Control device and control method

Abstract

The present invention provides a control device and control method that can reduce the effort required to operate a saddle-riding-type vehicle. Provided are a control device 20 and a control method. An acquisition unit of the control device 20 acquires drive source information which is information regarding a drive source (engine 11) of a saddle-riding-type vehicle 1. Furthermore, an execution unit of the control device 20 executes a drive wheel lock that locks, by braking, a drive wheel (rear wheel 3) of the saddle-riding-type vehicle 1, without depending on an operation performed by a rider of the saddle-riding-type vehicle 1. The execution unit starts locking the drive wheel if the drive source information indicates that the drive source has stopped.

Description

Technical Field

[0001] This disclosure relates to a control device and a control method that can reduce the labor of operating a straddle-type vehicle.

Background Art

[0002] As a conventional technique related to a straddle-type vehicle such as a motorcycle, there is a technique for assisting a rider. 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

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in order to suppress the vehicle from moving while the vehicle is parked, a parking brake is used. A driver can operate the parking brake by operating an operation unit interlocked with the parking brake. Here, at the time of parking, in a straddle-type vehicle, compared with an automobile having four wheels, the operation tends to be complicated due to the need for the rider to support the vehicle body with their feet, etc. And the above operation regarding the parking brake at the time of parking is a factor that increases the labor of the rider's operation. Therefore, it is desired to assist the rider so that the labor of the rider's operation is reduced at the time of parking.

[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 that can reduce the labor of operating a straddle-type vehicle. [Means for solving the problem]

[0006] The control device according to the present invention is a control device for controlling a saddle-type vehicle, comprising an acquisition unit for acquiring drive source information which is information relating to the drive source of the saddle-type vehicle, and further comprising an execution unit for performing drive wheel lock, which locks the drive wheels of the saddle-type vehicle by braking them without being based on the operation of the rider of the saddle-type vehicle, wherein the execution unit, when the drive source information is information indicating that the drive source has stopped, Based on the information regarding the vehicle speed of the aforementioned saddle-type vehicle (1), The aforementioned drive wheel lock is initiated.

[0007] The control method according to the present invention is a control method for controlling a saddle-type vehicle, wherein the acquisition unit of the control device acquires drive source information which is information relating to the drive source of the saddle-type vehicle, and further, the execution unit of the control device performs a drive wheel lock which locks the drive wheels of the saddle-type vehicle by braking them without being based on the operation of the rider of the saddle-type vehicle, and the execution unit, when the drive source information is information indicating that the drive source has stopped, Based on the information regarding the vehicle speed of the aforementioned saddle-type vehicle (1), The aforementioned drive wheel lock is initiated. [Effects of the Invention]

[0008] In the control device and control method according to the present invention, the acquisition unit of the control device acquires drive source information, which is information relating to the drive source of a saddle-type vehicle. Furthermore, the execution unit of the control device performs drive wheel locking, which locks the drive wheels of the saddle-type vehicle by braking them without being operated by the rider of the saddle-type vehicle. The execution unit starts drive wheel locking when the drive source information indicates that the drive source has stopped. As a result, when a rider parks a saddle-type vehicle, the drive wheel locking is started without the rider's operation to suppress the movement of the vehicle, thereby reducing the effort required to operate the saddle-type vehicle. [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 schematic diagram showing the general configuration of a brake system according to an embodiment of the present invention. [Figure 3] 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 4] This flowchart shows an example of the processing flow 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 a saddle-type vehicle other than a two-wheeled motorcycle. A saddle-type vehicle means a vehicle on which a rider straddles and rides. Examples of saddle-type vehicles include motorcycles (two-wheeled vehicles, three-wheeled vehicles), buggies, snowmobiles, bicycles, etc. Motorcycles include vehicles powered by an engine, vehicles powered by an electric motor, etc. Examples of motorcycles include motorcycles, scooters, electric scooters, etc. A bicycle means a vehicle that can be propelled on the road by the rider's pedaling force applied to the pedals. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc.

[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 drive wheels (specifically, rear wheel 3 in Figure 1). However, other drive sources (for example, an electric motor) may be installed as a drive source, and multiple types of drive sources may be installed.

[0013] Furthermore, the following description explains the case in which a mechanism that uses electricity to brake the drive wheels (specifically, the rear wheel braking mechanism 32 in Figure 2, which will be described later) is employed as the mechanism for braking the drive wheels (specifically, the rear wheel 3 in Figure 1). However, a mechanism that uses brake fluid to brake the drive wheels may also be employed. In addition, a mechanism that uses electricity to brake the drive wheels when the drive wheel lock described later is performed, and uses brake fluid to brake the drive wheels when the drive wheel lock is not performed, may also be employed as the mechanism for braking the drive 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] Furthermore, in the following, identical or similar explanations have been simplified or omitted as appropriate. Also, in each figure, identical or similar components or parts have either had their reference numerals omitted or the same reference numerals have been used. In addition, detailed structures have been simplified or omitted as appropriate.

