 3 during the drive wheel lock when the absolute value of the slope of the road surface is large compared to when the absolute value of the slope of the road surface is small.

[0067] Following step S106, in step S107, the execution unit 22 determines whether a braking operation is performed by the rider of the saddle-type vehicle 1. The execution unit 22 makes the determination in step S107 based on, for example, the detection result of a sensor that detects the operation amount of the braking operation unit of the brake system 10. For example, if a braking operation using at least one of the first braking operation unit 41 and the second braking operation unit 42 is performed, the determination in step S107 is yes.

[0068] If it is determined that the rider of the saddle type vehicle 1 has not performed a braking operation (step S107 / No), step S107 is repeated. On the other hand, if it is determined that the rider of the saddle type vehicle 1 has performed a braking operation (step S107 / Yes), the process proceeds to step S108.

[0069] If it is determined as YES in step S107, in step S108, the execution unit 22 determines whether the engine 11 is ignited ON. The execution unit 22 makes the determination in step S108 based on the driving source information acquired from the ignition switch 14, for example.

[0070] If it is determined that the engine 11 is ignition OFF (step S108 / No), the process returns to step S107. On the other hand, if it is determined that the engine 11 is ignition ON (step S108 / Yes), the process proceeds to step S109.

[0071] If the determination in step S108 is YES, in step S109 the execution unit 22 determines whether the side stand 4 is in the retracted state. The execution unit 22 makes the determination in step S109 based on information on the side stand 4 acquired from the side stand sensor 16, for example.

[0072] When it is determined that the side stand 4 is in the protruding state (step S109 / No), the process returns to step S107. On the other hand, when it is determined that the side stand 4 is in the retracted state (step S109 / Yes), the process proceeds to step S110.

[0073] If the determination in step S109 is YES, in step S110, the execution unit 22 releases the drive wheel lock and returns to step S102. If the drive wheel lock is released, the braking of the rear wheel 3 by the actuator 72 of the rear wheel brake mechanism 32 ends, and the saddle-type vehicle 1 becomes ready to start.

[0074] As described above, the execution unit 22 of the control device 20 starts the drive wheel lock when the drive source information indicates that the drive source (the engine 11 in the above example) is stopped. As a result, when the saddle-type vehicle 1 is parked or about to be parked, the movement of the saddle-type vehicle 1 can be suppressed by the drive wheel lock regardless of the operation of the rider. Therefore, when parking, the workload of the operation for suppressing the movement of the saddle-type vehicle 1 is reduced. In this way, the workload of the operation of the saddle-type vehicle 1 can be reduced.

[0075] In the above, refer to Figure 4 The flowchart of FIG. 1 illustrates an example of the processing performed by the control device 20. However, the processing performed by the control device 20 is not limited to the above example, and the processing performed by the control device 20 may also be performed on Figure 4 The control flow shown is capable of adding, changing, or deleting processing as appropriate.

[0076] For example, in Figure 4 In the control flow shown in FIG. 1 , as the determination process related to the start of the drive wheel locking, four determination processes of steps S102, S103, S104, and S105 are performed. However, as the determination process related to the start of the drive wheel locking, at least step S102 only needs to be performed. Specifically, Figure 4 The control flow shown in the figure omits any part or all of steps S103, S104, and S105. In addition, when the saddle-type vehicle 1 does not have the side stand 4 (for example, when the saddle-type vehicle 1 is a snowmobile, etc.), step S104 is omitted. Figure 4As in the control flow shown in the figure, by performing the determination processing of both steps S102 and S103 as the determination processing related to the start of drive wheel locking, it is possible to suppress the drive wheel locking from being executed unnecessarily, for example, when the vehicle stops temporarily at a traffic signal.

[0077] In addition, Figure 4 In the control flow shown in FIG. 1 , three determination processes of steps S107, S108, and S109 are performed as determination processes related to the release of the drive wheel lock. Figure 4 The control flow shown in the figure omits any part of steps S107, S108, and S109. For example, only one of steps S107 and S108 may be performed. In addition, when the saddle-type vehicle 1 does not have the side stand 4 (for example, when the saddle-type vehicle 1 is a snowmobile, etc.), step S109 is omitted. In addition, the execution unit 22 may release the drive wheel lock when the rider performs a specific operation as a trigger event.

[0078] <Effect of Control Device>

[0079] The effects of the control device 20 according to the embodiment of the present invention will be described.

[0080] The control device 20 includes an acquisition unit 21 for acquiring information related to the driving source of the saddle-type vehicle 1 (the engine 11 in the above example), namely, driving source information, and an execution unit 22 for executing driving wheel locking of the saddle-type vehicle 1 (specifically, the rear wheel 3) by braking without relying on the operation of the rider of the saddle-type vehicle 1. Moreover, the execution unit 22 starts the driving wheel locking when the driving source information is information indicating that the driving source has stopped. Thus, when the saddle-type vehicle 1 is parked or about to be parked, the movement of the saddle-type vehicle 1 can be suppressed by the driving wheel locking without relying on the rider's operation. Therefore, when parking, the workload of the operation for suppressing the movement of the saddle-type vehicle 1 is reduced. In this way, the workload of the operation of the saddle-type vehicle 1 can be reduced.

