Hydraulic control unit, saddle-riding type vehicle, and control method for hydraulic control unit

Abstract

To provide a hydraulic control unit for a saddle-riding type vehicle capable of suppressing deterioration in performance.SOLUTION: A hydraulic control unit 100 of a brake system 10 mounted on a saddle-riding type vehicle 200 having a motor 5 as a driving source includes: a sensor for detecting a rotational speed or a physical quantity convertible into the rotational speed, of a non-driving wheel which is a wheel not driven by the motor 5 as the driving source among wheels of the saddle-riding type vehicle 200; and a control device configured to execute anti-lock brake control of at least the non-driving wheel. The control device comprises: a first acquisition unit for acquiring first information which is information on the rotational speed of a non-driving wheel and second information which is information on a rotational speed of the motor; and an execution unit for executing the anti-lock brake control of the non-driving wheel on the basis of the first information and the second information.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a hydraulic control unit for a saddle-ride type vehicle, a saddle-ride type vehicle including the hydraulic control unit, and a control method for the hydraulic control unit. [Background technology]

[0002] Conventional saddle-type vehicles include a hydraulic control unit that controls the pressure of brake fluid in a hydraulic circuit filled with brake fluid. The hydraulic control unit performs anti-lock brake control, for example, when a brake operating unit such as a brake lever is operated by a driver of the saddle-type vehicle. As an example of such a hydraulic control unit, there is one that performs anti-lock brake control for one wheel of the saddle-type vehicle (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-76248 Summary of the Invention [Problem to be solved by the invention]

[0004] The hydraulic control unit as described in Patent Document 1 includes a brake hydraulic control device that controls the braking force of one wheel of a saddle riding type vehicle, and determines whether the wheel is locked or there is a possibility of locking based on the detection result of a wheel speed sensor that detects the rotation speed of the wheel, and executes anti-lock brake control. However, the rotation speed of the wheel to be controlled may change drastically during execution of anti-lock brake control. For this reason, if anti-lock brake control is executed based only on the detection result of the wheel speed sensor of one wheel, the difference between the behavior of the saddle riding type vehicle estimated when determining whether the wheel is locked or there is a possibility of locking and the actual behavior of the saddle riding type vehicle may become large, and there is a risk of degrading the performance of the anti-lock brake control.

[0005] The present invention has been made in light of the above-mentioned problems, and has a first object to provide a hydraulic control unit capable of suppressing deterioration in performance. A second object of the present invention is to provide a saddle-type vehicle equipped with such a hydraulic control unit. A third object of the present invention is to propose a control method for such a hydraulic control unit. [Means for solving the problem]

[0006] The hydraulic control unit of the present invention is a hydraulic control unit of a brake system mounted on a saddle-riding vehicle that uses a motor as a drive source, and includes a sensor that detects the rotational speed or a physical quantity that can be converted to the rotational speed of a non-driven wheel, which is a wheel among the wheels of the saddle-riding vehicle that is not driven by the drive source, and a control device that performs anti-lock brake control of at least the non-driven wheel, wherein the control device includes a first acquisition unit that acquires first information, which is information regarding the rotational speed of the non-driven wheel, and second information, which is information regarding the rotational speed of the motor, and an execution unit that performs the anti-lock brake control of the non-driven wheel based on the first information and the second information.

[0007] A saddle-type vehicle according to the present invention includes the hydraulic pressure control unit according to the present invention.

[0008] In addition, the control method for a hydraulic control unit of the present invention is a control method for a hydraulic control unit of a brake system mounted on a saddle-riding vehicle that uses a motor as a drive source, wherein the hydraulic control unit includes a sensor that detects the rotational speed or a physical quantity that can be converted to the rotational speed of a non-driven wheel, which is a wheel among the wheels of the saddle-riding vehicle that is not driven by the drive source, and a control device that performs anti-lock brake control of at least the non-driven wheel, and the control device includes an acquisition step of acquiring first information, which is information regarding the rotational speed of the non-driven wheel, and second information, which is information regarding the rotational speed of the motor, and an execution step of executing the anti-lock brake control of the non-driven wheel based on the first information and the second information. Effect of the Invention

[0009] The hydraulic control unit of the present invention performs anti-lock brake control based on first information, which is information regarding the rotational speed of a non-driven wheel, and second information, which is information regarding the rotational speed of a motor, thereby suppressing deterioration in the performance of the anti-lock brake control. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing a configuration of a saddle-type vehicle equipped with a brake system including a hydraulic pressure control unit according to an embodiment of the present invention; [Diagram 2] 1 is a diagram showing a configuration of a brake system including a hydraulic control unit according to an embodiment of the present invention; [Diagram 3] 1 is a block diagram for explaining a control device of a hydraulic control unit according to an embodiment of the present invention; [Figure 4] 4 is a flowchart showing antilock brake control performed by a brake system including a hydraulic control unit according to an embodiment of the present invention. [Diagram 5] 11 is a diagram showing a configuration of a modified example of a saddle-type vehicle equipped with a brake system including a hydraulic pressure control unit according to an embodiment of the present invention. [Figure 6]FIG. 11 is a block diagram for explaining a control device of a modified example of the hydraulic control unit according to the embodiment of the present invention. [Figure 7] 11 is a diagram showing a configuration of a modified example of a saddle-type vehicle equipped with a brake system including a hydraulic pressure control unit according to an embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing the configuration of a brake system mounted on the vehicle shown in FIG. 7. [Figure 9] FIG. 11 is a diagram showing a configuration of a brake system including a modified example of a hydraulic control unit according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The hydraulic control unit and saddle-type vehicle according to the present invention will be described below with reference to the drawings. Note that, in the following, an example will be described in which the hydraulic control unit according to the present invention is mounted on a motorcycle, which is an example of a saddle-type vehicle, but the hydraulic control unit according to the present invention may be mounted on a saddle-type vehicle other than a motorcycle, so long as the vehicle is a saddle-type vehicle that is driven by a motor. Examples of saddle-type vehicles other than motorcycles include bicycles (e.g., two-wheeled vehicles, three-wheeled vehicles, etc.), three-wheeled vehicles, and buggies. Furthermore, bicycles refer to vehicles in general that can be propelled on a road by pedaling force applied to the pedals. In other words, bicycles include electrically assisted bicycles, electric bicycles, etc. Furthermore, a two-wheeled vehicle or a three-wheeled vehicle refers to a so-called motor cycle, and a motor cycle includes a motorcycle, a scooter, an electric scooter, etc.