[0016] <Configuration of saddle-type vehicles> The configuration of the saddle-type vehicle 1 according to an embodiment of the present invention will be described with reference to Figures 1 to 3.

[0017] Figure 1 is a schematic diagram showing the general configuration of a saddle-type vehicle 1. The saddle-type vehicle 1 is a two-wheeled motorcycle that corresponds to an example of a saddle-type vehicle according to the present invention. As shown in Figure 1, the saddle-type vehicle 1 comprises a front wheel 2, a rear wheel 3, a side stand 4, an engine 11, a transmission mechanism 12, a hydraulic control unit 13, an ignition switch 14, an inertial measurement unit (IMU) 15, a side stand sensor 16, a front wheel speed sensor 17, a rear wheel speed sensor 18, and a control unit (ECU) 20.

[0018] The engine 11 corresponds to an example of a drive source of the saddle-riding type vehicle 1 and is capable of outputting power for driving the rear wheel 3 which is a drive wheel. For example, the engine 11 is provided with one or a plurality of cylinders in which combustion chambers are formed, 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, the 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 air amount into the combustion chamber changes according to the throttle opening which is the opening degree of the throttle valve.

[0019] The transmission mechanism 12 is an automatic transmission mechanism and can change the gear ratio without depending on the operation by the rider. That is, the saddle-riding type vehicle 1 is an automatic vehicle. The input shaft of the transmission mechanism 12 is connected to the crankshaft of the engine 11. The output shaft of the transmission mechanism 12 is connected to the rear wheel 3 which is a drive wheel. Therefore, the power output from the engine 11 is transmitted to the transmission mechanism 12, is shifted by the transmission mechanism 12, and is transmitted to the rear wheel 3. The transmission mechanism 12 is a transmission mechanism that cannot lock the rear wheel 3 which is a drive wheel when the engine 11 stops.

[0020] The hydraulic control unit 13 is a unit that has a function of controlling the braking force generated on the wheels. For example, the hydraulic control unit 13 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 13, the braking force generated on the wheels is controlled.

[0021] Note that the details of the brake system 10 including the hydraulic control unit 13 will be described later. Further, a control device 20 is provided in the hydraulic control unit 13, and the operation of the brake system 10 is controlled by the control device 20. The details of the control device 20 will be described later.

[0022] The ignition switch 14 is a switch for starting the engine 11. The rider can start or stop the engine 11 by operating the ignition switch 14. The ignition switch 14 also outputs drive source information, which is information about the drive source (engine 11 in the example in Figure 1), to the control device 20. For example, the drive source information may include information indicating ignition ON. Ignition ON means that the engine 11 is running. For example, the drive source information may also include information indicating ignition OFF. Ignition OFF means that the engine 11 is stopped.

[0023] The inertial measurement device 15 is equipped with a 3-axis gyro sensor and a 3-directional acceleration sensor to detect the attitude of the saddle-type vehicle 1. The inertial measurement device 15 is installed, for example, on the body of the saddle-type vehicle 1. For example, the inertial measurement device 15 detects the pitch angle of the saddle-type vehicle 1 and outputs the detection result. The inertial measurement device 15 may also detect other physical quantities that can be substantially converted to the pitch angle of the saddle-type vehicle 1. The pitch angle corresponds to the angle representing the vertical inclination of the body (specifically, the body) of the saddle-type vehicle 1 with respect to the horizontal direction. In other words, the pitch angle corresponds to the angle representing how much the body of the saddle-type vehicle 1 has rotated from an attitude facing the horizontal direction in the pitch direction, which is the rotation direction around the axis in the left-right direction of the vehicle. The inertial measurement device 15 may be equipped with only a portion of the 3-axis gyro sensor and the 3-directional acceleration sensor.

[0024] The side stand sensor 16 detects information related to the side stand 4. The side stand 4 is provided to support the body of the saddle-type vehicle 1 when the saddle-type vehicle 1 is parked. When the saddle-type vehicle 1 is in motion, the side stand 4 is retracted towards the vehicle body (hereinafter also referred to as the retracted state). On the other hand, when the saddle-type vehicle 1 is parked, the side stand 4 protrudes towards the ground and is in a state where it can support the vehicle body (hereinafter also referred to as the protruding state). For example, the side stand sensor 16 detects information indicating whether the side stand 4 is in the retracted state or the protruding state as information related to the side stand 4.

