SADDLED VEHICLE

Abstract

A brake force control device is provided in which it is difficult to perform brake support control in a case where a driver does not intend an emergency stop at a time when a prescribed brake application is detected, and brake support control is performed at a time when the driver needs an emergency stop. A semi-trailer vehicle comprises a rear wheel brake (53) for generating a braking force at a rear wheel (15), and a brake force control device (59) for performing brake assistance control in a case where a prescribed brake actuation is detected, wherein the brake assistance control causes the rear wheel brake (53) to generate a braking force whose magnitude is equal to or greater than a braking force corresponding to an actuation of a brake actuation element (49), wherein the brake force control device (59) performs control to reduce a brake assistance amount with respect to the rear wheel brake (53) at a time when a throttle actuation amount is equal to or greater than a throttle actuation amount threshold and at a time when the prescribed brake actuation of the rear wheel brake (53) is performed.

Description

[Technical field]

[0001] The present invention relates to a semi-trailer truck. [Background state of the art]

[0002] Traditionally, brake assist technology is known to increase the braking force of a brake on a moving body when a driver performs a prescribed braking action. Patent literature 1 discloses a technology for performing brake assist control by determining that a prescribed braking action is performed, in a case where a master cylinder pressure and a rate of increase of this pressure each satisfy a predetermined assist start condition, the master cylinder being provided in a brake mechanism. [List of citations][Patent literature]

[0003] [Patent Literature 1] Japanese Patent Application No. 9-272418 [Summary of the invention][Technical problem]

[0004] In the case of a semi-trailer truck, there are many instances where vehicle behavior control, such as attitude control, is carried out by applying the brakes, and if brake assist control is performed in a state where a driver does not intend to make an emergency stop, there is a possibility that the driver will feel uncomfortable while driving. [Solution to the problem]

[0005] This specification includes the entire content of Japanese patent application no. 2023-056503, filed on March 30, 2023.The present invention provides a semi-trailer vehicle comprising a rear wheel brake for generating a braking force at a rear wheel and a brake force control device for performing brake assistance control in a case where a prescribed brake actuation is detected, wherein the brake assistance control causes the rear wheel brake to generate a braking force whose magnitude is equal to or greater than a braking force corresponding to an actuation of a brake actuation element, wherein the brake force control device performs a control to reduce a brake assistance amount with respect to the rear wheel brake at a time when a throttle actuation amount is equal to or greater than a threshold value and at a time when the prescribed brake actuation of the rear wheel brake is performed.

[0006] The present invention provides a semi-trailer vehicle comprising a rear wheel brake for generating a braking force at a rear wheel and a brake force control device for performing brake assistance control in a case where a prescribed brake actuation is detected, wherein the brake assistance control causes the rear wheel brake to generate a braking force whose magnitude is equal to or greater than a braking force corresponding to an actuation of a brake actuation element, wherein the brake force control device does not perform brake assistance control with respect to the rear wheel brake at a time when a throttle actuation amount is equal to or greater than a threshold value, and at a time when the prescribed brake actuation of the rear wheel brake is carried out. [Advantageous effects of the invention]

[0007] A driver of a semi-trailer truck may frequently perform a prescribed braking action using the rear brake for position control or smooth acceleration. Brake assist intervention may be suppressed in such a case of braking action that is not intended as an emergency stop. [Brief description of the drawings] [ Fig. 1] Fig. Figure 1 is an illustrative representation of a semi-trailer truck in relation to a first embodiment. [ Fig. 2] Fig. Figure 2 is a block diagram showing a configuration of a braking device of the articulated vehicle. [ Fig. 3] Fig. Figure 3 is a block diagram showing a configuration of a brake force control device. [ Fig. 4] Fig. Figure 4 is a flowchart for a brake support process in the first embodiment. [ Fig. 5] Fig. Figure 5 is a flowchart for a brake support process in a second embodiment. [Description of embodiments]

[0008] One embodiment of the present invention is described below with reference to the drawings. Unless otherwise specified, directions mentioned in the description, including front-back, left-right, and top-bottom, are the same as directions relative to a vehicle body. Reference numerals FR, UP, and LH in the drawings denote a front side of a vehicle body, a top side of a vehicle body, and a left side of a vehicle body, respectively. [Version]

[0009] Fig. Figure 1 is a side view of a semi-trailer truck 10 according to an embodiment of the present invention.