[0012] In addition, although an example in which the hydraulic control unit according to the present invention is used in a brake system having one hydraulic circuit is described below, the number of hydraulic circuits in the brake system in which the hydraulic control unit according to the present invention is used is not limited to one. The brake system in which the hydraulic control unit according to the present invention is used may have two or more hydraulic circuits.

[0013] In addition, the configurations, operations, etc. described below are merely examples, and the present invention is not limited to such configurations, operations, etc. In addition, in each drawing, the same or similar members or parts may be given the same reference numerals or may not be given the reference numerals. In addition, illustrations of detailed structures may be simplified or omitted as appropriate.

[0014] Embodiment <Configuration and operation of brake system for saddle-type vehicle> The configuration and operation of a brake system equipped with a hydraulic pressure control unit according to the present embodiment will be described. Fig. 1 is a diagram showing the configuration of a saddle-type vehicle equipped with a brake system equipped with a hydraulic pressure control unit according to the embodiment of the present invention. Fig. 2 is a diagram showing the configuration of a brake system equipped with a hydraulic pressure control unit according to the embodiment of the present invention.

[0015] As shown in FIG. 1 and FIG. 2, the brake system 10 is mounted on a saddle-riding vehicle 200. The saddle-riding vehicle 200 according to this embodiment is a motorcycle. The saddle-riding vehicle 200 includes a body 1, a handlebar 2 rotatably held by the body 1, a front wheel 3 rotatably held by the body 1 together with the handlebar 2, and a rear wheel 4 rotatably held by the body 1. That is, the saddle-riding vehicle 200 includes the front wheel 3 and the rear wheel 4 as wheels. The saddle-riding vehicle 200 is also a saddle-riding vehicle in which an electrically driven motor 5 serves as a drive source for the wheels. For this reason, the saddle-riding vehicle 200 includes the motor 5, a motor control device 6 that controls the rotation speed of the motor 5, and a battery (not shown) that supplies power to the motor 5. In this embodiment, the motor 5 is an in-wheel motor housed in the rear wheel 4.

[0016] Hereinafter, among the wheels of the saddle riding type vehicle 200, the wheels that are driven by the motor 5 may be referred to as drive wheels, and among the wheels of the saddle riding type vehicle 200, the wheels that are not driven by the motor 5 may be referred to as non-drive wheels. In addition, in the saddle riding type vehicle 200 according to this embodiment, the front wheels 3 are non-drive wheels, and the rear wheels 4 are drive wheels.

[0017] The brake system 10 includes a brake lever 11 and a hydraulic circuit 12 filled with brake fluid. The brake lever 11 is provided on the handlebar 2 and is operated by the driver's hand. The hydraulic circuit 12 is a single hydraulic circuit, and generates a braking force in the rotor 3a that rotates together with the front wheel 3 according to the amount of operation of the brake lever 11. The brake system 10 also includes a brake lever (not shown) and a mechanism for generating a braking force in the rotor 4a that rotates together with the rear wheel 4 according to the amount of operation of the brake lever. This brake lever (not shown) is provided on the end of the handlebar 2 opposite to the end on which the brake lever 11 is provided. The mechanism for generating a braking force in the rotor 4a according to the amount of operation of the brake lever (not shown) may be a mechanism for generating a braking force by increasing the pressure of the brake fluid, or may be a mechanism for generating a braking force mechanically (for example, a mechanism for generating a braking force by generating tension in a wire).

[0018] Here, the brake lever 11 and a brake lever not shown are examples of a brake operation unit. For example, a brake pedal provided on the body 1 or the like may be adopted as a brake operation unit in place of the brake lever.

[0019] The hydraulic circuit 12 includes a master cylinder 21 incorporating a piston (not shown) that is pressed by the brake lever 11, a reservoir 22 attached to the master cylinder 21, a brake caliper 23 having brake pads (not shown), and a wheel cylinder 24 that operates the brake pads (not shown) of the brake caliper 23.

