Control device and control method

Abstract

The present invention obtains a control device and a control method capable of improving the operability of a saddled vehicle. In this control device 20 and this control method, an execution unit of the control device 20 executes a control mode in which vehicle speed control is activated in response to a first trigger and is deactivated in response to a second trigger, said vehicle speed control being for controlling the vehicle speed of a saddled vehicle 1 on the basis of a target vehicle speed if the saddled vehicle 1 has been determined to be traveling a downward slope. An accelerator grip is in a reference position when there is no load imposed by a rider of the saddled vehicle 1, and when turned within an angular range located in a first direction from the reference position, changes drive force produced in the saddled vehicle. The execution unit executes the control mode on the basis of turning operation information, which is information on a turning operation in which the accelerator grip is turned within an angular range located in a second direction from the reference position, the second direction being opposite the first direction.

Description

【Technical Field】 【0001】 This disclosure relates to a control device and a control method capable of improving the operability of a straddle-type vehicle. 【Background Art】 【0002】 As a conventional technology related to a straddle-type vehicle such as a motorcycle, there is a technology for assisting a rider's driving. For example, in Patent Document 1, a driver assistance system is disclosed that warns a rider of a motorcycle that they are approaching an obstacle inappropriately based on information detected by a sensor device that detects an obstacle in the traveling direction or substantially in the traveling direction. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2009-116882 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 By the way, as a technology for assisting the driving of a rider of a straddle-type vehicle, there is a technology for automatically keeping the vehicle speed of the straddle-type vehicle low when the straddle-type vehicle is traveling on a downhill road. Specifically, as such a technology, there is a vehicle speed control in which when it is determined that the straddle-type vehicle is traveling on a downhill road, the vehicle speed of the straddle-type vehicle is controlled based on a target vehicle speed. Here, in order to improve the operability of the straddle-type vehicle, it is desirable to improve the operability of operations related to vehicle speed control. 【0005】 The present invention has been made against the background of the above problems, and aims to obtain a control device and a control method capable of improving the operability of a straddle-type vehicle. 【Means for Solving the Problems】 【0006】 The control device according to the present invention is a control device for controlling the behavior of a saddle-type vehicle, and includes an execution unit that executes a control mode in which, when it is determined that the saddle-type vehicle is traveling on a downhill road, speed control is enabled in response to a first trigger, and the speed control is disabled in response to a second trigger, and the execution unit executes the control mode based on rotation operation information, which is information about a rotation operation in which an accelerator grip, which is in a reference position when there is no load from the rider of the saddle-type vehicle, is rotated in an angular range located in a second direction opposite to the first direction with respect to the reference position, and when rotated in an angular range located in the second direction opposite to the first direction with respect to the reference position, changes the driving force generated in the saddle-type vehicle. 【0007】 The control method according to the present invention is a control method for controlling the behavior of a saddle-type vehicle, wherein the execution unit of the control device executes a control mode in which, when it is determined that the saddle-type vehicle is traveling on a downhill road, a speed control that controls the vehicle speed of the saddle-type vehicle based on a target vehicle speed is activated in response to a first trigger, and the speed control is deactivated in response to a second trigger, and the execution unit executes the control mode based on rotation operation information, which is information about a rotation operation in which an accelerator grip, which is in a reference position when there is no load from the rider of the saddle-type vehicle, and which changes the driving force generated in the saddle-type vehicle when rotated within an angular range located in a first direction relative to the reference position, is rotated within an angular range located in a second direction opposite to the first direction relative to the reference position. [Effects of the Invention] 【0008】 In the control device and control method according to the present invention, the execution unit of the control device executes a control mode in which, when it is determined that the saddle-type vehicle is traveling downhill, vehicle speed control, which controls the vehicle speed of the saddle-type vehicle based on a target vehicle speed, is activated in response to a first trigger, and the vehicle speed control is deactivated in response to a second trigger. The execution unit executes the control mode based on rotation operation information, which is information about a rotation operation in which the accelerator grip, which is in a reference position when there is no load from the rider of the saddle-type vehicle and is rotated within an angular range located in a first direction relative to the reference position, is rotated within an angular range located in a second direction opposite to the first direction relative to the reference position. As a result, the rider can use vehicle speed control with intuitive or simple operation, thereby improving the operability of operations related to vehicle speed control. Therefore, the operability of the saddle-type vehicle can be improved. [Brief explanation of the drawing] 【0009】 [Figure 1] This is a schematic diagram showing the general configuration of a saddle-type vehicle according to an embodiment of the present invention. [Figure 2] This is a block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention. [Figure 3] This is a schematic diagram showing the general configuration of a brake system for a saddle-type vehicle according to an embodiment of the present invention. [Figure 4] This is a schematic diagram showing the general configuration of a handle and its surroundings according to an embodiment of the present invention. [Figure 5] This is a schematic diagram showing the rotation direction of the accelerator grip according to an embodiment of the present invention. [Figure 6] This flowchart shows an example of the flow of the first process performed by the control device according to an embodiment of the present invention. [Figure 7] This flowchart shows an example of the flow of the second process performed by the control device according to an embodiment of the present invention. [Figure 8] This flowchart shows an example of the flow of the third process performed by the control device according to an embodiment of the present invention. [Modes for carrying out the invention] 【0010】 The control device and control method according to the present invention will be described below with reference to the drawings. 【0011】 Although the following description refers to a control device used in a two-wheeled motorcycle (see saddle-type vehicle 1 in Figure 1), the vehicle controlled by the control device according to the present invention may be any saddle-type vehicle, and may be other saddle-type vehicles besides two-wheeled motorcycles. A saddle-type vehicle refers to a vehicle that a rider straddles and rides on. Examples of saddle-type vehicles include motorcycles (two-wheeled vehicles, three-wheeled vehicles), buggies, etc. Motorcycles include vehicles powered by engines, vehicles powered by electric motors, etc. Examples of motorcycles include motorcycles, scooters, electric scooters, etc. 