Processing device, lean vehicle and diagnosis method

Abstract

To provide a processing device capable of improving safety of a lean vehicle.SOLUTION: A processing device 80 mounted on a lean vehicle 100 having an inertia measurement device 70 includes: an estimation part 81 for estimating presence / absence of occurrence of an event that impact is applied to the inertia measurement device 70, during a period ranging from execution of first diagnosis of the inertia measurement device 70 by turning on of the inertia measurement device 70 to turning off of a power source; and a support operation part 82 for executing support operation of second diagnosis of the inertia measurement device 70, when it is estimated by the estimation part that the event occurs.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] Conventionally, some lean vehicles are configured to include an inertial measurement device that detects the attitude of the vehicle and controls the braking force of the vehicle based on the detection result of the inertial measurement device (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A lean vehicle as described in Patent Document 1 has lower vehicle body stability compared to a motor vehicle or the like, and for example, the vehicle body may fall over. The inertial measurement device may malfunction due to an impact of such a vehicle body fall or the like. When control such as braking force is performed based on the detection result of the inertial measurement device in a state where the inertial measurement device malfunctions, the safety of the lean vehicle may be reduced.

[0005] The present invention has been made against the background of the above problems, and a first object thereof is to obtain a processing device capable of improving the safety of a lean vehicle. A second object of the present invention is to obtain a lean vehicle equipped with such a processing device. A third object of the present invention is to obtain a diagnostic method capable of improving the safety of a vehicle.

Means for Solving the Problems

[0006] The processing device according to the present invention is a processing device mounted on a lean vehicle equipped with an inertial measurement device, and after the power of the inertial measurement device is turned on and the first diagnosis of the inertial measurement device is executed, until the power is turned off, an estimation unit that estimates the occurrence of an event in which an impact is applied to the inertial measurement device, and when the event is estimated to have occurred by the estimation unit, a support operation unit that executes a support operation for the second diagnosis of the inertial measurement device.

[0007] The lean vehicle according to the present invention is provided with the processing device according to the present invention.

[0008] The diagnostic method according to the present invention is a diagnostic method for diagnosing an inertial measurement device mounted on a lean vehicle, and includes an estimation step in which an estimation unit estimates the occurrence of an event in which an impact is applied to the inertial measurement device after the power of the inertial measurement device is turned on and the first diagnosis of the inertial measurement device is executed until the power is turned off, and a support operation step in which a support operation unit executes a support operation for the second diagnosis of the inertial measurement device when the event is estimated to have occurred by the estimation step.

Effect of the Invention

[0009] The processing device according to the present invention executes a support operation for the second diagnosis of the inertial measurement device when it is estimated that an event in which an impact is applied to the inertial measurement device has occurred after the power of the inertial measurement device is turned on and the first diagnosis of the inertial measurement device is executed. Therefore, after the first diagnosis is executed, the processing device can execute a support operation for the second diagnosis of the inertial measurement device, for example, when the lean vehicle falls and an impact is applied to the inertial measurement device, and can diagnose the inertial measurement device, so that the safety of the lean vehicle can be improved.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0011] Hereinafter, an example of an embodiment of a processing device, a lean vehicle, and a diagnostic method according to the present invention will be described with reference to the drawings. 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.

[0012] In the present embodiment, a motorcycle is exemplified as the lean vehicle. However, the lean vehicle is not limited to a motorcycle. The lean vehicle generally means a vehicle whose body tilts in the turning direction when turning. The lean vehicle includes motorcycles and bicycles whose bodies tilt in the turning direction when turning. The motorcycle may have an engine as a drive source or an electric motor as a drive source, and includes, for example, motorcycles, three-wheeled motorcycles, autobikes, scooters, electric scooters, etc. A bicycle generally means a vehicle that can be propelled on the road by the pedaling force of a rider applied to the pedals. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc.

[0013] Also, hereinafter, the same or similar descriptions are appropriately simplified or omitted. Also, in each figure, the same or similar members or parts are either not marked with reference numerals or are marked with the same reference numerals. Also, the illustration of the detailed structure is appropriately simplified or omitted.

[0014] Embodiment. <Configuration of Lean Vehicle and Processing Device> FIG. 1 is a diagram showing the configuration of a lean vehicle on which a processing device according to an embodiment of the present invention is mounted. FIG. 2 is a diagram showing the configuration of a brake system of the lean vehicle according to an embodiment of the present invention.

[0015] The lean vehicle 100 is, for example, a motorcycle, and includes a vehicle body 1, a handle 2 rotatably held on the vehicle body 1, a front wheel 3 rotatably held on the vehicle body 1 together with the handle 2, and a rear wheel 4 rotatably held on the vehicle body 1. The lean vehicle 100 includes an engine 5 as a drive source. The output of the engine 5 is controlled by a drive source control device 6. Note that the drive source of the lean vehicle 100 may be, for example, an electric motor or the like.

[0016] An inertial measurement device 70 and a brake system 10 are mounted on the lean vehicle 100. In other words, the lean vehicle 100 includes the inertial measurement device 70 and the brake system 10. The inertial measurement device 70 detects at least one physical quantity among acceleration, angular velocity, and angular acceleration. In the present embodiment, the inertial measurement device 70 is configured to detect accelerations in three mutually orthogonal directions and angular velocities around the respective axes of the above-described three axes. That is, the inertial measurement device 70 according to the present embodiment detects six physical quantities. Note that the inertial measurement device 70 may be mounted on the lean vehicle 100 separately from the devices mounted on the lean vehicle 100, or may be housed in a device mounted on the lean vehicle 100 and mounted on the lean vehicle 100.