[0025] The front wheel speed sensor 17 is a wheel speed sensor that detects the wheel speed of the front wheel 2 (for example, the number of rotations per unit time [rpm] or the distance traveled per unit time [km / h] of the front wheel 2, etc.) and outputs the detection result. The front wheel speed sensor 17 may also detect other physical quantities that can be substantially converted to the wheel speed of the front wheel 2. The front wheel speed sensor 17 is installed on the front wheel 2.

[0026] The rear wheel speed sensor 18 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 18 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 18 is installed on the rear wheel 3.

[0027] Here, with reference to Figure 2, 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 2 is a schematic diagram showing the schematic configuration of the brake system 10. As shown in Figure 2, 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 is included in the hydraulic control unit 13.

[0028] The front wheel braking mechanism 31 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, and a secondary passage 56 for releasing brake fluid from the wheel cylinder 54.

[0029] The main flow path 55 is equipped with a suction valve (EV) 61. The secondary flow path 56 bypasses the main flow path 55 between the wheel cylinder 54 side and the master cylinder 51 side relative to the suction valve 61. The secondary flow path 56 is equipped with, in order from the upstream side, a release valve (AV) 62, an accumulator 63, and a pump 64.

[0030] The sealing 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.

[0031] The hydraulic control unit 13 includes components for controlling brake fluid pressure, including a fill valve 61, a release valve 62, an accumulator 63, and a pump 64, and a base body 13a on which these components are provided and which has internally formed passages for forming a main passage 55 and a sub-passage 56.

[0032] The base 13a may be formed from a single member or from multiple members. Furthermore, if the base 13a is formed from multiple members, each component may be provided on a different member.

[0033] The operation of the above components of the hydraulic control unit 13 is controlled by the control device 20. This controls the braking force generated on the front wheels 2 by the front wheel braking mechanism 31.

[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 and closes the release valve 62. In this state, when the first brake operation unit 41 is operated, the piston (not shown) of the master cylinder 51 in the front wheel braking mechanism 31 is pushed in, 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.

[0035] The rear wheel braking mechanism 32 is held on the body of the saddle-type vehicle 1 and comprises a brake caliper 71 having brake pads (not shown) and an actuator 72 provided on the brake caliper 71. The actuator 72 is a device driven using electricity, for example, a motor. When the actuator 72 is driven, the brake pads (not shown) of the brake caliper 71 are pressed against the rotor 3a of the rear wheel 3.

[0036] The amount of operation of the second brake operation unit 42 is output to the control device 20. The control device 20 controls the actuator 72 so that a pressing force corresponding to the amount of operation of the second brake operation unit 42 is applied to the rotor 3a of the rear wheel 3 by the brake pad (not shown) of the brake caliper 71. In this way, the braking force generated on the rear wheel 3 by the rear wheel braking mechanism 32 is controlled.

[0037] Under normal conditions (i.e., when the system is set to generate braking force on the wheels in response to the rider's braking operation), when the second brake operation unit 42 is operated, the control device 20 drives the actuator 72, and in the rear wheel braking mechanism 32, the brake pads (not shown) of the brake caliper 71 are pressed against the rotor 3a of the rear wheel 3, generating braking force on the rear wheel 3.

[0038] Figure 3 is a block diagram showing an example of the functional configuration of the control device 20. The control device 20 controls the saddle-type vehicle 1. For example, part or all of the control device 20 is composed of a microcontroller, microprocessor unit, 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.

[0039] As shown in Figure 3, 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.

[0040] 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 ignition switch 14, inertial measuring device 15, side stand sensor 16, front wheel speed sensor 17, and rear wheel speed sensor 18. In this specification, information acquisition may include information extraction or generation.

[0041] The execution unit 22 performs various controls by controlling the operation of each device of the saddle-type vehicle 1. For example, the execution unit 22 controls the operation of the loading valve 61, the release valve 62, the pump 64, and the actuator 72. In particular, the execution unit 22 performs drive wheel lock. Drive wheel lock is a control that locks the drive wheels (specifically, the rear wheels 3) of the saddle-type vehicle 1 by braking them, without relying on the rider's operation of the saddle-type vehicle 1.

[0042] The execution unit 22 performs drive wheel lock when the second brake operation unit 42 is not operated. In drive wheel locking, the execution unit 22 drives the actuator 72 of the rear wheel braking mechanism 32. As a result, the rear wheel 3, which is the drive wheel, is braked and locked without the rider's operation. Therefore, it is possible to suppress the movement of the saddle-type vehicle 1 (for example, the saddle-type vehicle 1 sliding down a slope due to the influence of its weight, or the saddle-type vehicle 1 moving while parked).

[0043] <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 Figure 4.

[0044] As described above, the execution unit 22 of the control device 20 can perform drive wheel locking. Here, the execution unit 22 starts drive wheel locking when the drive source information indicates that the drive source (engine 11 in the above example) has stopped. This reduces the effort required to operate the saddle-type vehicle 1, as will be described later.