【0012】 Furthermore, the following description assumes that an engine (specifically, engine 11 in Figure 1, which will be described later) is installed as a drive source capable of outputting power to drive the wheels. However, other drive sources (for example, an electric motor) may be installed as a drive source, and multiple drive sources may be installed. 【0013】 Furthermore, the following description explains the case in which a hydraulic control unit (specifically, the hydraulic control unit 12 in Figure 1 described later) that uses brake fluid to brake the wheels is used as the braking mechanism for a saddle-type vehicle. However, the braking mechanism for a saddle-type vehicle may be other than a hydraulic control unit. For example, a mechanism that uses electricity to brake the wheels may be used as the braking mechanism for a saddle-type vehicle, or a mechanism that uses an electric motor capable of outputting power to drive the wheels may be used to brake the wheels. 【0014】 Furthermore, the configurations and operations described below are merely examples, and the control device and control method according to the present invention are not limited to such configurations and operations. 【0015】 In the following, the same or similar descriptions are appropriately simplified or omitted as needed. Also, in each figure, for the same or similar members or parts, the assignment of reference numerals is either omitted or the same reference numerals are used. Further, for the detailed structure, the illustration is appropriately simplified or omitted. 【0016】 <Configuration of straddle-type vehicle> Referring to FIGS. 1 to 5, the configuration of a straddle-type vehicle 1 according to an embodiment of the present invention will be described. 【0017】 FIG. 1 is a schematic diagram showing a schematic configuration of the straddle-type vehicle 1. The straddle-type vehicle 1 is a two-wheeled motorcycle corresponding to an example of the straddle-type vehicle according to the present invention. As shown in FIG. 1, the straddle-type vehicle 1 includes a front wheel 2, a rear wheel 3, a handle 4, an engine 11, a hydraulic control unit 12, an inertial measurement unit (IMU) 13, a front wheel speed sensor 14, a rear wheel speed sensor 15, and a control device (ECU) 20. 【0018】 The engine 11 corresponds to an example of a drive source of the straddle-type vehicle 1 and can output power for driving a drive wheel (specifically, the rear wheel 3). For example, the engine 11 is provided with one or a plurality of cylinders in which a combustion chamber is formed inside, a fuel injection valve for injecting fuel toward the combustion chamber, and a spark plug. When fuel is injected from the fuel injection valve, an air-fuel mixture containing air and fuel is formed in the combustion chamber, and the air-fuel mixture is ignited by the spark plug and burns. Thereby, a piston provided in the cylinder reciprocates, and the crankshaft rotates. Further, a throttle valve is provided in the intake pipe of the engine 11, and the intake amount into the combustion chamber changes according to the throttle opening, which is the opening degree of the throttle valve. 【0019】 The hydraulic control unit 12 is a unit responsible for controlling the braking force generated on the wheels. For example, the hydraulic control unit 12 is provided on an oil path connecting the master cylinder and the wheel cylinder, and includes components (for example, control valves and pumps) for controlling the brake hydraulic pressure of the wheel cylinder. By controlling the operation of the components of the hydraulic control unit 12, the braking force generated on the wheels is controlled. Details of the brake system 10 including the hydraulic control unit 12 will be described later. 【0020】 The inertial measurement device 13 includes a three-axis gyro sensor and three-direction acceleration sensors, and detects the attitude of the saddle-type vehicle 1. The inertial measurement device 13 is provided, for example, on the body of the saddle-type vehicle 1. For example, the inertial measurement device 13 detects the pitch angle of the saddle-type vehicle 1 and outputs the detection result. The inertial measurement device 13 may detect other physical quantities that can be substantially converted into the pitch angle of the saddle-type vehicle 1. The pitch angle corresponds to an angle representing the longitudinal inclination of the vehicle body (specifically, the body) of the saddle-type vehicle 1 with respect to the horizontal direction. In other words, the pitch angle corresponds to an angle representing how much the vehicle body of the saddle-type vehicle 1 has rotated from the posture facing the horizontal direction in the pitch direction, which is the rotation direction centered on the axis in the vehicle left-right direction. The inertial measurement device 13 may include only a part of the three-axis gyro sensor and the three-direction acceleration sensors. 【0021】 The front-wheel wheel speed sensor 14 is a wheel speed sensor that detects the wheel speed of the front wheels 2 (for example, the number of rotations [rpm] per unit time or the moving distance [km / h] per unit time of the front wheels 2, etc.), and outputs the detection result. The front-wheel wheel speed sensor 14 may detect other physical quantities that can be substantially converted into the wheel speed of the front wheels 2. The front-wheel wheel speed sensor 14 is provided on the front wheels 2. 【0022】 The rear wheel speed sensor 15 is a wheel speed sensor that detects the wheel speed of the rear wheel 3 (for example, the number of rotations per unit time [rpm] or the distance traveled per unit time [km / h] of the rear wheel 3, etc.) and outputs the detection result. The rear wheel speed sensor 15 may also detect other physical quantities that can be substantially converted to the wheel speed of the rear wheel 3. The rear wheel speed sensor 15 is installed on the rear wheel 3. 【0023】 The control device 20 controls the behavior of the saddle-type vehicle 1. For example, part or all of the control device 20 is composed of a microcontroller, a microprocessor unit, memory, etc. Also, for example, part or all of the control device 20 may be composed of updatable components such as firmware, or it may be a program module executed by commands from a CPU, etc. The control device 20 may be, for example, a single unit, or it may be divided into multiple units. 【0024】 Figure 2 is a block diagram showing an example of the functional configuration of the control device 20. As shown in Figure 2, the control device 20 includes, for example, an acquisition unit 21 and an execution unit 22. The control device 20 also communicates with each device of the saddle-type vehicle 1. 【0025】 The acquisition unit 21 acquires information from each device of the saddle-type vehicle 1 and outputs it to the execution unit 22. For example, the acquisition unit 21 acquires information from the inertial measuring device 13, the front wheel speed sensor 14, and the rear wheel speed sensor 15. In this specification, information acquisition may include information extraction or generation. 【0026】 The execution unit 22 performs various controls by controlling the operation of each device in the saddle-type vehicle 1. For example, the execution unit 22 controls the operation of the engine 11 and the hydraulic control unit 12. 