[0017] The braking system 10 includes a brake lever 11, a first hydraulic circuit 12 filled with brake fluid, a brake pedal 13, and a second hydraulic circuit 14 filled with brake fluid. The brake lever 11 is provided on the handle 2 and is operated by the rider's hand. The first hydraulic circuit 12 generates a braking force corresponding to the operation amount of the brake lever 11 on the rotor 3a that rotates together with the front wheel 3. That is, the first hydraulic circuit 12 generates a braking force corresponding to the operation amount of the brake lever 11 on the front wheel 3. The brake pedal 13 is provided at the lower part of the vehicle body 1 and is operated by the rider's foot. The second hydraulic circuit 14 generates a braking force corresponding to the operation amount of the brake pedal 13 on the rotor 4a that rotates together with the rear wheel 4. That is, the second hydraulic circuit 14 generates a braking force corresponding to the operation amount of the brake pedal 13 on the rear wheel 4.

[0018] Note that the brake lever 11 and the brake pedal 13 are examples of a brake operation unit. For example, as a brake operation unit replacing the brake lever 11, a brake pedal different from the brake pedal 13 provided on the vehicle body 1 may be adopted. Also, for example, as a brake operation unit replacing the brake pedal 13, a brake lever different from the brake lever 11 provided on the handle 2 may be adopted. Further, the first hydraulic circuit 12 may generate a braking force corresponding to the operation amount of the brake lever 11 or the operation amount of a brake pedal different from the brake pedal 13 provided on the vehicle body 1 on the rotor 4a that rotates together with the rear wheel 4. Also, the second hydraulic circuit 14 may generate a braking force corresponding to the operation amount of the brake pedal 13 or the operation amount of a brake lever different from the brake lever 11 provided on the handle 2 on the rotor 3a that rotates together with the front wheel 3.

[0019] The first hydraulic circuit 12 and the second hydraulic circuit 14 of the braking system 10 have the same configuration. Therefore, hereinafter, the configuration of the first hydraulic circuit 12 will be described representatively.

[0020] The first hydraulic circuit 12 includes a master cylinder 21 containing a piston (not shown), a reservoir 22 attached to the master cylinder 21, and a brake device 20 held by the vehicle body 1. The brake device 20 brakes the lean vehicle 100 and includes 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.

[0021] The first hydraulic circuit 12 also includes a main flow path 25, a supply flow path 27, and a sub-flow path 26. In the present embodiment, the main flow path 25, the supply flow path 27, and the sub-flow path 26 are provided on the base body 51 of the brake control unit 50.

[0022] The main flow path 25 is a flow path that connects the master cylinder 21 and the wheel cylinder 24. In the present embodiment, a master cylinder port MP formed at one end of the main flow path 25 and the master cylinder 21 are connected by a liquid pipe. Also, a wheel cylinder port WP formed at the other end of the main flow path 25 and the wheel cylinder 24 are connected by a liquid pipe. Thereby, the main flow path 25 connects the master cylinder 21 and the wheel cylinder 24. Note that the main flow path 25 may be directly connected to the master cylinder 21 and the wheel cylinder 24.

[0023] The supply passage 27 is a passage for supplying brake fluid to the intermediate portion 25a of the main passage 25. Specifically, the brake fluid in the master cylinder 21 is supplied to the intermediate portion 25a of the main passage 25 via the supply passage 27. One end portion 27a of the supply passage 27 communicates with the master cylinder 21, and the other end portion 27b is connected to the intermediate portion 25a of the main passage 25. Specifically, in the present embodiment, the end portion 27a of the supply passage 27 is connected to the main passage 25 (specifically, the region on the master cylinder 21 side with reference to the first switching valve 32 described later). And the end portion 27a of the supply passage 27 communicates with the master cylinder 21 via a liquid pipe connecting the master cylinder 21 and the master cylinder port MP and the main passage 25. Note that the end portion 27a of the supply passage 27 may be connected to the master cylinder port MP or directly connected to the master cylinder 21.

[0024] The sub-passage 26 is a passage for discharging the brake fluid in the main passage 25. Specifically, the brake fluid that has flowed from the wheel cylinder 24 into the main passage 25 is discharged into the sub-passage 26. One end portion 26a of the sub-passage 26 is connected to the intermediate portion 25b of the main passage 25. The intermediate portion 25b is an intermediate portion located in the region on the wheel cylinder 24 side with reference to the intermediate portion 25a in the main passage 25. Also, the end portion 26b on the side opposite to the end portion 26a in the sub-passage 26 is connected to the intermediate portion 27c of the supply passage 27. The intermediate portion 27c is an intermediate portion located in the region between the second switching valve 33 and the pump 31 in the supply passage 27 described later.

[0025] Further, the brake system 10 includes a charging valve 28, a releasing valve 29, an accumulator 30, a first switching valve 32, a second switching valve 33, a pump 31, and a motor 40 in the first hydraulic circuit 12.

[0026] The filling valve 28 is provided in a region between the middle part 25a and the middle part 25b of the main flow path 25. By the opening and closing operation of the filling valve 28, the flow rate of the brake fluid flowing through this region is controlled. The accumulator 30 is provided in the sub-flow path 26 and stores the brake fluid that has flowed into the sub-flow path 26 from the middle part 25b. The release valve 29 is provided in a region on the end part 26a side with respect to the accumulator 30 in the sub-flow path 26. By the opening and closing operation of the release valve 29, the flow rate of the brake fluid flowing through this region is controlled. The first switching valve 32 is provided in a region on the master cylinder 21 side with respect to the middle part 25a of the main flow path 25. By the opening and closing operation of the first switching valve 32, the flow rate of the brake fluid flowing through this region is controlled. The second switching valve 33 is provided in the supply flow path 27. By the opening and closing operation of the second switching valve 33, the flow rate of the brake fluid flowing through the supply flow path 27 is controlled. The pump 31 is provided in a region on the end part 27b side with respect to the second switching valve 33 in the supply flow path 27. The suction side of the pump 31 communicates with the second switching valve 33, and the discharge side communicates with the end part 27b. The motor 40 is a drive source of the pump 31. That is, the pump 31 is driven by the motor 40. In the present embodiment, the pump 31 of the first hydraulic circuit 12 and the pump 31 of the second hydraulic circuit 14 are configured to be driven by a common motor 40.

