Electronically controlled suspension system

Abstract

To enhance travel stability and ride quality by setting an electronically controlled suspension system to an optimal damping specification.SOLUTION: An electronically controlled suspension system (1) includes suspensions (26 and 27) that damp vibrations of wheels of a saddle riding vehicle, actuators (24 and 25) that vary the damping forces of the suspensions, an operating instrument (17) that receives selection of an arbitrary damping specification from among multiple low-speed damping specifications, and controllers (11 and 12) that cause the actuators to operate according to a low-speed or high-speed damping specification. When the saddle riding vehicle is traveling at a low speed equal to or lower than a predetermined speed, the controllers apply an arbitrary low-speed damping specification. When the saddle riding vehicle is traveling at a high speed exceeding the predetermined speed, the controllers automatically apply a high-speed damping specification.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to electronically controlled suspensions. [Background technology]

[0002] Among saddle-ride type vehicles, there are known ones that employ electronically controlled suspensions that can electrically control damping force (see, for example, Patent Document 1). A control device for the electronically controlled suspension described in Patent Document 1 stores low-speed damping specifications and high-speed damping specifications for the front suspension and the rear suspension. When the vehicle speed is less than a first vehicle speed, the low-speed damping specifications are applied to each suspension, and when the vehicle speed exceeds the first vehicle speed, switching from the low-speed damping specifications to the high-speed damping specifications begins, and when the vehicle speed reaches or exceeds a second vehicle speed, the high-speed damping specifications are applied to each suspension. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-167907 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, optimal damping specifications differ depending on vehicle speed, road surface conditions, driving conditions, passenger preferences, and the like. For example, in sports driving, it is desirable to increase the damping force to stabilize the vehicle, but in driving on uneven roads, it is desirable to decrease the damping force to improve ride comfort. In addition, the level of damping force has a greater effect on driving stability in high-speed driving than in low-speed driving. In the electronically controlled suspension described in Patent Document 1, low-speed damping specifications and high-speed damping specifications are prepared for each driving condition, such as sports driving, but since the high-speed damping specifications depend on the low-speed damping specifications, there is a risk that optimal damping specifications cannot be set.

[0005] The present invention has been made in consideration of the above-mentioned points, and has an object to provide an electronically controlled suspension that can set optimal damping specifications to improve driving stability and ride comfort. [Means for solving the problem]

[0006] One embodiment of the electronically controlled suspension of the present invention comprises a suspension that dampens vibrations in the wheels of a saddle-type vehicle, an actuator that changes the damping force of the suspension, an operating device that accepts selection of any damping specification from a plurality of low-speed damping specifications, and a control device that operates the actuator with low-speed or high-speed damping specifications, and solves the above-mentioned problem by the control device applying the any low-speed damping specification when driving at speeds below a predetermined speed, and automatically applying the high-speed damping specification when driving at high speeds above the predetermined speed. Effect of the Invention

[0007] According to an electronically controlled suspension of one aspect of the present invention, during low-speed driving, any low-speed damping specifications are selected according to the driving conditions, road surface conditions, driving conditions, etc., so that the suspension damping force is appropriately adjusted taking into consideration driving stability, ride comfort, etc. During high-speed driving, the high-speed damping specifications are automatically set, so that the suspension damping force is appropriately adjusted without relying on the damping force during low-speed driving, improving driving stability. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a schematic diagram of the electronically controlled suspension of the present embodiment. [Diagram 2] FIG. 13 is a diagram showing a setting screen for damping control during low-speed driving in this embodiment. [Diagram 3] FIG. 13 is a diagram showing a setting screen for damping control during high-speed driving in this embodiment. [Figure 4] FIG. 11 is a diagram showing the relationship between speed and damping force for each damping parameter in the present embodiment. [Diagram 5] 5 is a flowchart showing a switching operation of damping specifications in the present embodiment. [Figure 6]13 is a diagram showing the relationship between the speed and the damping force for each damping parameter of the first modified example. FIG. [Figure 7] 13 is a flowchart showing a transition operation of damping specifications in the first modified example. [Figure 8] FIG. 11 is a diagram showing the relationship between the speed and the damping force for each damping parameter in the second modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] In an electronically controlled suspension according to one aspect of the present invention, vibrations of the wheels of a saddle-ride type vehicle are damped by the suspension, and the damping force of the suspension is changed by the actuator. An operating device accepts selection of any damping specifications from a plurality of low-speed damping specifications, and during low-speed driving below a predetermined speed, the low-speed damping specifications selected according to the driving conditions, road surface conditions, driving conditions, etc. are applied by the control device. The actuator is operated by the control device with the low-speed damping specifications, and the damping force of the suspension is appropriately adjusted in consideration of driving stability, ride comfort, etc. During high-speed driving above a predetermined speed, the control device automatically applies the high-speed damping specifications. The actuator is operated by the control device with the high-speed damping specifications, and the damping force of the suspension is appropriately adjusted independently of the damping force during low-speed driving, thereby improving driving stability. EXAMPLES

