Wheelie detection device

Abstract

The present invention provides a wheelie determination device that can appropriately start the calculation of wheelie amount and calculate wheelie amount with high accuracy. [Solution] The wheelie pre-state determination unit 102a determines that the saddle-type vehicle 1 is in a wheelie pre-state when acceleration occurs in the vertically upward direction of the vehicle body 10 and such acceleration shows an increasing trend, or when the wheelie pre-state determination unit 102a determines that the saddle-type vehicle 1 is in a wheelie pre-state when the amount of increase in the stroke amount in the compression direction of the rear suspension 46 exceeds a predetermined value.

Description

Technical Field

[0001] The present invention relates to a wheelie determination device.

Background Art

[0002] In vehicles such as saddle-riding type vehicles, since the vehicle weight is light with respect to the driving torque (driving force), which is the actual torque of the driving wheels transmitted from the driving wheels to the road surface by the output of the drive source, the front wheels are likely to float (lift) and separate from the road surface while only the rear wheels, which are the driving wheels, are in contact with the road surface due to sudden opening operations of the accelerator operation member or sudden connection operations of the manual clutch, etc., and the vehicle is likely to take a lift-up (wheelie) posture.

[0003] In such vehicles, if the front wheels lift up excessively and the vehicle becomes unstable with only the rear wheels supporting it, there is a tendency for it to lead to a risk of tipping over or the like. Therefore, it is preferable to determine in advance whether a lift-up (wheelie) state occurs.

[0004] Under such circumstances, Patent Document 1 relates to a wheelie determination device, a vehicle, and a wheel lift amount determination method. The wheelie determination device 10 includes a pre-wheelie state determination unit 11 that determines whether the vehicle is in a pre-wheelie state, and a wheelie amount calculation unit 12 that calculates, as a wheelie amount, which is the amount of lift of the front wheels with respect to the road surface, the amount of change in the angle of the vehicle body in the rotational direction in which the front wheels move away from the road surface from the time when it is determined to be in the pre-wheelie state. The pre-wheelie state determination unit 11 determines the pre-wheelie state based on various parameters such as the difference between the ground speed and the circumferential speed of the front wheels 2, and in addition to this, the ground acceleration, which is the acceleration of the vehicle body with respect to the road surface, the rotational acceleration of the front wheels 2, and the output of the drive source 4.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0006] However, according to the inventors' research, the configuration disclosed in Patent Document 1 has a configuration in which the wheelie amount calculation unit 12 starts calculating the wheelie amount, and the pre-wheelie state determination unit 11 determines the pre-wheelie state. However, when the pre-wheelie state determination unit 11 applies various parameters to determine the pre-wheelie state, namely the difference between the ground speed and the peripheral speed of the front wheel 2, as well as various other parameters such as the ground acceleration, which is the acceleration of the vehicle body 6 relative to the road surface, the rotational acceleration of the front wheel 2, and the output of the drive source 4, the time at which the pre-wheelie state determination unit 11 determines the pre-wheelie state is different from the time at which it should actually be determined. As a result, the wheelie amount calculation unit 12 cannot properly start calculating the wheelie amount, and it has been found that it is difficult to calculate the wheelie amount accurately. Therefore, there is room for improvement in this respect.

[0007] The present invention was made after the above considerations, and aims to provide a wheelie determination device that can appropriately start the calculation of the wheelie amount and calculate the wheelie amount with high accuracy. [Means for solving the problem]

[0008] To achieve the above objectives, in one aspect of the present invention, a saddle-type vehicle is equipped with a pitch rate sensor positioned between the front axle and the rear axle in the longitudinal direction of the vehicle body to detect the pitch angular velocity of the vehicle body as a detected value, and the saddle-type vehicle is equipped with a wheelie pre-state determination unit that determines whether or not the saddle-type vehicle is in a wheelie pre-state, and the angle change amount of the change in the angle of rotation of the vehicle body in the direction of rotation of the vehicle body as the front wheel leaves the road surface from the time the wheelie pre-state determination unit determines that the vehicle is in a wheelie pre-state. The wheelie determination device comprises a wheelie amount calculation unit that calculates the amount of lift of the front wheel relative to the road surface as the wheelie amount, wherein the wheelie amount calculation unit calculates the wheelie amount by accumulating the detected values ​​of the pitch rate sensor from the time the pre-wheelie state determination unit determines that the vehicle is in the pre-wheelie state, and the pre-wheelie state determination unit determines that the saddle-type vehicle is in the pre-wheelie state when an upward vertical acceleration of the vehicle body occurs and the acceleration shows an increasing trend.