[0020] The hydraulic control unit 100 includes a base 110 made of, for example, a metal material. The base 110 is formed with an internal flow passage 40 that connects the wheel cylinder 24 and the master cylinder 21. Specifically, the internal flow passage 40 communicates with the master cylinder 21 via a liquid pipe 15 described later, and communicates with the wheel cylinder 24 via a liquid pipe 16 described later. In this embodiment, the base 110 is formed with a main flow passage 41 and a sub-flow passage 42 as the internal flow passage 40. In the hydraulic circuit 12, the master cylinder 21 and the wheel cylinder 24 communicate with each other via a liquid pipe 15 connected between the master cylinder 21 and a master cylinder port MP formed in the base 110, a main flow passage 41 formed in the base 110, and a liquid pipe 16 connected between the wheel cylinder 24 and a wheel cylinder port WP formed in the base 110. In addition, the brake fluid in the wheel cylinder 24 is released to a main flow passage intermediate portion 41a, which is an intermediate portion of the main flow passage 41, via the sub-flow passage 42.

[0021] An inlet valve 25 is provided in a region of the main flow path 41 closer to the wheel cylinder 24 than the main flow path intermediate portion 41a. The opening and closing operation of the inlet valve 25 opens and closes the flow path portion of the main flow path 41 where the inlet valve 25 is installed, thereby controlling the flow rate of brake fluid flowing through this region. In the secondary flow path 42, in order from the upstream side, a release valve 26, an accumulator 27 for storing brake fluid, and a pump 50 are provided. The opening and closing operation of the release valve 26 opens and closes the flow path portion of the secondary flow path 42 where the release valve 26 is installed, thereby controlling the flow rate of brake fluid flowing through this region. The pump 50 applies pressure to the brake fluid in the secondary flow path 42 to move the brake fluid.

[0022] That is, the main flow passage 41 connects the master cylinder port MP and the wheel cylinder port WP via the inlet valve 25. The sub flow passage 42 is defined as a part or all of the flow passage that releases the brake fluid in the wheel cylinder 24 to the master cylinder 21 via the release valve 26.

[0023] The inlet valve 25 is a solenoid valve that switches the flow of brake fluid at its installation location from open to closed when it is switched from a non-energized state to an energized state. The release valve 26 is a solenoid valve that switches the flow of brake fluid toward the accumulator 27 via its installation location from closed to open when it is switched from a non-energized state to an energized state.

[0024] The pump 50 of the hydraulic circuit 12 is driven by a pump motor 70. That is, the pump motor 70 is a drive source of the pump 50.

[0025] The hydraulic control unit 100 includes a master cylinder pressure sensor 30, a wheel cylinder pressure sensor 31, and a wheel speed sensor 32. The master cylinder pressure sensor 30 detects the hydraulic pressure of the brake fluid in the master cylinder 21, and is provided in a region of the main flow path 41 closer to the master cylinder 21 than the inlet valve 25. The wheel cylinder pressure sensor 31 detects the hydraulic pressure of the brake fluid in the wheel cylinder 24, and is provided in a region of the main flow path 41 closer to the wheel cylinder 24 than the inlet valve 25. The wheel speed sensor 32 detects the rotation speed of the non-driven wheels. That is, in this embodiment, the wheel speed sensor 32 detects the rotation speed of the front wheels 3. The wheel speed sensor 32 may detect a physical quantity that can be converted into the rotation speed of the non-driven wheels.

[0026] The hydraulic control unit 100 is composed of a base 110, various components provided on the base 110 (inlet valve 25, release valve 26, accumulator 27, master cylinder pressure sensor 30, wheel cylinder pressure sensor 31, pump 50, pump motor 70, etc.), a wheel speed sensor 32, and a control device (ECU) 60.

[0027] The control device 60 controls the inlet valve 25, the release valve 26, and the pump motor 70, and executes antilock brake control of at least the non-driven wheels. There may be one control device 60, or there may be multiple control devices. The control device 60 may be attached to the base 110, or may be attached to a member other than the base 110. A part or all of the control device 60 may be configured, for example, by a microcomputer, a microprocessor unit, or the like, or may be configured with updatable firmware, or may be a program module executed by commands from a CPU, or the like. In this embodiment, the control device 60 is configured as follows.

[0028] 3 is a block diagram for explaining a control device of a hydraulic control unit according to an embodiment of the present invention. The control device 60 includes a first acquisition section 61 and an execution section 63 as functional sections.

[0029] The first acquisition unit 61 is a functional unit that acquires the first information and the second information. The first information is information acquired based on information input from the wheel speed sensor 32 to the control device 60, and is information related to the rotation speed of the non-driven wheels. That is, the first information is information related to the rotation speed of the front wheel 3. The information related to the rotation speed of the non-driven wheels may be information indicating the rotation speed of the non-driven wheels, or may be information indicating a physical quantity that can be converted into the rotation speed of the non-driven wheels. The second information is information acquired based on information input from the motor control device 6 of the saddle riding type vehicle 200 to the control device 60, and is information related to the rotation speed of the motor 5. The information related to the rotation speed of the motor 5 may be information indicating the rotation speed of the motor 5, or may be information indicating a physical quantity that can be converted into the rotation speed of the motor 5.

[0030] Execution unit 63 is a functional unit that controls inlet valve 25, release valve 26, and pump motor 70 based on the first information and second information acquired by first acquisition unit 61, and executes anti-lock brake control of front wheel 3, which is a non-driven wheel. In other words, execution unit 63 is a functional unit that controls inlet valve 25, release valve 26, and pump 50 based on the first information and second information acquired by first acquisition unit 61, and executes anti-lock brake control of front wheel 3, which is a non-driven wheel. Specifically, in this embodiment, execution unit 63 executes anti-lock brake control of front wheel 3, which is a non-driven wheel, as follows.

