Straddled vehicle with bar handle and electric steering device

Abstract

Provided is a straddled vehicle comprising handlebars and configured to have a steering assistance function, and which can improve convenience in regard to the steering assistance function. A control device, through at least one of (1) and (2) below, changes the relationship between a handlebar operation-related physical quantity and an assisted steering force-related physical quantity such that the outputted assisted steering force-related physical quantity differs even if the handlebar operation-related physical quantity is the same. (1) Changing the range of the handlebar operation-related physical quantity which is set such that the assisted steering force-related physical quantity is not output even if the handlebars are operated. (2) Changing the relationship between the handlebar operation-related physical quantity and the assisted steering force-related physical quantity output in accordance with the handlebar operation-related physical quantity in an output increasing region where the assisted steering force-related physical quantity output in accordance with the handlebar operation-related physical quantity also becomes greater when the handlebar operation-related physical quantity becomes greater.

Description

[Technical field]

[0001] The present invention relates to a saddle-type vehicle equipped with a bar handle and an electric steering device used in the saddle-type vehicle equipped with the bar handle. [Background technology]

[0002] Conventionally, saddle-type vehicles equipped with a bar handle have been known. In recent years, as described in International Publication No. 2019 / 87578, for example, a saddle-type vehicle equipped with such a bar handle has been proposed that is configured to have a function of applying an auxiliary steering force to the steering wheel in response to an operation of the bar handle by a rider of the saddle-type vehicle, that is, a steering assist function. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] WO 2019 / 87578 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide a saddle-type vehicle that is equipped with a bar handle and configured to have a steering assist function, and that can improve the convenience of the steering assist function. [Means for solving the problem]

[0005] A saddle-ride type vehicle equipped with a bar handle according to an embodiment of the present invention includes a vehicle body, a steering wheel, an actuator, and a control device. The vehicle body has a bar handle. The vehicle body rotatably supports the bar handle so that a maximum operation angle of the bar handle from a neutral position of the handle when the saddle-ride type vehicle travels straight is smaller than 180 degrees. The steering wheel is supported by the vehicle body. The steering wheel is steered in response to an operation of the bar handle by an occupant of the saddle-ride type vehicle by mechanically transmitting the operation. The actuator is configured to apply an auxiliary steering force to the steering wheel in response to the operation of the bar handle by the occupant of the saddle-ride type vehicle. The control device performs actuator control processing that controls the actuator by outputting an auxiliary steering force related physical quantity, which is a physical quantity related to the auxiliary steering force, in response to a bar handle operation related physical quantity, which is a physical quantity related to the operation of the bar handle. The control device is configured to change the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the output auxiliary steering force related physical quantity is different even if the bar handle operation related physical quantity is the same, by at least one of (1) and (2) below, in response to an instruction input from outside the saddle-riding vehicle or a condition for limiting the operation of the actuator being satisfied. (1) By changing the range of the bar handle operation related physical quantity that is set so that the auxiliary steering force related physical quantity is not output even when the bar handle is operated, the auxiliary steering force related physical quantity that is output is made different even if the bar handle operation related physical quantity is the same. (2) In an output increase region where the auxiliary steering force related physical quantity output in accordance with the bar handle operation related physical quantity increases as the bar handle operation related physical quantity increases, the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity output in accordance with the bar handle operation related physical quantity is changed so that the auxiliary steering force related physical quantity output is made different even if the bar handle operation related physical quantity is the same.

[0006] According to the saddle-type vehicle equipped with the above-described bar handle, the convenience of the steering assist function is improved. Specifically, this is as follows.

[0007] In a saddle-type vehicle equipped with a bar handle, the operation angle of the bar handle during driving is small. Therefore, the influence of the handle operation by the occupant is easily felt. In the saddle-type vehicle equipped with the bar handle, even if the operation of the bar handle by the occupant is the same, the auxiliary steering force can be changed according to the operation. In other words, the setting of the steering assist function can be changed. As a result, the convenience of the steering assist function is improved.

[0008] In one embodiment of the present invention, the saddle-type vehicle is, for example, a vehicle equipped with a saddle-type seat. The saddle-type vehicle is, for example, a vehicle in which a rider rides astride a saddle. The saddle-type vehicle is, for example, equipped with at least one front wheel and at least one rear wheel. In other words, the saddle-type vehicle is not limited to a two-wheeled vehicle, and may be a three-wheeled vehicle in which the front wheels or the rear wheels are configured with a pair of left and right wheels, or a four-wheeled vehicle in which the front wheels and the rear wheels are configured with a pair of left and right wheels, respectively. The saddle-type vehicle may be, for example, a tilting vehicle. The tilting vehicle is a vehicle equipped with a vehicle body that tilts to the left of the vehicle when turning left and tilts to the right of the vehicle when turning right. The saddle-type vehicle may be equipped with a driving source. The driving source may be an engine, an electric motor, or an engine and an electric motor.

[0009] In one embodiment of the present invention, the bar handle may be, for example, a single bar handle extending continuously in the left-right direction of the saddle riding type vehicle, or may include a left bar handle and a right bar handle arranged separately in the left-right direction of the saddle riding type vehicle.

[0010] In one embodiment of the present invention, the vehicle body includes a vehicle body frame. The vehicle body frame may be a frame made up of a combination of multiple parts, or a frame made up of multiple parts molded as an integral part. The material of the vehicle body frame may be metal such as aluminum or iron, synthetic resin such as CFRP, or a combination thereof. The vehicle body frame is Saddle type It may be a monocoque structure made up of the exterior parts of the vehicle, or a part of it may be Saddle typeIt may have a semi-monocoque structure that also serves as an exterior component of the vehicle.

[0011] In one embodiment of the present invention, the steering wheel is supported on the vehicle body in a state in which it can rotate around an axis extending in the vertical direction of the vehicle body, for example. The axis extending in the vertical direction of the vehicle body does not have to extend in the vertical direction when the vehicle body is upright. The axis extending in the vertical direction of the vehicle body may be inclined toward the rear of the vehicle body with respect to the vertical direction when the vehicle body is upright. In other words, the upper end of the axis extending in the vertical direction of the vehicle body may be located behind the lower end of the axis extending in the vertical direction of the vehicle body when the vehicle body is upright. The steering wheel may be directly supported on the vehicle body, for example, or indirectly supported on the vehicle body. The mode in which the steering wheel is indirectly supported on the vehicle body includes, for example, a mode in which a suspension device is disposed between the steering wheel and the vehicle body and supports the steering wheel on the vehicle body. The steering wheel may be a front wheel or a rear wheel. There may be one steering wheel or two steering wheels. A suspension device that supports one steering wheel on a vehicle body is, for example, a telescopic or bottom-link type front fork. A suspension device that supports two steering wheels on a vehicle body is, for example, an independent suspension. The two steering wheels are arranged, for example, side by side in the left-right direction of a saddle-type vehicle. A mode in which an operation of a bar handle by a rider is mechanically transmitted to the steering wheel includes a mode in which an actuator is arranged on a path along which force is transmitted from the bar handle to the steering wheel, and the actuator outputs an auxiliary steering force when the rider operates the bar handle, and this steering auxiliary force is transmitted to the steering wheel. The actuator is arranged on a path along which force is transmitted from the bar handle to the steering wheel so that the operation of the bar handle by the rider is transmitted to the steering wheel even when the actuator is not operating. The actuator is arranged, for example, on a path along which force is transmitted from the bar handle to the steering wheel, and has a function of increasing the force transmitted from the bar handle to the steering wheel.