[0010] The saddle-type vehicle of this embodiment employs an electronically controlled suspension. In general, electronically controlled suspensions are provided with damping specifications with different characteristics, such as hard, medium, and soft. For example, during sporty driving, the vehicle's posture is more likely to be stabilized by using "hard" damping specifications with high damping force. When driving on an uneven road, vibrations to the vehicle are reduced by using "soft" damping specifications with low damping force. During low-speed driving, it is desirable to select a desired damping specification from a plurality of damping specifications according to the driving conditions, road surface conditions, and the like. In particular, by providing a large difference in damping force between the plurality of damping specifications, the user can easily feel the difference between the damping specifications.

[0011] Incidentally, in a typical electronically controlled suspension, the vehicle posture is stabilized by increasing the damping force of the damping specifications as the vehicle speed increases. When driving on a bumpy road with "soft" damping specifications applied, the vehicle is often driven at low speeds and excessive damping rarely occurs, but when driving at high speeds with "hard" damping specifications applied, there is a risk of excessive damping. Therefore, in the electronically controlled suspension of this embodiment, low-speed damping specifications can be selected according to the road conditions, etc., when driving at low speeds, and high-speed damping specifications that are independent of the low-speed damping specifications are automatically applied when driving at high speeds, thereby realizing stable driving.

[0012] The electronically controlled suspension of this embodiment will be described below with reference to the accompanying drawings, in which: Figure 1 is a block diagram of the electronically controlled suspension of this embodiment;

[0013] As shown in Fig. 1, the electronically controlled suspension 1 is provided with an ECM (Electronic Control Module) 11 and a suspension controller 12 as control devices. An accelerator position sensor 13, a front wheel vehicle speed sensor 14, and a rear wheel vehicle speed sensor 15 are connected to the ECM 11. The ECM 11 detects the vehicle speed based on the detection results of at least one of the accelerator position sensor 13, the front wheel vehicle speed sensor 14, and the rear wheel vehicle speed sensor 15. A display 16 and an operation switch 17 are also connected to the ECM 11. The display on the display 16 is controlled by the ECM 11 in response to an operation signal from the operation switch 17.

[0014] A damping control setting screen is displayed on the display 16. The operation switch 17 accepts operations on the setting screen of the display 16. The ECM 11 stores a plurality of low speed damping specifications and a single high speed damping specification. Any damping specification can be selected from the plurality of low speed damping specifications by the operation switch 17 only when the vehicle is traveling at a low speed below a predetermined speed Va. When the vehicle is traveling at a high speed above the predetermined speed Va, the high speed damping specifications are automatically applied by the ECM 11. The ECM 11 generates a control signal based on the damping specifications, the amount of adjustment of the damping force, etc. The process of selecting the damping specifications and the process of adjusting the damping force will be described in detail later.

[0015] A front stroke sensor 21, a rear stroke sensor 22, an IMU (Inertial Measurement Unit) 23, a front actuator 24, and a rear actuator 25 are connected to the suspension controller 12. The suspension controller 12 generates operation signals for the front actuator 24 and the rear actuator 25 based on detection signals from the front stroke sensor 21, the rear stroke sensor 22, and the IMU 23, in addition to control signals input from the ECM 11. The front actuator 24 and the rear actuator 25 operate according to low speed damping specifications or high speed damping specifications in response to the operation signals.

[0016] The front actuator 24 changes the damping force of the front suspension 26, and the front suspension 26 damps vibrations of a front wheel (not shown) of the saddle-riding type vehicle. The rear actuator 25 changes the damping force of the rear suspension 27, and the rear suspension 27 damps vibrations of a rear wheel (not shown) of the saddle-riding type vehicle. Note that the ECM 11 may generate operation signals for the actuators 24, 25, or the suspension controller 12 may generate a damping force control signal. In other words, the control device may be composed of either the ECM 11 or the suspension controller 12.

[0017] Each process of the ECM 11 and the suspension controller 12 may be realized by software using a processor, or may be realized by a logic circuit (hardware) formed in an integrated circuit or the like. When a processor is used, the processor reads out and executes a program stored in a memory to perform various processes. For example, a CPU (Central Processing Unit) is used as the processor. In addition, the memory is composed of one or more storage media such as a ROM (Read Only Memory) and a RAM (Random Access Memory) depending on the application.

[0018] The process of selecting the damping specifications and the process of adjusting the damping force will be described with reference to Fig. 2 to Fig. 4. Fig. 2 is a diagram showing a setting screen for damping control during low-speed driving in this embodiment. Fig. 3 is a diagram showing a setting screen for damping control during high-speed driving in this embodiment. Fig. 4 is a diagram showing the relationship between speed and damping force for each damping specification in this embodiment. Note that Figs. 2 to 4 will be described using the symbols in Fig. 1.