[0045] Figure 4 is a flowchart showing an example of the overall processing flow performed by the control device 20. Step S101 in Figure 4 corresponds to the start of the control flow shown in Figure 4. When the control flow shown in Figure 4 is started, the drive wheel lock is not performed.

[0046] When the control flow shown in Figure 4 is initiated, in step S102, the execution unit 22 determines whether the engine 11 is ignition OFF or not. The execution unit 22 makes the determination in step S102 based, for example, on the drive source information obtained from the ignition switch 14. If it is determined that the engine 11 is ignition OFF, this corresponds to the case where the drive source information indicates that the engine 11 has stopped.

[0047] If it is determined that engine 11 has its ignition ON (step S102 / NO), step S102 is repeated. On the other hand, if it is determined that engine 11 has its ignition OFF (step S102 / YES), the process proceeds to step S103.

[0048] If the result in step S102 is YES, in step S103 the execution unit 22 determines whether the vehicle speed of the saddle-type vehicle 1 (i.e., the vehicle speed) is lower than the reference vehicle speed. The vehicle speed of the saddle-type vehicle 1 can be obtained, for example, based on the detection results of the front wheel speed sensor 17 and the rear wheel speed sensor 18. The reference vehicle speed is set, for example, to a value near 0. If the vehicle speed of the saddle-type vehicle 1 is lower than the reference vehicle speed, it corresponds to the case that the saddle-type vehicle 1 is stopped.

[0049] If it is determined that the speed of the saddle-type vehicle 1 is equal to or greater than the standard speed (step S103 / NO), the process returns to step S102. On the other hand, if it is determined that the speed of the saddle-type vehicle 1 is lower than the standard speed (step S103 / YES), the process proceeds to step S104.

[0050] If the result in step S103 is YES, then in step S104, the execution unit 22 determines whether or not the side stand 4 is in the protruding state. The execution unit 22 makes the determination in step S104 based, for example, on information about the side stand 4 obtained from the side stand sensor 16.

[0051] If it is determined that the side stand 4 is in the retracted position (step S104 / NO), the process returns to step S102. On the other hand, if it is determined that the side stand 4 is in the extended position (step S104 / YES), the process proceeds to step S105.

[0052] If the result in step S104 is YES, in step S105 the execution unit 22 determines whether the absolute value of the road surface gradient is greater than the reference value. The value of the road surface gradient can be obtained, for example, based on the pitch angle of the saddle-type vehicle 1 obtained from the inertial measuring device 15. The reference value is set, for example, to a value near 0. If the absolute value of the road surface gradient is greater than the reference value, it corresponds to the saddle-type vehicle 1 being stopped on a slope, and if the absolute value of the road surface gradient is less than or equal to the reference value, it corresponds to the saddle-type vehicle 1 being stopped on a flat road.

[0053] If it is determined that the absolute value of the road surface gradient is less than or equal to the standard value (step S105 / NO), the process returns to step S102. On the other hand, if it is determined that the absolute value of the road surface gradient is greater than the standard value (step S105 / YES), the process proceeds to step S106.

[0054] If the result in step S105 is determined to be YES, in step S106, the execution unit 22 starts locking the drive wheels. As described above, in locking the drive wheels, the execution unit 22 drives the actuator 72 of the rear wheel braking mechanism 32 to brake the rear wheels 3, which are the drive wheels, and locks them.

[0055] The braking force generated on the rear wheels 3 during drive wheel lock is preset to a level large enough to suppress the sliding of the saddle-type vehicle 1. However, from the viewpoint of appropriately suppressing the sliding of the saddle-type vehicle 1, it is preferable for the execution unit 22 to change the braking force generated on the rear wheels 3 during drive wheel lock based on information regarding the road surface gradient. For example, the execution unit 22 increases the braking force generated on the rear wheels 3 during drive wheel lock when the absolute value of the road surface gradient is large compared to when the absolute value of the road surface gradient is small.

[0056] Following step S106, in step S107, the execution unit 22 determines whether or not the rider of the saddle-type vehicle 1 is performing a brake operation. The execution unit 22 makes the determination in step S107 based, for example, on the detection result of a sensor that detects the amount of operation of the brake operation part of the brake system 10. For example, if a brake operation is performed using at least one of the first brake operation part 41 and the second brake operation part 42, the determination in step S107 is YES.

[0057] If it is determined that the rider of the saddle-type vehicle 1 has not performed any braking operations (step S107 / NO), step S107 is repeated. On the other hand, if it is determined that the rider of the saddle-type vehicle 1 has performed any braking operations (step S107 / YES), the process proceeds to step S108.