[0012] In one embodiment of the present invention, the actuator is not particularly limited as long as it can output an auxiliary steering force to be applied to the steering wheel. The actuator is, for example, an electric motor capable of normal and reverse rotation. The actuator applies an auxiliary steering force to the steering wheel based on a signal from a sensor that detects an operation of the bar handle by the occupant. The sensor that detects the operation of the bar handle by the occupant is, for example, a torque sensor that detects a torque generated by the occupant operating the bar handle. The auxiliary steering force may, for example, help the steering wheel to be steered in a direction in which the occupant operates the bar handle. In other words, the auxiliary steering force may make it easier for the occupant to steer the steering wheel in a direction in which the occupant operates the bar handle. The auxiliary steering force may, for example, prevent the steering wheel from being steered in a direction in which the occupant operates the bar handle. In other words, the auxiliary steering force may make it difficult for the occupant to steer the steering wheel in a direction in which the occupant operates the bar handle.

[0013] In one embodiment of the present invention, the control device is, for example, an ECU (Electric Control Unit). The ECU is realized by, for example, a combination of an IC (Integrated Circuit), electronic components, a circuit board, etc. The control by the control device is realized, for example, by a CPU (Central Processing Unit) reading a program stored in a non-volatile memory and executing a predetermined process according to the program.

[0014] In one embodiment of the present invention, the bar handle operation related physical quantity is, for example, a physical quantity generated based on the operation of the bar handle by the rider. The bar handle operation related physical quantity may be, for example, an operation angular velocity indicating a change per unit time of an operation angle when the bar handle is operated, a steering torque input by operating the bar handle, a frequency of the steering torque, or a differential value of the steering torque. Note that, when the saddle-type vehicle is traveling at high speed, the steering torque and the roll angular velocity are in a substantially proportional relationship, so the roll angular velocity may be used instead of the steering torque. The roll angular velocity indicates a change per unit time of the inclination angle of the vehicle body of the saddle-type vehicle equipped with the bar handle. When the saddle-type vehicle is traveling at high speed, for example, the saddle-type vehicle is traveling at a vehicle speed of 80 km / h or more.

[0015] In one embodiment of the present invention, the auxiliary steering force related physical quantity is, for example, a physical quantity used to output the auxiliary steering force. The auxiliary steering force related physical quantity is, for example, a current supplied to an actuator. A mode of outputting a current includes, for example, a mode of outputting a drive signal corresponding to the current. When changing the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity, for example, the relationship between the bar handle operation related physical quantity and a current command value that specifies a current as the auxiliary steering force related physical quantity may be changed. While the bar handle operation related physical quantity described above is a physical quantity input to the control device, the auxiliary steering force related physical quantity is a physical quantity generated or output by the control device, and the two physical quantities are different from each other.

[0016] In one embodiment of the present invention, the "instruction input from outside the saddle riding type vehicle" includes, for example, an "instruction input by a rider of the saddle riding type vehicle." That is, the control device may change the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity by at least one of (1) and (2) in response to the instruction input by the rider of the saddle riding type vehicle so that even if the bar handle operation related physical quantity is the same, the output auxiliary steering force related physical quantity is different. The manner in which the rider inputs the instruction includes, for example, a manner in which the rider inputs the instruction by operating an operating means provided in the saddle riding type vehicle, and a manner in which the rider inputs the instruction by operating a terminal capable of communicating with the saddle riding type vehicle. The condition for limiting the operation of the actuator may be, for example, a condition related to the state of the actuator itself, or, in the case where the actuator operates by power supplied from a power supply source provided in the saddle riding type vehicle, a condition related to the state of the power supply source. The condition related to the state of the actuator itself is, for example, whether or not the temperature of a portion of the actuator that generates heat during operation is higher than a reference temperature. The condition relating to the state of the power supply source is, for example, whether or not the voltage supplied to the control device is lower than a reference voltage.

[0017] In one embodiment of the present invention, the "range of the bar handle operation related physical quantity set so that the auxiliary steering force related physical quantity is not output even if the bar handle is operated" is, for example, a range of the bar handle operation related physical quantity in which the auxiliary steering force related physical quantity is not applied to the steered wheels even if the bar handle is operated. The manner of changing the "range of the bar handle operation related physical quantity set so that the auxiliary steering force related physical quantity is not output even if the bar handle is operated" may be, for example, a manner of changing the size of the range, that is, a manner of widening or narrowing the range, or a manner of moving the range without changing its size. For example, when the bar handle operation related physical quantity is the frequency of the steering torque, the frequency range of the steering torque in which the auxiliary steering force related physical quantity is not output even if the bar handle is operated is changed by changing the cutoff frequency of the filter. When changing the "range of the bar handle operation related physical quantity set so that the auxiliary steering force related physical quantity is not output even if the bar handle is operated", for example, the bar handle operation related physical quantity at the time when the bar handle is operated and the output of the auxiliary steering force related physical quantity starts may be different. This makes it easier for the occupant to realize the effect of the change in the setting of the steering assist function. Also, when changing the "range of the bar handle operation related physical quantity set so that the assist steering force related physical quantity is not output even when the bar handle is operated", for example, in addition to the above, the bar handle operation related physical quantity may be made different when the bar handle is operated and half of the maximum value of the assist steering force related physical quantity is output.

[0018] In one embodiment of the present invention, the "output increase region in which the auxiliary steering force related physical quantity outputted according to the bar handle operation related physical quantity increases as the bar handle operation related physical quantity increases" can be set for all or part of the range of values ​​that the bar handle operation related physical quantity can take. When the bar handle operation related physical quantity is included in the output increase region, if the bar handle operation related physical quantity increases, the output auxiliary steering force related physical quantity also increases. In addition, the output increase region exists, for example, both before and after the change of the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity. Among the range of values ​​that the bar handle operation related physical quantity can take, the range of the bar handle operation related physical quantity corresponding to the output increase region may be different before and after the change of the relationship, or may be the same. When the range of the bar handle operation related physical quantity corresponding to the output increase region after the change is larger than the range before the change, in order to output the auxiliary steering force related physical quantity of the same magnitude after the change as before the change, a bar handle operation related physical quantity larger than before the change is required. The range of the auxiliary steering force related physical quantity in the output increase region, that is, the range of values ​​that the auxiliary steering force related physical quantity can take in the output increase region, may be the same or different before and after changing the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity. The manner in which the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity is changed in the output increase region includes, for example, a manner in which "the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity is changed without changing the bar handle operation related physical quantity corresponding to the start point of the output increase region." The bar handle operation related physical quantity corresponding to the start point of the output increase region is, for example, the bar handle operation related physical quantity when the bar handle is operated and the output of the auxiliary steering force related physical quantity is started. The manner in which "the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity is changed without changing the bar handle operation related physical quantity corresponding to the start point of the output increase region" includes, for example, a manner in which an appropriate coefficient is multiplied to the auxiliary steering force related physical quantity corresponding to the bar handle operation related physical quantity input to the control device.The manner in which the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity is changed does not include, for example, a manner in which "the output of the auxiliary steering force related physical quantity is set to zero by changing the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity."