[0031] The control device 60 includes a second acquisition unit 62 as a functional unit. The second acquisition unit 62 is a functional unit that acquires vehicle speed information, which is information related to the speed of the vehicle body of the saddle riding type vehicle 200. The vehicle speed information may be information indicating the speed of the vehicle body of the saddle riding type vehicle 200, or may be information indicating a physical quantity that can be converted into the speed of the vehicle body of the saddle riding type vehicle 200. For example, the second acquisition unit 62 acquires the vehicle speed information based on the second information acquired by the first acquisition unit 61. Also, for example, the second acquisition unit 62 acquires the vehicle speed information based on the first information and the second information acquired by the first acquisition unit 61, such as acquiring an average value of the first information and the second information acquired by the first acquisition unit 61. Then, the execution unit 63 controls the inlet valve 25, the release valve 26, and the pump motor 70 based on the vehicle speed information acquired by the second acquisition unit 62, and executes anti-lock brake control on the front wheel 3, which is a non-driven wheel.

[0032] For example, the execution unit 63 acquires the slip ratio of the front wheel 3 as the behavior of the saddle riding type vehicle 200 based on the vehicle body speed information acquired by the second acquisition unit 62. For example, the slip ratio of the front wheel 3 is obtained by dividing a value obtained by subtracting the rotation speed of the front wheel 3 acquired by the first acquisition unit 61 from the vehicle body speed of the saddle riding type vehicle 200 acquired by the second acquisition unit 62, by the vehicle body speed of the saddle riding type vehicle 200 acquired by the second acquisition unit 62. The larger the value obtained by subtracting the rotation speed of the front wheel 3 acquired by the first acquisition unit 61 from the vehicle body speed of the saddle riding type vehicle 200 acquired by the second acquisition unit 62, the larger the slip ratio becomes. For example, when the front wheel 3 is completely locked, the slip ratio is 100%. Then, the execution unit 63 controls the inlet valve 25, the release valve 26, and the pump motor 70 based on the slip ratio, and executes antilock brake control of the front wheel 3, which is a non-driven wheel. When performing antilock brake control on the front wheels 3 which are non-driven wheels in this manner, the hydraulic control unit 100 performs the antilock brake control on the front wheels 3 which are non-driven wheels, for example, according to the control flow shown below.

[0033] Fig. 4 is a flowchart when a brake system including a hydraulic control unit according to an embodiment of the present invention executes antilock brake control. When the brake lever 11 is operated, the control device 60 executes the control shown in Fig. 4 in step S1. Step S2 following step S1 is an acquisition step. In step S2, a first acquisition unit 61 of the control device 60 acquires first information which is information related to the rotation speed of the front wheel 3 and second information which is information related to the rotation speed of the motor 5. Also, in this embodiment, in step S2, a second acquisition unit 62 of the control device 60 acquires vehicle body speed information which is information related to the body speed of the saddle riding type vehicle 200.

[0034] After step S2, in step S3, the control device 60 determines whether or not a condition for terminating the control shown in Fig. 4 is satisfied. The condition for terminating the control shown in Fig. 4 is, for example, that the brake lever 11 is not operated. If the condition for terminating the control shown in Fig. 4 is not satisfied, the control device 60 proceeds to step S4. On the other hand, if the condition for terminating the control shown in Fig. 4 is satisfied, the control device 60 proceeds to step S5 and terminates the control shown in Fig. 4.

[0035] In step S4, the execution unit 63 of the control device 60 determines whether or not to execute anti-lock brake control. In this embodiment, when the slip ratio is equal to or greater than the first threshold value, the execution unit 63 recognizes that the hydraulic pressure of the brake fluid in the wheel cylinder 24 is excessive or there is a possibility of excessive hydraulic pressure, and determines to execute anti-lock brake control. When the execution unit 63 determines to execute anti-lock brake control, the process proceeds to step S10. On the other hand, when the control device 60 determines not to execute anti-lock brake control, the process returns to step S2.

[0036] In steps S1 to S4, the execution unit 63 causes the brake system 10 to execute a brake operation in a normal state. The normal state is a state in which antilock brake control is not executed. In the normal state, the execution unit 63 controls the inlet valve 25 and the release valve 26 to be in a non-energized state. That is, in the normal state, the inlet valve 25 is in an open state, and the release valve 26 is in a closed state. In this state, when the brake lever 11 is operated, the piston (not shown) of the master cylinder 21 is pushed in, increasing the hydraulic pressure of the brake fluid in the wheel cylinder 24, and the brake pads (not shown) of the brake caliper 23 are pressed against the rotor 3a of the front wheel 3, thereby braking the front wheel 3. That is, a braking force corresponding to the amount of operation of the brake lever 11 is generated in the front wheel 3.

[0037] Step S10 after step S4 is an execution step. In step S10, execution unit 63 controls inlet valve 25, release valve 26, and pump motor 70 based on the first information and second information acquired by first acquisition unit 61, and executes antilock brake control of front wheels 3, which are non-driven wheels.