【0027】 Here, with reference to Figure 3, the schematic configuration of the brake system 10 of the saddle-type vehicle 1 and the control of the braking force generated in the saddle-type vehicle 1 will be described. Figure 3 is a schematic diagram showing the schematic configuration of the brake system 10 of the saddle-type vehicle 1. As shown in Figure 3, the brake system 10 comprises a front wheel braking mechanism 31, a rear wheel braking mechanism 32, a first brake operating unit 41, and a second brake operating unit 42. The first brake operating unit 41 is, for example, a brake lever. The front wheel braking mechanism 31 brakes the front wheel 2 in conjunction with at least the first brake operating unit 41. The second brake operating unit 42 is, for example, a brake pedal. The rear wheel braking mechanism 32 brakes the rear wheel 3 in conjunction with at least the second brake operating unit 42. Part of the front wheel braking mechanism 31 and part of the rear wheel braking mechanism 32 are included in the hydraulic control unit 12. 【0028】 Each of the front wheel braking mechanisms 31 and 32 includes a master cylinder 51 containing a piston (not shown), a reservoir 52 attached to the master cylinder 51, a brake caliper 53 held on the body of the saddle-type vehicle 1 and having brake pads (not shown), a wheel cylinder 54 provided on the brake caliper 53, a main passage 55 for circulating brake fluid from the master cylinder 51 to the wheel cylinder 54, a secondary passage 56 for releasing brake fluid from the wheel cylinder 54, and a supply passage 57 for supplying brake fluid from the master cylinder 51 to the secondary passage 56. 【0029】 A suction valve (EV) 61 is provided in the main passage 55. The sub-passage 56 bypasses the main passage 55 between the wheel cylinder 54 side and the master cylinder 51 side relative to the suction valve 61. The sub-passage 56 is equipped with, in order from the upstream side, a release valve (AV) 62, an accumulator 63, and a pump 64. A first valve (USV) 65 is provided between the end of the main passage 55 on the master cylinder 51 side and the downstream end of the sub-passage 56 where they are connected. The supply passage 57 connects the master cylinder 51 and the suction side of the pump 64 in the sub-passage 56. A second valve (HSV) 66 is provided in the supply passage 57. 【0030】 The suction valve 61 is, for example, a solenoid valve that opens when de-energized and closes when energized. The release valve 62 is, for example, a solenoid valve that closes when de-energized and opens when energized. The first valve 65 is, for example, a solenoid valve that opens when de-energized and closes when energized. The second valve 66 is, for example, a solenoid valve that closes when de-energized and opens when energized. 【0031】 The hydraulic control unit 12 includes components for controlling brake fluid pressure, including a fill valve 61, a release valve 62, an accumulator 63, a pump 64, a first valve 65, and a second valve 66, and a base body 12a on which these components are housed and which has internally formed passages for constituting a main passage 55, a sub-passage 56, and a supply passage 57. 【0032】 The base body 12a may be formed from a single member or from multiple members. Furthermore, if the base body 12a is formed from multiple members, each component may be provided on a different member. 【0033】 The operation of the above-mentioned components of the hydraulic control unit 12 is controlled by the execution unit 22 of the control device 20. This controls the braking force generated on the front wheels 2 by the front wheel braking mechanism 31 and the braking force generated on the rear wheels 3 by the rear wheel braking mechanism 32. 【0034】 Under normal conditions (i.e., when the system is set to generate braking force on the wheels in response to the rider's brake operation), the control device 20 opens the loading valve 61, closes the release valve 62, opens the first valve 65, and closes the second valve 66. In this state, when the first brake operation unit 41 is operated, the piston (not shown) of the master cylinder 51 is pushed in in the front wheel braking mechanism 31, increasing the hydraulic pressure of the brake fluid in the wheel cylinder 54, and the brake pads (not shown) of the brake caliper 53 are pressed against the rotor 2a of the front wheel 2, generating braking force on the front wheel 2. Also, when the second brake operation unit 42 is operated, the piston (not shown) of the master cylinder 51 is pushed in in the rear wheel braking mechanism 32, increasing the hydraulic pressure of the brake fluid in the wheel cylinder 54, and the brake pads (not shown) of the brake caliper 53 are pressed against the rotor 3a of the rear wheel 3, generating braking force on the rear wheel 3. 【0035】 Here, the execution unit 22 can perform speed control in which the speed of the saddle-type vehicle 1 is controlled based on a target speed when it is determined that the saddle-type vehicle 1 is traveling downhill. Speed ​​control is a control that automatically keeps the speed of the saddle-type vehicle 1 low when it is traveling downhill. In speed control, the execution unit 22, for example, reduces the speed of the saddle-type vehicle 1 to a target speed and maintains it at the target speed. The execution unit 22 can appropriately perform speed control based on the speed of the saddle-type vehicle 1 obtained based on the detection results of the front wheel speed sensor 14 and the detection results of the rear wheel speed sensor 15. 【0036】 Vehicle speed control can be equivalent to a control system called Hill Descent Control. 【0037】 In vehicle speed control, the execution unit 22, for example, opens the loading valve 61, closes the release valve 62, closes the first valve 65, and opens the second valve 66, and drives the pump 64 to increase the hydraulic pressure of the brake fluid in the wheel cylinder 54, thereby generating braking force on the wheels. The execution unit 22 can then maintain the hydraulic pressure of the brake fluid in the wheel cylinder 54 and maintain the braking force generated on the wheels by, for example, closing both the loading valve 61 and the release valve 62. This allows the vehicle speed of the saddle-type vehicle 1 to be reduced to the target vehicle speed and maintained at that target speed. Therefore, when the saddle-type vehicle 1 is traveling downhill, the vehicle speed of the saddle-type vehicle 1 can be automatically kept low. If the vehicle speed of the saddle-type vehicle 1 falls below the target vehicle speed during the execution of vehicle speed control, the execution unit 22 controls the engine 11 so that the vehicle speed of the saddle-type vehicle 1 increases to the target vehicle speed. 【0038】 In vehicle speed control, the execution unit 22 may brake both the front wheels 2 and the rear wheels 3, or it may brake only one of the front wheels 2 or the rear wheels 3. 【0039】 In the above description of the brake system 10 with reference to Figure 3, the example in Figure 3 is merely one example, and the configuration of the brake system 10 is not limited to the example in Figure 3. For example, the hydraulic control unit 12 may control only the braking force generated on either the front wheel 2 or the rear wheel 3. Also, for example, the hydraulic control unit 12 does not need to include the supply passage 57, the first valve 65, and the second valve 66. Even in this case, for example, by closing both the fill valve 61 and the release valve 62, the hydraulic pressure of the brake fluid in the wheel cylinder 54 can be maintained, and the vehicle speed of the saddle-type vehicle 1 can be maintained at the target vehicle speed. In other words, even in this case, the execution unit 22 can perform vehicle speed control. 【0040】 Here, with reference to Figures 4 and 5, the configuration of the handle 4 and its surroundings will be described in more detail. Figure 4 is a schematic diagram showing the general configuration of the handle 4 and its surroundings. Specifically, Figure 4 is a view of the upper front part of the saddle-type vehicle 1 from vertically above. 