[0019] In one embodiment of the present invention, the "mode in which the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity is changed so that the output auxiliary steering force related physical quantity is different even if the bar handle operation related physical quantity is the same" is, for example, "a mode in which the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity is changed so that the value (or magnitude) of the output auxiliary steering force related physical quantity is different even if the value (or magnitude) of the input bar handle operation related physical quantity is the same". In one embodiment of the present invention, the output auxiliary steering force related physical quantity changes due to a change in the relationship between the bar handle operation related physical quantity (input) and the auxiliary steering force related physical quantity (output), so the output auxiliary steering force related physical quantity includes a change due to the change in the relationship. The mode in which the output auxiliary steering force related physical quantity changes only due to factors other than the above relationship (upper limit value, lower limit value, etc.) does not include any change due to the change in the relationship, and does not fall under the present invention. The mode in which the output auxiliary steering force related physical quantity includes not only a change due to factors other than the above relationship but also a change due to the change in the above relationship falls under the present invention.

[0020] In one embodiment of the present invention, "the mode in which the control device changes the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity by (2) so that the auxiliary steering force related physical quantity to be output is different even if the bar handle operation related physical quantity is the same" does not include, for example, a mode in which the auxiliary steering force related physical quantity corresponding to the bar handle operation related physical quantity is limited to a specific value when the bar handle operation related physical quantity is equal to or greater than a predetermined value. In other words, "the mode in which the control device changes the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity by (2) so that the auxiliary steering force related physical quantity to be output is different even if the bar handle operation related physical quantity is the same" includes, for example, a mode in which the auxiliary steering force related physical quantity to be output is different in the output increase region that exists both before and after changing the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity even if the bar handle operation related physical quantity is the same.

[0021] In one embodiment of the present invention, when "changing the range of the bar handle operation related physical quantity set so that the auxiliary steering force related physical quantity is not output even when the bar handle is operated" or when "changing the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity", for example, the running state of the saddle riding type vehicle may be referenced. In this case, the steering assist function can be appropriately set according to the running state of the saddle riding type vehicle. The running state of the saddle riding type vehicle may be, for example, the vehicle speed of the saddle riding type vehicle, or the acceleration or deceleration of the saddle riding type vehicle, or, if the power source of the saddle riding type vehicle is an engine, the rotation speed of the engine or the throttle opening.

[0022] In a saddle-type vehicle equipped with a bar handle according to one embodiment of the present invention, the control device may be configured to change the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the output auxiliary steering force related physical quantity is different even if the bar handle operation related physical quantity is the same, according to (1).

[0023] In a saddle-type vehicle equipped with a bar handle according to an embodiment of the present invention, the control device may be configured to change the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity at least when the bar handle operation related physical quantity input by operating the bar handle is within a small angle operation corresponding region. The small angle operation corresponding region is a region smaller than the value of the bar handle operation related physical quantity corresponding to half the maximum outputtable value of the auxiliary steering force related physical quantity. The maximum outputtable value is the maximum value of the auxiliary steering force related physical quantity set to be outputtable in the above relationship when an operation is input to the bar handle.

[0024] According to the saddle-type vehicle equipped with the above-described bar handle, the convenience of the steering assist function is further improved. Specifically, this is as follows.

[0025] In a saddle-type vehicle equipped with a bar handle, the operation angle of the bar handle during driving is small. Therefore, the bar handle is operated in a region smaller than the value of the bar handle operation related physical quantity corresponding to half the maximum outputtable value of the assist steering force related physical quantity. In other words, with the saddle-type vehicle equipped with the bar handle, the setting of the steering assist function can be changed within the small angle operation corresponding region in which the bar handle is operated during driving. As a result, the convenience of the steering assist function is improved.

[0026] In a saddle-type vehicle equipped with a bar handle according to one embodiment of the present invention, the auxiliary steering force is a force applied to the steered wheels in the same direction as or opposite to the steering corresponding to the operation of the bar handle.

[0027] In a saddle-type vehicle equipped with a bar handle according to one embodiment of the present invention, the control device may change the range of the bar handle operation related physical quantity, which is set so that the auxiliary steering force related physical quantity is not output even when the bar handle is operated, so that the bar handle operation related physical quantity is different when the bar handle is operated and output of the auxiliary steering force related physical quantity is started.

[0028] According to the saddle-type vehicle equipped with the above-mentioned bar handle, the bar handle operation related physical quantity differs when the bar handle is operated and output of the auxiliary steering force related physical quantity begins, so that the occupant can easily feel the change in the setting of the steering assist function.

[0029] In a saddle-type vehicle equipped with a bar handle according to one embodiment of the present invention, the control device may change the range of the bar handle operation related physical quantity, which is set so that the auxiliary steering force related physical quantity is not output even when the bar handle is operated, so that the bar handle operation related physical quantity differs when the bar handle is operated and half of the maximum value of the auxiliary steering force related physical quantity is output.

[0030] According to the saddle-type vehicle equipped with the above-mentioned bar handle, the bar handle operation-related physical quantity differs when the bar handle is operated and half of the maximum value of the auxiliary steering force-related physical quantity is output, so that the setting of the steering assist function can be changed overall within the angle range in which the bar handle is operated while traveling.

[0031] In a saddle-type vehicle equipped with a bar handle according to an embodiment of the present invention, The control device includes: acquiring an upper limit voltage to be applied to the actuator in response to an instruction input from outside the saddle riding type vehicle or vehicle speed related information related to a vehicle speed of the saddle riding type vehicle; In the actuator control process, The actuator may be controlled by outputting an applied voltage obtained by limiting the applied voltage corresponding to the auxiliary steering force-related physical quantity so that it does not exceed the acquired upper limit voltage to be applied to the actuator as the auxiliary steering force-related physical quantity.

[0032] According to the saddle-type vehicle equipped with the bar handle, the voltage applied to the actuator is limited so as not to exceed the upper applied voltage limit. As a result, for example, even if the operation of the bar handle is the same, the output of the actuator may be small or the actuator may not operate. In the saddle-type vehicle equipped with the bar handle, even if the operation of the bar handle by the rider is the same, the auxiliary steering force can be changed according to the operation. In other words, the setting of the steering assist function can be changed. As a result, the convenience of the steering assist function is improved.

[0033] The control device acquires an upper limit voltage to be applied to the actuator for use in the actuator control process. The applied voltage may be indicated by, for example, a duty ratio. The applied voltage can be changed, for example, by changing the duty ratio. The vehicle speed related information may be, for example, the vehicle speed itself, the shift position, or the shift position and the engine speed.

[0034] In a saddle-type vehicle equipped with a bar handle according to an embodiment of the present invention, The actuator is a rotating electric machine, The control device includes: In the actuator control process, the actuator is controlled based on a voltage applied to the actuator; the voltage applied to the actuator is obtained based on an applied voltage corresponding to an assist steering force related physical quantity and an upper limit voltage applied to the actuator so that the actuator output does not exceed an upper limit of the actuator output in the NT characteristic of the actuator; The actuator output upper limit corresponds to the upper limit voltage that can be applied to the actuator. The actuator output may correspond to an applied voltage that corresponds to an assist steering force related physical quantity.

[0035] According to the saddle-type vehicle equipped with the above-mentioned bar handle, the actuator output does not exceed the actuator output upper limit. As a result, for example, even if the operation of the bar handle is the same, the actuator may operate differently. In other words, even if the operation of the bar handle by the rider is the same, the auxiliary steering force can be changed according to the operation. Therefore, the setting of the steering assist function can be changed. As a result, the convenience of the steering assist function is improved.