[0019] As shown in Fig. 2, a damping control setting screen is displayed on the display 16. The damping control setting screen has a base mode setting field 31 and damping force adjustment fields 32, 33 for each suspension 26, 27. When driving at a low speed below a predetermined speed Va, the ECM 11 controls the display 16 to activate the base mode setting field 31 and the damping force adjustment fields 32, 33. The operation switch 17 accepts the selection of any of three types of low-speed damping specifications in the base mode setting field 31. In this embodiment, any of the low-speed damping specifications in hard mode, medium mode, and soft mode can be selected.

[0020] In hard mode, the damping force is adjusted high so that the pistons in the dampers of each suspension 26, 27 do not move easily, and the amount of expansion and contraction of each suspension 26, 27 is reduced, suppressing changes in posture during acceleration / deceleration and cornering. In soft mode, the damping force is adjusted low so that the pistons in the dampers of each suspension 26, 27 move easily, and the amount of expansion and contraction of each suspension 26, 27 is increased, suppressing the transmission of vibrations to the occupants when driving on uneven roads, etc. In medium mode, the damping force is adjusted to be intermediate between hard mode and soft mode, and the amount of expansion and contraction of each suspension 26, 27 becomes moderate.

[0021] Furthermore, damping force adjustment based on the low-speed damping specifications is accepted in the damping force adjustment fields 32, 33 by the operation switch 17. The damping force adjustment value for each low-speed damping specification is set to "0" by default, and the damping force adjustment value can be changed in seven steps between "+3" and "-3" for each suspension 26, 27 according to the rider's preference. When driving at low speeds, the base damping force is set according to the low-speed damping specifications, and the damping force is further finely adjusted based on the default damping force of the low-speed damping specifications. The ECM 11 generates a control signal based on the low-speed damping specifications and the damping force adjustment value.

[0022] In this way, during low-speed driving, the ECM 11 applies any low-speed damping specification from the low-speed damping specifications of the hard mode, medium mode, and soft mode, and the damping force of the low-speed damping specifications can be adjusted in stages. The stepwise adjustment range of the damping force is smaller than the adjustment range of the damping force by selecting the low-speed damping specifications. In addition, the operation switch 17 accepts the selection of the low-speed damping specifications during low-speed driving, and the low-speed damping specifications can be changed to the desired low-speed damping specifications according to changes in the road surface conditions, driving conditions, etc. Furthermore, the operation switch 17 may accept adjustment of the damping force based on the low-speed damping specifications during low-speed driving.

[0023] In road conditions where a soft mode is preferred, such as bumpy roads, the vehicle generally travels at low speeds, and the convenience of the occupants is improved by switching the damping specifications between soft, hard, and medium modes during low-speed driving. During high-speed driving, the difference in damping force significantly affects driving stability, and high-speed driving situations are limited, so switching of the damping specifications is not as necessary as during low-speed driving. In particular, attention to driving is required during high-speed driving, and it is preferable for the occupants to concentrate on driving rather than increasing the number of options for the damping specifications. Therefore, in this embodiment, the high-speed damping specifications are automatically applied by the ECM 11 during high-speed driving.

[0024] As shown in Fig. 3, specifically, when the vehicle is traveling at a high speed exceeding a predetermined speed Va, the ECM 11 controls the display 16 to gray out the base mode setting field 31 and the damping force adjustment fields 32, 33. Selection of any damping specifications using the operation switch 17 and adjustment of the damping force based on the damping specifications are prohibited. The ECM 11 automatically applies the high-speed damping specifications of the high-speed mode, and the high-speed damping specifications are fixed to the default damping force. When the vehicle is traveling at high speed, the damping force is adjusted to an appropriate level without the occupant having to adjust the damping force using the operation device. The ECM 11 generates a control signal based on the high-speed damping specifications.

[0025] As shown in FIG. 4, when the vehicle speed increases beyond a predetermined speed Va, the ECM 11 automatically switches from the low-speed damping specifications to the high-speed damping specifications. When the vehicle speed decreases to or below the predetermined speed Va, the ECM 11 automatically switches from the high-speed damping specifications to the low-speed damping specifications. The damping force F1h of the low-speed damping specifications in the hard mode is set higher than the damping force F2 of the high-speed damping specifications in the high-speed mode. On the other hand, the damping forces F1m and F1s of the low-speed damping specifications in the medium mode and soft mode are set lower than the damping force F2 of the high-speed damping specifications in the high-speed mode. As described above, an adjustment range of the damping force is set for each low-speed damping specification.

[0026] When the damping specifications are switched by the ECM 11, the actuators 24, 25 are operated by the suspension controller 12. When switching from the low-speed damping specifications of the hard mode to the high-speed damping specifications of the high-speed mode, the suspension controller 12 controls the actuators 24, 25 so that the damping force decreases from F1h to F2 as the vehicle speed increases from the predetermined speed Va. When switching from the high-speed damping specifications of the high-speed mode to the low-speed damping specifications of the hard mode, the suspension controller 12 controls the actuators 24, 25 so that the damping force increases from F2 to F1h as the vehicle speed decreases from the predetermined speed Va.