[0010] The articulated vehicle 10 is a vehicle comprising a vehicle body frame 11, a drive unit 12 which is mounted on the vehicle body frame 11, a front fork 14 which holds a front wheel 13 in a steerable manner, a swing arm 16 which holds a rear wheel 15, and a seat 17 for a driver.

[0011] The articulated vehicle 10 is a vehicle on which the driver sits astride the seat 17. The seat 17 is positioned above a rear part of the vehicle body frame 11.

[0012] The vehicle body frame 11 comprises a head tube 18, which is provided at a front end section of the vehicle body frame 11, a front frame 19, which is located at a rear side of the head tube 18, and a rear frame 20, which is located at a rear side of the front frame 19. A front end section of the front frame 19 is connected to the head tube 18.

[0013] The seat 17 is attached to the rear frame 20.

[0014] The front fork 14 is mounted on the head tube 18 in such a way that it can be steered to the left and to the right. The front wheel 13 is mounted on an axle 13a, which is provided at a lower end section of the front fork 14. A steering handle 21, which the rider grips, is mounted at an upper end section of the front fork 14.

[0015] The swing arm 16 is mounted on a pivot axis 22, which is mounted on the vehicle body frame 11. The pivot axis 22 is an axis that extends horizontally in one direction across the width of the vehicle. The pivot axis 22 is guided by a front end section of the swing arm 16. The swing arm 16 pivots up and down about the pivot axis 22.

[0016] The rear wheel 15 is mounted on an axle 15a, which is provided at a rear end section of the swing arm 16.

[0017] The drive unit 12 is arranged between the front wheel 13 and the rear wheel 15 and is mounted on the vehicle body frame 11.

[0018] The drive unit 12 is an internal combustion engine. The drive unit 12 comprises a crankcase 23 and a cylinder 24, which houses a reciprocating piston. An exhaust device 25 is connected to an exhaust port of the cylinder 24.

[0019] Power from the drive unit 12 is transferred to the rear wheel 15 by means of a drive power transmission element, which connects the drive unit 12 and the rear wheel 15.

[0020] The articulated vehicle 10 further comprises a front fender 26, which covers the front wheel 13 from above, a rear fender 27, which covers the rear wheel 15 from above, footrests 28, on which the driver places his feet, and a fuel tank 29, which stores the fuel to be used by the drive unit 12.

[0021] The front fender 26 is mounted on the front fork 14. The rear fender 27 and the footrests 28 are positioned on the lower side relative to the seat 17. The fuel tank 29 is mounted on the vehicle frame 11.

[0022] A control device 32 is provided below the seat 17, the control device 32 being designed to control a fuel injection or the like of the drive unit 12. The control device 32 is a computer which includes a brake force control device 59, and as described later in Fig. As described in Figure 3, the control device 32 comprises a storage device 71 and a processor 69 for demonstrating different types of functions by executing a program stored by the storage device 71.

[0023] In addition, an IMU (Inertial Measurement Unit) 34 is provided below seat 17, the IMU 34 comprising a six-axis sensor.

[0024] A brake pedal 36 (49A) is provided below the pivot axis 22. A driver can adjust the braking force of the rear wheel 15 by pressing the brake pedal 36 with the driver's right leg. In other words, the driver can adjust the braking force of the rear wheel 15 by pressing the brake pedal 36 (see Fig. 2, which will be described later) adjust a braking force of a rear wheel brake 53. In addition, a rear wheel brake master cylinder 31 is provided near the brake pedal 36, wherein the rear wheel brake master cylinder 31 is intended to convert a pedal force into a hydraulic pressure of a brake fluid and wherein the rear wheel brake master cylinder 31 is intended to pump the brake fluid to a brake caliper 62 of the rear wheel 15.