[0036] In a saddle-ride type vehicle equipped with a bar handle according to one embodiment of the present invention, when the vehicle speed of the saddle-ride type vehicle is high, the upper limit voltage applied to the actuator may be smaller than when the vehicle speed of the saddle-ride type vehicle is low.

[0037] According to the saddle-type vehicle equipped with the bar handle, when the vehicle speed is high, the operation of the actuator can be restricted more than when the vehicle speed is low. Therefore, for example, when the vehicle speed is high, the operating angular velocity of the bar handle can be reduced, and when the vehicle speed is low, the operating angular velocity of the bar handle can be increased.

[0038] A saddle-type vehicle equipped with a bar handle according to another embodiment of the present invention has the following configuration. A saddle-type vehicle equipped with a handlebar, a vehicle body that rotatably supports the bar handle; a steering wheel supported on the vehicle body, and steered in response to an operation of the bar handle by a rider of the saddle riding type vehicle by mechanically transmitting the operation to the bar handle; an actuator configured to apply an auxiliary steering force to the steering wheel in response to an operation of the bar handle by a rider of the saddle riding type vehicle; a control device that performs an actuator control process to control the actuator by outputting an auxiliary steering force related physical quantity, which is a physical quantity related to the auxiliary steering force, in response to a bar handle operation related physical quantity, which is a physical quantity related to an operation of the bar handle; The control device includes: acquiring an upper limit voltage to be applied to the actuator in response to an instruction input from outside the saddle riding type vehicle or vehicle speed related information related to a vehicle speed of the saddle riding type vehicle; In the actuator control process, The above Auxiliary steering force The actuator is controlled by outputting an applied voltage obtained by limiting an applied voltage corresponding to a related physical quantity so that it does not exceed the acquired upper limit voltage to be applied to the actuator as an assist steering force related physical quantity.

[0039] According to a saddle-type vehicle equipped with a bar handle according to another embodiment of the present invention, the voltage applied to the actuator is limited so as not to exceed the upper application voltage limit. As a result, for example, even if the operation of the bar handle is the same, the output of the actuator may be small or the actuator may not operate. In the saddle-type vehicle equipped with the bar handle, even if the operation of the bar handle by the rider is the same, the auxiliary steering force can be changed according to the operation. In other words, the setting of the steering assist function can be changed. As a result, the convenience of the steering assist function is improved.

[0040] A saddle-type vehicle equipped with a bar handle according to another embodiment of the present invention has the following configuration, for example. The actuator is a rotating electric machine, The control device includes: In the actuator control process, the actuator is controlled based on a voltage applied to the actuator; a voltage applied to the actuator is obtained based on an applied voltage corresponding to the assist steering force related physical quantity and an upper limit voltage applied to the actuator so that the actuator output does not exceed an actuator output upper limit in the NT characteristic of the actuator; the actuator output upper limit corresponds to an upper limit voltage applied to the actuator, The actuator output corresponds to an applied voltage corresponding to the assist steering force related physical quantity.

[0041] According to the saddle-type vehicle equipped with the above-mentioned bar handle, the actuator output does not exceed the actuator output upper limit. As a result, for example, even if the operation of the bar handle is the same, the actuator may operate differently. In other words, even if the operation of the bar handle by the rider is the same, the auxiliary steering force can be changed according to the operation. Therefore, the setting of the steering assist function can be changed. As a result, the convenience of the steering assist function is improved.

[0042] A saddle-type vehicle equipped with a bar handle according to another embodiment of the present invention has the following configuration, for example. When the vehicle speed of the saddle riding type vehicle is high, the upper limit voltage applied to the actuator is smaller than when the vehicle speed of the saddle riding type vehicle is low.

[0043] According to the saddle-type vehicle equipped with the bar handle, when the vehicle speed is high, the operation of the actuator can be restricted more than when the vehicle speed is low. Therefore, for example, when the vehicle speed is high, the operating angular velocity of the bar handle can be reduced, and when the vehicle speed is low, the operating angular velocity of the bar handle can be increased.

[0044] An electric steering device according to one embodiment of the present invention is an electric steering device configured to be provided in a saddle-riding type vehicle equipped with a bar handle. The saddle-riding type vehicle equipped with a bar handle includes a vehicle body and a steering wheel. The vehicle body has a bar handle. The vehicle body rotatably supports the bar handle so that a maximum operation angle of the bar handle from a neutral position of the handle when the saddle-riding type vehicle travels straight is smaller than 180 degrees. The steering wheel is supported by the vehicle body. The steering wheel is steered in response to an operation of the bar handle by an occupant of the saddle-riding type vehicle by mechanically transmitting the operation. The electric steering device includes an actuator and a control device. The actuator is configured to apply an auxiliary steering force to the steering wheel in response to an operation of the bar handle by the occupant of the saddle-riding type vehicle. The control device controls the actuator by outputting an auxiliary steering force related physical quantity, which is a physical quantity related to the auxiliary steering force, in response to a bar handle operation related physical quantity, which is a physical quantity related to the operation of the bar handle. The control device is configured to change the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the output auxiliary steering force related physical quantity is different even if the bar handle operation related physical quantity is the same, by at least one of (1) and (2) below, in response to an instruction input from outside the saddle-riding vehicle or a condition for limiting the operation of the actuator being satisfied. (1) By changing the range of the bar handle operation related physical quantity that is set so that the auxiliary steering force related physical quantity is not output even when the bar handle is operated, the auxiliary steering force related physical quantity that is output is made different even if the bar handle operation related physical quantity is the same. (2) In an output increase region where the auxiliary steering force related physical quantity output in accordance with the bar handle operation related physical quantity increases as the bar handle operation related physical quantity increases, the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity output in accordance with the bar handle operation related physical quantity is changed so that the auxiliary steering force related physical quantity output is made different even if the bar handle operation related physical quantity is the same.

[0045] According to a saddle-type vehicle equipped with a bar handle and provided with the electric steering device, the convenience of the steering assist function is improved. Specifically, the following is provided.

[0046] In a saddle-type vehicle equipped with a bar handle, the operation angle of the bar handle during driving is small. Therefore, the influence of the handle operation by the occupant is easily felt. In a saddle-type vehicle equipped with a bar handle and provided with the above-mentioned electric steering device, even if the operation of the bar handle by the occupant is the same, the auxiliary steering force can be changed according to the operation. In other words, the setting of the steering assist function can be changed. As a result, the convenience of the steering assist function is improved.

[0047] An electric steering device according to another embodiment of the present invention has the following configuration, for example. An electric steering device configured to be installed in a saddle-type vehicle equipped with a bar handle, The saddle-type vehicle equipped with the bar handlebar is a vehicle body that rotatably supports the bar handle; a steering wheel supported on the vehicle body, and steered in response to an operation of the bar handle by a rider of the saddle riding type vehicle by mechanically transmitting the operation to the bar handle; Equipped with The electric steering device includes: an actuator configured to apply an auxiliary steering force to the steering wheel in response to an operation of the bar handle by a rider of the saddle riding type vehicle; a control device that performs an actuator control process to control the actuator by outputting an auxiliary steering force related physical quantity, which is a physical quantity related to the auxiliary steering force, in response to a bar handle operation related physical quantity, which is a physical quantity related to an operation of the bar handle; The control device includes: acquiring an upper limit voltage to be applied to the actuator in response to an instruction input from outside the saddle riding type vehicle or vehicle speed related information related to a vehicle speed of the saddle riding type vehicle; In the actuator control process, The above Auxiliary steering force The actuator is controlled by outputting an applied voltage obtained by limiting an applied voltage corresponding to a related physical quantity so that it does not exceed the acquired upper limit voltage to be applied to the actuator as an assist steering force related physical quantity.