[0027] When switching from the low-speed damping specifications of the medium mode and the soft mode to the high-speed damping specifications of the high-speed mode, the suspension controller 12 controls the actuators 24, 25 so that the damping force increases from F1m, F1s to F2 as the vehicle speed increases from the predetermined speed Va. When switching from the high-speed damping specifications of the high-speed mode to the low-speed damping specifications of the medium mode and the soft mode, the suspension controller 12 controls the actuators 24, 25 so that the damping force decreases from F2 to F1m, F1s as the vehicle speed decreases from the predetermined speed Va.

[0028] At this time, the closer the low-speed damping specifications are to the damping force of the high-speed damping specifications in the high-speed mode, the shorter the switching time. In this embodiment, the switching time between the low-speed damping specifications in the medium mode and the high-speed damping specifications in the high-speed mode is the shortest. Note that the ECM 11 stores the previous damping specifications before the damping specifications are switched, and when switching from the high-speed damping specifications to the low-speed damping specifications, the previous low-speed damping specifications are automatically restored.

[0029] The damping specification switching operation will be described with reference to Fig. 5. Fig. 5 is a flow chart showing the damping specification switching operation in this embodiment.

[0030] As shown in Fig. 5, it is determined whether or not the vehicle speed V is greater than a predetermined speed Va (step S01). If the vehicle speed V is greater than the predetermined speed Va (Yes in step S01), it is determined that the vehicle is traveling at high speed, and the ECM 11 applies the high-speed damping specifications (step S02). While the high-speed damping specifications are being applied, the base mode setting field 31 and the damping force adjustment fields 32 and 33 on the display 16 are grayed out, and changing the damping specifications using the operation switch 17 is prohibited. If the previous damping specifications were the high-speed damping specifications (Yes in step S03), the ECM 11 determines that the specifications have not been changed, and the process ends (step S04).

[0031] If the previous damping specifications are low-speed damping specifications in step S03 (No in step S03), the ECM 11 determines that the low-speed damping specifications should be switched to high-speed damping specifications (step S05). Then, a control signal is sent from the ECM 11 to the suspension controller 12, and the suspension controller 12 controls the operation of each actuator 24, 25 to change the damping force of each suspension 26, 27 (step S06). In this way, when the vehicle speed V increases beyond the predetermined speed Va, the low-speed damping specifications are automatically switched to the high-speed damping specifications, and the damping force of each suspension 26, 27 is adjusted.

[0032] On the other hand, if the vehicle speed V is equal to or lower than the predetermined speed Va in step S01 (No in step S1), it is determined that the vehicle is traveling at a low speed, and the ECM 11 applies the low-speed damping specifications (step S07). While the low-speed damping specifications are being applied, the base mode setting field 31 and the damping force adjustment fields 32, 33 of the display 16 are activated, and an operation to change the damping specifications is accepted by the operation switch 17. If the previous damping specifications were the low-speed damping specifications (Yes in step S08) and an operation to change the low-speed damping specifications has not been performed (No in step S09), the ECM 11 determines that the specifications have not been changed, and the process ends (step S10).

[0033] If the previous damping specifications are the high-speed damping specifications in step S08 (No in step S08), the ECM 11 determines to switch from the high-speed damping specifications to the low-speed damping specifications (step S11). Then, a control signal is sent from the ECM 11 to the suspension controller 12, and the suspension controller 12 controls the operation of each actuator 24, 25 to change the damping force of each suspension 26, 27 (step S06). In this way, when the vehicle speed V decelerates to a predetermined speed Va or less, the high-speed damping specifications are automatically switched to the low-speed damping specifications, and the damping force of each suspension 26, 27 is adjusted.

[0034] Furthermore, if the low-speed damping specifications have been changed in step S09 (Yes in step S09), the ECM 11 applies the changed low-speed damping specifications of the base mode (step S12). Then, a control signal is sent from the ECM 11 to the suspension controller 12, which controls the operation of each actuator 24, 25 to change the damping force of each suspension 26, 27 (step S06). In this way, during low-speed running where the vehicle speed V is equal to or lower than a predetermined speed Va, it is possible to change from a plurality of low-speed damping specifications to any low-speed damping specifications according to road surface conditions, etc.

[0035] As described above, according to the electronically controlled suspension 1 of this embodiment, during low-speed driving, any low-speed damping specifications are selected according to the driving conditions, road surface conditions, driving conditions, etc., and the damping force of each suspension 26, 27 is appropriately adjusted taking into consideration driving stability, ride comfort, etc. During high-speed driving, the high-speed damping specifications are automatically set, and the damping force of each suspension 26, 27 is appropriately adjusted without relying on the damping force during low-speed driving, improving driving stability.