[0025] A brake lever 38 (49B) is provided on the handlebar grip 21. The rider can adjust the braking force of the front wheel 13 by actuating the brake lever 38 with their fingers. In other words, the rider can adjust the braking force of the front wheel 13 by actuating the brake lever 38 (see Fig. 2, which will be described later) adjust the braking force of a front wheel brake 51. In addition, a front wheel brake master cylinder 30 is provided near the brake lever 38, wherein the front wheel brake master cylinder 30 is intended to convert a force for gripping a lever into hydraulic pressure and wherein the front wheel brake master cylinder 30 is intended to pump the brake fluid to a brake caliper 63 of the front wheel 13.

[0026] Fig. Figure 2 is a block diagram showing a configuration of a brake device 41 of the articulated vehicle 10.

[0027] The front wheel brake 51 and the rear wheel brake 53 are each an example of the braking device 41.

[0028] The brake force control device 59 for controlling the brake device 41 is connected to a hydraulic pressure sensor 57 for measuring the hydraulic pressure of the brake fluid in the rear brake master cylinder 31. The brake force control device 59 is also connected to a hydraulic pressure sensor 55 for measuring the hydraulic pressure of the brake fluid in the front brake master cylinder 30. Furthermore, the brake force control device 59 is connected to a hydraulic pressure sensor 64 and a hydraulic pressure sensor 65, wherein the hydraulic pressure sensor 64 is designed to measure the hydraulic pressure in the brake caliper 62 of the rear brake and the hydraulic pressure sensor 65 is designed to measure the hydraulic pressure in the brake caliper 63 of the front brake.

[0029] The brake force control device 59 is connected to a rear wheel speed sensor 45 for measuring the wheel speed of the rear wheel 15. Wheel speed information of the rear wheel 15 measured by the rear wheel speed sensor 45 is used when an ABS (anti-lock brake system) function or traction control is executed when the rider presses the brake pedal 36, which is the brake actuation element 49A, with the ABS function being designed to ensure that the rear wheel 15 does not lock up.

[0030] The brake force control device 59 is connected to a front wheel speed sensor 43 for measuring the wheel speed of the front wheel 13.

[0031] Furthermore, the brake force control device 59 is connected to a throttle valve opening sensor 47 for detecting a degree of opening and closing of a throttle valve, which adjusts a fuel injection quantity in the drive unit 12.

[0032] A pressure module 61 and the rear brake master cylinder 31 are connected via a line to transmit brake fluid pressure. Similarly, pressure module 61 and the front brake master cylinder 30 are connected via a line to transmit brake fluid pressure. Furthermore, pressure module 61 and the rear brake caliper 62 are connected via a line to transmit brake fluid pressure. Similarly, pressure module 61 and the front brake caliper 63 are connected via a line to transmit brake fluid pressure.

[0033] Furthermore, the brake force control device 59 is also connected to the IMU 34. The brake force control device 59 is connected to the pressure module 61 and the brake force control device 59 controls the pressure module 61.

[0034] The brake force control device 59 is incorporated into the control device 32. It goes without saying that the brake force control device 59 and the control device 32 can be separate devices.

[0035] Fig. Figure 3 is a functional block diagram of the brake force control device 59. The brake force control device 59 is a computer and an ECU (Electronic Control Unit). The brake force control device 59 includes the processor 69, such as a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read-Only Memory), and the brake force control device 59 performs various types of control operations. The RAM is used as a workspace and memory area for the CPU, and the ROM stores an operating system and a program executed by the CPU.

[0036] The processor 69 implements various types of functions, which are described below, by executing a program which is stored in a control program memory area 72 of the storage device 71.

[0037] The processor 69 implements a function of a measuring unit 73 for measuring a prescribed value with respect to the braking device, which comprises the front wheel brake 51 and the rear wheel brake 53. In the present embodiment, the measuring unit 73 measures a hydraulic pressure of the front wheel brake master cylinder 30 and a hydraulic pressure of the rear wheel brake master cylinder 31 as a prescribed value.

[0038] A hydraulic pressure of the front wheel brake master cylinder 30 and a hydraulic pressure of the rear wheel brake master cylinder 31 are each an example of a master cylinder pressure of the brake device.

[0039] The processor 69 further performs a function of the measuring unit 73 for detecting a measured value from another sensor. While the front wheel speed sensor 43, the rear wheel speed sensor 45 and the throttle valve opening sensor 47 are each provided as examples of a sensor, the present invention is not limited to these.