[0048] According to a saddle-type vehicle equipped with a bar handle and provided with the electric steering device, the convenience of the steering assist function is improved. Specifically, the following is provided.

[0049] According to the electric steering device, the voltage applied to the actuator is limited so as not to exceed the upper applied voltage limit. As a result, for example, even if the operation of the bar handle is the same, the output of the actuator may be small or the actuator may not operate. In a saddle-type vehicle equipped with a bar handle and provided with the electric steering device, even if the operation of the bar handle by the occupant is the same, the auxiliary steering force can be changed according to the operation. In other words, the setting of the steering assist function can be changed. As a result, the convenience of the steering assist function is improved.

[0050] The above and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the embodiments of the present invention taken in conjunction with the accompanying drawings. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. As used herein, the use of the terms "including," "comprising," or "having" and variations thereof identifies the presence of the described features, steps, operations, elements, ingredients, and / or equivalents thereof, but may include one or more of the steps, operations, elements, components, and / or groups thereof. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. Terms, such as terms defined in commonly used dictionaries, should be interpreted to have a meaning consistent with the meaning in the context of the relevant art and this disclosure, and should not be interpreted in an idealized or overly formal sense unless expressly defined herein. In the description of the present invention, it is understood that a number of techniques and steps are disclosed. Each of these has separate benefits, and each can also be used with one or more, or in some cases all, of the other disclosed techniques. Thus, for the sake of clarity, this description will refrain from unnecessarily repeating all possible combinations of the individual steps. Nevertheless, the specification and claims should be read with the understanding that all such combinations are within the scope of the present invention and claims. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to one skilled in the art that the invention can be practiced without these specific details. The present disclosure is to be considered as an example of the invention, and is not intended to limit the invention to the specific embodiments illustrated in the following drawings or description. Effect of the Invention

[0051] According to the present invention, the convenience of the steering assist function is improved. [Brief description of the drawings]

[0052] [Figure 1] 1 is a schematic diagram showing a schematic configuration of a saddle-type vehicle equipped with a bar handle according to an embodiment of the present invention; [Diagram 2] 1 is a block diagram conceptually illustrating an example of an electric steering device provided in a saddle-type vehicle equipped with a bar handle according to an embodiment of the present invention. [Diagram 3] FIG. 3 is an explanatory diagram for explaining control executed by the control device of the electric steering device shown in FIG. 2, which changes the relationship between a bar handle operation related physical quantity and an auxiliary steering force related physical quantity so that the value (or magnitude) of the output auxiliary steering force related physical quantity is different even if the value (or magnitude) of the bar handle operation related physical quantity is the same. [Figure 4] FIG. 11 is a block diagram conceptually illustrating an example of an electric steering device according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0053] Hereinafter, a saddle-type vehicle equipped with a bar handle according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the embodiment described below is merely an example. The present invention should not be interpreted in any way as being limited by the embodiment described below.

[0054] A saddle-type vehicle 10 equipped with a bar handle according to an embodiment of the present invention (hereinafter simply referred to as saddle-type vehicle 10) will be described with reference to Fig. 1. The saddle-type vehicle 10 includes a vehicle body 20, a plurality of wheels 30, and an electric steering device 40.

[0055] The vehicle body 20 has a bar handle 22. The vehicle body 20 rotatably supports the bar handle 22 so that the maximum operating angle of the bar handle 22 from the neutral position of the handle when the saddle riding type vehicle 10 travels straight is smaller than 180 degrees. The vehicle body 20 leans in the left direction L when the saddle riding type vehicle 10 turns in the left direction L, and leans in the right direction R when the saddle riding type vehicle 10 turns in the right direction R. Note that various directions in the saddle riding type vehicle 10 are based on a rider seated on the seat of the saddle riding type vehicle 10.

[0056] The vehicle body 20 supports a plurality of wheels 30. When the saddle riding type vehicle 10 turns in the left direction L, the plurality of wheels 30 incline in the left direction L together with the vehicle body 20, and when the saddle riding type vehicle 10 turns in the right direction R, the plurality of wheels 30 incline in the right direction R together with the vehicle body 20. The plurality of wheels 30 include a front wheel 30F as a steering wheel and a rear wheel 30R as a drive wheel. That is, the front wheel 30F as a steering wheel is supported by the vehicle body 20. The front wheel 30F as a steering wheel is steered in response to an operation of the bar handle 22 by the rider of the saddle riding type vehicle 10, which is mechanically transmitted to the front wheel 30F as a steering wheel. The rear wheel 30R as a drive wheel is rotated by transmitting power from a power unit (not shown) supported by the vehicle body 20, thereby causing the saddle riding type vehicle 10 to travel.

[0057] The electric steering device 40 includes an actuator 42 and a control device 44. The actuator 42 is configured to apply an auxiliary steering force to the front wheel 30F in response to an operation of the bar handle 22 by the rider of the saddle riding type vehicle 10. The control device 44 controls the actuator 42 by outputting an auxiliary steering force related physical quantity in response to a bar handle operation related physical quantity. The bar handle operation related physical quantity is a physical quantity related to an operation of the bar handle 22. The auxiliary steering force related physical quantity is a physical quantity related to the auxiliary steering force. The auxiliary steering force is a force applied to the front wheel 30F in the same direction or the opposite direction to the steering in response to the operation of the bar handle 22. Note that, although both the actuator 42 and the control device 44 are provided near the bar handle 22 in FIG. 1, for example, the control device 44 may be provided at a position away from the bar handle 22.

[0058] The control device 44 is configured to change the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the value (or magnitude) of the output auxiliary steering force related physical quantity differs even if the value (or magnitude) of the bar handle operation related physical quantity is the same, by at least one of the following (1) and (2) in response to an instruction input from outside the saddle riding vehicle 10 or a condition for limiting the operation of the actuator 42 being satisfied. (1) By changing the range of the bar handle operation related physical quantity that is set so that the auxiliary steering force related physical quantity is not output even when the bar handle 22 is operated, the auxiliary steering force related physical quantity that is output is made different even if the bar handle operation related physical quantity is the same. (2) In an output increase region where the auxiliary steering force related physical quantity output in accordance with the bar handle operation related physical quantity increases as the bar handle operation related physical quantity increases, the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity output in accordance with the bar handle operation related physical quantity is changed so that the auxiliary steering force related physical quantity output is made different even if the bar handle operation related physical quantity is the same.

[0059] The control device 44 may be configured to change the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the value (or magnitude) of the outputted auxiliary steering force related physical quantity differs even if the value (or magnitude) of the bar handle operation related physical quantity is the same according to the above (1). The control device 44 may change the range of the bar handle operation related physical quantity set so that the auxiliary steering force related physical quantity is not output even if the bar handle is operated so that the value (or magnitude) of the bar handle operation related physical quantity differs when the bar handle 22 is operated and output of the auxiliary steering force related physical quantity begins. The control device 44 may change the range of the bar handle operation related physical quantity set so that the auxiliary steering force related physical quantity is not output even if the bar handle 22 is operated so that the value (or magnitude) of the bar handle operation related physical quantity differs when the bar handle 22 is operated and half of the maximum value of the auxiliary steering force related physical quantity is output.