【0041】 As shown in Figure 4, the handlebars 4 include a right grip 4R and a left grip 4L. The handlebars 4 extend in the direction of the vehicle width. The right grip 4R is formed at the right end of the handlebars 4 and is held by the rider's right hand while riding. The left grip 4L is formed at the left end of the handlebars 4 and is held by the rider's left hand while riding. In particular, the right grip 4R is an accelerator grip used by the rider for accelerating the vehicle (i.e., accelerating the saddle-type vehicle 1). The operation of rotating the accelerator grip corresponds to accelerating. Hereinafter, the right grip 4R will also be referred to as the accelerator grip 4R. 【0042】 A first brake operating section 41 is provided near the right grip (accelerator grip) 4R. The rider can grip the first brake operating section 41 with their right hand. Gripping the first brake operating section 41 corresponds to braking (i.e., slowing down the saddle-type vehicle 1). The operation of pressing down on the second brake operating section 42, as described above, also corresponds to braking. Furthermore, a clutch operating section 43 is provided near the left grip 4L. The clutch operating section 43 is, for example, a clutch lever. The rider can grip the clutch operating section 43 with their left hand. Gripping the clutch operating section 43 corresponds to clutch operation (i.e., releasing the clutch that connects and disconnects the transmission of power from the engine 11 to the drive wheels). 【0043】 Figure 5 is a schematic diagram showing the rotation direction of the accelerator grip 4R. Specifically, Figure 5 is a view of the accelerator grip 4R in the direction of arrow A in Figure 4 (that is, a view from the right side of the vehicle along the axial direction of the accelerator grip 4R). 【0044】 Specifically, the accelerator grip 4R is cylindrical or columnar and is rotatable around its central axis. The accelerator grip 4R includes a structure that returns the rotational position of the accelerator grip 4R to the reference position P0 when there is no load from the rider (i.e., when there is no load input to the accelerator grip 4R from the outside). Such a structure can be realized, for example, by utilizing a restoring force such as a spring. In this way, the accelerator grip 4R is in the reference position P0 when there is no load from the rider. 【0045】 When the accelerator grip 4R is rotated within an angular range (specifically, the entire range on the side of the first direction D1 from the reference position P0) relative to the reference position P0, the driving force generated in the saddle-type vehicle 1 changes. Specifically, when the rotation position of the accelerator grip 4R is the reference position P0, the driving force generated in the saddle-type vehicle 1 is minimized. By rotating the accelerator grip 4R from the reference position P0 to the first direction D1, the driving force generated in the saddle-type vehicle 1 can be increased. 【0046】 When the accelerator grip 4R is in an angular range where it is located in a first direction D1 relative to the reference position P0, the driving force generated in the saddle-type vehicle 1 increases as the relative angle of the rotation position of the accelerator grip 4R with respect to the reference position P0 increases. For example, when the rotation position of the accelerator grip 4R is position P1 in Figure 5 (specifically, the position rotated by an angle θ1 in the first direction D1 from the reference position P0), a driving force corresponding to the angle θ1 is generated in the saddle-type vehicle 1. Therefore, when the accelerator grip 4R is in an angular range where it is located in a first direction D1 relative to the reference position P0, the driving force increases when the accelerator grip 4R is rotated in the first direction D1, and decreases when the accelerator grip 4R is rotated in the second direction D2, which is the opposite direction to the first direction D1 (specifically, the clockwise direction when viewed from the right side of the vehicle). 【0047】 <Operation of the control device> The operation of the control device 20 according to an embodiment of the present invention will be described with reference to Figures 6 to 8. 【0048】 As described above, the execution unit 22 of the control device 20 can perform speed control in which the speed of the saddle-type vehicle 1 is controlled based on the target speed when it is determined that the saddle-type vehicle 1 is traveling on a downhill road. Specifically, the execution unit 22 executes a control mode in which the speed control is enabled in response to a first trigger and disabled in response to a second trigger. Hereinafter, the above control mode will also be simply referred to as the control mode. 【0049】 Furthermore, as explained above with reference to Figure 5, the rotation direction of the accelerator grip 4R is described. Here, the accelerator grip 4R can rotate in a second direction D2, which is opposite to the first direction D1, with respect to the reference position P0. Therefore, the rider can perform a rotation operation that rotates the accelerator grip 4R beyond the reference position P0 to the second direction D2 (that is, a rotation operation in which the accelerator grip 4R is rotated within an angular range where it is located in the second direction D2, which is opposite to the first direction D1, with respect to the reference position P0). Hereafter, the above rotation operation will also be referred to simply as the rotation operation. 【0050】 In this embodiment, the execution unit 22 executes the control mode described above based on the rotation operation information, which is the information of the rotation operation described above. As a result, the operability of the saddle-type vehicle 1 is improved, as will be described later. The first process, the second process, and the third process will be described in order below as examples of processes in which the control mode is executed based on the rotation operation information. 【0051】 Figure 6 is a flowchart showing an example of the flow of the first processing performed by the control device 20. Step S101 in Figure 6 corresponds to the start of the control flow shown in Figure 6. When the control flow shown in Figure 6 is started, the vehicle speed control is disabled. 【0052】 When the control flow shown in Figure 6 is initiated, in step S102, the execution unit 22 determines whether the conditions for permitting vehicle speed control are met. The conditions for permitting vehicle speed control are the conditions for permitting vehicle speed control. If the conditions for permitting vehicle speed control are met, vehicle speed control is permitted. On the other hand, if the conditions for permitting vehicle speed control are not met, vehicle speed control is prohibited. 【0053】 The condition used to authorize vehicle speed control is that the saddle-type vehicle 1 is traveling downhill. The execution unit 22 can determine whether or not the saddle-type vehicle 1 is traveling downhill based on the detection result of the inertial measuring device 13. 【0054】 Furthermore, an additional condition may be added to the permission conditions for vehicle speed control: that the degree of inclination of the road the saddle-type vehicle 1 travels on relative to the horizontal direction is greater than a reference degree. The reference degree is set to a degree that allows for the determination of whether or not it is necessary to perform vehicle speed control. The execution unit 22 can determine whether or not the degree of inclination of the road the saddle-type vehicle 1 travels on relative to the horizontal direction is greater than a reference degree, based on the gradient of the road the saddle-type vehicle 1 travels on. The gradient of the road the saddle-type vehicle 1 travels on can be obtained, for example, based on the detection result of the inertial measuring device 13. 【0055】 If it is determined in step S102 that the conditions for permitting vehicle speed control are not met (step S102 / NO), step S102 is repeated. On the other hand, if it is determined that the conditions for permitting vehicle speed control are met (step S102 / YES), the process proceeds to step S103. 