[0040] A throttle valve opening corresponds to an example of a throttle valve actuation amount. The actuation speed of a throttle handle can be used as the throttle valve actuation amount.

[0041] It should be noted that the brake force control device 59 may include an input interface circuit for a signal from each sensor.

[0042] The actuation amount of the brake actuation element 49, which comprises the brake lever 38 and the brake pedal 36, can be specified as a prescribed value with respect to the brake device, which comprises the front wheel brake 51 and the rear wheel brake 53, wherein the prescribed value is measured by the measuring unit 73.

[0043] The processor 69 implements a function of a computing unit 75 for performing a predetermined calculation for the prescribed value with respect to the braking device 41, which comprises the front wheel brake 51 and the rear wheel brake 53. In the present embodiment, a rate of increase of a hydraulic pressure from each of the front wheel brake master cylinder 30 and the rear wheel brake master cylinder 31 is obtained by a calculation.

[0044] The processor 69 implements a function of a determination unit 77 for comparing and determining a dimensional relationship or the like between the wheel speed measured by the front wheel speed sensor 43 and a previously prescribed wheel speed threshold value stored in the storage device 71. The processor 69 implements a function of the determination unit 77 for comparing and determining a dimensional relationship or the like between the rate of increase of a hydraulic pressure of the rear wheel brake master cylinder 31 and a previously prescribed rate-of-increase threshold value stored in the storage device 71. Furthermore, the processor 69 implements a function of the determination unit 77 for comparing and determining a dimensional relationship between the throttle valve opening measured by the throttle valve opening sensor 47 and a previously prescribed throttle valve opening threshold value stored in the storage device 71.

[0045] It should be noted that the throttle opening threshold corresponds to an example of a throttle actuation amount threshold.

[0046] The processor 69 implements a function of a pressure module control unit 81 for performing brake assist control with respect to the brake device 41. In particular, control of a motor is performed, the motor being designed to move a piston in order to change a hydraulic pressure within the pressure module 61. In a case where the assist start condition is met, the pressure module 61 exerts pressure with respect to the master cylinder and the pressure module 61 performs an increase in brake assist, that is, a braking force.

[0047] Fig. Figure 4 is a flowchart for a brake assist operation in the present embodiment. Here, the master cylinder is the rear wheel brake master cylinder 31.

[0048] First, the measuring unit 73 measures the wheel speed measured by the front wheel speed sensor 43 (step SA1). The determining unit 77 determines whether the wheel speed is equal to or greater than a wheel speed threshold previously stored in the storage device 71 (step SA2). The wheel speed threshold is, for example, 10 km / h. If the determining unit 77 determines that the wheel speed is equal to or greater than the wheel speed threshold (step SA2: YES), the measuring unit 73 measures the master cylinder pressure using the hydraulic pressure sensor 57 (step SA3). Next, the processing unit 75 calculates the rate of increase of the master cylinder pressure (step SA4). The determining unit 77 then determines whether the rate of increase is equal to or greater than a rate-of-increase threshold previously stored in the storage device 71 (step SA5).In a case where the determining unit 77 determines that the rate of increase of the master cylinder pressure is equal to or greater than the rate of increase threshold (step SA5: YES), the measuring unit 73 measures the throttle valve opening via the throttle position sensor 47 (step SA6). The determining unit 77 determines whether the throttle valve opening is equal to or greater than a throttle valve opening threshold previously stored in the storage device 71 (step SA7). In a case where the determining unit 77 determines that the throttle valve opening is equal to or greater than the throttle valve opening threshold (step SA7: YES), the pressure module control unit 81 applies brake assistance with an initial brake assistance amount by controlling the pressure module 61 (step SA8).

[0049] It should be noted that a condition in which the rate of increase of the master cylinder pressure is equal to or greater than the rate of increase threshold corresponds to an example of a condition of performing a prescribed brake actuation.

[0050] Returning to the explanation of step SA2, in a case where the determining unit 77 determines that the wheel speed is lower than the wheel speed threshold (step SA2: NO), no brake assistance is performed and the process ends.