[0009] Furthermore, in another aspect of the present invention, a saddle-type vehicle is equipped with a pitch rate sensor positioned between the front axle and the rear axle in the longitudinal direction of the vehicle body to detect the pitch angular velocity of the vehicle body as a detected value, and includes a wheelie pre-state determination unit that determines whether or not the saddle-type vehicle is in a wheelie pre-state, and the amount of angular change in the angle at which the vehicle body rotates in the direction of rotation in which the front wheel leaves the road surface from the moment the wheelie pre-state determination unit determines that it is in a wheelie pre-state, is the amount of lift of the front wheel relative to the road surface. A wheelie determination device comprising a wheelie amount calculation unit that calculates the wheelie amount, wherein the wheelie amount calculation unit calculates the wheelie amount by accumulating the detected values ​​of the pitch rate sensor from the time the pre-wheelie state determination unit determines that it is in the pre-wheelie state, the saddle-type vehicle has a rear suspension that supports the rear wheel, and the pre-wheelie state determination unit determines that the saddle-type vehicle is in the pre-wheelie state when the increase in the stroke amount in the compression direction of the rear suspension exceeds a predetermined value. [Effects of the Invention]

[0010] According to the wheelie determination device in one aspect of the present invention described above, the pre-wheelie state determination unit determines that a saddle-type vehicle is in a pre-wheelie state when vertical upward acceleration of the vehicle body occurs and such acceleration shows an increasing trend. Therefore, the calculation of the wheelie amount can be started appropriately and the wheelie amount can be calculated with high accuracy.

[0011] Furthermore, according to another aspect of the present invention, the wheelie determination unit determines that a saddle-type vehicle is in a pre-wheelie state when the increase in the stroke amount in the compression direction of the rear suspension exceeds a predetermined value. This allows for the calculation of the wheelie amount to be started appropriately and the wheelie amount to be calculated with high accuracy. [Brief explanation of the drawing]

[0012] [Figure 1]Figure 1 is a side view showing the right side of a vehicle equipped with a wheelie detection device according to an embodiment of the present invention. [Figure 2] Figure 2 is a block diagram showing the configuration of the wheelie detection device in this embodiment. [Figure 3] Figure 3 is a time chart showing an example of various detection values ​​for a vehicle equipped with the wheelie detection device in this embodiment.

[0013] The wheelie detection device according to an embodiment of the present invention will be described in detail below with reference to the drawings as appropriate. In the drawings, the x, y, and z axes form a three-axis orthogonal coordinate system, the x-axis is the longitudinal (front-to-back) direction, with the forward direction being indicated by the positive x-axis direction, the y-axis is the width (left-to-right) direction, with the left direction being indicated by the positive y-axis direction, and the z-axis is the vertical (up-down) direction, with the upward direction being indicated by the positive z-axis direction.

[0014] [Vehicle configuration] First, with reference to Figure 1, the configuration of the vehicle to which the wheelie detection device in this embodiment is applied will be described in detail.

[0015] Figure 1 is a side view showing the right side of a vehicle to which the wheelie detection device in this embodiment is applied.

[0016] As shown in Figure 1 as a typical example of a saddle-type vehicle, a motorcycle, the vehicle 1 typically comprises a body (sometimes including support members, etc., fixed to the frame members, which are not shown) 10, represented by a frame member, which is a metal body frame member such as a steel pipe; a drive source 20, which is an internal combustion engine; a steering front suspension mechanism 30 that steers the driven front wheel 32; and a rear suspension mechanism 40 that steers the driven rear wheel 42. When the drive source 20 is an engine, a spark plug 22, an injector 24, and a throttle valve 26 are attached to the engine, as shown in detail in Figure 2. Also, when the drive source 20 is typically an engine, a transmission T is attached between the drive source 20 and the driven rear wheel 42 via a clutch, which is typically not shown. In addition to motorcycles, saddle-type vehicles may also be small, lightweight three-wheeled or four-wheeled vehicles such as buggies. Furthermore, the drive source 20 may be an engine, an electric motor replacing an engine, or a combination of an engine and an electric motor.