[0027] Also, in the present embodiment, the brake system 10 includes, in the first hydraulic circuit 12, a master cylinder side pressure sensor 34 that detects the pressure of the brake fluid in the master cylinder 21, and a wheel cylinder side pressure sensor 35 that detects the pressure of the brake fluid in the wheel cylinder 24. The master cylinder side pressure sensor 34 is provided in a region of the main flow path 25 on the master cylinder 21 side with respect to the first switching valve 32. The wheel cylinder side pressure sensor 35 is provided in a region of the main flow path 25 on the wheel cylinder 24 side with respect to the filling valve 28.

[0028] The filling valve 28 is, for example, a solenoid valve that, when energized to the coil of the filling valve 28, switches the flow of the brake fluid at the installation location of the filling valve 28 from open to closed. The release valve 29 is, for example, a solenoid valve that, when energized to the coil of the release valve 29, switches the flow of the brake fluid toward the accumulator 30 through the installation location of the release valve 29 from closed to open. The first switching valve 32 is, for example, a solenoid valve that, when energized to the coil of the first switching valve 32, switches the flow of the brake fluid at the installation location of the first switching valve 32 from open to closed. The second switching valve 33 is, for example, a solenoid valve that, when energized to the coil of the second switching valve 33, switches the flow of the brake fluid toward the pump 31 through the installation location of the second switching valve 33 from closed to open.

[0029] The opening and closing states of the filling valve 28, the release valve 29, the first switching valve 32, and the second switching valve 33 are controlled by the brake control device 52. Also, the driving state of the motor 40 is controlled by the brake control device 52. Note that the brake control device 52 may be one, or may be divided into a plurality. Also, the brake control device 52 may be attached to the base body 51, or may be attached to other members other than the base body 51. Also, a part or all of the brake control device 52 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 or the like.

[0030] In the present embodiment, the brake control unit 50 is configured by the base body 51, each member provided on the base body 51 (filling valve 28, release valve 29, accumulator 30, pump 31, first switching valve 32, second switching valve 33, master cylinder side pressure sensor 34, wheel cylinder side pressure sensor 35, motor 40, etc.), and the brake control device 52.

[0031] The brake control device 52 controls the pressure of the brake fluid of the braking device 20 that brakes the lean vehicle 100 by controlling the intake valve 28, the release valve 29, the first switching valve 32, the second switching valve 33, and the motor 40. Specifically, the brake control device 52 controls the pressure of the brake fluid in the wheel cylinder 24 of the braking device 20 by controlling the intake valve 28, the release valve 29, the first switching valve 32, the second switching valve 33, and the motor 40, and controls the braking force generated on the front wheels 3 and the rear wheels 4. For example, the brake control device 52 controls the pressure of the brake fluid in the wheel cylinder 24 as follows.

[0032] For example, in the normal state, the brake control device 52 keeps the intake valve 28 open, the release valve 29 closed, the first switching valve 32 open, the second switching valve 33 closed, and the motor 40 stopped. In this state, when the brake lever 11 is operated, the piston (not shown) of the master cylinder 21 is pressed by the brake lever 11, and an amount of brake fluid corresponding to the operation amount of the brake lever 11 is pushed out from the master cylinder 21. Then, the brake fluid pushed out from the master cylinder 21 flows into the wheel cylinder 24 through the first switching valve 32 and the intake valve 28, and the pressure of the brake fluid in the wheel cylinder 24 increases. As a result, the brake pads (not shown) of the brake caliper 23 are pressed against the rotor 3a of the front wheel 3, and a braking force corresponding to the operation amount of the brake lever 11 is generated on the front wheel 3. In addition, when the brake control device 52 performs the same control in the second hydraulic circuit 14, a braking force corresponding to the operation amount of the brake pedal 13 is generated on the rear wheel 4.

[0033] Further, for example, when the pressure of the brake fluid in the wheel cylinder 24 becomes excessive or there is a possibility of becoming excessive, the brake control device 52 executes pressure reduction control to discharge the brake fluid from the wheel cylinder 24 of the braking device 20 and reduce the pressure of the brake fluid in the wheel cylinder 24. In the pressure reduction control, the brake control device 52 closes the charging valve 28, opens the releasing valve 29, opens the first switching valve 32, and closes the second switching valve 33. Then, the brake control device 52 drives the motor 40. As a result, due to the suction force of the pump 31 driven by the motor 40, the brake fluid in the wheel cylinder 24 of the braking device 20 flows from the intermediate portion 25b into the sub-flow path 26. Then, the brake fluid that has flowed into the sub-flow path 26 is stored in the accumulator 30 through the releasing valve 29. Thereby, in the first hydraulic circuit 12, the pressing force of the brake pad (not shown) of the brake caliper 23 against the rotor 3a decreases, and a braking force smaller than the braking force corresponding to the operation amount of the brake lever 11 is generated in the front wheel 3. After that, the brake control device 52 opens and closes the charging valve 28 and the releasing valve 29, and controls the pressure of the brake fluid in the wheel cylinder 24 so as to obtain a target pressure during pressure reduction that can suppress, for example, the locking of the front wheel 3 and also suppress the braking distance of the leaning vehicle 100, and controls the braking force generated in the front wheel 3. Further, when the brake control device 52 performs similar control in the second hydraulic circuit 14, a braking force smaller than the braking force corresponding to the operation amount of the brake pedal 13 is generated in the rear wheel 4. Conventionally, a brake system that performs pressure reduction control without using a pump is known. The first hydraulic circuit 12 and the second hydraulic circuit 14 of the brake system 10 according to the present embodiment may also be configured to perform pressure reduction control without using a pump.