【0056】 In step S103, the execution unit 22 determines whether the rotation operation information indicates that a rotation operation has been performed. The rotation operation information is output to the control device 20 from, for example, a sensor provided on the accelerator grip 4R. The rotation operation information only needs to be information relating to a rotation operation, and may include, for example, information relating to the rotation position of the accelerator grip 4R. Note that the rotation operation information may also be output to the control device 20 from a device other than the sensor provided on the accelerator grip 4R (for example, a camera that images the accelerator grip 4R). 【0057】 A rotational operation is, for example, an operation to rotate the accelerator grip 4R from the reference position P0 to the second direction D2. For example, a rotational operation is an operation to rotate the accelerator grip 4R from the reference position P0 to the second direction D2 by a predetermined angle. In the example in Figure 5, for example, an operation to rotate the accelerator grip 4R from the reference position P0 to position P2 (specifically, a position rotated by an angle θ2 from the reference position P0 to the second direction D2) corresponds to a rotational operation. 【0058】 The rotation operation may also involve rotating the accelerator grip 4R from the reference position P0 to the second direction D2, and then rotating it back slightly to the first direction D1. For example, the rotation operation may include rotating the accelerator grip 4R from the reference position P0 to the second direction D2 by a predetermined angle, and then rotating the accelerator grip 4R back to the first direction D1. In the example in Figure 5, for example, the operation of rotating the accelerator grip 4R from the reference position P0 to position P2, and then rotating the accelerator grip 4R back to the reference position P0 or a position closer to position P2 than the reference position P0 in the first direction D1, corresponds to the rotation operation. 【0059】 In step S103 of Figure 6, if it is determined that the rotation operation information does not indicate that a rotation operation has been performed (step S103 / NO), the process returns to step S102. On the other hand, if it is determined that the rotation operation information does indicate that a rotation operation has been performed (step S103 / YES), the process proceeds to step S104. 【0060】 In step S104, the execution unit 22 activates vehicle speed control using the rotation operation as the first trigger. This initiates vehicle speed control. Thus, in the first process, the rotation operation is used as the trigger for starting vehicle speed control. Therefore, the rider can start vehicle speed control by performing a rotation operation. 【0061】 At the start of vehicle speed control, the execution unit 22 reduces the vehicle speed of the saddle-type vehicle 1 to a target vehicle speed. The target vehicle speed is set, for example, according to the gradient of the road on which the saddle-type vehicle 1 travels. Here, the execution unit 22 may change the start state of vehicle speed control based on rotation operation information. The start state of vehicle speed control is, in other words, the control state at the start of vehicle speed control. For example, the execution unit 22 may change the target vehicle speed at the start of vehicle speed control based on rotation operation information. 【0062】 The execution unit 22 may change the start state of vehicle speed control based on information of the amount of rotation operation as rotation operation information. For example, in the example in Figure 5, when a rotation operation is performed, it is conceivable that the rotation position of the accelerator grip 4R moves beyond position P2 and further in the second direction D2. In this case, the amount of rotation of the accelerator grip 4R further in the second direction D2 with respect to position P2 may be used as the amount of rotation operation. For example, the execution unit 22 changes the target vehicle speed at the start of vehicle speed control based on information of the amount of rotation operation. Specifically, in the example in Figure 5, the execution unit 22 may lower the target vehicle speed at the start of vehicle speed control the larger the amount of rotation. 【0063】 Furthermore, the execution unit 22 may change the start state of vehicle speed control based on information regarding the degree of change in the amount of rotation operation, which is used as rotation operation information. As the degree of change in the amount of rotation operation, for example, the average rotation speed of the accelerator grip 4R may be used. For example, in the example of Figure 5, the average rotation speed of the accelerator grip 4R may be the average rotation speed of the accelerator grip 4R when the rotation position of the accelerator grip 4R moves from the reference position P0 to position P2, and if the rotation position of the accelerator grip 4R moves beyond position P2 to the second direction D2, it may be the average rotation speed of the accelerator grip 4R from the start to the end of the movement of the accelerator grip 4R in the second direction D2. For example, the execution unit 22 changes the target vehicle speed at the start of vehicle speed control based on information regarding the degree of change in the amount of rotation operation. Specifically, the execution unit 22 may lower the target vehicle speed at the start of vehicle speed control the faster the average rotation speed of the accelerator grip 4R is. 【0064】 Following step S104, in step S105, the execution unit 22 determines whether the termination condition for vehicle speed control has been met. The termination condition for vehicle speed control is a condition for terminating the vehicle speed control by disabling it. For example, the termination condition for vehicle speed control may be that the rider of the saddle-type vehicle 1 has performed a brake operation or an accelerator operation. However, even if no brake operation or accelerator operation has been performed, if the start condition is no longer met (for example, if the road the saddle-type vehicle 1 is traveling on becomes a flat road), it is determined that the termination condition has been met. 【0065】 If it is determined in step S105 that the conditions for terminating vehicle speed control are not met (step S105 / NO), step S105 is repeated. On the other hand, if it is determined that the conditions for terminating vehicle speed control are met (step S105 / YES), the process proceeds to step S106. 【0066】 In step S106, the execution unit 22 disables the vehicle speed control when the termination condition for vehicle speed control is met, which is used as the second trigger. As a result, the vehicle speed control is terminated. After step S106, the process returns to step S102. 【0067】 As explained above, in the first process, the execution unit 22, in control mode, activates vehicle speed control using the rotation operation as the first trigger when the rotation operation information indicates that a rotation operation has been performed. Thus, in the first process, the rotation operation is used as the trigger to start vehicle speed control. Therefore, the LiDAR can start vehicle speed control by performing a rotation operation. 【0068】 Here, it is conceivable that an operation other than rotation may be used as the trigger for starting vehicle speed control. For example, as in the second process described later, an operation using an input device such as a button located in a different place from the accelerator grip 4R may be used as the trigger for starting vehicle speed control. In this case, in order to start vehicle speed control, the rider will need to take their hands off the handlebars 4 and operate the input device. On the other hand, as in the first process, by adopting a rotation operation as the trigger for starting vehicle speed control, the rider can start vehicle speed control with an intuitive and simple operation. Therefore, the operability of operations related to vehicle speed control can be improved. 