[0038] In step S10, the execution unit 63 executes steps S11 to S18. Specifically, step S11 is a pressure reduction step execution step. In step S11, the execution unit 63 executes the pressure reduction step. In the pressure reduction step, the execution unit 63 drives the pump motor 70 while controlling the inlet valve 25 to an energized state and the release valve 26 to an energized state. That is, in the pressure reduction step, the execution unit 63 drives the pump motor 70 while keeping the inlet valve 25 in a closed state and the release valve 26 in an open state. As a result, the brake fluid in the wheel cylinder 24 flows into the secondary flow path 42 through the main flow path 41, and the hydraulic pressure in the wheel cylinder 24 is reduced. Then, the brake fluid that has flowed into the secondary flow path 42 from the wheel cylinder 24 flows into the accumulator 27 through the release valve 26 and is stored in the accumulator 27. In addition, the brake fluid stored in the accumulator 27 is returned to the master cylinder 21 by a pump 50 driven by a pump motor 70 .

[0039] After step S11, in step S12, the execution unit 63 determines whether or not the condition for terminating the control shown in Fig. 4 is satisfied. If the condition for terminating the control shown in Fig. 4 is not satisfied, the control device 60 proceeds to step S13. On the other hand, if the condition for terminating the control shown in Fig. 4 is satisfied, the execution unit 63 proceeds to step S5 and terminates the control shown in Fig. 4. Note that, for example, a step of determining whether or not to return to step S2 may be provided between step S12 and step S5.

[0040] Step S13 after step S12 is an acquisition step. In step S12, the first acquisition unit 61 acquires first information, which is information about the rotation speed of the front wheel 3, and second information, which is information about the rotation speed of the motor 5. In addition, in this embodiment, in step S12, the second acquisition unit 62 acquires vehicle body speed information, which is information about the speed of the vehicle body of the saddle riding type vehicle 200. After step S13, in step S14, the execution unit 63 determines whether or not to end the pressure reduction process. In this embodiment, the execution unit 63 determines to end the pressure reduction process when the slip ratio is equal to or less than the second threshold value. When the execution unit 63 determines not to end the pressure reduction process in step S14, the execution unit 63 returns to step S11 to continue the pressure reduction process. On the other hand, when the execution unit 63 determines to end the pressure reduction process in step S14, the execution unit 63 proceeds to step S15 to execute the pressure increase process.

[0041] Step S15 is a pressure increase process execution step. In step S15, execution unit 63 executes the pressure increase process. In the pressure increase process, execution unit 63 controls inlet valve 25 to a non-energized state from the pressure reduction process state. That is, execution unit 63 opens inlet valve 25 from the pressure reduction process state. As a result, the pressure of the brake fluid in wheel cylinder 24 increases.

[0042] After step S15, in step S16, the execution unit 63 determines whether or not a condition for terminating the control shown in Fig. 4 is satisfied. If the condition for terminating the control shown in Fig. 4 is not satisfied, the execution unit 63 proceeds to step S17. On the other hand, if the condition for terminating the control shown in Fig. 4 is satisfied, the execution unit 63 proceeds to step S5 and terminates the control shown in Fig. 4. Note that, for example, a step of determining whether or not to return to step S2 may be provided between step S16 and step S5.

[0043] Step S17 after step S16 is an acquisition step. In step S17, the first acquisition unit 61 acquires first information, which is information about the rotation speed of the front wheel 3, and second information, which is information about the rotation speed of the motor 5. In addition, in this embodiment, in step S17, the second acquisition unit 62 acquires vehicle body speed information, which is information about the speed of the vehicle body of the saddle riding type vehicle 200. After step S17, in step S18, the execution unit 63 determines whether or not to end the pressure increase process. In this embodiment, the execution unit 63 determines to end the pressure increase process when the slip ratio is equal to or greater than a third threshold value, which is a value greater than the second threshold value. When the execution unit 63 determines not to end the pressure increase process in step S18, the execution unit 63 returns to step S15 to continue the pressure increase process. On the other hand, when the execution unit 63 determines to end the pressure increase process in step S18, the execution unit 63 proceeds to step S11 to execute the pressure reduction process. That is, the execution unit 63 repeats the pressure reducing step and the pressure increasing step in the antilock brake control until the condition for terminating the control shown in FIG. 4 is satisfied.

[0044] Here, in a conventional hydraulic control unit that executes antilock brake control on a non-driven wheel, for example, the behavior of the saddle-riding type vehicle is acquired based only on the detection result of a wheel speed sensor that detects the rotation speed of one wheel (for example, a non-driven wheel), and antilock brake control is executed on that wheel. In another conventional hydraulic control unit, the vehicle body speed of the saddle-riding type vehicle is acquired based on the detection result of the wheel speed sensor, and antilock brake control is executed on that wheel. Here, when antilock brake control is executed on a wheel, the rotation speed of the non-driven wheel may change drastically. For this reason, in a conventional hydraulic control unit, when the behavior of the saddle-riding type vehicle is acquired based only on the detection result of a wheel speed sensor that detects the rotation speed of one wheel, the difference between the acquired behavior of the saddle-riding type vehicle and the actual behavior of the saddle-riding type vehicle may become large. For example, the difference between the vehicle body speed of the saddle-riding type vehicle that is estimated and acquired based on the detection result of the wheel speed sensor as the behavior of the saddle-riding type vehicle and the actual vehicle body speed of the saddle-riding type vehicle may become large. In such a case, the performance of the antilock brake control deteriorates while the antilock brake control is being executed, and the wheel in question is likely to remain locked. Hereinafter, the above-mentioned locking caused by the difference between the acquired behavior of the saddle riding type vehicle and the actual behavior of the saddle riding type vehicle will be referred to as a cascade locking.

