Control device, lean vehicle, and control method

Abstract

To obtain a control device that can realize a traveling stability warning system capable of improving the safety of a lean vehicle compared to a conventional one.SOLUTION: A control device mounted on a lean vehicle, includes: an acquisition unit configured to obtain rear wheel slip information that is slip information of rear wheels of the lean vehicle and speed information of the lean vehicle; and a notification operation execution unit configured to output a notification signal that is a signal that allows a notification device to issue a notification based on the rear wheel slip information and the speed information.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a control device mounted on a lean vehicle, a lean vehicle equipped with the control device, and a control method used for a lean vehicle.

Background Art

[0002] Some conventional lean vehicles may be equipped with a running stability warning system that determines the running stability of the lean vehicle and alerts the rider with a warning sound or the like from a notification device. For example, the running stability warning system described in Patent Document 1 notifies from a notification device based on physical quantities such as the angular velocity in the roll direction of the lean vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Compared with a motor vehicle or the like, a lean vehicle is likely to have an unstable running posture. For this reason, there has been a problem that a running stability warning system used for a lean vehicle is desired to have further improved safety.

[0005] The present invention has been made against the background of the above problems, and a first object thereof is to provide a control device capable of realizing a running stability warning system that can improve the safety of a lean vehicle more than before. Another object of the present invention is to provide a lean vehicle equipped with such a control device. Further, a third object of the present invention is to provide a control method capable of realizing a running stability warning system that can improve the safety of a lean vehicle more than before.

Means for Solving the Problems

[0006] The control device according to the present invention is a control device mounted on a lean vehicle, and includes an acquisition unit that acquires rear-wheel slip information, which is slip information of the rear wheels of the lean vehicle, and speed information of the lean vehicle, and a notification operation execution unit that outputs a notification signal, which is a signal for causing a notification device to perform notification, based on the rear-wheel slip information and the speed information.

[0007] Further, the lean vehicle according to the present invention includes the control device according to the present invention.

[0008] Further, the control method according to the present invention is a control method used for a lean vehicle, and includes an acquisition step of acquiring rear-wheel slip information, which is slip information of the rear wheels of the lean vehicle, and speed information of the lean vehicle, and a notification operation execution step of outputting a notification signal, which is a signal for causing a notification device to perform notification, based on the rear-wheel slip information and the speed information.

Effects of the Invention

[0009] A conventional running stability warning system used for a lean vehicle has a configuration that does not consider the surface condition of the road. On the other hand, the present invention outputs a notification signal, which is a signal for causing a notification device to perform notification, based on rear-wheel slip information, which is slip information of the rear wheels of the lean vehicle, and speed information of the lean vehicle. The rear-wheel slip information is information that reflects the surface condition of the road. Therefore, by adopting the present invention for a lean vehicle, a running stability warning system that takes into account the surface condition of the road on which the lean vehicle travels can be realized. Accordingly, the present invention can realize a running stability warning system that can improve the safety of the lean vehicle more than before.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0011] In the following embodiments, an example of a control device, a lean vehicle, and a control method according to the present invention will be described with reference to the drawings.

[0012] Note that the configurations and operations described below are examples of the present invention, and the present invention is not limited to such configurations and operations.

[0013] For example, in the following, a motorcycle is exemplified as a lean vehicle. However, the lean vehicle refers to all vehicles whose body tilts in the turning direction when turning. Therefore, the lean vehicle is not limited to a motorcycle. For example, the lean vehicle includes a motorcycle (a motorcycle, a three-wheeled vehicle whose body tilts in the turning direction when turning), a bicycle, etc., whose body tilts in the turning direction when turning. Also, a motorcycle whose body tilts in the turning direction may be driven by an engine or a motor. For example, it includes a motorcycle, a scooter, an electric scooter, etc. Also, a bicycle means all vehicles that can be propelled on the road by the rider's pedaling force applied to the pedals. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc.

[0014] In the following, the same or similar descriptions are appropriately simplified or omitted as appropriate. Also, in each figure, for the same or similar members or parts, the assignment of reference numerals is omitted or the same reference numerals are used. Also, for the detailed structure, the illustration is appropriately simplified or omitted.

[0015] Embodiment <Configuration of a lean vehicle> The configuration of a lean vehicle equipped with the control device according to the present embodiment will be described. FIG. 1 is a side view showing a lean vehicle equipped with the control device according to an embodiment of the present invention.