[0058] If the result in step S107 is YES, then in step S108, the execution unit 22 determines whether the engine 11 is ignited ON or not. The execution unit 22 makes the determination in step S108 based, for example, on drive source information obtained from the ignition switch 14.

[0059] If it is determined that engine 11 has its ignition OFF (step S108 / NO), the process returns to step S107. On the other hand, if it is determined that engine 11 has its ignition ON (step S108 / YES), the process proceeds to step S109.

[0060] If the result in step S108 is YES, then in step S109, the execution unit 22 determines whether the side stand 4 is in the retracted position. The execution unit 22 makes the determination in step S109 based, for example, on information about the side stand 4 obtained from the side stand sensor 16.

[0061] If it is determined that the side stand 4 is in the extended position (step S109 / NO), the process returns to step S107. On the other hand, if it is determined that the side stand 4 is in the retracted position (step S109 / YES), the process proceeds to step S110.

[0062] If the result in step S109 is YES, in step S110, the execution unit 22 releases the drive wheel lock and returns to step S102. When the drive wheel lock is released, the braking of the rear wheels 3 by the actuator 72 of the rear wheel braking mechanism 32 ends, and the saddle-type vehicle 1 becomes ready to start.

[0063] As explained above, the execution unit 22 of the control device 20 starts locking the drive wheels when the drive source information indicates that the drive source (engine 11 in the above example) has stopped. As a result, when the saddle-type vehicle 1 is parked or about to be parked, the movement of the saddle-type vehicle 1 can be suppressed by locking the drive wheels without the rider's operation. Therefore, the effort required to suppress the movement of the saddle-type vehicle 1 when parking is reduced. In this way, the effort required to operate the saddle-type vehicle 1 can be reduced.

[0064] The above describes an example of processing performed by the control device 20 with reference to the flowchart in Figure 4. However, the processing performed by the control device 20 is not limited to the above example, and processing may be added, modified, or deleted from the control flow shown in Figure 4 as appropriate.

[0065] For example, in the control flow shown in Figure 4, four determination processes, steps S102, S103, S104, and S105, are performed as determination processes for initiating drive wheel lock. However, at least step S102 needs to be performed as a determination process for initiating drive wheel lock. Specifically, any part or all of steps S103, S104, and S105 may be omitted from the control flow shown in Figure 4. Note that if the saddle-type vehicle 1 does not have a side stand 4 (for example, if the saddle-type vehicle 1 is a snowmobile), step S104 is omitted. Note that by performing both determination processes in steps S102 and S103 as determination processes for initiating drive wheel lock, as in the control flow shown in Figure 4, it is possible to suppress unnecessary execution of drive wheel lock, for example, when temporarily stopped at a traffic light.

[0066] Furthermore, in the control flow shown in Figure 4, three determination processes, steps S107, S108, and S109, are performed as determination processes related to the release of the drive wheel lock. However, any part of steps S107, S108, and S109 may be omitted from the control flow shown in Figure 4. For example, only step S107 or step S108 may be performed. Note that if the saddle-type vehicle 1 does not have a side stand 4 (for example, if the saddle-type vehicle 1 is a snowmobile), step S109 is omitted. In addition, the execution unit 22 may release the drive wheel lock as a trigger when the rider performs a specific operation.

[0067] <Effects of the control device> The effects of the control device 20 according to an embodiment of the present invention will be described.

[0068] The control device 20 includes an acquisition unit 21 that acquires drive source information, which is information about the drive source of the saddle-type vehicle 1 (engine 11 in the above example), and an execution unit 22 that performs drive wheel locking, which locks the drive wheels (specifically, the rear wheels 3) of the saddle-type vehicle 1 by braking them, without relying on the rider's operation of the saddle-type vehicle 1. The execution unit 22 starts drive wheel locking when the drive source information indicates that the drive source has stopped. As a result, when the saddle-type vehicle 1 is parked or about to be parked, the movement of the saddle-type vehicle 1 can be suppressed by drive wheel locking without relying on the rider's operation. Therefore, the effort required to suppress the movement of the saddle-type vehicle 1 when parked is reduced. In this way, the effort required to operate the saddle-type vehicle 1 can be reduced.

[0069] Preferably, in the control device 20, the execution unit 22 initiates drive wheel locking based on information regarding the vehicle speed of the saddle-type vehicle 1, in addition to the drive source information. This allows the drive wheel locking to be initiated only after confirming that the saddle-type vehicle 1 is stopped. Therefore, initiating drive wheel locking is more appropriately achieved when the saddle-type vehicle 1 is parked or about to be parked.

[0070] In the example above, the information regarding the speed of the saddle-type vehicle 1 was information indicating the speed of the saddle-type vehicle 1, but it is not limited to the example above and may include various types of information. For example, the information regarding the speed of the saddle-type vehicle 1 may be information that can be substantially converted to the speed of the saddle-type vehicle 1.