[0045] For example, in a conventional one-system hydraulic control unit that executes antilock brake control on non-driven wheels, a possible configuration for suppressing the above-mentioned cascade lock is to suppress the increase in the pressure of the brake fluid in the wheel cylinder when the pressure of the antilock brake control is increased. For example, it is assumed that a conventional one-system hydraulic control unit that executes antilock brake control on non-driven wheels executes antilock brake control based on the slip ratio as in the present embodiment. In this case, in order to suppress the above-mentioned cascade lock, the conventional hydraulic control unit needs to end the pressure increase process of the antilock brake control when the slip ratio becomes a threshold value that is smaller than the third threshold value in the pressure increase process of the antilock brake control. However, if a one-system hydraulic control unit that executes antilock brake control on non-driven wheels is configured in this way, the braking distance of the saddle-ride type vehicle may be extended, and the performance of the hydraulic control unit may be degraded.

[0046] Also, for example, in a conventional single-system hydraulic control unit that performs antilock brake control on non-driven wheels, another possible configuration for suppressing cascade lock is to include a wheel speed sensor that detects the rotation speed of the driven wheels in addition to a wheel speed sensor that detects the rotation speed of the non-driven wheels. However, when a single-system hydraulic control unit that performs antilock brake control on non-driven wheels is configured in this way, it is necessary to add a wheel speed sensor that detects the rotation speed of the driven wheels, which may increase the cost of the hydraulic control unit.

[0047] On the other hand, the hydraulic control unit 100 according to the present embodiment executes antilock brake control based on the first information, which is information about the rotation speed of the non-driven wheels, and the second information, which is information about the rotation speed of the motor 5, which is proportional to the rotation speed of the driven wheels. Therefore, the hydraulic control unit 100 according to the present embodiment can suppress the deterioration of the performance of the antilock brake control, and can suppress the cascade lock while suppressing the braking distance of the saddle riding type vehicle 200 from increasing. Here, the second information, which is information about the rotation speed of the motor 5, can be acquired, for example, from the motor control device 6 of the saddle riding type vehicle 200. Therefore, the hydraulic control unit 100 according to the present embodiment does not need to be provided with a new sensor or the like for the second information, which is information about the rotation speed of the motor 5. Therefore, the hydraulic control unit 100 according to the present embodiment can suppress the deterioration of performance while suppressing the increase in cost.

[0048] <Effects of hydraulic control unit> The effects of the hydraulic control unit 100 according to this embodiment will be described.

[0049] The hydraulic control unit 100 according to this embodiment is a hydraulic control unit of a brake system 10 mounted on a saddle-riding vehicle 200 using a motor 5 as a drive source. The hydraulic control unit 100 includes a wheel speed sensor 32 and a control device 60. The wheel speed sensor 32 detects the rotation speed or a physical quantity convertible to the rotation speed of a non-driven wheel, which is a wheel of the saddle-riding vehicle 200 that is not driven by a drive source. The control device 60 executes anti-lock brake control of at least the non-driven wheel. The control device 60 includes a first acquisition unit 61 that acquires first information, which is information related to the rotation speed of the non-driven wheel, and second information, which is information related to the rotation speed of the motor 5, and an execution unit 63 that executes anti-lock brake control of the non-driven wheel based on the first information and the second information.

[0050] The hydraulic control unit 100 configured in this manner can suppress deterioration of the performance of the antilock brake control.

[0051] <Modification> FIG. 5 is a diagram showing the configuration of a modified example of a saddle-ride type vehicle equipped with a brake system including a hydraulic control unit according to an embodiment of the present invention. The motor 5 of the saddle-ride type vehicle 200 shown in FIG. 1 is an in-wheel motor housed in the rear wheel 4, which is a drive wheel. However, as shown in FIG. 5, the motor 5 of the saddle-ride type vehicle 200 may be a motor provided outside the drive wheel and connected to the drive wheel via a transmission mechanism 7. Even in the saddle-ride type vehicle 200 equipped with such a motor 5, the rotation speed of the drive wheel and the rotation speed of the motor 5 are proportional to each other. Therefore, even if the hydraulic control unit 100 according to the present embodiment is installed in the saddle-ride type vehicle 200 equipped with such a motor 5, the hydraulic control unit 100 can suppress the deterioration of the performance of the anti-lock brake control, and can suppress the deterioration of performance while suppressing an increase in cost.

[0052] The configuration of the transmission mechanism 7 is not particularly limited. Fig. 5 illustrates a transmission mechanism 7 including sprockets 7a, 7b, and a chain 7c. The sprocket 7a is attached to the rotating shaft of the motor 5. The sprocket 7b is provided on the rear wheel 4, which is a drive wheel, so as to rotate together with the rear wheel 4. The chain 7c is hooked on the teeth of the sprockets 7a and 7b, connecting the sprockets 7a and 7b.