[0081] Preferably, in the control device 20, the execution unit 22 starts the drive wheel locking based on the information related to the vehicle speed of the saddle-type vehicle 1 in addition to the drive source information. Thus, the drive wheel locking can be started after it is confirmed that the saddle-type vehicle 1 has stopped. Therefore, it is more appropriate to start the drive wheel locking when the saddle-type vehicle 1 is parked or about to be parked.

[0082] In addition, the information related to the speed of the saddle-type vehicle 1 in the above example is information indicating the speed of the saddle-type vehicle 1, but is not limited to the above example and may include various information. For example, the information related to the speed of the saddle-type vehicle 1 may be information that can be substantially converted to the speed of the saddle-type vehicle 1.

[0083] Preferably, in the control device 20, the execution unit 22 starts the drive wheel locking based on the information related to the side stand 4 of the saddle-type vehicle 1 in addition to the drive source information. Thus, the drive wheel locking can be started after confirming that the side stand 4 is in the protruding state. Therefore, the drive wheel locking can be started more appropriately when the saddle-type vehicle 1 is parked or about to be parked.

[0084] In addition, the information related to the side stand 4 is information indicating whether the side stand 4 is in the retracted state or the protruding state in the above example, but it is not limited to the above example and can include various information. For example, the information related to the side stand 4 can also be information that can be substantially replaced by information indicating whether the side stand 4 is in the retracted state or the protruding state.

[0085] Preferably, in the control device 20, the execution unit 22 starts the drive wheel locking based on information related to the road slope in addition to the drive source information. Thus, the drive wheel locking can be started after confirming that the saddle-type vehicle 1 has stopped on a slope. Therefore, when the saddle-type vehicle 1 stops on a flat road, it is possible to prevent the drive wheel locking from being executed unnecessarily. However, the execution unit 22 may start the drive wheel locking not based on information related to the road slope. For example, it may be possible to start the drive wheel locking based on the information related to the road slope described above. Figure 4 The process of step S105 is omitted in the flowchart of FIG. 1. In this case, the drive wheel locking can also be started when the saddle-ride type vehicle 1 is parked at a location other than a slope.

[0086] In addition, the information on the road surface gradient is information indicating the value of the road surface gradient in the above example, but is not limited to the above example and may include various information. For example, the information on the road surface gradient may be information that can be substantially converted into the value of the road surface gradient.

[0087] Preferably, in the control device 20, the execution unit 22 changes the braking force generated by the drive wheel during the drive wheel locking based on the information about the slope of the road surface. As a result, the braking force generated by the drive wheel during the drive wheel locking can be appropriately adjusted according to the absolute value of the slope of the road surface. Therefore, the sliding of the saddle-type vehicle 1 can be appropriately suppressed. In addition, it is possible to suppress the braking force generated by the drive wheel during the drive wheel locking from becoming too large, so the saddle-type vehicle 1 can be easily moved by hand during the execution of the drive wheel locking.

[0088] Preferably, in the control device 20, the execution unit 22 releases the drive wheel lock based on the drive source information. Thus, the drive wheel lock can be released when the saddle-type vehicle 1 generates a driving force. Therefore, the saddle-type vehicle 1 can be prevented from moving due to the release of the drive wheel lock.

[0089] Preferably, in the control device 20, the execution unit 22 releases the drive wheel lock based on information related to the braking operation performed by the rider of the saddle-type vehicle 1. Thus, the drive wheel lock can be released when the saddle-type vehicle 1 generates a braking force corresponding to the braking operation performed by the rider. Therefore, it is possible to suppress the saddle-type vehicle 1 from moving due to the release of the drive wheel lock.

[0090] In addition, the information related to the brake operation is information indicating the operation amount of the brake operation unit in the above example, but is not limited to the above example and may include various information. For example, the information related to the brake operation may be information that can be substantially converted into the operation amount of the brake operation unit.

[0091] Preferably, in the control device 20, the execution unit 22 releases the drive wheel lock based on the information related to the side stand 4 of the saddle-type vehicle 1. As a result, the side stand 4 is in a retracted state, and the drive wheel lock can be released after confirming that the rider intends to start. Therefore, it is possible to suppress the saddle-type vehicle 1 from moving due to the release of the drive wheel lock.

[0092] Preferably, in the control device 20, the driving source information includes information about a switch for starting the driving source (in the above example, the ignition switch 14). Thus, the driving wheel lock can be executed after appropriately judging whether the driving source information indicates that the driving source is stopped or that the driving source is started. Therefore, it is more appropriate to start the driving wheel lock when the saddle-type vehicle 1 is parked or about to be parked.