[0071] Preferably, in the control device 20, the execution unit 22 initiates drive wheel locking based on information regarding the side stand 4 of the saddle-type vehicle 1, in addition to the drive source information. This allows the drive wheel locking to be initiated only after confirming that the side stand 4 is in the extended position. Therefore, initiating drive wheel locking is more appropriately achieved when the saddle-type vehicle 1 is parked or about to be parked.

[0072] In the example above, the information regarding the side stand 4 indicated whether the side stand 4 was in the retracted or extended position. However, this is not limited to the example above, and the information may include various other types of information. For example, the information regarding the side stand 4 may be information that is substantially replaceable with information indicating whether the side stand 4 is in the retracted or extended position.

[0073] Preferably, in the control device 20, the execution unit 22 initiates drive wheel locking based on information regarding the road surface gradient in addition to drive source information. This allows the drive wheel locking to be initiated only after confirming that the saddle-type vehicle 1 is stopped on a slope. Therefore, it is possible to suppress unnecessary drive wheel locking when the saddle-type vehicle 1 is stopped on a flat road. However, the execution unit 22 may initiate drive wheel locking without relying on information regarding the road surface gradient. For example, the process of step S105 in the flowchart of Figure 4 described above may be omitted. In that case, drive wheel locking can be initiated even when the saddle-type vehicle 1 is parked in a place other than a slope.

[0074] In the example above, the information regarding the road surface gradient was information indicating the value of the road surface gradient, but it is not limited to the example above and can include various types of information. For example, the information regarding the road surface gradient may be information that can be substantially converted into a value of the road surface gradient.

[0075] Preferably, in the control device 20, the execution unit 22 changes the braking force generated on the drive wheels during drive wheel lock based on information regarding the road surface gradient. This allows the braking force generated on the drive wheels during drive wheel lock to be appropriately adjusted according to the absolute value of the road surface gradient. Therefore, the sliding of the saddle-type vehicle 1 can be appropriately suppressed. Furthermore, since it is possible to suppress the braking force generated on the drive wheels during drive wheel lock from becoming excessively large, the saddle-type vehicle 1 can be easily moved by hand even while the drive wheel lock is in place.

[0076] Preferably, in the control device 20, the execution unit 22 releases the drive wheel lock based on the drive source information. This allows the drive wheel lock to be released when driving force is being generated in the saddle-type vehicle 1. Therefore, it is possible to suppress the movement of the saddle-type vehicle 1 caused by releasing the drive wheel lock.

[0077] Preferably, in the control device 20, the execution unit 22 releases the drive wheel lock based on information regarding the brake operation by the rider of the saddle-type vehicle 1. This allows the drive wheel lock to be released when a braking force corresponding to the rider's brake operation is generated in the saddle-type vehicle 1. Therefore, movement of the saddle-type vehicle 1 due to the release of the drive wheel lock can be suppressed.

[0078] In the example above, the information regarding brake operation indicated the amount of operation of the brake control unit, but it is not limited to the example above and can include various types of information. For example, the information regarding brake operation may be information that can be substantially converted into the amount of operation of the brake control unit.

[0079] Preferably, in the control device 20, the execution unit 22 releases the drive wheel lock based on information regarding the side stand 4 of the saddle-type vehicle 1. This allows the drive wheel lock to be released only after confirming that the side stand 4 is in the retracted position and that the rider intends to start moving. Therefore, it is possible to prevent the saddle-type vehicle 1 from moving as a result of releasing the drive wheel lock.

[0080] Preferably, in the control device 20, the drive source information includes information about the switch for starting the drive source (ignition switch 14 in the above example). This allows the control device to appropriately determine whether the drive source information indicates that the drive source has stopped or that the drive source has started, and then execute the drive wheel lock. Therefore, when the saddle-type vehicle 1 is parked or about to be parked, the drive wheel lock can be activated more appropriately.

[0081] Furthermore, the drive source information is not limited to information about the switch for starting the drive source, but may include various other types of information. For example, the drive source information may not be information output from the switch for starting the drive source, but rather information output from a control device that controls the drive source. For example, in the above example, the control device 20 may obtain and use information from the control device that controls the engine 11 indicating whether the engine 11 is stopped or running. Also, for example, the drive source information may include information about the amount of accelerator operation (e.g., accelerator opening) or information about the output of the drive source (e.g., output torque of the engine 11). The execution unit 22 may release the drive wheel lock based on at least one of the information about the amount of accelerator operation and the information about the output of the drive source. For example, the execution unit 22 may release the drive wheel lock when it determines that sufficient driving force is being generated in the saddle-type vehicle 1 based on at least one of the accelerator opening and the output torque of the engine 11. This makes it possible to more effectively suppress the saddle-type vehicle 1 from moving and sliding down on slopes, etc., due to the release of the drive wheel lock.