[0016] For example, a lean vehicle 100 which is a motorcycle includes a body 101, a handle 102 rotatably held on the body 101, a front wheel 103 rotatably held on the body 101 together with the handle 102, and a rear wheel 104 rotatably held on the body 101. Further, the lean vehicle 100 includes a drive device 120 that generates a driving force for the rear wheel 104 of the lean vehicle 100. The drive device 120 includes a drive source of the lean vehicle 100 and a drive source control device 122 that controls the output of the drive source. In the present embodiment, the lean vehicle 100 includes an engine 121 as a drive source. The drive source control device 122 controls the output of the engine 121 by controlling the rotational speed of the engine 121 or the like. Note that the drive source of the lean vehicle 100 may be a motor.

[0017] This lean vehicle 100 is equipped with a running stability warning system 1. The running stability warning system 1 notifies from the notification device 2 to alert the rider to driving attention. Note that the notification method by the notification device 2 is not particularly limited as long as it is recognizable by the rider. For example, the notification method may be a method of displaying characters or marks, etc. Also, for example, the notification method may be a method of lighting or flashing a light bulb. Also, for example, the notification method may be a method of outputting sounds such as voices. Also, the notification device 2 is not limited to a device provided in the lean vehicle 100. For example, the notification device 2 may be a smart helmet worn by the rider, etc. This running stability warning system 1 includes the above-mentioned notification device 2 and a control device 10.

[0018] <Configuration of the control device> FIG. 2 is a block diagram showing a control device according to an embodiment of the present invention. The control device 10 outputs a notification signal, which is a signal for causing the notification device 2 to notify. The control device 10 may be one, or may be divided into a plurality. Also, part or all of the control device 10 may be configured by, for example, a microcomputer, a microprocessor unit, etc., or may be configured by something that can be updated such as firmware, or may be a program module executed according to a command from a CPU, etc. This control device 10 includes an acquisition unit 11 and a notification operation execution unit 12 as functional units.

[0019] The acquisition unit 11 is a functional unit that acquires the rear-wheel slip information of the lean vehicle 100 and the speed information of the lean vehicle 100. The rear-wheel slip information is information indicating the degree of slip of the rear wheels 104 of the lean vehicle 100. The rear-wheel slip information is not particularly limited as long as it is a physical quantity indicating the degree of slip of the rear wheels 104. For example, the lean vehicle 100 according to the present embodiment includes a front-wheel side wheel speed sensor 113 that detects the wheel speed of the front wheels 103 and a rear-wheel side wheel speed sensor 114 that detects the wheel speed of the rear wheels 104. For example, the difference between the detection value of the front-wheel side wheel speed sensor 113 and the detection value of the rear-wheel side wheel speed sensor 114 may be used as the rear-wheel slip information. Also, for example, the value obtained by dividing the detection value of the rear-wheel side wheel speed sensor 114 by the speed of the lean vehicle 100 may be used as the rear-wheel slip information. Also, for example, the value obtained by dividing the difference between the detection value of the front-wheel side wheel speed sensor 113 and the detection value of the rear-wheel side wheel speed sensor 114 by the speed of the lean vehicle 100 may be used as the rear-wheel slip information.

[0020] The speed information of the lean vehicle 100 is the speed of the lean vehicle 100 or a physical quantity convertible to the speed. Note that the speed information of the lean vehicle 100 is not particularly limited as long as it is a physical quantity indicating the speed of the lean vehicle 100. For example, the lean vehicle 100 according to the present embodiment includes a speedometer 112. For example, the acquisition unit 11 may acquire the speed of the lean vehicle 100 from the speedometer 112. Also, conventionally, a method of acquiring the speed of the lean vehicle 100 based on the detection value of the front-wheel side wheel speed sensor 113 is known. Also, conventionally, a method of acquiring the speed of the lean vehicle 100 based on the detection values of the front-wheel side wheel speed sensor 113 and the rear-wheel side wheel speed sensor 114 is known. The acquisition unit 11 may acquire the speed of the lean vehicle 100 using such a conventionally known method.

[0021] The notification operation execution unit 12 is a functional unit that outputs a notification signal, which is a signal for causing the notification device 2 to perform a notification, based on the rear-wheel slip information and speed information acquired by the acquisition unit 11. In the present embodiment, the notification operation execution unit 12 includes a determination unit 13 and an output unit 14. The determination unit 13 is a functional unit that determines whether to output a notification signal based on the rear-wheel slip information and speed information acquired by the acquisition unit 11. The output unit 14 is a functional unit that outputs a notification signal when the determination unit 13 determines to output a notification signal. An example of the determination method of the determination unit 13 is shown below.