【0069】 In the above description, an example was given in which the execution unit 22 changes the start state of vehicle speed control based on the rotation operation information when the rotation operation is used as the start trigger for vehicle speed control. However, even when the rotation operation is not used as the start trigger for vehicle speed control, the execution unit 22 may change the start state of vehicle speed control based on the rotation operation information. 【0070】 Figure 7 is a flowchart showing an example of the flow of the second processing performed by the control device 20. Step S201 in Figure 7 corresponds to the start of the control flow shown in Figure 7. When the control flow shown in Figure 7 is started, the vehicle speed control is disabled. 【0071】 When the control flow shown in Figure 7 is initiated, in step S202, the execution unit 22 determines whether the permission conditions for vehicle speed control are met. The process in step S202 is the same as the process in step S102 in Figure 6. 【0072】 If it is determined in step S202 that the conditions for permitting vehicle speed control are not met (step S202 / NO), step S202 is repeated. On the other hand, if it is determined that the conditions for permitting vehicle speed control are met (step S202 / YES), the process proceeds to step S203. 【0073】 In step S203, the execution unit 22 determines whether the vehicle speed control start condition has been met. The vehicle speed control start condition is the condition for enabling and starting vehicle speed control. For example, the vehicle speed control start condition may be that the rider of the saddle-type vehicle 1 has performed an operation using an input device such as a button located in a place other than the accelerator grip 4R. 【0074】 If it is determined in step S203 that the conditions for starting vehicle speed control are not met (step S203 / NO), the process returns to step S202. On the other hand, if it is determined that the conditions for starting vehicle speed control are met (step S203 / YES), the process proceeds to step S204. 【0075】 In step S204, the execution unit 22 activates vehicle speed control when the conditions for starting vehicle speed control are met, using this as the first trigger. As a result, vehicle speed control begins. 【0076】 Following step S204, in step S205, it is determined whether the rotation operation information indicates that a rotation operation has been performed. The process in step S205 is the same as the process in step S103 in Figure 6. 【0077】 If, in step S205, it is determined that the rotation operation information does not indicate that a rotation operation has been performed (step S205 / NO), then step S205 is repeated. On the other hand, if it is determined that the rotation operation information does indicate that a rotation operation has been performed (step S205 / YES), then the process proceeds to step S206. 【0078】 In step S206, the execution unit 22 disables the vehicle speed control using the rotation operation as a second trigger. As a result, the vehicle speed control is terminated. Then, after step S206, the process returns to step S202. In this way, in the second process, the rotation operation is used as the trigger for terminating the vehicle speed control. Therefore, the lidar can terminate the vehicle speed control by performing a rotation operation. 【0079】 As explained above, in the second process, the execution unit 22, in control mode, disables vehicle speed control using the rotation operation as a second trigger if the rotation operation information indicates that a rotation operation has been performed. In this way, in the second process, the rotation operation is used as the trigger for ending vehicle speed control. Therefore, the LiDAR can terminate vehicle speed control by performing a rotation operation. 【0080】 Here, it is conceivable that an operation other than rotation may be used as the trigger for ending vehicle speed control. For example, as in the first process described above, a brake operation may be used as the trigger for ending vehicle speed control. In this case, the rider would need to perform a brake operation, which is originally an operation to brake the saddle-type vehicle 1, in order to end vehicle speed control. Brake operations performed in this manner are not intuitive for the rider. Also, for example, as in the first process described above, an accelerator operation may be used as the trigger for ending vehicle speed control. In this case, when the saddle-type vehicle 1 is traveling downhill, the rider would need to perform an accelerator operation to end vehicle speed control. Accelerator operations performed in this manner are not intuitive for the rider. On the other hand, by adopting a rotation operation as the trigger for ending vehicle speed control, as in the second process, the rider can end vehicle speed control with an intuitive operation that feels natural. Therefore, the operability of operations related to vehicle speed control can be improved. 【0081】 Figure 8 is a flowchart showing an example of the flow of the third process performed by the control device 20. Step S301 in Figure 8 corresponds to the start of the control flow shown in Figure 8. The control flow shown in Figure 8 is performed during the execution of vehicle speed control. 【0082】 When the control flow shown in Figure 8 is initiated, in step S302, the execution unit 22 determines whether the rotation operation information indicates that a rotation operation has been performed. The process in step S302 is the same as the process in step S103 in Figure 6. 【0083】 If, in step S302, it is determined that the rotation operation information does not indicate that a rotation operation has been performed (step S302 / NO), then step S302 is repeated. On the other hand, if it is determined that the rotation operation information does indicate that a rotation operation has been performed (step S302 / YES), then the process proceeds to step S303. 【0084】 In step S303, the execution unit 22 reduces the target vehicle speed for vehicle speed control and returns to step S302. 【0085】 As described above, the execution unit 22 may change the continuation state of vehicle speed control based on information about rotational operations performed during the execution of vehicle speed control as rotational operation information. The continuation state of vehicle speed control is, in other words, the control state during the execution (i.e., ongoing) of vehicle speed control. For example, the execution unit 22 may change the target vehicle speed of vehicle speed control based on information about rotational operations performed during the execution of vehicle speed control as rotational operation information. 【0086】 In the above example, the execution unit 22 describes an example in which it reduces the target vehicle speed of the vehicle speed control when a rotation operation is performed while the vehicle speed control is being executed. However, the execution unit 22 may also increase the target vehicle speed of the vehicle speed control when a rotation operation is performed while the vehicle speed control is being executed. 【0087】 Furthermore, when the execution unit 22 changes the target vehicle speed while continuing vehicle speed control, it may change the amount of change in the target vehicle speed based on the rotation operation information. 