[0082] Preferably, in the control device 20, the saddle-type vehicle 1 is equipped with a transmission mechanism 12 that cannot lock the drive wheels when the power source is stopped. In other words, preferably, the saddle-type vehicle 1 is an automatic transmission vehicle. In a manual transmission vehicle, when the power source is stopped, the gear of the transmission mechanism can be set to a gear that locks the drive wheels by the transmission mechanism, thereby preventing the saddle-type vehicle 1 from sliding backward. On the other hand, in an automatic transmission vehicle, since the drive wheels cannot be locked by the transmission mechanism 12 when the power source is stopped, locking the drive wheels by a drive wheel lock is particularly effective. However, the saddle-type vehicle 1 is not limited to an automatic transmission vehicle and may be a manual transmission vehicle. For example, if the saddle-type vehicle 1 is a manual transmission vehicle, when parked, the drive wheel lock may be performed as a trigger when the gear of the transmission mechanism is not set to a gear that locks the drive wheels by the transmission mechanism.

[0083] 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]

[0084] 1 Saddle-type vehicle, 2 Front wheel, 2a Rotor, 3 Rear wheel, 3a Rotor, 4 Side stand, 10 Brake system, 11 Engine, 12 Transmission mechanism, 13 Hydraulic control unit, 13a Base, 14 Ignition switch, 15 Inertial measurement device, 16 Side stand sensor, 17 Front wheel speed sensor, 18 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, 51 Master cylinder, 52 Reservoir, 53 Brake caliper, 54 Wheel cylinder, 55 Main flow path, 56 Sub-flow path, 61 Fill valve, 62 Release valve, 63 Accumulator, 64 Pump, 71 Brake caliper, 72 Actuator.

Claims

1. A control device (20) for controlling a saddle-type vehicle (1), The vehicle (1) is equipped with an acquisition unit (21) that acquires drive source information, which is information relating to the drive source (11) of the aforementioned saddle-type vehicle (1). Furthermore, the system includes an execution unit (22) that performs drive wheel locking by braking the drive wheels (3) of the saddle-type vehicle (1) without relying on the rider's operation of the saddle-type vehicle (1), The execution unit (22) initiates the drive wheel lock based on information regarding the vehicle speed of the saddle-type vehicle (1) when the drive source information indicates that the drive source (11) has stopped. Control device.

2. A control device (20) for controlling a saddle-type vehicle (1), The vehicle (1) is equipped with an acquisition unit (21) that acquires drive source information, which is information relating to the drive source (11) of the aforementioned saddle-type vehicle (1). Furthermore, the system includes an execution unit (22) that performs drive wheel locking by braking the drive wheels (3) of the saddle-type vehicle (1) without relying on the rider's operation of the saddle-type vehicle (1), The execution unit (22) initiates the drive wheel lock based on information regarding the side stand (4) of the saddle-type vehicle (1) when the drive source information indicates that the drive source (11) has stopped. Control device.

3. A control device (20) for controlling a saddle-type vehicle (1), The vehicle (1) is equipped with an acquisition unit (21) that acquires drive source information, which is information relating to the drive source (11) of the aforementioned saddle-type vehicle (1). Furthermore, the system includes an execution unit (22) that performs drive wheel locking by braking the drive wheels (3) of the saddle-type vehicle (1) without relying on the rider's operation of the saddle-type vehicle (1), The execution unit (22) initiates the locking of the drive wheels based on information regarding the gradient of the road surface when the drive source information indicates that the drive source (11) has stopped. Control device.

4. A control device (20) for controlling a saddle-type vehicle (1), The vehicle (1) is equipped with an acquisition unit (21) that acquires drive source information, which is information relating to the drive source (11) of the aforementioned saddle-type vehicle (1). Furthermore, the system includes an execution unit (22) that performs drive wheel locking by braking the drive wheels (3) of the saddle-type vehicle (1) without relying on the rider's operation of the saddle-type vehicle (1), The execution unit (22) starts locking the drive wheels when the drive source information indicates that the drive source (11) has stopped. Furthermore, the execution unit (22) changes the braking force generated on the drive wheel (3) in the drive wheel lock based on information regarding the gradient of the road surface. Control device.

5. The execution unit (22) releases the drive wheel lock based on the drive source information. The control device according to claim 1.

6. The execution unit (22) releases the drive wheel lock based on information regarding the brake operation by the rider of the saddle-type vehicle (1). The control device according to claim 1.