[0060] The control device 44 may be configured to change the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity at least when the bar handle operation related physical quantity input by the operation on the bar handle is within the small angle operation corresponding region. The small angle operation corresponding region is, for example, a region smaller than the value of the bar handle operation related physical quantity corresponding to half the maximum outputtable value of the auxiliary steering force related physical quantity. The maximum outputtable value is the maximum value of the auxiliary steering force related physical quantity set to be outputtable in the above-mentioned relationship when the operation on the bar handle is input.

[0061] According to the saddle riding type vehicle 10, the convenience of the steering assist function is improved. Specifically, this is as follows.

[0062] In the saddle riding type vehicle 10, the operation angle of the handlebars 22 during driving is small. Therefore, the influence of the handlebar operation by the rider is easily felt. In the saddle riding type vehicle 10, even if the operation of the handlebars 22 by the rider is the same, the auxiliary steering force can be changed according to the operation. In other words, the setting of the steering assist function can be changed. As a result, the convenience of the steering assist function is improved.

[0063] [Embodiment of electric steering device] Next, an embodiment of the electric steering device 40 will be described with reference to Fig. 2 and Fig. 3. Fig. 2 and Fig. 3 show an example of the electric steering device 40. The electric steering device 40 is not limited to the one shown in Fig. 2 and Fig. 3.

[0064] The function of the control device 44 will be described with reference to Fig. 2. As shown in Fig. 2(A), the control device 44 generates a current to be output to the actuator 42 in response to the operation of the bar handle 22 by the occupant, that is, in response to an input. The control device 44 performs actuator control processing to control the actuator 42 by outputting an auxiliary steering force related physical quantity in response to a bar handle operation related physical quantity.

[0065] The input is a bar handle operation related physical quantity related to the operation of the bar handle 22 by the occupant. The bar handle operation related physical quantity is detected, for example, by an appropriate sensor. The bar handle operation related physical quantity detected by the sensor is input to the control device 44. The input includes, for example, the speed at which the bar handle 22 rotates around the steering axis (hereinafter, steering angular velocity) and a torque generated due to the operation of the bar handle 22 by the occupant (hereinafter, steering torque). The generated current corresponds to the auxiliary steering force related physical quantity.

[0066] A high-pass filter and a map are used when generating the current to be output to the actuator 42. Although FIG. 2A shows that a high-pass filter is always used, the high-pass filter may not be used depending on the type of input. The frequency to which the high-pass filter is applied, that is, the frequency that is subject to cutoff by the high-pass filter, is, for example, the frequency of the steering torque. If the high-pass filter is applied to the steering torque, a differential value of the steering torque is obtained. The differential value of the steering torque is obtained by differentiating the steering torque with respect to time, and indicates the change in the steering torque. A table or a formula may be used instead of the map.

[0067] When a predetermined condition is satisfied, the control device 44 changes at least one of the cutoff frequency, the dead band width, and the gain of the high-pass filter so that the current output to the actuator 42 is different even if the input is the same. The dead band width is the width of the input (range of input values) that is set so that no output is generated even if there is an input. The gain is the ratio of the output to the input.

[0068] Changing the cutoff frequency of the high-pass filter changes the frequency of use of the actuator 42. In other words, the number of times that current is output to the actuator 42 changes. In other words, changing the cutoff frequency of the high-pass filter allows the setting to be changed. As the cutoff frequency increases, the assistance to the input by the occupant decreases, and as the cutoff frequency decreases, the assistance to the input by the occupant increases. FIG. 3A shows an example of a manner in which the cutoff frequency of the high-pass filter is changed.

[0069] Changing the dead zone width changes the frequency of use of the actuator 42. In other words, the number of times that a current is output to the actuator 42 changes. Even if the input is the same, the current output to the actuator 42 can be changed. In other words, changing the dead zone width makes it possible to change the settings. (B) of FIG. 3 shows an example of a mode for changing the dead zone width.

[0070] By changing the gain, even if the input is the same, it is possible to change the current output to the actuator 42. In other words, by changing the gain, it is possible to change the setting. (C) of Fig. 3 shows an example of a mode for changing the gain.

[0071] The function of the control device 44 will be further described with reference to Fig. 2. In Fig. 2(B), the motor 421 is an example of the actuator 42. As shown in Fig. 2(B), the control device 44 includes a steering damper function unit 441, a steering assist function unit 442, a torque differentiation function unit 443, a current command value generation unit 444, a current deviation generation unit 445, and a motor output control unit 446.

[0072] The steering damper function unit 441 generates a current command value that makes it difficult for the occupant to operate the bar handle 22 according to the input steering angular velocity. That is, the steering damper function unit 441 generates a current command value related to the damper function component according to the input steering angular velocity. When generating the current command value related to the damper function component, for example, the input steering angular velocity and a map are used. When a predetermined condition is satisfied, the dead zone width or the gain is changed. This changes the setting of the damper function. As a result, of the currents output to the motor 421, the current corresponding to the current command value related to the damper function component changes.

[0073] The steering assist function unit 442 generates a current command value that assists the operation (i.e., steering) of the bar handle 22 by the occupant according to the input steering torque. That is, the steering assist function unit 442 generates a current command value related to the assist function component according to the input steering torque. When generating the current command value related to the assist function component, for example, the input steering torque and a map are used. When a predetermined condition is satisfied, the dead zone width or gain is changed. This changes the setting of the assist function. As a result, of the currents output to the motor 421, the current corresponding to the current command value related to the assist function component changes.

[0074] When the input steering torque changes, the torque differentiation function unit 443 generates a current command value that assists the operation (i.e., steering) of the bar handle 22 by the rider. That is, the torque differentiation function unit 443 generates a current command value related to the torque differentiation function component according to the differential value of the steering torque. When generating the current command value related to the torque differentiation function component, for example, the input steering torque, a high-pass filter, and a map are used. Specifically, after the differential value of the steering torque is generated by applying a high-pass filter to the input steering torque, the generated differential value of the steering torque and the map are used. When a predetermined condition is satisfied, the cutoff frequency of the high-pass filter is changed and the dead zone width or gain is changed. This changes the setting of the torque differentiation function. As a result, the current corresponding to the current command value related to the torque differentiation function component changes among the currents output to the motor 421.

[0075] Here, engine speed and vehicle speed are input to each of the steering damper function unit 441, steering assist function unit 442, and torque differentiation function unit 443. The engine speed and vehicle speed are used to change the settings of the steering damper function, steering assist function, and torque differentiation function. In addition to the engine speed and vehicle speed, acceleration and deceleration may be input to each of the steering damper function unit 441, steering assist function unit 442, and torque differentiation function unit 443. The acceleration and deceleration are also used to change the settings of the steering damper function, steering assist function, and torque differentiation function. For example, the assistance to the passenger's input may be reduced during acceleration, and increased during deceleration.

[0076] The current command value generating unit 444 generates a current command value based on the current command values ​​generated by each of the steering damper function unit 441, the steering assist function unit 442, and the torque differential function unit 443. The generated current command value corresponds to, for example, a current generated by adding together a current corresponding to a current command value related to the damper function component, a current corresponding to a current command value related to the assist function component, and a current corresponding to a current command value related to the torque differential function component.