[0036] In this embodiment, the low-speed damping specifications and the high-speed damping specifications are switched based on a predetermined speed, but a transition section for switching may be provided between the first speed and a second speed that is higher than the first speed. In this case, when the vehicle speed increases beyond the first speed, the ECM automatically switches from the low-speed damping specifications to the high-speed damping specifications. When the vehicle speed decelerates to the second speed or lower, the ECM automatically switches from the high-speed damping specifications to the low-speed damping specifications. Also, a different speed may be set for the first speed for each low-speed base mode (each low-speed damping specification).

[0037] The electronically controlled suspension of the modified example 1 will be described with reference to Fig. 6. Fig. 6 is a diagram showing the relationship between the speed and the damping force for each damping parameter of the modified example 1. The configuration of the electronically controlled suspension of the modified example 1 is similar to that of the electronically controlled suspension of this embodiment, and therefore the description thereof will be omitted.

[0038] For example, as shown in the first modification of FIG. 6, the first speed in the soft mode is set to V1s, the first speed in the medium mode is set to V1m, and the first speed in the hard mode is set to V1h. The first speeds V1s, V1m, and V1h are set to be higher in this order. By the time the vehicle speed increases from the first speeds V1s, V1m, and V1h to the second speed V2, the ECM 11 shifts from the low-speed damping specifications to the high-speed damping specifications. In addition, by the time the vehicle speed decelerates from the second speed V2 to the first speeds V1s, V1m, and V1h, the ECM 11 automatically shifts from the high-speed damping specifications to the low-speed damping specifications.

[0039] In the first modification, the damping forces F1h and F1m of the low-speed damping specifications in the hard mode and medium mode are set higher than the damping force F2 of the high-speed damping specifications in the high-speed mode. On the other hand, the damping force F1s of the low-speed damping specifications in the soft mode is set lower than the damping force F2 of the high-speed damping specifications in the high-speed mode. An adjustment range of the damping force is set for each low-speed damping specification. In addition, the transition section (the damping force change section) of the low-speed damping specifications is between the first speed V1s, V1m, V1h and the second speed V2, and in the transition section of the low-speed damping specifications, the damping force changes according to the vehicle speed.

[0040] When transitioning from the low-speed damping specifications of the hard mode and the medium mode to the high-speed damping specifications of the high-speed mode, the suspension controller 12 controls the actuators 24, 25 so that the damping force decreases from F1h, F1m to F2 before the speed increases from the first speed V1h, V1m to the second speed V2. When transitioning from the high-speed damping specifications of the high-speed mode to the low-speed damping specifications of the hard mode and the medium mode, the suspension controller 12 controls the actuators 24, 25 so that the damping force increases from F2 to F1h, F1m before the speed decreases from the second speed V2 to the first speed V1h, V1m.

[0041] When transitioning from the low-speed damping specifications in the soft mode to the high-speed damping specifications in the high-speed mode, the suspension controller 12 controls the actuators 24, 25 so that the damping force increases from F1s to F2 before the speed increases from the first speed V1s to the second speed V2. When transitioning from the high-speed damping specifications in the high-speed mode to the low-speed damping specifications in the soft mode, the suspension controller 12 controls the actuators 24, 25 so that the damping force decreases from F2 to F1s before the speed decreases from the second speed V2 to the first speed V1s.

[0042] In the first modified example, the second speed V2 corresponds to the predetermined speed Va in this embodiment. Therefore, if the vehicle speed is equal to or lower than the second speed V2, any damping specification can be selected from the low-speed damping specifications of the soft mode, medium mode, and hard mode. However, the area between the first speeds V1s, V1m, and V1h and the second speed V2 is a transition area, and when the low-speed damping specifications are changed in the transition area, the damping force is adjusted according to the slope of the damping specifications. In addition, the selection of the damping specifications may be prohibited in the transition area. In addition, if the vehicle speed exceeds the second speed V2, the high-speed damping specifications are automatically applied by the ECM 11.

[0043] The transition operation of the damping specifications will be described with reference to Fig. 7. Fig. 7 is a flowchart showing the transition operation of the damping specifications in Modification 1. Note that Fig. 7 illustrates the transition operation from the damping specifications for low speed in the soft mode, or the transition operation to the damping specifications for low speed in the soft mode.

[0044] As shown in Fig. 7, it is determined whether the vehicle speed V is greater than a first speed V1s (step S21). If the vehicle speed V is greater than the first speed V1s (Yes in step S21), it is determined whether the vehicle speed V is greater than a second speed V2 (step S22). If the vehicle speed V is greater than the second speed V2 (Yes in step S22), it is determined that the vehicle is traveling at high speed, and the ECM 11 applies high-speed damping specifications (step S23). If the previous damping specifications are high-speed damping specifications (Yes in step S24), the ECM 11 determines that the specifications have not been changed, and the process ends (step S25).