[0053] Fig. 6 is a block diagram for explaining a control device of a modified example of the hydraulic control unit according to the embodiment of the present invention. The control device 60 of the hydraulic control unit 100 shown in Fig. 6 includes a correction unit 64 as a functional unit in addition to the configuration of the control device 60 of the hydraulic control unit 100 shown in Fig. 3. The correction unit 64 is a functional unit that corrects second information, which is information about the rotation speed of the motor 5 that is proportional to the rotation speed of the drive wheels, based on first information, which is information about the rotation speed of the non-driven wheels.

[0054] In the case of a saddle riding type vehicle 200 having a motor 5 connected to a drive wheel by a transmission mechanism 7, if the sprocket 7a or sprocket 7b is replaced with a sprocket with a different number of teeth than the original, the proportional relationship between the rotation speed of the drive wheel and the rotation speed of the motor 5 changes. For example, assume that the rotation speed of the motor 5 was initially three times the rotation speed of the drive wheel. If the sprocket 7a or sprocket 7b is replaced with a sprocket with a different number of teeth than the original, the rotation speed of the motor 5 becomes, for example, twice the rotation speed of the drive wheel. If the proportional relationship between the rotation speed of the drive wheel and the rotation speed of the motor 5 changes in this way, the vehicle body speed of the saddle riding type vehicle 200 and the slip ratio of the non-driven wheel acquired by the control device 60 will also differ from the initial values.

[0055] For this reason, when the hydraulic control unit 100 is mounted on a saddle-type vehicle 200 in which the motor 5 is connected to the drive wheels via a transmission mechanism 7, it is preferable that the hydraulic control unit 100 is provided with a correction unit 64 that corrects second information, which is information regarding the rotational speed of the motor 5, which is proportional to the rotational speed of the drive wheels, based on first information, which is information regarding the rotational speed of the non-drive wheels, so that, for example, the body speed of the saddle-type vehicle 200 and the slip rate of the non-drive wheels acquired by the control device 60 return to their initial values.

[0056] FIG. 7 is a diagram showing the configuration of a modified example of a saddle-type vehicle equipped with a brake system including a hydraulic control unit according to an embodiment of the present invention. FIG. 8 is a diagram showing the configuration of the brake system equipped in FIG. 7. In the above-mentioned saddle-type vehicle 200, the front wheels 3 are non-driven wheels, and the rear wheels 4 are driven wheels. However, as shown in FIG. 7 and FIG. 8, the hydraulic control unit 100 can be mounted on the saddle-type vehicle 200 in which the rear wheels 4 are non-driven wheels, and the front wheels 3 are driven wheels. In this case, the hydraulic control unit 100 is connected via a hydraulic pipe 15 to a master cylinder 21 incorporating a piston (not shown) pressed by a brake lever 13 that generates a braking force on the rear wheel 4. The hydraulic control unit 100 is also connected via a hydraulic pipe 16 to a wheel cylinder 24 that operates a brake pad (not shown) pressed against a rotor 4a of the rear wheel 4. The wheel speed sensor 32 detects the rotation speed of the rear wheel 4, which is a non-driven wheel. This allows the hydraulic control unit 100 to execute anti-lock brake control of at least the rear wheel 4 which is a non-driven wheel. In this embodiment, the saddle-type vehicle 200 is configured to have one driven wheel and one non-driven wheel, but the saddle-type vehicle may be configured to have, for example, two or more driven wheels, or two or more non-driven wheels.

[0057] FIG. 9 is a diagram showing the configuration of a brake system including a modified example of the hydraulic control unit according to the embodiment of the present invention. The brake system 10 shown in FIG. 9 includes a hydraulic circuit 12 and a hydraulic circuit 14. In other words, the hydraulic control unit 100 shown in FIG. 9 includes a configuration corresponding to the hydraulic circuit 12 and a configuration corresponding to the hydraulic circuit 14. As described above, the hydraulic circuit 12 generates a braking force corresponding to the operation amount of the brake operation unit in the rotor that rotates together with the non-driven wheel. In FIG. 9, the hydraulic circuit 12 is configured to generate a braking force corresponding to the operation amount of the brake lever 11 in the rotor 3a that rotates together with the front wheel 3 that is a non-driven wheel. In addition, the hydraulic circuit 14 generates a braking force corresponding to the operation amount of the brake operation unit in the rotor that rotates together with the driven wheel. In FIG. 9, the hydraulic circuit 14 is configured to generate a braking force corresponding to the operation amount of the brake lever 13 in the rotor 4a that rotates together with the rear wheel 4 that is a driven wheel. The other configurations of the hydraulic circuit 14 are the same as those of the hydraulic circuit 12.

[0058] In the hydraulic control unit 100 configured as shown in Fig. 9, the control device 60 can execute antilock brake control of the non-driven wheels and the driven wheels. Specifically, the control device 60 of the hydraulic control unit 100 shown in Fig. 9 executes antilock brake control of the non-driven wheels as described above. Furthermore, the control device 60 of the hydraulic control unit 100 shown in Fig. 9 executes antilock brake control of the driven wheels based on second information which is information related to the rotation speed of the motor 5. For example, the control device 60 of the hydraulic control unit 100 shown in Fig. 9 acquires the vehicle body speed of the saddle riding type vehicle 200 and the slip ratio of the driven wheels based on the second information, and executes antilock brake control of the driven wheels.

[0059] Although each hydraulic control unit 100 according to the present embodiment is equipped with a pump 50 and a pump motor 70, the hydraulic control unit may be configured as a pumpless hydraulic unit that does not have a pump or a pump motor.