[0034] Also, for example, when the brake control device 52 detects a shortage or a possible shortage of the pressure of the brake fluid in the wheel cylinder 24, the brake control device 52 executes a pressure increasing control to supply the brake fluid to the wheel cylinder 24 and increase the pressure of the brake fluid in the wheel cylinder 24. In the pressure increasing control, the brake control device 52 opens the charging valve 28, closes the releasing valve 29, closes the first switching valve 32, and opens the second switching valve 33. Then, the brake control device 52 drives the motor 40. As a result, due to the suction force of the pump 31 driven by the motor 40, the brake fluid in the master cylinder 21 flows into the supply passage 27. Further, the brake fluid that has flowed into the supply passage 27 flows from the end portion 27b through the second switching valve 33 and the pump 31 into the middle portion 25a of the main passage 25. Then, the brake fluid that has flowed into the main passage 25 from the middle portion 25a flows into the wheel cylinder 24 through the charging valve 28, and the pressure of the brake fluid in the wheel cylinder 24 increases. As a result, in the first hydraulic circuit 12, the pressing force of the brake pad (not shown) of the brake caliper 23 against the rotor 3a increases, and a braking force greater than the braking force corresponding to the operation amount of the brake lever 11 is generated on the front wheel 3. After that, the brake control device 52 controls the pressure of the brake fluid in the wheel cylinder 24 so as to be the target pressure during pressure increase, for example, and controls the braking force generated on the front wheel 3. Further, when the brake control device 52 performs the same control in the second hydraulic circuit 14, a braking force greater than the braking force corresponding to the operation amount of the brake pedal 13 is generated on the rear wheel 4.

[0035] The physical quantities detected by the inertial measurement device mounted on the vehicle reflect the behavior of the vehicle. For this reason, there has also been proposed a conventional vehicle that controls the braking force and the like based on the physical quantities detected by the inertial measurement device. The brake control device 52 of the brake control unit 50 according to the present embodiment is also configured to control the pressure of the brake fluid in the wheel cylinder 24 of the braking device 20 based on the physical quantities detected by the inertial measurement device 70.

[0036] Specifically, when the lean vehicle 100 turns, the vehicle body 1 tilts in the turning direction. Therefore, when the brake control device 52 of the brake control unit 50 determines that the lean vehicle 100 is turning based on the physical quantity detected by the inertial measurement device 70, in consideration of the safety of the lean vehicle 100, the above-described pressure reduction control and pressure increase control are executed. For example, when the brake control device 52 executes pressure reduction control or pressure increase control based on the physical quantity detected by the inertial measurement device 70 and determines that the lean vehicle 100 is turning, in order to suppress the tipping over of the lean vehicle 100 and deviation from the lane, etc., compared with the case where pressure reduction control or pressure increase control is executed when the lean vehicle 100 is going straight, the ratio of the braking force generated on the front wheels 3 to the braking force generated on the rear wheels 4 is changed. For example, when the brake control device 52 executes pressure reduction control based on the physical quantity detected by the inertial measurement device 70 and determines that the lean vehicle 100 is turning, in order to suppress the tipping over of the lean vehicle and deviation from the lane, etc., compared with the case where pressure reduction control is executed when the lean vehicle 100 is going straight, the target pressure during pressure reduction is decreased. For example, when the brake control device 52 executes pressure increase control based on the physical quantity detected by the inertial measurement device 70 and determines that the lean vehicle 100 is turning, in order to suppress the tipping over of the lean vehicle 100 and deviation from the lane, etc., compared with the case where pressure increase control is executed when the lean vehicle 100 is going straight, the target pressure during pressure increase is decreased.

[0037] In order to control the braking force of the vehicle, etc. based on the physical quantity detected by the inertial measurement device and obtain a desired effect, it is necessary for the inertial measurement device to function properly. For this reason, in conventional vehicles, when the vehicle is in the ignition-on state (key switch-on state), etc., when the power supply of the inertial measurement device changes from off to on, there are some that diagnose the presence or absence of abnormalities in the inertial measurement device. Also in the lean vehicle 100 according to the present embodiment, when the power supply of the inertial measurement device 70 changes from off to on, a first diagnosis of the inertial measurement device 70 is executed.

[0038] Here, a lean vehicle has lower vehicle body stability compared to a four-wheeled vehicle or the like. For this reason, even after the power of the inertial measurement device is turned on and the first diagnosis of the inertial measurement device is executed, an event in which an impact is applied to the inertial measurement device, such as the vehicle body tipping over, is likely to occur in the lean vehicle. The lean vehicle 100 according to the present embodiment includes a processing device 80 described later in order to improve the safety of the lean vehicle 100.

[0039] FIG. 3 is a block diagram for explaining a processing device 80 according to an embodiment of the present invention. The processing device 80 includes an estimation unit 81 and an assist operation unit 82 as functional units. The processing device 80 also includes a storage unit 83 as a functional unit. Here, the processing device 80 may be one, or may be divided into a plurality. Further, the processing device 80 may be integrally formed with the drive source control device 6 or the brake control unit 50, or may be formed separately from the drive source control device 6 and the brake control unit 50. Further, part or all of the processing device 80 may be configured by hardware such as a microcomputer or a microprocessor unit, may be configured by something updatable such as software, or may be a program module executed by a command from a CPU or the like.

[0040] The estimation unit 81 is a functional unit that estimates the occurrence or non-occurrence of an event in which an impact is applied to the inertial measurement device 70 from when the power of the inertial measurement device 70 is turned on and the first diagnosis of the inertial measurement device 70 is executed until the power of the inertial measurement device 70 is turned off.

[0041] An event in which an impact is applied to the inertial measurement device 70 is, for example, the toppling of the leaning vehicle 100 or the like. This toppling includes toppling when the leaning vehicle 100 is stopped and toppling during the running of the leaning vehicle 100. Further, an event in which an impact is applied to the inertial measurement device 70 is, for example, a collision between an obstacle and the leaning vehicle 100, rubbing, or contact between an obstacle and the leaning vehicle 100. This collision or contact includes collision or contact when the leaning vehicle 100 is stopped and collision or contact during the running of the leaning vehicle 100. When such events occur, a change different from that when the leaning vehicle 100 is stopped or running occurs in the physical quantity detected by the inertial measurement device 70. Therefore, the estimation unit 81 estimates the presence or absence of an event in which an impact is applied to the inertial measurement device 70 based on, for example, the detection result of the inertial measurement device 70.