[0017] More specifically, the steering front suspension mechanism 30 typically includes a telescopic front fork 34 that suspends a front wheel 32 having an axle 32a and is mounted on a support member (not specified) of the vehicle body 10, a steering stem 36 mounted on a support member (not specified) of the vehicle body 10, and a handle 38 that is an operating member for steering the front wheel 32 and is fixed to the steering stem 36.

[0018] The rear suspension mechanism 40 is set on the vehicle body 10 and uses a pivot axis (not shown) as the axis of rotation for oscillation, and includes a swing arm 44 that supports the rear wheel 42 having an axle 42a so as to be able to swing freely in a predetermined geometry, and a rear spring damper unit 46 that suspends the rear wheel 42.

[0019] Furthermore, the vehicle 1 includes a crank angle sensor 141 that detects the rotation angle of the crankshaft (not shown) when the drive source 20 is an engine and outputs an electrical signal indicating the detected rotation angle to the wheelie detection device 100; an accelerator position sensor 142 that detects the opening (accelerator opening), which is the amount of operation of the accelerator grip 38a, an accelerator operating member attached to the handle 38 of the vehicle 1, and outputs an electrical signal indicating the detected accelerator opening to the wheelie detection device 100; a throttle position sensor 143 that detects the opening (throttle opening) of the throttle valve 26 and outputs an electrical signal indicating the detected throttle opening to the wheelie detection device 100; and the telescopic front fork 34 of the steering front suspension mechanism 30. The system includes a front wheel stroke sensor 144 that detects the stroke amount (front wheel stroke amount) and outputs an electrical signal indicating the detected front wheel stroke amount to the wheelie detection device 100; a rear wheel stroke sensor 145 that detects the stroke amount (rear wheel stroke amount) of the rear spring damper unit 46 of the rear suspension mechanism 40 and outputs an electrical signal indicating the detected rear wheel stroke amount to the wheelie detection device 100; a pitch rate sensor 146 that detects the pitch angular velocity, which is the angular velocity of the vehicle body 10 in the pitch direction, and outputs an electrical signal indicating the detected pitch angular velocity to the wheelie detection device 100; and an acceleration sensor 147 that detects the vertical acceleration of the vehicle body 10 and outputs an electrical signal indicating the detected vertical acceleration to the wheelie detection device 100. Here, the pitch rate sensor 146 and the acceleration sensor 147 are each mounted on the vehicle body 10 or its support member (not indicated by reference numeral) between the axle 32a of the front wheel 32 and the axle 42a of the rear wheel 42 in the longitudinal (front-rear) direction of the vehicle body 10. The pitch direction typically refers to the rotational direction around the pitch axis that extends in the width (left-right) direction through the center of gravity of the vehicle 1, and the pitch angular velocity refers to the angular velocity of rotation around the pitch axis. The pitch rate sensor 146 may be a standalone angular velocity sensor, or it may be included in an inertial measurement unit (IMU) that outputs electrical signals indicating the acceleration and angular acceleration of the vehicle body 10 to the wheelie detection device 100.Further, the acceleration sensor 147 may be a single acceleration sensor or may be included in an IMU.

[0020] 〔Configuration of Willie determination device〕 Next, referring further to FIG. 2, the configuration of the Willie determination device 100 in the present embodiment will be described.

[0021] FIG. 2 is a block diagram showing the configuration of the Willie determination device 100 in the present embodiment.

[0022] As shown in FIG. 2, the Willie determination device 100 in the present embodiment is mounted on a vehicle 1 such as a saddle-type vehicle having a rear wheel 42 as a drive wheel and a front wheel 32 as a driven wheel, and is constituted by an electronic control device such as an ECU (Electronic Control Unit). The Willie determination device 100 is electrically connected to a crank angle sensor 141, an accelerator position sensor 142, a throttle position sensor 143, a front wheel stroke sensor 144, a rear wheel stroke sensor 145, a pitch rate sensor 146, and an acceleration sensor 147. Note that input circuits such as waveform shaping circuits and A / D (Analog / Digital) conversion circuits for these various sensors are not shown.

[0023] The Willie determination device 100 includes a lift determination unit 102 having a Willie pre-state determination unit 102a and a lift amount calculation unit 102b, and a control unit 3. The lift determination unit 102 having the Willie pre-state determination unit 102a and the lift amount calculation unit 102b, and the control unit 3 are each shown as functional blocks when a CPU (Central Processing Unit), which is not shown in the Willie determination device 100, reads out calculation processing programs, data, etc. stored in a memory and executes calculation processing as needed.