【0088】 For example, the execution unit 22 may change the continuation state of vehicle speed control based on the amount of rotational operation information as rotational operation information. Specifically, when the execution unit 22 changes the target vehicle speed during the continuation of vehicle speed control, it may change the amount of change in the target vehicle speed based on the amount of rotational operation. For example, when the execution unit 22 changes the target vehicle speed during the continuation of vehicle speed control, it may increase the amount of change in the target vehicle speed as the amount of rotational operation increases. 【0089】 Furthermore, for example, the execution unit 22 may change the continuation state of vehicle speed control based on information regarding the degree of change in the amount of rotation operation, which is used as rotation operation information. Specifically, when the execution unit 22 changes the target vehicle speed during the continuation of vehicle speed control, it may change the amount of change in the target vehicle speed based on the degree of change in the amount of rotation operation. For example, when the execution unit 22 changes the target vehicle speed during the continuation of vehicle speed control, it may increase the amount of change in the target vehicle speed as the degree of change in the amount of rotation operation increases. 【0090】 As explained above, in the third process, the execution unit 22 changes the continuation state of vehicle speed control based on the rotation operation information performed during the execution of vehicle speed control as rotation operation information in the control mode. As a result, the continuation state of vehicle speed control can be changed with a simple operation while vehicle speed control is being executed. Therefore, the operability of operations related to vehicle speed control can be improved. 【0091】 In the above, referring to Figures 6 to 8, the first, second, and third processes were described as examples of processes in which a control mode is executed based on rotation operation information. Each of the first, second, and third processes may be performed individually or in combination. For example, a rotation operation may be adopted as the start trigger for vehicle speed control, as in the first process, and a rotation operation may be adopted as the end trigger for vehicle speed control, as in the second process. Also, for example, the third process may be performed while vehicle speed control is being executed in the first process (i.e., in step S104 of Figure 6). Also, for example, the third process may be performed while vehicle speed control is being executed in the second process (i.e., in step S204 of Figure 7). Also, for example, the third process may be performed while vehicle speed control is being executed when a rotation operation is adopted as both the start trigger and the end trigger for vehicle speed control. 【0092】 <Effects of the control device> The effects of the control device 20 according to an embodiment of the present invention will be described. 【0093】 In the control device 20, the execution unit 22 executes a control mode in which, when it is determined that the saddle-type vehicle 1 is traveling downhill, speed control is enabled in response to a first trigger, and speed control is disabled in response to a second trigger. The execution unit 22 then executes a control mode based on rotation operation information, which is information about a rotation operation in which the accelerator grip 4R, which is in a reference position P0 without any load from the rider and whose driving force generated in the saddle-type vehicle 1 changes when rotated within an angular range located in a first direction D1 relative to the reference position P0, is rotated within an angular range located in a second direction D2, which is opposite to the first direction D1 relative to the reference position P0. As a result, the rider can use speed control with intuitive or simple operation, thereby improving the operability of operations related to speed control. Therefore, the operability of the saddle-type vehicle 1 can be improved. 【0094】 Preferably, in the control device 20, the execution unit 22 activates vehicle speed control using the rotation operation as a first trigger when the rotation operation information indicates that a rotation operation has been performed in the control mode. This allows the rider to start vehicle speed control with intuitive and simple operation. Thus, the operability of the operation related to vehicle speed control is appropriately improved. 【0095】 Preferably, in the control device 20, the execution unit 22 changes the start state of vehicle speed control based on the amount of rotational operation information as rotational operation information in the control mode. This makes it possible to change the start state of vehicle speed control with a simple operation at the start of vehicle speed control. Therefore, the operability of operations related to vehicle speed control can be improved more effectively. 【0096】 Preferably, in the control device 20, the execution unit 22 changes the target vehicle speed at the start of vehicle speed control based on the rotation operation amount information as rotation operation information in the control mode. This allows the target vehicle speed to be changed with a simple operation at the start of vehicle speed control. Thus, the operability of operations related to vehicle speed control can be further effectively improved. 【0097】 Preferably, in the control device 20, the execution unit 22 changes the start state of vehicle speed control in the control mode based on information about the degree of change in the amount of rotation operation as rotation operation information. As a result, the start state of vehicle speed control can be changed with a simple operation at the start of vehicle speed control. Therefore, the operability of operations related to vehicle speed control can be improved more effectively. 【0098】 Preferably, in the control device 20, the execution unit 22 changes the target vehicle speed at the start of vehicle speed control based on information regarding the degree of change of the rotation operation amount, which is rotation operation information, in the control mode. As a result, the target vehicle speed can be changed with a simple operation at the start of vehicle speed control. Therefore, the operability of operations related to vehicle speed control can be further effectively improved. 【0099】 Preferably, in the control device 20, the execution unit 22, in the control mode, disables vehicle speed control using the rotation operation as a second trigger when the rotation operation information indicates that a rotation operation has been performed. This allows the rider to terminate vehicle speed control with intuitive operation without any discomfort. Thus, the operability of operations related to vehicle speed control is appropriately improved. 【0100】 Preferably, in the control device 20, the execution unit 22 changes the continuation state of vehicle speed control in the control mode based on information of rotational operations performed during the execution of vehicle speed control as rotational operation information. As a result, the continuation state of vehicle speed control can be changed with a simple operation while vehicle speed control is being executed. Thus, the operability of operations related to vehicle speed control is appropriately improved. 【0101】 Preferably, in the control device 20, the execution unit 22 changes the continuation state of vehicle speed control based on the amount of rotational operation information as rotational operation information in the control mode. This appropriately enables changing the continuation state of vehicle speed control with simple operation while vehicle speed control is being performed. Therefore, the operability of operations related to vehicle speed control can be improved more effectively. 【0102】 Preferably, in the control device 20, the execution unit 22 changes the target vehicle speed during continuous vehicle speed control based on the rotation operation amount information as rotation operation information in the control mode. This allows the target vehicle speed to be changed with simple operation while vehicle speed control is being performed. Therefore, the operability of operations related to vehicle speed control can be further effectively improved. 