[0093] In addition, the driving source information is not limited to the information related to the switch for starting the driving source, and may include various information. For example, the driving source information may not be information output from the switch for starting the driving source, but information output from the control device for controlling the driving source. For example, in the above example, the control device 20 may also obtain and use information indicating whether the engine 11 is stopped or started from the control device for controlling the engine 11. In addition, for example, the driving source information may include information related to the amount of operation of the accelerator (for example, the accelerator opening) or information related to the output of the driving source (for example, the output torque of the engine 11). Moreover, the execution unit 22 may also release the drive wheel lock based on at least one of the information related to the amount of operation of the accelerator and the information related to the output of the driving source. For example, the execution unit 22 may also release the drive wheel lock when it is determined based on at least one of the accelerator opening and the output torque of the engine 11 that the saddle-type vehicle 1 generates sufficient driving force. As a result, it is possible to more appropriately suppress the situation where the saddle-type vehicle 1 moves and slides down on a slope or the like due to the release of the drive wheel lock.

[0094] Preferably, in the control device 20, the saddle-type vehicle 1 is provided with a transmission mechanism 12 that cannot lock the drive wheel when the drive source stops. That is, preferably, the saddle-type vehicle 1 is an automatic transmission vehicle. In a manual transmission vehicle, when the drive source stops, by setting the gear stage of the transmission mechanism to a gear stage at which the drive wheel is locked by the transmission mechanism, it is possible to suppress the saddle-type vehicle 1 from sliding down. On the other hand, in an automatic transmission vehicle, when the drive source stops, the drive wheel cannot be locked by the transmission mechanism 12, so locking the drive wheel by driving wheel locking is particularly effective. However, the saddle-type vehicle 1 is not limited to an automatic transmission vehicle, and may also be a manual transmission vehicle. For example, in the case where the saddle-type vehicle 1 is a manual transmission vehicle, when the vehicle is parked, the drive wheel locking may also be performed with the gear stage of the transmission mechanism not being a gear stage at which the drive wheel is locked by the transmission mechanism as a trigger event.

[0095] The present invention is not limited to the description of the embodiment. For example, only a part of the embodiment may be implemented.

[0096] Description of Reference Numerals

[0097] 1 riding type vehicle; 2 front wheel; 2a rotor; 3 rear wheel; 3a rotor; 4 side stand; 10 brake system; 11 engine; 12 speed change mechanism; 13 hydraulic control unit; 13a base; 14 ignition switch; 15 inertial measurement device; 16 side stand sensor; 17 front wheel wheel speed sensor; 18 rear wheel wheel speed sensor; 20 control device; 21 acquisition unit; 22 execution unit; 31 front wheel brake mechanism; 32 rear wheel brake mechanism; 41 first brake operating unit; 42 second brake operating unit; 51 master cylinder; 52 accumulator; 53 brake caliper; 54 wheel cylinder; 55 main flow path; 56 secondary flow path; 61 filling valve; 62 release valve; 63 reservoir; 64 pump; 71 brake caliper; 72 actuator.

Claims

1. A control device (20) for controlling a riding type vehicle (1), characterized in that: A device (21) for acquiring driving source information, wherein the driving source information is information related to the driving source (11) of the riding type vehicle (1); The invention also comprises an execution unit (22) for executing a drive wheel lock for locking the drive wheel (3) of the saddle-type vehicle (1) by braking, not based on an operation of a rider of the saddle-type vehicle (1); The execution unit (22) starts locking the drive wheel when the drive source information indicates that the drive source (11) has stopped.

2. The control device according to claim 1, characterized in that The execution unit (22) starts the drive wheel locking based on information related to the vehicle speed of the saddle-type vehicle (1) in addition to the drive source information.

3. The control device according to claim 1, characterized in that: The execution unit (22) starts locking the driving wheel based on information related to a side stand (4) of the saddle-type vehicle (1) in addition to the driving source information.

4. The control device according to claim 1, characterized in that The execution unit (22) starts locking the drive wheels based on information related to the slope of the road surface in addition to the drive source information.

5. The control device according to claim 1, characterized in that: The execution unit (22) changes the braking force generated by the drive wheel (3) when the drive wheel is locked based on information related to the slope of the road surface.

6. The control device according to claim 1, characterized in that: The execution unit (22) releases the drive wheel lock based on the drive source information.

7. The control device according to claim 1, characterized in that: The execution unit (22) releases the drive wheel lock based on information related to a brake operation performed by a rider of the saddle-type vehicle (1).

8. The control device according to claim 1, characterized in that: The execution unit (22) releases the drive wheel lock based on information related to the side stand (4) of the saddle-type vehicle (1).

9. The control device according to any one of claims 1 to 8, characterized in that: The driving source information includes information on a switch (14) for starting the driving source (11).

10. The control device according to any one of claims 1 to 8, characterized in that: The saddle-type vehicle (1) is provided with a transmission mechanism (12) which cannot lock the drive wheel (3) when the drive source (11) stops.

11. A control method for controlling a riding type vehicle (1), characterized in that: An acquisition unit (21) of a control device (20) acquires information related to a drive source (11) of the aforementioned saddle-type vehicle (1), namely, drive source information; Furthermore, the execution unit (22) of the control device (20) executes a drive wheel lock to lock the drive wheel (3) of the saddle-type vehicle (1) by braking without relying on an operation by a rider of the saddle-type vehicle (1); The execution unit (22) starts locking the drive wheel when the drive source information indicates that the drive source (11) has stopped.

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