[0060] Although the hydraulic control unit 100 according to the present embodiment has been described above, the hydraulic control unit according to the present invention is not limited to the description of the present embodiment. The hydraulic control unit according to the present invention may be embodied in only a part of the present embodiment. [Explanation of symbols]

[0061] 1 fuselage, 2 handle, 3 front wheel, 3a rotor, 4 rear wheel, 4a rotor, 5 motor, 6 motor control device, 7 transmission mechanism, 7a sprocket, 7b sprocket, 7c chain, 10 brake system, 11 brake lever, 12 hydraulic circuit, 13 brake lever, 14 hydraulic circuit, 15 hydraulic pipe, 16 hydraulic pipe, 21 master cylinder, 22 reservoir, 23 brake caliper, 24 wheel cylinder, 25 inlet valve, 26 release valve, 27 accumulator, 30 master cylinder hydraulic pressure sensor, 31 wheel cylinder pressure sensor, 32 wheel speed sensor, 40 internal flow path, 41 main flow path, 41a main flow path intermediate portion, 42 secondary flow path, 50 pump, 60 control device, 61 first acquisition unit, 62 second acquisition unit, 63 execution unit, 64 correction unit, 70 Pump motor, 100 hydraulic control unit, 110 base body, 200 saddle-type vehicle, MP master cylinder port, WP wheel cylinder port.

Claims

1. A hydraulic pressure control unit (100) for a brake system (10) mounted on a saddle-type vehicle (200) using a motor (5) as a drive source, comprising: a sensor (32) for detecting a rotation speed or a physical quantity that can be converted into the rotation speed of a non-driven wheel that is a wheel that is not driven by the drive source among the wheels (3, 4) of the saddle riding type vehicle (200); A control device (60) for performing antilock brake control of at least the non-driven wheels; Equipped with The control device (60) a first acquisition unit (61) that acquires first information that is information regarding the rotation speed of the non-driven wheels and second information that is information regarding the rotation speed of the motor (5); an execution unit (63) that executes the antilock brake control of the non-driven wheels based on the first information and the second information; A hydraulic control unit (100) comprising:

2. The control device (60) a second acquisition unit (62) that acquires vehicle body speed information that is information regarding the speed of a vehicle body of the saddle riding type vehicle (200) based on the first information and the second information, The execution unit (63) is configured to execute the antilock brake control of the non-driven wheels based on the vehicle speed information. The hydraulic control unit (100) of claim 1.

3. The control device (60) a second acquisition unit (62) that acquires vehicle body speed information, which is information regarding the speed of the vehicle body of the saddle riding type vehicle (200), based on the second information; The execution unit (63) is configured to execute the antilock brake control of the non-driven wheels based on the vehicle speed information. The hydraulic control unit (100) of claim 1.

4. The motor (5) is an in-wheel motor accommodated in a drive wheel, which is one of the wheels (3, 4) of the saddle-ride type vehicle (200) that is driven by the drive source. A hydraulic control unit (100) according to any one of claims 1 to 3.

5. The motor (5) is provided outside a drive wheel, which is one of the wheels (3, 4) of the saddle-ride type vehicle (200) that is driven by the drive source, and is a motor connected to the drive wheel by a transmission mechanism (7). A hydraulic control unit (100) according to any one of claims 1 to 3.

6. The control device (60) includes a correction unit (64) that corrects the second information based on the first information. The hydraulic control unit (100) according to claim 5.

7. The control device (60) is configured to execute the antilock brake control of the non-driven wheels and the driven wheels, which are the wheels driven by the drive source, among the wheels (3, 4) of the saddle riding type vehicle (200). A hydraulic control unit (100) according to any one of claims 1 to 3.

8. The control device (60) is configured to execute the antilock brake control of the driving wheels based on the second information. The hydraulic control unit (100) of claim 7.

9. The non-driven wheel is a front wheel (3) of the saddle-type vehicle (200), Of the wheels (3, 4) of the saddle-ride type vehicle (200), the drive wheel that is driven by the drive source is the rear wheel (4) of the saddle-ride type vehicle (200). A hydraulic control unit (100) according to any one of claims 1 to 3.

10. The non-driven wheel is a rear wheel (4) of the saddle-type vehicle (200), Among the wheels (3, 4) of the saddle riding type vehicle (200), a driving wheel that is driven by the driving source is a front wheel (3) of the saddle riding type vehicle (200). A hydraulic control unit (100) according to any one of claims 1 to 3.

11. The hydraulic control unit (100) according to any one of claims 1 to 3 is provided. A saddle-type vehicle (200).

12. A method for controlling a hydraulic control unit (100) of a brake system (10) mounted on a saddle-type vehicle (200) using a motor (5) as a drive source, comprising: The hydraulic control unit (100) a sensor (32) for detecting a rotation speed or a physical quantity that can be converted into the rotation speed of a non-driven wheel that is a wheel that is not driven by the drive source among the wheels (3, 4) of the saddle riding type vehicle (200); A control device (60) for performing antilock brake control of at least the non-driven wheels; Equipped with The control device (60) an acquisition step (S2, S13, S17) of acquiring first information which is information regarding the rotation speed of the non-driven wheels and second information which is information regarding the rotation speed of the motor (5); an execution step (S10) of executing the antilock brake control of the non-driven wheels based on the first information and the second information; A method for controlling a hydraulic control unit (100) comprising:

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