[0045] If the previous damping specifications are low-speed damping specifications in step S24 (No in step S24), the ECM 11 determines that the damping specifications are to be changed from the low-speed damping specifications to the high-speed damping specifications (step S26). Then, a control signal is sent from the ECM 11 to the suspension controller 12, and the suspension controller 12 controls the operation of each actuator 24, 25 to change the damping force of each suspension 26, 27 (step S27). In this way, when the vehicle speed V increases beyond the second speed V2, the damping specifications are automatically changed from the low-speed damping specifications to the high-speed damping specifications, and the damping force of each suspension 26, 27 is adjusted.

[0046] If the vehicle speed V is equal to or lower than the second speed V2 in step S22 (No in step S22), it is determined that the transition section of the low-speed damping specifications between the first speed V1s and the second speed V2 is in progress (step S28). In the transition section, the ECM 11 determines the damping force according to the vehicle speed V (step S29). Then, a control signal is sent from the ECM 11 to the suspension controller 12, which controls the operation of each actuator 24, 25 to change the damping force of each suspension 26, 27 (step S27). In this way, in the transition section of the low-speed damping specifications, the damping force of each suspension 26, 27 is adjusted according to the vehicle speed.

[0047] On the other hand, if the vehicle speed V is equal to or lower than the first speed V1s in step S21 (No in step S21), it is determined that the vehicle is traveling at a low speed, and the ECM 11 applies the low-speed damping specifications (step S30). If the vehicle speed V is equal to or lower than the first speed V1s, the base mode setting field 31 and the damping force adjustment fields 32 and 33 on the display 16 are activated, and an operation to change the damping specifications is accepted by the operation switch 17. If the previous damping specifications were low-speed damping specifications (Yes in step S31) and an operation to change the low-speed damping specifications has not been performed (No in step S32), the ECM 11 determines that the specifications have not been changed, and the process ends (step S33).

[0048] If the previous damping specifications are the high-speed damping specifications in step S31 (No in step S31), the ECM 11 determines that the high-speed damping specifications are to be changed to the low-speed damping specifications (step S34). Then, a control signal is sent from the ECM 11 to the suspension controller 12, and the suspension controller 12 controls the operation of each actuator 24, 25 to change the damping force of each suspension 26, 27 (step S27). In this way, when the vehicle speed V decelerates to a first speed V1s or less, the high-speed damping specifications are automatically changed to the low-speed damping specifications, and the damping force of each suspension 26, 27 is adjusted.

[0049] Furthermore, if the change operation of the low-speed damping specifications is performed in step S32 (Yes in step S32), the ECM 11 applies the changed low-speed damping specifications of the base mode (step S35). Then, a control signal is sent from the ECM 11 to the suspension controller 12, and the suspension controller 12 controls the operation of each actuator 24, 25 to change the damping force of each suspension 26, 27 (step S27). In this way, during low-speed running where the vehicle speed V is equal to or lower than the first speed V1s, it is possible to change from a plurality of low-speed damping specifications of the base mode to any low-speed damping specifications in accordance with the road surface conditions, etc.

[0050] As described above, in the electronically controlled suspension 1 of the first modification, the damping force of each suspension 26, 27 can be adjusted taking into consideration driving stability and ride comfort during low-speed driving, and the damping force of each suspension 26, 27 is automatically adjusted during high-speed driving to improve driving stability. In addition, a transition section is provided between the first speed and the second speed, allowing a gradual transition between the low-speed damping specifications and the high-speed damping specifications. Since the first speed differs for each low-speed damping specification, the transition timing can be changed according to the low-speed damping specifications.

[0051] In addition, in the first modification, the low-speed damping specifications are provided with an adjustment range of the damping force, and the damping force of the high-speed damping specifications is fixed, but as shown in the second modification of FIG. 8, both the low-speed damping specifications and the high-speed damping specifications may be provided with an adjustment range of the damping force. In this case, the adjustment of the damping force based on the low-speed damping specifications and the high-speed damping specifications is accepted by the operation switch. As a result, the damping force is set according to the low-speed damping specifications and the high-speed damping specifications, and further, the damping force is finely adjusted based on the damping forces of the low-speed damping specifications and the high-speed damping specifications. The adjustment range of the damping force that can be adjusted in the high-speed damping specifications is narrower than the adjustment range of the damping force that can be adjusted in a plurality of low-speed damping specifications, and the damping force can be adjusted by a simple operation when traveling at high speed.