[0022] FIG. 3 is a diagram for explaining an example of a determination method performed by the determination unit of the control device according to the embodiment of the present invention. Note that the horizontal axis V shown in FIG. 3 indicates the speed information of the leaning vehicle 100, and the value increases as it moves to the right side of the paper surface. Further, the vertical axis S shown in FIG. 3 indicates the rear-wheel slip information of the leaning vehicle 100, and the value increases as it moves upward on the paper surface.

[0023] The determination unit 13 stores, for example, a table as shown in FIG. 3. Then, it compares the physical quantity obtained based on the rear-wheel slip information and the speed information with the threshold value T serving as the reference physical quantity, and determines whether to output an alarm signal. Specifically, when the speed of the leaning vehicle 100 is the same, the higher the value of the rear-wheel slip information of the leaning vehicle 100, the more unstable the leaning vehicle 100 becomes. Also, when the value of the rear-wheel slip information of the leaning vehicle 100 is the same, the higher the speed of the leaning vehicle 100, the more unstable the leaning vehicle 100 becomes. For this reason, when the physical quantity obtained based on the rear-wheel slip information and the speed information becomes larger than the threshold value T (when it is above the threshold value T on the paper surface in FIG. 3), the determination unit 13 determines to output an alarm signal. More specifically, the physical quantity P1 shown in FIG. 3 is the physical quantity when the rear-wheel slip information is S1 and the speed information is V1. Also, the physical quantity P2 shown in FIG. 3 is the physical quantity when the rear-wheel slip information is S2 and the speed information is V1. Also, the reference physical quantity when the speed information is V1 is T1, which is the value of the threshold value T when the speed information is V1. The physical quantity P1 has a value smaller than the reference physical quantity T1. For this reason, the determination unit 13 determines not to output an alarm signal. Also, the physical quantity P2 has a value larger than the reference physical quantity T1. For this reason, the determination unit 13 determines to output an alarm signal. Note that the determination unit 13 may store an arithmetic expression showing the relationship among the rear-wheel slip information S, the speed information V, and the threshold value T, and determine whether to output an alarm signal based on the arithmetic expression.

[0024] <Operation of the control device> The operation of the control device 10 according to the present embodiment will be described.

[0025] FIG. 4 is a control flowchart showing an example of the operation of the control device according to the embodiment of the present invention. When the control disclosure condition is satisfied, in step S1, the control device 10 starts the control shown in FIG. 4. The control start condition is, for example, when the leaning vehicle 100 is in the ignition-on state. Step S2 after step S1 is an acquisition step. In step S2, the acquisition unit 11 acquires the rear-wheel slip information of the leaning vehicle 100 and the speed information of the leaning vehicle 100.

[0026] Step S10 after step S2 is a notification operation execution step. In step S10, the notification operation execution unit 12 outputs a notification signal based on the rear-wheel slip information and speed information acquired in step S2. Specifically, step S10 includes step S11 and step S12. Step S11 is a determination step. In step S11, the determination unit 13 of the notification operation execution unit 12 determines whether to output a notification signal based on the rear-wheel slip information and speed information acquired in step S2. If the determination unit 13 determines not to output a notification signal in step S11, the control device 10 proceeds to step S3.

[0027] On the other hand, if the determination unit 13 determines to output a notification signal in step S11, the control device 10 proceeds to step S12. Step S12 is a notification signal output step. In step S12, the output unit 14 of the notification operation execution unit 12 outputs a notification signal to the notification device 2 to cause the notification device 2 to give a notification. Then, after step S12, the control device 10 proceeds to step S3.

[0028] Step S3 is an end determination step. In step S3, the control device 10 determines whether the control end condition has been met. The control end condition is, for example, when the leaning vehicle 100 is in the ignition-off state. If the control end condition is met, the control device 10 proceeds to step S4 and ends the control shown in FIG. 4. On the other hand, if the control end condition is not met, the control device 10 returns to step S2.

[0029] <Effect of the processing device> The control device 10 is a control device mounted on the lean vehicle 100. The control device 10 includes an acquisition unit 11 and a notification operation execution unit 12. The acquisition unit 11 acquires rear-wheel slip information, which is slip information of the rear wheel 104 of the lean vehicle 100, and speed information of the lean vehicle 100. Further, the notification operation execution unit 12 outputs a notification signal, which is a signal for causing the notification device 2 to perform notification, based on the rear-wheel slip information and the speed information.