[0024] The wheelie pre-state determination unit 102a determines whether or not the vehicle 1 is in a wheelie pre-state. Here, from the standpoint of the wheelie pre-state determination unit 102a appropriately determining whether the vehicle 1 is in a wheelie pre-state, the wheelie pre-state determination unit 102a determines that the vehicle 1 is in a wheelie pre-state when an upward vertical acceleration of the vehicle body 10, indicated by the electrical signal output from the acceleration sensor 147, occurs and this acceleration shows an increasing trend. This is a prerequisite for the lift amount calculation unit 102b to appropriately start calculating the wheelie amount and calculate the wheelie amount with accuracy. Alternatively, from a similar standpoint, the wheelie pre-state determination unit 102a may determine that the vehicle 1 is in a wheelie pre-state when the increase in the rear wheel stroke amount in the compression direction of the rear spring damper unit 46, indicated by the electrical signal output from the rear wheel stroke sensor 145, exceeds a predetermined value. Here, from the standpoint of enabling the pre-wheelie state determination unit 102a to more appropriately determine whether vehicle 1 is in a pre-wheelie state, the pre-wheelie state may further include at least one or a combination thereof of the following states: a state in which the increase in the accelerator opening angle indicated by the electrical signal output from the accelerator position sensor 142 exceeds a predetermined value; a state in which the increase in the rotational speed of the engine, which is the drive source 20, indicated by the electrical signal output from the crank angle sensor 141 exceeds a predetermined value; and a state in which the increase in the throttle opening angle of the engine, which is the drive source 20, indicated by the electrical signal output from the throttle position sensor 143 exceeds a predetermined value. If the drive source 20 is an electric motor, the rotational speed sensor of the electric motor provided in place of the crank angle sensor 141 may be used to include in the pre-wheelie state the state in which the increase in the rotational speed of the electric motor, which is the drive source 20, exceeds a predetermined value, instead of the state in which the increase in the rotational speed of the engine, which is the drive source 20, indicated by the electrical signal output from the crank angle sensor 141 exceeds a predetermined value. The wheelie-pre-state determination unit 102a may determine that the vehicle 1 is in a wheelie-pre-state when both of the following conditions are met: an upward vertical acceleration occurs in the vehicle body 10 and this acceleration shows an increasing trend, and the increase in the amount of rear wheel stroke in the compression direction exceeds a predetermined value.

[0025] The lift amount calculation unit 102b calculates the wheelie amount, which is the amount of lift of the front wheel 32 relative to the road surface R, by calculating the change in angle of rotation of the vehicle body 10 in the direction in which the front wheel 32 leaves the road surface R, starting from the time when the pre-wheelie state determination unit 102a determines that it is in a pre-wheelie state. Specifically, the wheelie amount calculation unit 102b calculates the wheelie amount by accumulating the detected values ​​indicated by the electrical signal output from the pitch rate sensor 146 from the time when the pre-wheelie state determination unit 102a determines that it is in a pre-wheelie state. In this case, from the standpoint of calculating the wheelie amount more appropriately, the lift amount calculation unit 102b preferably sets the angular position of the vehicle body 10 around the pitch axis (the angular position of the vehicle body 10 in the rotational direction around the pitch axis of the vehicle body 10 in the rotational direction of the vehicle body 10 as the front wheel 32 moves away from the road surface R) as a reference value when the pre-wheelie state determination unit 102a determines that a pre-wheelie state has occurred, and calculates the wheelie amount as an integrated value obtained by accumulating the detected values ​​of the pitch rate sensor using this reference value as an initial value.

[0026] The control unit 104 controls the operating state of the engine by controlling the ignition operation of the spark plug 22 via a secondary coil (not shown), the fuel injection operation of the injector 24, and the opening degree (throttle opening) of the throttle valve 26 via a throttle motor (not shown) when the drive source 20 is an engine, based on the detected values ​​indicated by the respective electrical signals from the rotational speed sensor of the drive source 20, such as the crank angle sensor 141, the accelerator position sensor 142, and the throttle position sensor 143 when the drive source 20 is an engine, etc. If the drive source 20 is an engine, the control unit 104 controls the operating state of the engine by controlling the ignition operation of the spark plug 22 via a secondary coil (not shown), the fuel injection operation of the injector 24, and the opening degree (throttle opening) of the throttle valve 26 via a throttle motor (not shown), etc. If the drive source 20 is an electric motor, the control unit 104 controls the operating state of the electric motor by controlling the switching operation of the electric motor's drive circuit, etc. Furthermore, the control unit 104 may control the operating state of the drive source 20 in such a way as to control the wheelie state (wheelie amount) of the vehicle 1 based on the wheelie amount calculated by the lift amount calculation unit 102b.