[0051] Returning to the explanation of step SA5, in a case where the determining unit 77 determines that the rate of increase of the master cylinder pressure is lower than the rate of increase threshold (step SA5: NO), no brake assistance is performed and the process ends.

[0052] Returning to the explanation of step SA7, in a case where the determining unit 77 determines that the throttle opening is smaller than the throttle opening threshold (step SA7: NO), the pressure module control unit 81 applies brake assistance with a second brake assistance amount by controlling the pressure module 61 (step SA9). The brake assistance with the second brake assistance amount is the same as the brake assistance applied by the pressure module 61 at a time when the determining unit 77 determines that the driver intends to make an emergency stop (step SB8). Fig. 5).

[0053] The first brake support amount from step SA8 has a value that is smaller than the value of the second brake support amount from step SA9.

[0054] By performing such a brake support operation, brake support with a large second brake support amount can be achieved at a time when the driver intends to make an emergency stop and at a time when the driver is not accelerating, that is, at a time when the throttle opening is less than the throttle opening threshold.

[0055] By intending to increase acceleration while driving through a curve, brake assistance with a small initial amount can be provided at the same time as performing a prescribed brake application, at a time when the throttle opening is equal to or greater than the throttle opening threshold.

[0056] Accordingly, such an effect is achieved that an uncomfortable driving experience is unlikely to occur.

[0057] Furthermore, since brake assistance is available at a time when the speed is below a constant speed, particularly when attempting to stop, it is unlikely that a phenomenon will occur such as the driver suddenly reducing speed more than expected and no longer being able to stop comfortably.

[0058] As a modified example, the storage device 71 has a lookup table in which the throttle opening and the amount of brake assistance correspond to each other, and the pressure module control unit 81 can, by controlling the pressure module 61 with an amount of brake assistance in accordance with the table, perform brake assistance at a time when the wheel speed and the rate of rise of the master cylinder pressure both satisfy a prescribed condition. [Second embodiment]

[0059] Fig. Figure 5 is a flowchart for brake assistance in a second embodiment. Here, the master cylinder is the rear brake master cylinder 31. Since steps SB1 to SB7 of the second embodiment are approximately the same as steps SA1 to SA7 of the first embodiment, the explanation of steps SB1 to SB7 is omitted.

[0060] In the second embodiment, in step SB7, if the determining unit 77 determines that the throttle valve opening is not equal to or greater than the throttle valve opening threshold (step SB7: NO), the pressure module control unit 81 performs brake assistance by controlling the pressure module 61 (step SB8), and if the determining unit 77 determines that the throttle valve opening is equal to or greater than the throttle valve opening threshold (step SB7: YES), no brake assistance is performed and the process ends.

[0061] That is, in the first embodiment described above, a brake assist amount with respect to the rear wheel brake 53 is reduced at a time when the throttle actuation amount is equal to or greater than the throttle actuation amount threshold and at a time when the prescribed brake actuation of the rear wheel brake 53 is carried out, whereas in contrast, in the second embodiment, no brake assist control with respect to the rear wheel brake 53 is carried out at a time when the throttle actuation amount is equal to or greater than the throttle actuation amount threshold and at a time when the prescribed brake actuation of the rear wheel brake 53 is carried out.

[0062] Since brake assistance can be achieved with a large amount of brake assistance at a time when the driver intends to make an emergency stop, and brake assistance is not performed by intending to increase acceleration at a time when driving around a curve in a case where the throttle valve is opened at the same time as a prescribed brake application is carried out, such an effect is achieved that an uncomfortable driving experience is unlikely to occur.

[0063] It should be noted that each of the embodiments described above illustrates an aspect of the present invention. The present invention is not limited to the embodiments described above, and the configuration of details or the like may be appropriately modified.

[0064] The process units of the in Fig. 4 and Fig. The flowcharts shown in Figure 5 are subdivided in accordance with the main process content to make the processes of the brake force control device 59 easily understandable, and the present invention is not limited by the methods or names for the subdivision of the process units. The operations from Fig. 4 and Fig. 5 can further be subdivided into many process units and the processes from Fig. 4 and Fig. The process units can be subdivided in such a way that a single process unit can encompass many processes. Furthermore, the process sequence of the flowchart is not limited to the examples shown. [Configurations supported by the embodiments]

[0065] The above-mentioned embodiments support the following configurations.