[0042] Further, when the leaning vehicle 100 is provided with the engine 5 as a drive source, when an event as described above occurs, a load equal to or higher than the output of the engine 5 is applied to the engine 5, and so-called engine stall may occur. That is, when an event as described above occurs, the engine 5 may stop. Further, even when engine stall does not occur when an event as described above occurs, the rider may stop the engine 5 himself / herself in consideration of safety. Further, since an impact is applied to the vehicle body 1 at the time of engine stall, engine stall itself may also be an event in which an impact is applied to the inertial measurement device 70. Therefore, the estimation unit 81 estimates that an event in which an impact is applied to the inertial measurement device 70 has occurred based on, for example, the fact that the engine 5 has stopped.

[0043] The support operation unit 82 is a functional unit that executes the support operation for the second diagnosis of the inertial measurement device 70 when the estimation unit 81 estimates that an event in which an impact is applied to the inertial measurement device 70 has occurred.

[0044] For example, the support operation unit 82 causes the inertial measurement device 70 to execute the second diagnosis. In other words, the support operation for the second diagnosis of the inertial measurement device 70 includes the operation of causing the inertial measurement device 70 to execute the second diagnosis. Specifically, the inertial measurement device 70 according to the present embodiment includes an inertial sensor 71 and a sensor control device 72. The inertial sensor 71 is a sensor that detects at least one physical quantity among acceleration, angular velocity, and angular acceleration. The sensor control device 72 causes the inertial sensor 71 to detect a physical quantity. When the inertial measurement device 70 executes the second diagnosis, the sensor control device 72 causes the inertial sensor 71 to detect a physical quantity. Then, the sensor control device 72 compares the initial value stored in advance in a storage unit (not shown) with the physical quantity detected by the inertial sensor 71, and diagnoses the presence or absence of an abnormality in the inertial sensor 71. For example, when the difference between the initial value stored in advance in a storage unit (not shown) and the physical quantity detected by the inertial sensor 71 is equal to or less than a specified difference, the sensor control device 72 diagnoses that there is no abnormality in the inertial sensor 71. Note that the initial value stored in advance in the storage unit (not shown) is stored in advance in the storage unit (not shown) before the inertial measurement device 70 is mounted on the lean vehicle 100.

[0045] For example, the support operation unit 82 itself executes the second diagnosis. In other words, the support operation for the second diagnosis of the inertial measurement device 70 includes the operation of the support operation unit 82 executing the second diagnosis. Specifically, when the support operation unit 82 executes the second diagnosis, the support operation unit 82 causes the inertial measurement device 70 to detect a physical quantity. Then, the support operation unit 82 compares the initial value stored in advance in the storage unit 83 with the physical quantity detected by the inertial measurement device 70, and diagnoses the presence or absence of an abnormality in the inertial measurement device 70. For example, when the difference between the initial value stored in advance in the storage unit 83 and the physical quantity detected by the inertial measurement device 70 is equal to or less than a specified difference, the support operation unit 82 diagnoses that there is no abnormality in the inertial measurement device 70. Note that the initial value stored in advance in the storage unit 83 is stored in advance in the storage unit 83 before the processing device 80 is mounted on the lean vehicle 100.

[0046] For example, the rider of the lean vehicle 100 executes a second diagnosis. Specifically, the lean vehicle 100 according to the present embodiment includes a notification device 101. The support operation unit 82 causes the notification device 101 to issue a notification prompting the rider to execute the second diagnosis. That is, the support operation for the second diagnosis of the inertial measurement device 70 includes a configuration that outputs a notification signal, which is a signal for causing the notification device 101 to issue a notification prompting the rider to execute the second diagnosis. When the notification device 101 issues a notification prompting the rider to execute the second diagnosis, the rider executes the second diagnosis. Specifically, the lean vehicle 100 according to the present embodiment includes an operation unit 102. The operation unit 102 is, for example, a mechanical switch or a capacitance switch provided on a touch panel or the like. When the rider operates the operation unit 102, the second diagnosis of the inertial measurement device 70 is executed by the inertial measurement device 70 or the support operation unit 82. Note that the notification device 101 is not limited to a device provided in the lean vehicle 100. For example, the notification device 101 may be a smart helmet worn by the rider.

[0047] Here, the subject that executes the second diagnosis of the inertial measurement device 70 and the subject that executes the first diagnosis that is executed when the power of the inertial measurement device 70 is turned on may be the same or different. For example, the first diagnosis may be executed by the inertial measurement device 70, and the second diagnosis may be executed by the support operation unit 82 of the processing device 80. Also, the content of the first diagnosis and the content of the second diagnosis may be the same or different. For example, only a part of the content of the first diagnosis may be executed in the second diagnosis. Specifically, the inertial measurement device 70 according to the present embodiment detects six physical quantities. At this time, in the first diagnosis, it may be diagnosed whether there is an abnormality in the detection of all six physical quantities, and in the second diagnosis, it may be diagnosed whether there is an abnormality in the detection of some of the six physical quantities. Also, for example, the second diagnosis may include content that was not executed in the first diagnosis. Also, for example, the values of the criteria (the above-described defined differences) for determining whether there is an abnormality in the inertial measurement device 70 may be made different between the first diagnosis and the second diagnosis. Also, for example, in the second diagnosis, it may be diagnosed only whether the inertial measurement device 70 and the processing device 80 can communicate with each other.