[0027] [Operation of the wheelie detection device] Next, with reference to Figure 3, the operation of the wheelie detection device 100 in this embodiment will be described in detail, using the case where the drive source 20 is an engine as an example.

[0028] Figure 3 is a time chart showing an example of various detection values ​​for a vehicle equipped with the wheelie detection device in this embodiment. The vehicle 1 (not shown) is assumed to have its ignition switch turned on, with the engine (drive source 20) and the wheelie detection device 100 in operation, and the transmission T in a predetermined gear with the clutch engaged. In the figure, the graphs for throttle opening, rear wheel stroke length, and vertical upward acceleration are shown as solid lines, while the graphs for engine speed, front wheel stroke length, and pitch rate are shown as dotted lines. The angle θ represents the amount of wheelie.

[0029] As shown in Figure 3, at time t1, the throttle opening increases from TH1 to TH2, and the engine speed begins to rise from NE1. At this time, as the driving force of the engine 20 driving the rear wheels 42, which are the drive wheels, also increases, the acceleration that begins to occur in the vehicle 1 is a vertical downward acceleration, and the pitch rate also begins to decrease. However, the front wheel stroke amount of the telescopic front fork 34 and the rear wheel stroke amount of the rear spring damper unit 46 remain almost unchanged from FS1 and RS1, respectively. Next, at time t2, it can be seen that the front wheel stroke amount begins to increase in the extension (rebound) direction, and the rear wheel stroke amount begins to increase in the compression (bump) direction. Next, at time t3, the acceleration that occurs in the vehicle 1 exhibits a local minimum value A1, which occurs when it changes from a vertical downward acceleration to a vertical upward acceleration. Therefore, during the period from time t1 to time t3, the wheelie pre-state determination unit 102a determines that vehicle 1 is not in a wheelie pre-state, and the lift amount calculation unit 102b does not calculate the wheelie amount.

[0030] Next, at time t4, the vertical acceleration occurring in vehicle 1 remains as vertical upward acceleration without changing to vertical downward acceleration from time t3 onward. Therefore, at this time, the pre-wheelie state determination unit 102a determines that the vertical acceleration occurring in vehicle 1 has shown an increasing trend, and determines that vehicle 1 is in a pre-wheelie state. Simultaneously, the wheelie amount calculation unit 102b begins integrating the pitch rate and starts calculating the wheelie amount. At this time, the pitch rate, which changed from decreasing to increasing at actual time t3, continues to increase without changing back to decreasing from time t3 onward. In addition, the pre-wheelie state determination unit 102a determines that the vehicle 1 is in a pre-wheelie state when at least one or a combination thereof of the following conditions are met: the increase in the accelerator opening exceeds a predetermined value, the increase in the rotational speed of the drive source 20 exceeds a predetermined value, and the increase in the throttle opening of the engine, which is the drive source 20, exceeds a predetermined value. At the same time, the wheelie amount calculation unit 102b may begin integrating the pitch rate and begin calculating the wheelie amount. Furthermore, the time t4 at which the pre-wheelie state determination unit 102a determines that the vertical acceleration generated in the vehicle 1 has shown an increasing trend may be the timing at which a predetermined period has elapsed since time t3 using a timer (not shown), or it may be the timing at which a predetermined count has been recorded since time t3 using a counter (not shown).