【0103】 Preferably, in the control device 20, the execution unit 22 changes the continuation state of vehicle speed control based on information regarding the degree of change in the amount of rotation operation as rotation operation information in the control mode. This appropriately enables changing the continuation state of vehicle speed control with simple operation while vehicle speed control is being performed. Therefore, the operability of operations related to vehicle speed control can be improved more effectively. 【0104】 Preferably, in the control device 20, the execution unit 22 changes the target vehicle speed during continuous vehicle speed control based on information regarding the degree of change in the amount of rotation operation, which is rotation operation information, in the control mode. This allows the target vehicle speed to be changed with simple operation while vehicle speed control is being performed. Therefore, the operability of operations related to vehicle speed control can be further effectively improved. 【0105】 The present invention is not limited to the descriptions of embodiments. For example, only a portion of the embodiments may be implemented. [Explanation of symbols] 【0106】 1 Saddle-type vehicle, 2 Front wheel, 2a Rotor, 3 Rear wheel, 3a Rotor, 4 Handle, 4L Left grip, 4R Right grip (accelerator grip), 10 Brake system, 11 Engine, 12 Hydraulic control unit, 12a Base, 13 Inertial measurement device, 14 Front wheel speed sensor, 15 Rear wheel speed sensor, 20 Control device, 21 Acquisition unit, 22 Execution unit, 31 Front wheel braking mechanism, 32 Rear wheel braking mechanism, 41 First brake operation unit, 42 Second brake operation unit, 43 Clutch operation unit, 51 Master cylinder, 52 Reservoir, 53 Brake caliper, 54 Wheel cylinder, 55 Main flow path, 56 Sub-flow path, 57 Supply flow path, 61 Loading valve, 62 Release valve, 63 Accumulator, 64 Pump, 65 First valve, 66 Second valve, A Arrow, D1 1st direction, D2 2nd direction, P0 reference position, P1 position, P2 position, θ1 angle, θ2 angle.

Claims

[Claim 1] A control device (20) for controlling the behavior of a saddle-type vehicle (1), The system includes an execution unit (22) that executes a control mode in which, when it is determined that the saddle-type vehicle (1) is traveling on a downhill road, a vehicle speed control that controls the vehicle speed of the saddle-type vehicle (1) based on a target vehicle speed is activated in response to a first trigger, and the vehicle speed control is deactivated in response to a second trigger. The execution unit (22) executes the control mode based on rotation operation information, which is information about a rotation operation in which the accelerator grip (4R), which is located in a reference position (P0) when there is no load from the rider of the saddle-type vehicle (1), and which changes the driving force generated in the saddle-type vehicle (1) when rotated within an angular range located in a first direction (D1) with respect to the reference position (P0), is rotated within an angular range located in a second direction (D2) opposite to the first direction (D1) with respect to the reference position (P0). In the vehicle speed control described above, the execution unit (22) reduces the vehicle speed of the saddle-type vehicle (1) to the target vehicle speed and maintains it at the target vehicle speed. Control device. [Claim 2] In the control mode, the execution unit (22) activates the vehicle speed control using the rotation operation as the first trigger when the rotation operation information indicates that the rotation operation has been performed. The control device according to claim 1. [Claim 3] The execution unit (22) changes the start state of the vehicle speed control based on the information of the amount of rotation operation as rotation operation information in the control mode. The control device according to claim 1 or 2. [Claim 4] The execution unit (22), in the control mode, changes the target vehicle speed at the start of the vehicle speed control based on the information of the amount of the rotation operation as rotation operation information. The control device according to claim 3. [Claim 5] The execution unit (22) changes the start state of the vehicle speed control in the control mode based on the information of the degree of change of the amount of rotation operation as rotation operation information. The control device according to claim 1 or 2. [Claim 6] The execution unit (22), in the control mode, changes the target vehicle speed at the start of the vehicle speed control based on information of the degree of change of the amount of rotation operation as rotation operation information. The control device according to claim 5. [Claim 7] In the control mode, the execution unit (22) disables the vehicle speed control using the rotation operation as the second trigger when the rotation operation information indicates that the rotation operation has been performed. The control device according to claim 1. [Claim 8] The execution unit (22), in the control mode, changes the continuation state of the vehicle speed control based on the rotation operation information performed during the execution of the vehicle speed control as rotation operation information. The control device according to claim 1, 2, or 7. [Claim 9] The execution unit (22) changes the continuation state of the vehicle speed control based on the information of the amount of rotation operation as rotation operation information in the control mode. The control device according to claim 8. [Claim 10] The execution unit (22), in the control mode, changes the target vehicle speed during the continuation of the vehicle speed control based on the information of the amount of the rotation operation as rotation operation information. The control device according to claim 9. [Claim 11] The execution unit (22), in the control mode, changes the continuation state of the vehicle speed control based on information of the degree of change in the amount of rotation operation as rotation operation information. The control device according to claim 8. [Claim 12] The execution unit (22), in the control mode, changes the target vehicle speed during the continuation of the vehicle speed control based on information regarding the degree of change of the amount of rotation operation as rotation operation information. The control device according to claim 11. [Claim 13] A control method for controlling the behavior of a saddle-type vehicle (1), When the execution unit (22) of the control device (20) determines that the saddle-type vehicle (1) is traveling downhill, it executes a control mode in which speed control, which controls the speed of the saddle-type vehicle (1) based on a target speed, is enabled in response to a first trigger, and the speed control is disabled in response to a second trigger. The execution unit (22) executes the control mode based on rotation operation information, which is information about a rotation operation in which the accelerator grip (4R), which is located in a reference position (P0) when there is no load from the rider of the saddle-type vehicle (1), and which changes the driving force generated in the saddle-type vehicle (1) when rotated within an angular range located in a first direction (D1) with respect to the reference position (P0), is rotated within an angular range located in a second direction (D2) opposite to the first direction (D1) with respect to the reference position (P0). In the vehicle speed control described above, the execution unit (22) reduces the vehicle speed of the saddle-type vehicle (1) to the target vehicle speed and maintains it at the target vehicle speed. Control method.

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