[0030] A conventional running stability warning system used in a lean vehicle has a configuration that does not consider the surface condition of the road. On the other hand, the control device 10 according to the present embodiment outputs a notification signal, which is a signal for causing the notification device 2 to perform notification, based on the rear-wheel slip information and the speed information of the lean vehicle 100. The rear-wheel slip information is information that reflects the surface condition of the road 200 on which the lean vehicle 100 travels. Specifically, the smaller the friction coefficient of the surface of the road 200, the larger the value of the rear-wheel slip information. Therefore, by adopting the control device 10 according to the present embodiment in the lean vehicle 100, a running stability warning system that considers the surface condition of the road 200 on which the lean vehicle 100 travels can be realized. Accordingly, the control device 10 according to the present embodiment can realize a running stability warning system 1 that can improve the safety of the lean vehicle 100 as compared with the conventional case.

[0031] <Modification example> The notification operation execution unit 12 of the control device 10 may be configured to vary the conditions for outputting the notification signal according to at least one of the rear-wheel slip information and the speed information acquired by the acquisition unit 11. In this case, for example, the determination unit 13 of the notification operation execution unit 12 varies the threshold value T shown in FIG. 3 according to at least one of the rear-wheel slip information and the speed information, and determines whether to output the notification signal. The control device 10 configured in this way has improved versatility.

[0032] The notification operation execution unit 12 of the control device 10 may be configured to output a notification signal that causes the notification device 2 to perform notifications with different perceptibilities according to at least one of the rear-wheel slip information and the speed information acquired by the acquisition unit 11. The notifications with different perceptibilities by the notification device 2 are, for example, making the thickness of displayed characters or marks different, making the color or brightness of a light bulb that lights up or blinks different, and the like. When the notification operation execution unit 12 is configured as shown in FIG. 2 described above, for example, when the determination unit 13 determines that it outputs a notification signal, the determination unit 13 also determines the manner of notification of the notification device 2. For example, the greater the physical quantity obtained based on the rear-wheel slip information and the speed information is with respect to the threshold value T, the more the notification operation execution unit 12 causes the notification device 2 to perform a notification with higher perceptibility. In the control device 10 configured in this way, the more unstable the lean vehicle 100 becomes, the easier it is for the rider to notice the notification from the notification device 2. Therefore, by configuring the control device 10 in this way, it is possible to realize the running stability warning system 1 that can further improve the safety of the lean vehicle 100.

[0033] FIG. 5 is a block diagram showing a modification example of the control device according to the embodiment of the present invention. The acquisition unit 11 of the control device 10 shown in FIG. 5 is configured to acquire the running attitude information of the lean vehicle 100 in addition to the above-described rear-wheel slip information and speed information. Further, the notification operation execution unit 12 of the control device 10 shown in FIG. 5 is configured to output a notification signal based on the running attitude information in addition to the above-described rear-wheel slip information and speed information. In other words, the determination unit 13 of the notification operation execution unit 12 shown in FIG. 5 is configured to determine whether to output a notification signal based on the running attitude information in addition to the above-described rear-wheel slip information and speed information.

[0034] The running posture information is a physical quantity that has a correlation with the turning radius of the lean vehicle 100 during turning. The running posture information is, for example, at least one of the roll angle, lateral acceleration, and yaw rate of the lean vehicle 100. That is, for example, the running posture information includes the roll angle of the lean vehicle 100. Also, for example, the running posture information includes the lateral acceleration of the lean vehicle 100. Also, for example, the running posture information includes the yaw rate of the lean vehicle 100. Note that the method for acquiring the running posture information is not particularly limited. For example, assume that the lean vehicle 100 equipped with the control device 10 shown in FIG. 5 is provided with an inertial measurement device 111 as shown in FIG. 1. In such a case, the control device 10 shown in FIG. 5 acquires the running posture information based on the measurement result of the inertial measurement device 111.

[0035] Even if the rear-wheel slip information and the speed information are the same, the stability of the lean vehicle 100 varies depending on the running posture of the lean vehicle 100. For example, the lean vehicle 100 is more likely to be unstable when turning than when going straight. Since the control device 10 shown in FIG. 5 can output a notification signal in consideration of the running posture of the lean vehicle 100, a running stability warning system 1 that can further improve the safety of the lean vehicle 100 can be realized.

[0036] FIG. 6 is a block diagram showing another modification of the control device according to the embodiment of the present invention. The acquisition unit 11 of the control device 10 shown in FIG. 6 is configured to acquire the driving force information of the rear wheel 104 of the lean vehicle 100 in addition to the above-described rear-wheel slip information and speed information. Also, the notification operation execution unit 12 of the control device 10 shown in FIG. 5 is configured to output a notification signal based on the driving force information in addition to the above-described rear-wheel slip information and speed information.