[0031] Furthermore, at time t4, the rear wheel stroke amount becomes RS2, and the predetermined threshold for the increase in the rear wheel stroke amount (for example, if the stroke amount is zero at a predetermined reference position such as the so-called 1G position, the amount of stroke that changes when the stroke amount changes in the compression direction from that reference position is defined as the increase in stroke amount) is reached. At this time, the pre-wheelie state determination unit 102a determines that the increase in the stroke amount in the compression direction of the rear spring damper unit 46 has exceeded a predetermined value, and determines that the vehicle 1 is in a pre-wheelie state. The wheelie amount calculation unit 102b may also start integrating the pitch rate and begin calculating the wheelie amount. Note that the timing at which the rear wheel stroke amount reaches the predetermined threshold does not necessarily coincide with time t4. In addition, the pre-wheelie state determination unit 102a may determine that the vehicle 1 is in a pre-wheelie state when at least one or a combination thereof of the following conditions are met: the increase in the accelerator opening exceeds a predetermined value; the increase in the rotational speed of the drive source 20 exceeds a predetermined value; and the increase in the throttle opening of the engine, which is the drive source 20, exceeds a predetermined value. At the same time, the wheelie amount calculation unit 102b may begin integrating the pitch rates to calculate the wheelie amount.

[0032] Furthermore, during time t5 and thereafter, the throttle opening decreases from TH2 and the engine speed begins to decrease from NE2. However, during the period from time t4 onwards, the vertical upward acceleration generated in vehicle 1 continues to increase, albeit at a smaller rate, and the rear wheel stroke exceeds a predetermined threshold. Therefore, the wheelie amount calculation unit 102b continues to integrate the pitch rate and continues to calculate the wheelie amount.

[0033] As is clear from the above description, in the first phase of the wheelie determination device 100 in this embodiment, the pre-wheelie state determination unit 102a determines that the saddle-type vehicle 1 is in a pre-wheelie state when acceleration occurs in the vertically upward direction of the vehicle body 10 and this acceleration shows an increasing trend. Therefore, the calculation of the wheelie amount can be started appropriately and the wheelie amount can be calculated with high accuracy.

[0034] Furthermore, in another aspect of the wheelie determination device 100 in this embodiment, the pre-wheelie state determination unit 102a determines that the saddle-type vehicle 1 is in a pre-wheelie state when the increase in the stroke amount in the compression direction of the rear suspension 46 exceeds a predetermined value. This allows for the calculation of the wheelie amount to be started appropriately and the wheelie amount to be calculated with high accuracy.

[0035] Furthermore, in the third phase of the wheelie determination device 100 in this embodiment, in addition to the first phase or another phase, the saddle-type vehicle 1 has an accelerator operating member 38a that increases the output of the drive source of the saddle-type vehicle as the amount of operation increases, and the pre-wheelie state further includes a state in which the amount of operation of the accelerator operating member 38a increases beyond a predetermined value. Therefore, the calculation of the wheelie amount can be started more appropriately and the wheelie amount can be calculated with greater accuracy.

[0036] Furthermore, in the fourth phase of the wheelie determination device 100 in this embodiment, in addition to the first phase, another phase, or the second phase, the pre-wheelie state also includes a state in which the increase in rotational speed of the drive source 20 of the saddle-type vehicle 1 exceeds a predetermined value. Therefore, the calculation of the wheelie amount can be started more appropriately, and the wheelie amount can be calculated with greater accuracy.

[0037] Furthermore, in the fifth phase of the wheelie determination device 100 in this embodiment, in addition to the first phase, another phase, or any of the second to fourth phases, the saddle-type vehicle 1 has an engine as the drive source 20, and the pre-wheelie state 102a further includes a state in which the increase in the opening degree of the engine's throttle valve 26 exceeds a predetermined value. Therefore, the calculation of the wheelie amount can be started more appropriately and the wheelie amount can be calculated with greater accuracy.

[0038] Furthermore, in the sixth phase of the wheelie determination device 100 in this embodiment, in addition to the first phase, another phase, or any of the second to fifth phases, when the pre-wheelie state determination unit 102a determines that a pre-wheelie state has occurred, the angular position of the vehicle body 10 in the rotational direction around the pitch axis of the vehicle body 10 is set as a reference value, and the wheelie amount is calculated by accumulating the detected values ​​of the pitch rate sensor using this reference value as the initial value, thus enabling the calculation of the wheelie amount with greater accuracy.