[0066] (Configuration 1) A semi-trailer vehicle comprising a rear wheel brake for generating a braking force at a rear wheel and a brake force control device for performing brake assist control in a case where a prescribed brake actuation is detected, wherein the brake assist control causes the rear wheel brake to generate a braking force of a magnitude equal to or greater than a braking force corresponding to an actuation of a brake actuation element, wherein the brake force control device performs control to reduce a brake assist amount with respect to the rear wheel brake at a time when a throttle actuation amount is equal to or greater than a throttle actuation amount threshold and at a time when the prescribed brake actuation of the rear wheel brake is performed.

[0067] A driver of a semi-trailer truck may frequently apply the rear brakes, along with the throttle, for maneuvering or smooth acceleration while cornering. In such a configuration, a setting may be configured to suppress an unintended emergency stop. This can result in an effect such as enabling a more comfortable ride.

[0068] (Configuration 2) A semi-trailer vehicle comprising a rear wheel brake for generating a braking force at a rear wheel and a brake force control device for performing brake assist control in a case where a prescribed brake actuation is detected, wherein the brake assist control causes the rear wheel brake to generate a braking force whose magnitude is equal to or greater than a braking force corresponding to an actuation of a brake actuation element, wherein the brake force control device does not perform brake assist control with respect to the rear wheel brake at a time when a throttle actuation amount is equal to or greater than a throttle actuation amount threshold and at a time when the prescribed brake actuation of the rear wheel brake is performed.

[0069] A driver of a semi-trailer truck may frequently apply the rear brakes, along with the throttle, for maneuvering or smooth acceleration while cornering. In such a configuration, a setting may be configured to suppress an unintended emergency stop. This can result in an effect such as enabling a more comfortable ride.

[0070] (Configuration 3) The articulated vehicle according to Configuration 1 or Configuration 2, whereby the prescribed brake actuation is carried out with respect to the rear wheel brake.

[0071] Considering load movement, it is desirable that, during a position control event or gentle acceleration while cornering, the rear brake, and not the front brake, generates a braking force. Therefore, suppression of brake assist control with respect to the rear brake can be appropriately implemented at the time when a prescribed rear brake application is performed and at the time when the throttle opening is equal to or greater than a threshold value. [List of reference symbols] 13 front wheel 15 rear wheel 49 Brake actuation element 51 Front brake 53 Rear wheel brake 59 Brake force control device 61 Print module 73 Unit of measurement 77 Unit of determination 81 Pressure module control unit QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 9-272418

[0003] JP 2023-056503

[0005]

Claims

[1] articulated vehicle, characterized by , that it includes: a rear wheel brake (53) for generating a braking force at a rear wheel (15); and a brake force control device (59) for performing brake support control in a case in which a prescribed brake actuation is detected, wherein the brake support control causes the rear wheel brake (53) to generate a braking force whose magnitude is equal to or greater than a braking force corresponding to an actuation of a brake actuation element (49), wherein the brake force control device (59) performs a control to reduce a brake assistance amount with respect to the rear wheel brake (53) at a time when a throttle actuation amount is equal to or greater than a throttle actuation amount threshold value, and at a time when the prescribed brake actuation of the rear wheel brake (53) is performed. [2] articulated vehicle, characterized by , that it includes: a rear wheel brake (53) for generating a braking force at a rear wheel (15); and a brake force control device (59) for performing brake support control in a case in which a prescribed brake actuation is detected, wherein the brake support control causes the rear wheel brake (53) to generate a braking force whose magnitude is equal to or greater than a braking force corresponding to an actuation of a brake actuation element (49), wherein the brake force control device (59) does not perform brake support control with respect to the rear wheel brake (53) at a time when a throttle actuation amount is equal to or greater than a throttle actuation amount threshold value, and at a time when the prescribed brake actuation of the rear wheel brake (53) is carried out. [3] Semi-trailer vehicle according to claim 1 or 2, wherein the prescribed brake actuation is carried out with respect to the rear wheel brake (53).

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