[0077] The current deviation generating unit 445 generates a current deviation based on the current command value generated by the current command value generating unit 444 and the current observation value. The current observation value is obtained by observing the current actually flowing through the motor 421.

[0078] The motor output control unit 446 generates a drive signal for the motor 421 based on the current deviation generated by the current deviation generating unit 445. The motor 421 is driven by the drive signal generated by the motor output control unit 446.

[0079] According to the saddle riding type vehicle 10 provided with such an electric steering device 40, the convenience of the steering assist function is improved. Specifically, this is as follows.

[0080] In the saddle riding type vehicle 10, the operation angle of the handlebar 22 during driving is small. Therefore, the influence of the handlebar operation by the occupant is easily felt. In the saddle riding type vehicle 10 provided with the electric steering device 40, even if the operation of the handlebar 22 by the occupant is the same, the auxiliary steering force can be changed according to the operation. In other words, the setting of the steering assist function can be changed. As a result, the convenience of the steering assist function is improved.

[0081] Another embodiment of the electric steering device will be described with reference to Fig. 4. As shown in Fig. 4(A), an electric steering device 40A according to the other embodiment includes a control device 44A instead of the control device 44, as compared to the electric steering device 40. The control device 44A includes a motor output control unit 446A instead of the motor output control unit 446, as compared to the control device 44.

[0082] The description will be given with reference to FIG. 4(B). The motor output control section 446A obtains a voltage to be applied to the motor 421 based on a current command value of the motor 421. The motor output control section 446A calculates a duty ratio based on the voltage to be applied to the motor 421. This duty ratio may be used as is or may be changed. Specifically, the motor output control section 446A sets an upper limit of the duty ratio according to the vehicle speed. When the calculated duty ratio exceeds the upper limit of the set duty ratio, the duty ratio is changed so as not to exceed the upper limit of the set duty ratio. The changed duty ratio may not drive the motor 421. A voltage pulse is generated based on the duty ratio changed in this way or the duty ratio that has not been changed (the calculated duty ratio itself). The voltage pulse is supplied to the motor 421, thereby driving the motor 421. That is, the control device 44A controls the motor 421 based on the voltage to be applied to the motor 421 in the actuator control process.

[0083] The voltage applied to the motor 421 will be described with reference to FIG. The voltage applied to the motor 421 is obtained based on the applied voltage corresponding to the current command value of the motor 421 and the upper limit voltage applied to the motor 421 so that the motor output does not exceed the motor output upper limit in the NT characteristics of the motor 421 (see FIG. 4(C)). The motor output upper limit corresponds to the upper limit voltage applied to the motor 421. The motor output corresponds to the applied voltage corresponding to the current command value of the motor 421. In FIG. 4C, both the solid diagonal line and the dashed diagonal line indicate the upper limit voltage applied to the motor 421 (upper limit of the duty ratio). When the upper limit voltage applied to the motor 421 is changed, the line indicating the upper limit voltage applied to the motor 421 (the solid diagonal line or the dashed diagonal line) moves in the direction indicated by the arrow (upper right or lower left in the figure). In the case of the dashed line, the voltage applied to the motor 421 is more limited than in the case of the solid line. For example, assume that the voltage applied to the motor 421 exists between the solid diagonal line and the dashed diagonal line. In this case, when the upper limit voltage applied as shown by the solid line is set, the voltage applied to the motor 421 does not need to be changed, but when the upper limit voltage applied as shown by the dashed line is set, the voltage applied to the motor 421 is changed. The voltage applied to the motor 421 is changed, for example, to be equal to or lower than the upper limit voltage applied as shown by the dashed line. The voltage applied to the motor 421 may be changed, for example, to one that does not drive the motor 421.

[0084] According to a saddle-type vehicle provided with such an electric steering device 40A, the convenience of the steering assist function is improved. Specifically, this is as follows.

[0085] According to the electric steering device 40A, the voltage applied to the motor 421 is limited so as not to exceed the upper applied voltage limit. As a result, for example, even if the operation of the bar handle 22 is the same, the output of the motor 421 may be reduced or the motor 421 may not operate. In a saddle-type vehicle equipped with the bar handle 22 and provided with the electric steering device 40A, even if the operation of the bar handle 22 by the rider is the same, the auxiliary steering force can be changed according to the operation. In other words, the setting of the steering assist function can be changed. As a result, the convenience of the steering assist function is improved.

[0086] (Other embodiments) The embodiments and modifications described and / or illustrated in this specification are intended to facilitate understanding of the present disclosure and are not intended to limit the spirit of the present disclosure. The above-mentioned embodiments and modifications may be modified or improved without departing from the spirit of the present disclosure. The spirit of the present disclosure includes equivalent elements, modifications, deletions, combinations (e.g., combinations of features across the embodiments and modifications), improvements, and modifications that may be recognized by a person skilled in the art based on the embodiments disclosed in this specification. The limitations in the claims should be interpreted broadly based on the terms used in the claims and should not be limited to the embodiments and modifications described in the specification or prosecution of this application. Such embodiments and modifications should be interpreted as non-exclusive. For example, in this specification, the terms "preferably" and "good" are non-exclusive and mean "preferably but not limited to" and "good but not limited to".

[0087] For example, the method for obtaining a current command value in the electric steering device 40A may be different from the method for obtaining a current command value in the electric steering device 40.

[0088] For example, the control device may control the actuator so that the output of the actuator becomes zero, that is, so that the output of the actuator is stopped. In this case, the actuator can be used as an inertial damper.

[0089] Examples of saddle-type vehicles include scooters, mopeds, snowmobiles, watercraft, and all-terrain vehicles (ATVs). [Explanation of symbols]

[0090] 10. Saddle-type vehicle with handlebars 20 Body 22 Bar handle 30 wheels 30F Front wheels (steering wheels) 30R rear wheel 40 Electric steering device 42 Actuator 44 Control device

Claims

1. A saddle-type vehicle equipped with a handlebar, a vehicle body having the bar handle, and rotatably supporting the bar handle such that a maximum operating angle of the bar handle from a neutral position of the handle when the saddle riding type vehicle travels straight is less than 180 degrees; a steering wheel supported on the vehicle body, and steered in response to an operation of the bar handle by a rider of the saddle riding type vehicle by mechanically transmitting the operation to the bar handle; an actuator configured to apply an auxiliary steering force to the steering wheel in response to an operation of the bar handle by a rider of the saddle riding type vehicle; performing an actuator control process for controlling the actuator by outputting an auxiliary steering force related physical quantity, which is a physical quantity related to the auxiliary steering force, in response to a bar handle operation related physical quantity, which is a physical quantity related to an operation of the bar handle; a control device configured to change a relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the auxiliary steering force related physical quantity to be output is different even if the bar handle operation related physical quantity is the same, by at least one of the following (1) and (2) in response to an instruction input from outside the saddle riding type vehicle or a condition for limiting the operation of the actuator being satisfied; Equipped with The change in the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the output auxiliary steering force related physical quantity is different even if the bar handle operation related physical quantity is the same, by at least one of the following (1) and (2) in response to an instruction input from outside the saddle riding type vehicle or a condition for limiting the operation of the actuator is satisfied means: A saddle-type vehicle equipped with a bar handle, characterized in that it does not include changing a relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the auxiliary steering force related physical quantity to be output is different even if the bar handle operation related physical quantity is the same, by at least one of the following (1) and (2) depending on a traveling state of the saddle-type vehicle. (1) By changing the range of the bar handle operation related physical quantity, which is set so that the auxiliary steering force related physical quantity is not output even when the bar handle is operated, the auxiliary steering force related physical quantity to be output is made different even if the bar handle operation related physical quantity is the same. (2) In an output increasing region where the auxiliary steering force related physical quantity output in response to the bar handle operation related physical quantity increases as the bar handle operation related physical quantity increases, the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity output in response to the bar handle operation related physical quantity is changed so that the auxiliary steering force related physical quantity output is made different even if the bar handle operation related physical quantity is the same.