[0039] It should be noted that the present invention is not limited to the above-described embodiments in terms of the type, shape, arrangement, number, etc. of the components, and it is of course possible to modify them as appropriate without departing from the spirit of the invention, such as by appropriately substituting the components with those that produce equivalent effects. [Industrial applicability]

[0040] As described above, the present invention provides a wheelie determination device that can appropriately start calculating the amount of wheelie and calculate the amount of wheelie with high accuracy, and is expected to be widely applicable to saddle-type vehicles due to its general-purpose and universal nature. [Explanation of symbols]

[0041] 1…Vehicle 10…Frame components 20…Power source 22... Spark plug 24... Injector 26... Throttle valve 30…Steering and front suspension mechanism 32…Front wheel 34... Telescopic front fork 36…Steering stem 38... Handle 38a...Accelerator grip 40...Rear suspension mechanism 42... Rear wheel 44... Swingarm 46…Rear spring damper unit 100... Wheelie detection device 102... Wheelie Judging Section 102a... Wheelie Pre-State Determination Unit 102b... Wheelie amount calculation unit 104... Control Unit 141... Crank sensor 142... Accelerator position sensor 143... Throttle position sensor 144... Front wheel stroke sensor 145... Rear wheel stroke sensor 146... Pitch rate sensor 147...Accelerometer

Claims

1. Mounted on a saddle-type vehicle equipped with a pitch rate sensor positioned between the front axle and the rear axle in the longitudinal direction of the vehicle body, which detects the pitch angular velocity of the vehicle body as a detected value, A wheelie-pre-state determination unit that determines whether the aforementioned saddle-type vehicle is in a wheelie-pre-state, The vehicle comprises a wheelie amount calculation unit that calculates the amount of change in the angle of rotation of the vehicle body in the direction in which the front wheel leaves the road surface, from the time the pre-wheelie state determination unit determines that the vehicle is in a pre-wheelie state, as the amount of lift of the front wheel relative to the road surface, and defines this as the wheelie amount. The wheelie amount calculation unit is a wheelie determination device that calculates the wheelie amount by accumulating the detected values ​​of the pitch rate sensor from the time the pre-wheelie state determination unit determines that the state is pre-wheelie, The wheelie determination device is characterized in that the pre-wheelie state determination unit determines that the saddle-type vehicle is in the pre-wheelie state when acceleration occurs in the vertically upward direction of the vehicle body and the acceleration shows an increasing trend.

2. Mounted on a saddle-type vehicle equipped with a pitch rate sensor positioned between the front axle and the rear axle in the longitudinal direction of the vehicle body, which detects the pitch angular velocity of the vehicle body as a detected value, A wheelie-pre-state determination unit that determines whether or not the aforementioned saddle-type vehicle is in a wheelie-pre-state, The vehicle comprises a wheelie amount calculation unit that calculates the amount of change in the angle of rotation of the vehicle body in the direction in which the front wheel leaves the road surface, from the time the pre-wheelie state determination unit determines that the vehicle is in a pre-wheelie state, as the amount of lift of the front wheel relative to the road surface, and defines this as the wheelie amount. The wheelie amount calculation unit is a wheelie determination device that calculates the wheelie amount by accumulating the detected values ​​of the pitch rate sensor from the time the pre-wheelie state determination unit determines that the state is pre-wheelie, The aforementioned saddle-type vehicle has a rear suspension that supports the rear wheels, The wheelie determination device is characterized in that it determines that the saddle-type vehicle is in the pre-wheelie state when the increase in the stroke amount in the compression direction of the rear suspension exceeds a predetermined value.

3. The aforementioned saddle-type vehicle has an accelerator operating member that increases the output of the drive source of the saddle-type vehicle as the amount of operation increases. The wheelie determination device according to claim 1 or 2, characterized in that the pre-wheelie state further includes a state in which the increase in the amount of operation of the accelerator operating member exceeds a predetermined value.

4. The wheelie determination device according to claim 1 or 2, characterized in that the pre-wheelie state further includes a state in which the increase in rotational speed of the drive source of the saddle-type vehicle exceeds a predetermined value.

5. The aforementioned saddle-type vehicle has an engine, The wheelie determination device according to claim 1 or 2, further characterized in that the pre-wheelie state includes a state in which the increase in the opening degree of the throttle valve of the engine exceeds a predetermined value.

6. When the pre-wheelie state determination unit determines that the vehicle is in the pre-wheelie state, the angular position of the vehicle in the rotational direction around the pitch axis of the vehicle is set as a reference value. The wheelie determination device according to claim 1, characterized in that the aforementioned reference value is used as an initial value and the detected values ​​of the pitch rate sensor are accumulated to calculate the accumulated value as the wheelie amount.

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