[0048] Also, when the support operation unit 82 of the processing device 80 executes the second diagnosis, the second diagnosis may be executed as follows. In the above example, the support operation unit 82 executed the second diagnosis of the inertial measurement device 70 based on the initial values stored in advance in the storage unit 83. However, not limited to this, the support operation unit 82 may execute the second diagnosis of the inertial measurement device 70 based on the diagnosis result of the inertial measurement device 70 in the previous time. Specifically, the storage unit 83 of the processing device 80 stores the diagnosis result of the inertial measurement device 70. The diagnosis result is, for example, a physical quantity detected by the inertial measurement device 70 at the time of diagnosing the inertial measurement device 70. Then, when executing the second diagnosis, the support operation unit 82 compares the diagnosis result of the inertial measurement device 70 in the previous time stored in the storage unit 83 with the physical quantity detected by the inertial measurement device 70 in the second diagnosis, and diagnoses the presence or absence of an abnormality in the inertial measurement device 70. By executing the second diagnosis in this way, it is possible to more accurately grasp the influence exerted on the inertial measurement device 70 by the event in which an impact is applied to the inertial measurement device 70. Note that the above-mentioned diagnosis result of the inertial measurement device 70 in the previous time may be the result of the first diagnosis performed before the current second diagnosis is executed, or the result of the previous second diagnosis.

[0049] Here, when the support operation unit 82 of the processing device 80 executes the second diagnosis, the support operation unit 82 executes the second diagnosis when the lean vehicle 100 is in the following state. For example, when the lean vehicle 100 is equipped with a motor as a drive source, the support operation unit 82 executes the second diagnosis when the lean vehicle 100 is stopped. Also, as in the present embodiment, when the lean vehicle 100 is equipped with the engine 5 as a drive source, the support operation unit 82 executes the second diagnosis when the lean vehicle 100 is stopped and the engine 5 is stopped. Note that in the present embodiment, the support operation unit 82 detects that the lean vehicle 100 is stopped based on the detection value of a wheel speed sensor (not shown) that detects the speed of the wheels of the lean vehicle 100 and the detection value of the inertial measurement device 70. Also, in the present embodiment, the support operation unit 82 detects that the engine 5 is stopped by receiving a signal indicating that the engine 5 is stopped output from the drive source control device 6.

[0050] When the lean vehicle 100 is not stopped, the inertial measurement device 70 detects physical quantities such as acceleration and angular velocity generated by the attitude change of the lean vehicle 100. The detection of such physical quantities becomes noise in the second diagnosis. Also, when the engine 5 is not stopped, the inertial measurement device 70 detects physical quantities such as acceleration and angular velocity generated by the vibration transmitted from the engine 5 to the vehicle body 1. The detection of such physical quantities becomes noise in the second diagnosis. Therefore, by executing the second diagnosis when the lean vehicle 100 is in the above state, the accuracy of the second diagnosis is improved. Note that the notification device 101 may notify the rider so that the lean vehicle 100 is in the above state. Thereby, it becomes possible to start the second diagnosis earlier. Also, even when the second diagnosis is executed by the rider's operation, the notification device 101 may notify the rider so that the lean vehicle 100 is in the above state. Thereby, the accuracy of the second diagnosis is improved.

[0051] When an abnormality of the inertial measurement device 70 is detected in the second diagnosis, the support operation unit 82 outputs a notification signal which is a signal for causing the notification device 101 to notify. That is, when an abnormality of the inertial measurement device 70 is detected in the second diagnosis, the notification device 101 notifies the rider of the abnormality of the inertial measurement device 70. Thereby, the rider can request replacement of the inertial measurement device 70 or request for replacement. In the present embodiment, when an abnormality of the inertial measurement device 70 is detected in the first diagnosis, the support operation unit 82 or the inertial measurement device 70 outputs a notification signal which is a signal for causing the notification device 101 to notify. That is, when an abnormality of the inertial measurement device 70 is detected in the first diagnosis, the notification device 101 notifies the rider of the abnormality of the inertial measurement device 70.

[0052] When the notification device 101 notifies of an abnormality in the inertial measurement device 70 in this way, when an abnormality in the inertial measurement device 70 is detected in the second diagnosis, it is preferable that the support operation unit 82 outputs a notification signal with higher perceptibility of the notification by the notification device 101 than when an abnormality in the inertial measurement device 70 is detected in the first diagnosis. In other words, when an abnormality in the inertial measurement device 70 is detected in the second diagnosis, it is preferable that the notification device 101 performs a notification with higher perceptibility than when an abnormality in the inertial measurement device 70 is detected in the first diagnosis. When the rider is aware that an event of an impact being applied to the inertial measurement device 70 has occurred, the rider may become anxious that an abnormality may have occurred in the inertial measurement device 70. On the other hand, when an abnormality in the inertial measurement device 70 is detected in the second diagnosis, by performing a notification with higher perceptibility, the rider can easily recognize the notification, so the rider's sense of unease can be suppressed.

[0053] Note that the notification with higher perceptibility is, for example, a notification with increased intensity such as increasing the brightness, darkness, or contrast of the display. Also, for example, the notification with higher perceptibility is a notification in which the notification device 101 is changed. For example, when an abnormality occurs in the inertial measurement device 70 in the first diagnosis, assume that a display is used as the notification device 101 and the rider is notified by the display. At this time, when an abnormality occurs in the inertial measurement device 70 in the second diagnosis, a vibrator provided on the handle 2 or the like is used as the notification device 101 and the rider is notified by vibration. When notified in this way, it becomes a notification in which the notification device 101 is changed. Also, for example, the notification with higher perceptibility is a notification in which the number of notification devices 101 is increased. For example, when an abnormality occurs in the inertial measurement device 70 in the first diagnosis, assume that only a display is used as the notification device 101. At this time, when an abnormality occurs in the inertial measurement device 70 in the second diagnosis, a display, a vibrator, and a speaker that notifies the rider by sound are used as the notification device 101, and the rider is notified using these notification devices 101. When notified in this way, it becomes a notification in which the number of notification devices 101 is increased. The notification with higher perceptibility is not limited to the above examples, and may be a notification by other means or the like.