7. A control device (20) for controlling a saddle-type vehicle (1), The vehicle (1) is equipped with an acquisition unit (21) that acquires drive source information, which is information relating to the drive source (11) of the aforementioned saddle-type vehicle (1). Furthermore, the system includes an execution unit (22) that performs drive wheel locking by braking the drive wheels (3) of the saddle-type vehicle (1) without relying on the rider's operation of the saddle-type vehicle (1), The execution unit (22) starts locking the drive wheels when the drive source information indicates that the drive source (11) has stopped. Furthermore, the execution unit (22) releases the drive wheel lock based on information regarding the side stand (4) of the saddle-type vehicle (1). Control device.

8. A control device (20) for controlling a saddle-type vehicle (1), The vehicle (1) is equipped with an acquisition unit (21) that acquires drive source information including information regarding the starting switch (14) of the drive source (11), Furthermore, the system includes an execution unit (22) that performs drive wheel locking by braking the drive wheels (3) of the saddle-type vehicle (1) without relying on the rider's operation of the saddle-type vehicle (1), The execution unit (22) initiates the drive wheel lock when the drive source information indicates that the drive source (11) has stopped. Control device.

9. The aforementioned saddle-type vehicle (1) is equipped with a transmission mechanism (12) that prevents the drive wheels (3) from being locked when the drive source (11) is stopped. The control device according to claim 1.

10. The saddle-type vehicle (1) is a two-wheeled motorcycle. The control device according to any one of claims 1 to 9.

11. A control method for controlling a saddle-type vehicle (1), The acquisition unit (21) of the control device (20) acquires drive source information, which is information relating to the drive source (11) of the saddle-type vehicle (1), Furthermore, the execution unit (22) of the control device (20) performs a drive wheel lock by braking the drive wheels (3) of the saddle-type vehicle (1) without being based on the operation of the rider of the saddle-type vehicle (1). The execution unit (22) initiates the drive wheel lock based on information regarding the vehicle speed of the saddle-type vehicle (1) when the drive source information indicates that the drive source (11) has stopped. Control method.

12. A control method for controlling a saddle-type vehicle (1), The acquisition unit (21) of the control device (20) acquires drive source information, which is information relating to the drive source (11) of the saddle-type vehicle (1), Furthermore, the execution unit (22) of the control device (20) performs a drive wheel lock by braking the drive wheels (3) of the saddle-type vehicle (1) without being based on the operation of the rider of the saddle-type vehicle (1). The execution unit (22) initiates the drive wheel lock based on information regarding the side stand (4) of the saddle-type vehicle (1) when the drive source information indicates that the drive source (11) has stopped. Control method.

13. A control method for controlling a saddle-type vehicle (1), The acquisition unit (21) of the control device (20) acquires drive source information, which is information relating to the drive source (11) of the saddle-type vehicle (1), Furthermore, the execution unit (22) of the control device (20) performs a drive wheel lock by braking the drive wheels (3) of the saddle-type vehicle (1) without being based on the operation of the rider of the saddle-type vehicle (1). The execution unit (22) initiates the locking of the drive wheels based on information regarding the gradient of the road surface when the drive source information indicates that the drive source (11) has stopped. Control method.

14. A control method for controlling a saddle-type vehicle (1), The acquisition unit (21) of the control device (20) acquires drive source information, which is information relating to the drive source (11) of the saddle-type vehicle (1), Furthermore, the execution unit (22) of the control device (20) performs a drive wheel lock by braking the drive wheels (3) of the saddle-type vehicle (1) without being based on the operation of the rider of the saddle-type vehicle (1). The execution unit (22) starts locking the drive wheels when the drive source information indicates that the drive source (11) has stopped. Furthermore, the execution unit (22) changes the braking force generated on the drive wheel (3) in the drive wheel lock based on information regarding the gradient of the road surface. Control method.

15. A control method for controlling a saddle-type vehicle (1), The acquisition unit (21) of the control device (20) acquires drive source information, which is information relating to the drive source (11) of the saddle-type vehicle (1), Furthermore, the execution unit (22) of the control device (20) performs a drive wheel lock by braking the drive wheels (3) of the saddle-type vehicle (1) without being based on the operation of the rider of the saddle-type vehicle (1). The execution unit (22) starts locking the drive wheels when the drive source information indicates that the drive source (11) has stopped. Furthermore, the execution unit (22) releases the drive wheel lock based on information regarding the side stand (4) of the saddle-type vehicle (1). Control method.

16. A control method for controlling a saddle-type vehicle (1), The acquisition unit (21) of the control device (20) acquires drive source information including information regarding the start switch (14) of the drive source (11) of the saddle-type vehicle (1), Furthermore, the execution unit (22) of the control device (20) performs a drive wheel lock by braking the drive wheels (3) of the saddle-type vehicle (1) without being based on the operation of the rider of the saddle-type vehicle (1). The execution unit (22) initiates the drive wheel lock when the drive source information indicates that the drive source (11) has stopped. Control method.

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