[0037] The driving force information of the rear wheel 104 is the driving force generated on the rear wheel 104 or a physical quantity convertible to the driving force. The method for acquiring the driving force information of the rear wheel 104 is not particularly limited. For example, the control device 10 acquires the driving force information of the rear wheel 104 from the above-described drive source control device 122 mounted on the lean vehicle 100.

[0038] For example, assume the case of the lean vehicle 100 turning. In this case, the rear wheel 104 is more likely to slip as the speed of the lean vehicle 100 increases, and is more likely to slip as the driving force generated on the rear wheel 104 increases. Thus, the reason for the increase in the value of the rear wheel slip information may be the speed of the lean vehicle 100 or the driving force generated on the rear wheel 104.

[0039] Here, since the control device 10 shown in FIG. 6 can acquire the driving force information of the rear wheel 104, it is possible to grasp the cause of the increase in the value of the rear wheel slip information. In other words, the control device 10 shown in FIG. 6 can grasp the cause of the increase in the physical quantity obtained based on the rear wheel slip information and the speed information. For this reason, the control device 10 shown in FIG. 6 can vary the notification from the notification device 2 according to the cause of the increase in the value of the rear wheel slip information. For example, when the determination unit 13 of the control device 10 shown in FIG. 6 determines to output a notification signal, it also determines the method of notification of the notification device 2. Since the control device 10 shown in FIG. 6 can output a notification signal in consideration of the cause of the increase in the value of the rear wheel slip information, it is possible to realize the traveling stability warning system 1 that can further improve the safety of the lean vehicle 100.

[0040] As described above, an example of the control device according to the present invention has been described in the embodiment, but the control device according to the present invention is not limited to the description of the embodiment. For example, only a part of the description of the embodiment may be implemented for the control device according to the present invention.

Explanation of Reference Numerals

[0041] 1 Traveling stability warning system, 2 Notification device, 10 Control device, 11 Acquisition unit, 12 Notification operation execution unit, 13 Determination unit, 14 Output unit, 100 Lean vehicle, 101 Body, 102 Handle, 103 Front wheel, 104 Rear wheel, 111 Inertial measurement device, 112 Speed meter, 113 Front wheel side wheel speed sensor, 114 Rear wheel side wheel speed sensor, 120 Driving device, 121 Engine, 122 Driving source control device, 200 Road.

Claims

1. A control device (10) mounted on a lean vehicle (100), an acquisition unit (11) that acquires rear-wheel slip information, which is slip information of a rear wheel (104) of the lean vehicle (100), and speed information of the lean vehicle (100); an alert operation execution unit (12) that outputs an alert signal, which is a signal for causing an alert device (2) to give an alert, based on the rear-wheel slip information and the speed information; The control device (10) is provided with a control device (10).

2. The acquisition unit (11) is configured to acquire running attitude information of the lean vehicle (100), The alert operation execution unit (12) is further configured to output the alert signal based on the running attitude information The control device (10) according to claim 1.

3. The running attitude information includes a roll angle of the lean vehicle (100) The control device (10) according to claim 2.

4. The running attitude information includes a lateral acceleration of the lean vehicle (100) The control device (10) according to claim 2.

5. The running attitude information includes a yaw rate of the lean vehicle (100) The control device (10) according to claim 2.

6. The acquisition unit (11) is configured to acquire driving force information of the rear wheel (104) of the lean vehicle (100), The alert operation execution unit (12) is further configured to output the alert signal based on the driving force information The control device (10) according to any one of claims 1 to 5.

7. The alert operation execution unit (12) is configured to vary conditions for outputting the alert signal according to at least one of the rear-wheel slip information and the speed information The control device (10) according to any one of claims 1 to 5.

8. The alert operation execution unit (12) is configured to output the alert signal for causing the alert device (2) to perform alerts with different perceptibility according to at least one of the rear-wheel slip information and the speed information The control device (10) according to any one of claims 1 to 5.

9. A lean vehicle (100) comprising the control device (10) according to any one of claims 1 to 5 A lean vehicle (100).

10. A control method used for a lean vehicle (100), comprising: an acquisition step (S2) of acquiring rear-wheel slip information, which is slip information of a rear wheel (104) of the lean vehicle (100), and speed information of the lean vehicle (100); A notification operation execution step (S10) for outputting a notification signal, which is a signal for causing a notification device (2) to perform notification, based on the rear wheel slip information and the speed information; is provided with control method.

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