[0054] Also, in the present embodiment, when an abnormality of the inertial measurement unit 70 is detected in the second diagnosis, the support operation unit 82 outputs a signal notifying the control device mounted on the lean vehicle 100 of the abnormality of the inertial measurement unit 70. This signal may be a signal that only notifies that an abnormality has occurred in the inertial measurement unit 70, or a signal that includes the details of the abnormality. Then, when the control device mounted on the lean vehicle 100 receives the signal output from the support operation unit 82, it controls the control target in consideration of the abnormality of the inertial measurement unit 70. Note that, in the present embodiment, even when an abnormality of the inertial measurement unit 70 is detected in the first diagnosis, the support operation unit 82 or the inertial measurement unit 70 outputs a signal notifying the control device mounted on the lean vehicle 100 of the abnormality of the inertial measurement unit 70.

[0055] For example, as described above, when the brake control device 52 executes decompression control when determining that the lean vehicle 100 is turning based on the physical quantity detected by the inertial measurement unit 70, the target pressure during decompression is decreased compared to the case where decompression control is executed when the lean vehicle 100 is going straight. Also, for example, as described above, when the brake control device 52 executes pressure increase control when determining that the lean vehicle 100 is turning based on the physical quantity detected by the inertial measurement unit 70, the target pressure during pressure increase is decreased compared to the case where pressure increase control is executed when the lean vehicle 100 is going straight. At this time, when an abnormality of the inertial measurement unit 70 is detected, the accuracy of the determination of the brake control device 52 as to whether the lean vehicle 100 is turning or not decreases. Therefore, when an abnormality of the inertial measurement unit 70 is detected, for example, the brake control device 52 suppresses the amount of decrease in the target pressure during decompression as described above during decompression control. Also, for example, when an abnormality of the inertial measurement unit 70 is detected, the brake control device 52 does not execute the control to decrease the target pressure during decompression as described above during decompression control. Also, for example, when an abnormality of the inertial measurement unit 70 is detected, the brake control device 52 suppresses the amount of decrease in the target pressure during pressure increase as described above during pressure increase control. Also, for example, when an abnormality of the inertial measurement unit 70 is detected, the brake control device 52 does not execute the control to decrease the target pressure during pressure increase as described above during pressure increase control.

[0056] Note that when the control device mounted on the lean vehicle 100 controls the control target in consideration of the abnormality of the inertial measurement device 70, the control content may be different between the case where the abnormality of the inertial measurement device 70 is detected in the first diagnosis and the case where the abnormality of the inertial measurement device 70 is detected in the second diagnosis. For example, when the abnormality of the inertial measurement device 70 is detected in the first diagnosis, the brake control device 52 suppresses the decrease amount of the target pressure during decompression control as described above. In this case, the brake control device 52 may be configured not to execute the control for decreasing the target pressure during decompression control when the abnormality of the inertial measurement device 70 is detected in the second diagnosis. Further, for example, when the abnormality of the inertial measurement device 70 is detected in the first diagnosis, the brake control device 52 suppresses the decrease amount of the target pressure during pressurization control as described above. In this case, the brake control device 52 may be configured not to execute the control for decreasing the target pressure during pressurization control when the abnormality of the inertial measurement device 70 is detected in the second diagnosis.

[0057] <Operation of the processing device> FIG. 4 is a control flowchart showing an example of the operation of the processing device according to the embodiment of the present invention. When the start condition of the operation shown in FIG. 4 is satisfied, in step S1, the processing device 80 starts the operation shown in FIG. 4. The start condition of the operation is, for example, when the power of the inertial measurement device 70 is turned on. Step S2 after step S1 is the first diagnosis step. In step S2, the support operation unit 82 of the processing device 80 executes the first diagnosis of the inertial measurement device 70. Note that the first diagnosis of the inertial measurement device 70 may be executed by the inertial measurement device 70 itself.

[0058] Step S3 after step S2 is an estimation step. In step S3, the estimation unit 81 of the processing device 80 estimates whether an event of an impact being applied to the inertial measurement device 70 has occurred. As will be described later, the operation shown in FIG. 4 ends when the power of the inertial measurement device 70 is turned off. Therefore, the estimation step in step S3 is a step in which the estimation unit 81 estimates whether an event of an impact being applied to the inertial measurement device 70 has occurred during the period from when the power of the inertial measurement device 70 is turned on and the first diagnosis of the inertial measurement device 70 is executed until the power of the inertial measurement device 70 is turned off. In step S3, if it is estimated that no event of an impact being applied to the inertial measurement device 70 has occurred, the processing device 80 proceeds to step S5. On the other hand, in step S3, if it is estimated that an event of an impact being applied to the inertial measurement device 70 has occurred, the processing device 80 proceeds to step S4.

[0059] Step S4 is a support operation step. In step S4, the support operation unit 82 executes a support operation for the second diagnosis of the inertial measurement device 70. Step S5 is an end determination step. In step S5, the processing device 80 determines whether the end condition of the operation has been satisfied. The end condition of the operation is, for example, when the power of the inertial measurement device 70 is turned off. When the end condition of the operation is satisfied, the processing device 80 proceeds to step S6 and ends the operation shown in FIG. 4. On the other hand, when the end condition of the operation is not satisfied, the processing device 80 returns to step S3.

[0060] <Effect of the processing device> The processing device 80 according to the present embodiment is a processing device mounted on a lean vehicle 100 including an inertial measurement device 70. The processing device 80 includes an estimation unit 81 that estimates whether an event of an impact being applied to the inertial measurement device 70 has occurred during the period from when the power of the inertial measurement device 70 is turned on and the first diagnosis of the inertial measurement device 70 is executed until the power of the inertial measurement device 70 is turned off, and a support operation unit 82 that executes a support operation for the second diagnosis of the inertial measurement device 70 when the event is estimated by the estimation unit 81 to have occurred.

[0061] The processing device 80 configured as described above executes the support operation for the second diagnosis of the inertial measurement device 70 when it is estimated that an event in which an impact is applied to the inertial measurement device 70 has occurred after the power of the inertial measurement device 70 is turned on and the first diagnosis of the inertial measurement device 70 is executed. For this reason, after the first diagnosis is executed, for example, when the lean vehicle 100 falls and an impact is applied to the inertial measurement device 70, the support operation for the second diagnosis of the inertial measurement device 70 can be executed, and the inertial measurement device 70 can be diagnosed, so that the safety of the lean vehicle 100 can be improved.