2. A saddle-type vehicle equipped with the bar handle according to claim 1, The control device includes: A saddle-type vehicle equipped with a bar handle, configured to change a relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the auxiliary steering force related physical quantity to be output is different even if the bar handle operation related physical quantity is the same, according to (1).

3. A saddle-type vehicle equipped with the bar handle according to claim 1 or 2, The control device includes: At least when the bar handle operation related physical quantity input by an operation on the bar handle is within a small angle operation corresponding region, the relationship between the bar handle operation related physical quantity and the assist steering force related physical quantity is changed, The small angle operation corresponding area is: a region smaller than a value of the bar handle operation related physical quantity corresponding to half a maximum outputtable value of the auxiliary steering force related physical quantity, the maximum outputtable value being a maximum value of the auxiliary steering force related physical quantity that is set to be outputtable in the relationship when an operation is input to the bar handle.

4. A saddle-type vehicle equipped with the bar handle according to any one of claims 1 to 3, The auxiliary steering force is A saddle-type vehicle equipped with a bar handle, which is a force applied to the steering wheel in the same direction or the opposite direction to the steering corresponding to the operation of the bar handle.

5. A saddle-type vehicle equipped with the bar handle according to any one of claims 1 to 4, The control device in (1) above, A saddle-type vehicle equipped with a bar handle, in which a range of the bar handle operation related physical quantity, which is set so that the auxiliary steering force related physical quantity is not output even when the bar handle is operated, is changed so that the bar handle operation related physical quantity is different when the bar handle is operated and output of the auxiliary steering force related physical quantity is started.

6. A saddle-type vehicle equipped with the bar handle according to claim 5, The control device in (1) above, A saddle-type vehicle equipped with a bar handle, in which a range of the bar handle operation related physical quantity, which is set so that the auxiliary steering force related physical quantity is not output even when the bar handle is operated, is changed so that the bar handle operation related physical quantity when half of the maximum value of the auxiliary steering force related physical quantity is output is different when the bar handle is operated.

7. A saddle-type vehicle equipped with the bar handle according to any one of claims 1 to 6, The control device includes: acquiring an upper limit voltage to be applied to the actuator in response to an instruction input from outside the saddle riding type vehicle or vehicle speed related information related to a vehicle speed of the saddle riding type vehicle; In the actuator control process, controlling the actuator by outputting an applied voltage obtained by limiting an applied voltage corresponding to the auxiliary steering force related physical quantity so that the applied voltage does not exceed the acquired upper limit voltage applied to the actuator as the auxiliary steering force related physical quantity; The step of obtaining the upper limit voltage to be applied to the actuator in response to an instruction input from outside the saddle riding type vehicle includes: A saddle-ride type vehicle equipped with a bar handle, which does not include obtaining an upper limit voltage to be applied to the actuator in accordance with a traveling state of the saddle-ride type vehicle.

8. A saddle-type vehicle equipped with the bar handle according to claim 7, The actuator is a rotating electric machine, The control device includes: In the actuator control process, the actuator is controlled based on a voltage applied to the actuator; a voltage applied to the actuator is obtained based on an applied voltage corresponding to the assist steering force related physical quantity and an upper limit voltage applied to the actuator so that the actuator output does not exceed an actuator output upper limit in the NT characteristic of the actuator; the actuator output upper limit corresponds to an upper limit voltage applied to the actuator, A saddle-type vehicle equipped with a bar handle, wherein the actuator output corresponds to an applied voltage corresponding to the auxiliary steering force related physical quantity.

9. A saddle-type vehicle equipped with the bar handle according to claim 7, A saddle-type vehicle equipped with a bar handle, wherein when the vehicle speed of the saddle-type vehicle is high, an upper limit voltage to be applied to the actuator is lower than when the vehicle speed of the saddle-type vehicle is low.

10. An electric steering device configured to be installed in a saddle-type vehicle equipped with a bar handle, The saddle-type vehicle equipped with the bar handlebar is a vehicle body having the bar handle, and rotatably supporting the bar handle such that a maximum operating angle of the bar handle from a neutral position of the handle when the saddle riding type vehicle travels straight is less than 180 degrees; a steering wheel supported on the vehicle body, and steered in response to an operation of the bar handle by a rider of the saddle riding type vehicle by mechanically transmitting the operation to the bar handle; It is equipped with The electric steering device includes: an actuator configured to apply an auxiliary steering force to the steering wheel in response to an operation of the bar handle by a rider of the saddle riding type vehicle; controlling the actuator by outputting an auxiliary steering force related physical quantity, which is a physical quantity related to the auxiliary steering force, in response to a bar handle operation related physical quantity, which is a physical quantity related to an operation of the bar handle; In response to an instruction input from outside the saddle riding type vehicle or a condition for limiting the operation of the actuator being satisfied, a relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity is changed by at least one of the following (1) and (2) so that the auxiliary steering force related physical quantity to be output is different even if the bar handle operation related physical quantity is the same. A control device configured as follows: Equipped with The change in the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the output auxiliary steering force related physical quantity is different even if the bar handle operation related physical quantity is the same, by at least one of the following (1) and (2) in response to an instruction input from outside the saddle riding type vehicle or a condition for limiting the operation of the actuator is satisfied means: An electric steering device, characterized in that it does not include changing a relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity so that the auxiliary steering force related physical quantity to be output is different even if the bar handle operation related physical quantity is the same, by at least one of the following (1) and (2) depending on a running state of the saddle riding type vehicle. (1) By changing the range of the bar handle operation related physical quantity, which is set so that the auxiliary steering force related physical quantity is not output even when the bar handle is operated, the auxiliary steering force related physical quantity to be output is made different even if the bar handle operation related physical quantity is the same. (2) In an output increasing region where the auxiliary steering force related physical quantity output in response to the bar handle operation related physical quantity increases as the bar handle operation related physical quantity increases, the relationship between the bar handle operation related physical quantity and the auxiliary steering force related physical quantity output in response to the bar handle operation related physical quantity is changed so that the auxiliary steering force related physical quantity output is made different even if the bar handle operation related physical quantity is the same.

11. A saddle-type vehicle equipped with a bar handle as described in claim 1 or 7, The running state of the saddle riding type vehicle is A saddle-type vehicle equipped with a bar handle, wherein at least one of the following is detected: vehicle speed of the saddle-type vehicle, acceleration of the saddle-type vehicle, deceleration of the saddle-type vehicle, engine speed if the power source of the saddle-type vehicle is an engine, and throttle opening.

12. An electric steering device as claimed in claim 10, The running state of the saddle riding type vehicle is an electric steering device, the at least one of the vehicle speed of the saddle riding type vehicle, the acceleration of the saddle riding type vehicle, the deceleration of the saddle riding type vehicle, the rotation speed of the engine if the power source of the saddle riding type vehicle is an engine, and the throttle opening degree.

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