[0052] In this embodiment, modified example 1, and modified example 2, the high-speed damping specifications are automatically applied during high-speed driving, but the operation switch may accept the selection of any damping specifications from a plurality of damping specifications not only during low-speed driving but also during high-speed driving. In this case, the operation switch is formed so as to be able to accept the selection of any damping specifications from a plurality of damping specifications, and the ECM and the suspension controller operate the actuator with the selected damping specifications. In addition, the number of damping specifications selectable during high-speed driving is set to be smaller than the number of damping specifications selectable during low-speed driving. Note that the adjustment range of the high-speed damping specifications may be set narrower than the adjustment range of the low-speed damping specifications. As a result, any damping specifications are selected during low-speed driving according to the driving conditions, road conditions, driving conditions, etc., so that the damping force of the suspension is appropriately adjusted in consideration of driving stability, ride comfort, etc. During high-speed driving, any damping specifications are selected from fewer damping specifications than during low-speed driving, so that the damping specifications can be selected by a simple operation of the operation device during high-speed driving where driving caution is required.

[0053] The predetermined speed in this embodiment can be changed as appropriate depending on the application. For example, it may be set to 140 km / h assuming sports driving on a circuit, or it may be set to 100 km / h assuming driving speed on a highway.

[0054] The electronically controlled suspension of the present embodiment is not limited to the above-mentioned saddle-ride type vehicle, and may be adopted in other types of saddle-ride type vehicles. Note that a saddle-ride type vehicle is not limited to all vehicles in which the rider sits astride the seat, but also includes scooter-type vehicles in which the rider does not sit astride the seat.

[0055] As described above, the first aspect includes a suspension (26, 27) for damping vibrations of the wheels of a saddle-type vehicle, an actuator (24, 25) for changing the damping force of the suspension, an operation device (operation switch 17) for receiving a selection of an arbitrary damping specification from a plurality of low-speed damping specifications, and a control device (ECM 11, suspension controller 12) for operating the actuator with the low-speed or high-speed damping specifications, and the control device applies the arbitrary low-speed damping specification during low-speed driving below a predetermined speed, and automatically applies the high-speed damping specification during high-speed driving above the predetermined speed. According to this configuration, the arbitrary low-speed damping specification is selected according to the driving conditions, road conditions, driving conditions, etc. during low-speed driving, so that the damping force of the suspension is appropriately adjusted in consideration of driving stability, ride comfort, etc. By automatically setting the high-speed damping specification during high-speed driving, the damping force is adjusted to an appropriate value without depending on the damping force during low-speed driving, improving driving stability.

[0056] In the second aspect, in the first aspect, the operating device accepts adjustment of the damping force based on the low-speed and high-speed damping specifications. With this configuration, the damping force is set according to the low-speed and high-speed damping specifications, and further, the damping force is finely adjusted based on the damping force of the low-speed and high-speed damping specifications.

[0057] In the third aspect, the adjustment range of the damping force that can be adjusted using the high-speed damping specifications is narrower than the adjustment range of the damping force that can be adjusted using the multiple low-speed damping specifications in the second aspect. With this configuration, the adjustment range of the damping force is narrowed during high-speed driving when attention is required while driving, and the damping force can be adjusted with a simple operation.

[0058] In the fourth aspect, in the first aspect, the operating device accepts adjustment of the damping force based on the low-speed damping specifications during low-speed driving, and the high-speed damping specifications are fixed to default damping forces during high-speed driving. With this configuration, the damping force is set according to the low-speed damping specifications during low-speed driving, and is further finely adjusted based on the damping force of the low-speed damping specifications. Furthermore, since the damping force of the high-speed damping specifications is fixed during high-speed driving, the damping force is adjusted to an appropriate level without the occupant having to adjust the damping force with the operating device.

[0059] In a fifth aspect, in any one of the first to fourth aspects, the operation device accepts selection of low-speed damping specifications during low-speed driving. With this configuration, the damping specifications can be changed to desired ones in response to changes in road conditions, driving conditions, etc., during low-speed driving.

[0060] A sixth aspect is any one of the first to fifth aspects, in which when the vehicle speed increases beyond a predetermined speed, the control device switches from the low-speed damping specifications to the high-speed damping specifications, and when the vehicle speed decelerates to the predetermined speed or below, the control device switches from the high-speed damping specifications to the low-speed damping specifications. With this configuration, when the vehicle speed increases beyond the predetermined speed, the control device can automatically switch from the low-speed damping specifications to the high-speed damping specifications, and when the vehicle speed decelerates to the predetermined speed or below, the control device can automatically switch from the high-speed damping specifications to the low-speed damping specifications.

[0061] A seventh aspect is any one of the first to fifth aspects, in which when the vehicle speed increases beyond a first speed, the control device transitions from the low-speed damping specifications to the high-speed damping specifications, and when the vehicle speed decelerates to a second speed or less that is greater than the first speed, the control device transitions from the high-speed damping specifications to the low-speed damping specifications. With this configuration, when the vehicle speed increases beyond the first speed, the control device can automatically transition from the low-speed damping specifications to the high-speed damping specifications, and when the vehicle speed decelerates to the second speed or less, the control device can automatically transition from the high-speed damping specifications to the low-speed damping specifications.