[0062] In the method for diagnosing the inertial measurement device 70 by the processing device 80 according to the present embodiment, an estimation step S3 in which an estimation unit 81 of the processing device 80 estimates the occurrence of an event in which an impact is applied to the inertial measurement device 70 after the power of the inertial measurement device 70 is turned on and the first diagnosis of the inertial measurement device 70 is executed until the power is turned off, and a support operation unit 82 of the processing device 80 executes a support operation for the second diagnosis of the inertial measurement device 70 when it is estimated in the estimation step S3 that the event has occurred. For this reason, after the first diagnosis is executed, for example, when the lean vehicle 100 falls and an impact is applied to the inertial measurement device 70, the support operation for the second diagnosis of the inertial measurement device 70 can be executed, and the inertial measurement device 70 can be diagnosed, so that the safety of the lean vehicle 100 can be improved.

[0063] The lean vehicle 100 according to the present embodiment includes the above-described processing device 80. The lean vehicle 100 configured as described above has the same effects as the above-described processing device 80.

[0064] As described above, an example of the processing device according to the present invention has been described in the embodiment, but the processing 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 processing device according to the present invention.

Explanation of Reference Numerals

[0065] 1 Body, 2 Handle, 3 Front wheel, 3a Rotor, 4 Rear wheel, 4a Rotor, 5 Engine, 6 Drive source control device, 10 Brake system, 11 Brake lever, 12 First hydraulic circuit, 13 Brake pedal, 14 Second hydraulic circuit, 20 Braking device, 21 Master cylinder, 22 Reservoir, 23 Brake caliper, 24 Wheel cylinder, 25 Main flow path, 25a Intermediate part, 25b Intermediate part, 26 Sub-flow path, 26a End part, 26b End part, 27 Supply flow path, 27a End part, 27b End part, 27c Intermediate part, 28 Filling valve, 29 Release valve, 30 Accumulator, 31 Pump, 32 First switching valve, 33 Second switching valve, 34 Master cylinder side pressure sensor, 35 Wheel cylinder side pressure sensor, 40 Motor, 50 Brake control unit, 51 Base body, 52 Brake control device, 70 Inertial measurement device, 71 Inertial sensor, 72 Sensor control device, 80 Processing device, 81 Estimation unit, 82 Support operation unit, 83 Memory unit, 100 Lean vehicle, 101 Notification device, 102 Operation unit, MP Master cylinder port, WP Wheel cylinder port

Claims

1. A processing device mounted on a lean vehicle (100) equipped with an inertial measurement device (70), an estimation unit (81) that estimates the presence or absence of an event in which an impact is applied to the inertial measurement device (70) between when the power of the inertial measurement device (70) is turned on and the first diagnosis of the inertial measurement device (70) is executed and when the power is turned off; an assistance operation unit (82) that executes an assistance operation for the second diagnosis of the inertial measurement device (70) when the event is estimated to have occurred by the estimation unit (81); and comprising a processing device (80).

2. The processing device (80) according to claim 1, wherein the estimation unit (81) is configured to estimate the presence or absence of the event based on the detection result of the inertial measurement device (70). The processing device (80) according to claim 1.

3. The lean vehicle (100) includes an engine (5) as a drive source, The processing device (80) according to claim 1, wherein the estimation unit (81) is configured to estimate that the event has occurred based on the engine (5) having stopped. The processing device (80) according to claim 1.

4. The assistance operation includes an operation of causing the inertial measurement device (70) to execute the second diagnosis. The processing device (80) according to any one of claims 1 to 3.

5. The assistance operation includes an operation of executing the second diagnosis of the inertial measurement device (70). The processing device (80) according to any one of claims 1 to 3.

6. The processing device (80) according to claim 5, wherein the assistance operation unit (82) is configured to execute the second diagnosis of the inertial measurement device (70) based on the diagnosis result of the inertial measurement device (70) in the previous time when executing the second diagnosis of the inertial measurement device (70) in the assistance operation. The processing device (80) according to claim 5.

7. The processing device (80) according to claim 5, wherein the assistance operation unit (82) is configured to execute the second diagnosis of the inertial measurement device (70) in the assistance operation in a state where the lean vehicle (100) is stopped. The processing device (80) according to claim 5.

8. The lean vehicle (100) includes an engine (5) as a drive source, The processing device (80) according to claim 5, wherein the assistance operation unit (82) is configured to execute the second diagnosis of the inertial measurement device (70) in the assistance operation in a state where the lean vehicle (100) is stopped and the engine (5) is stopped. The processing device (80) according to claim 5.

9. The support operation includes outputting a notification signal which is a signal that causes the notification device (101) to give a notification prompting an operation for causing the rider of the lean vehicle (100) to execute the second diagnosis of the inertial measurement device (70). The processing device (80) according to any one of claims 1 to 3.

10. The support operation unit (82) is configured to output a notification signal which is a signal for causing the notification device (101) to give a notification when an abnormality of the inertial measurement device (70) is detected, when an abnormality of the inertial measurement device (70) is detected in the second diagnosis, output a notification signal that makes the notification by the notification device (101) more perceptible than when an abnormality of the inertial measurement device (70) is detected in the first diagnosis. The processing device (80) according to any one of claims 1 to 3.

11. A lean vehicle (100) provided with the processing device (80) according to any one of claims 1 to 3. lean vehicle (100).

12. A diagnostic method for diagnosing an inertial measurement device (70) mounted on a lean vehicle (100), comprising an estimation step (S3) in which an estimation unit (81) of the processing device (80) estimates whether or not an event of an impact being applied to the inertial measurement device (70) occurs between when the power of the inertial measurement device (70) is turned on and the first diagnosis of the inertial measurement device (70) is executed until the power is turned off, a support operation step (S4) in which a support operation unit (82) of the processing device (80) executes a support operation for the second diagnosis of the inertial measurement device (70) when it is estimated by the estimation step that the event has occurred, and comprising diagnostic method.

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