[0062] In the eighth aspect, in the seventh aspect, the control device transitions from the low-speed damping specifications to the high-speed damping specifications before the vehicle speed increases from the first speed to the second speed, and transitions from the high-speed damping specifications to the low-speed damping specifications before the vehicle speed decelerates from the second speed to the first speed. With this configuration, a transition section is provided between the first speed and the second speed, allowing a gradual transition between the low-speed damping specifications and the high-speed damping specifications.

[0063] A ninth aspect is the seventh or eighth aspect, in which a different speed is set for each low-speed damping parameter as the first speed. With this configuration, the transition timing can be changed according to the low-speed damping parameters.

[0064] The tenth aspect includes a suspension for damping vibrations of the wheels of a saddle-type vehicle, an actuator for changing the damping force of the suspension, an operating device for accepting selection of any damping specification from a plurality of damping specifications, and a control device for operating the actuator with the selected damping specification, and the number of damping specifications selectable during high-speed driving exceeding a predetermined speed is fewer than the number of damping specifications selectable during low-speed driving below a predetermined speed. According to this configuration, any damping specification is selected during low-speed driving according to the driving conditions, road conditions, driving conditions, etc., so that the damping force of the suspension is appropriately adjusted taking into consideration driving stability, ride comfort, etc. During high-speed driving, any damping specification is selected from fewer damping specifications than during low-speed driving, so that the damping specification can be selected by a simple operation of the operating device during high-speed driving where driving caution is required.

[0065] Although the present embodiment has been described, other embodiments may be made by combining the above-described embodiments and modifications in whole or in part.

[0066] In addition, the technology of the present invention is not limited to the above examples, and may be modified, substituted, or altered in various ways without departing from the spirit of the technical idea. Furthermore, if the technical idea can be realized in a different way due to the progress of technology or a different technology derived therefrom, the invention may be implemented using that method. Therefore, the claims cover all embodiments that may be included within the scope of the technical idea. [Explanation of symbols]

[0067] 1: Electronically controlled suspension 11:ECM (control device) 12: Suspension controller (control device) 17: Operation switch (operation device) 24: Front actuator (actuator) 25: Rear actuator (actuator) 26: Front suspension (suspension) 27: Rear suspension (suspension)

Claims

1. A suspension that damps vibrations of wheels of a saddle-type vehicle; an actuator for changing the damping force of the suspension; An operation device that accepts selection of any damping specification from a plurality of low-speed damping specifications; A control device that operates the actuator with low-speed or high-speed damping specifications, When the vehicle is traveling at a low speed below a predetermined speed, the control device applies any low-speed damping specifications, An electronically controlled suspension, characterized in that the control device automatically applies high-speed damping specifications when the vehicle is traveling at a high speed exceeding a predetermined speed.

2. 2. The electronically controlled suspension according to claim 1, wherein the operation device accepts adjustment of the damping force based on low-speed and high-speed damping specifications.

3. 3. The electronically controlled suspension according to claim 2, wherein the adjustment range of the damping force that can be adjusted with the high-speed damping specifications is narrower than the adjustment range of the damping force that can be adjusted with the plurality of low-speed damping specifications.

4. During low-speed driving, the operation device accepts adjustment of the damping force based on the low-speed damping specifications, 2. The electronically controlled suspension according to claim 1, wherein the high speed damping specifications are fixed to default damping forces during high speed driving.

5. 5. The electronically controlled suspension according to claim 1, wherein the operation device accepts selection of low-speed damping specifications while the vehicle is traveling at low speed.

6. When the vehicle speed exceeds a predetermined speed and increases, the control device switches from low speed damping specifications to high speed damping specifications, 5. The electronically controlled suspension according to claim 1, wherein the control device switches from high speed damping specifications to low speed damping specifications when the vehicle speed is decelerated to a predetermined speed or lower.

7. When the vehicle speed exceeds a first speed and increases, the control device transitions from low speed damping specifications to high speed damping specifications, 5. An electronically controlled suspension as claimed in any one of claims 1 to 4, characterized in that the control device transitions from high speed damping specifications to low speed damping specifications when the vehicle speed decelerates to a second speed or lower that is greater than the first speed.

8. The control device transitions from low speed damping specifications to high speed damping specifications before the vehicle speed increases from the first speed to the second speed, 8. The electronically controlled suspension of claim 7, wherein the control device transitions from high speed damping specifications to low speed damping specifications by the time the vehicle speed decelerates from the second speed to the first speed.

9. 8. The electronically controlled suspension according to claim 7, wherein a different first speed is set for each of the low speed damping parameters.

10. A suspension that damps vibrations of wheels of a saddle-type vehicle; an actuator for changing the damping force of the suspension; An operation device that accepts selection of any one of a plurality of damping specifications; A control device that operates the actuator with selected damping specifications; An electronically controlled suspension characterized in that the number of selectable damping parameters when traveling at high speeds exceeding a predetermined speed is smaller than the number of selectable damping parameters when traveling at low speeds below the predetermined speed.

Images