Braking force control device

Abstract

Provided is a braking force control device that does not readily perform brake assist control when a driver does not intend to make a sudden stop but does perform brake assist control when the driver requires a sudden stop.　A braking force control device (59) performs brake assist control that makes a braking device (41) generate a braking force that is at least as large as the braking force that corresponds to the operation of a brake operation element (49) when an assist start condition for brake assist has been met in a mobile body (10). The braking force control device (59) is characterized by comprising a determination unit (77) that compares the rate of increase in a prescribed value that pertains to the braking device (41) and a predetermined first threshold value, the assist start condition being determined on the basis of the frequency with which the determination unit (77) has determined that the prescribed value is at or above the first threshold value.

Description

Braking force control device

[0001] The present invention relates to a braking force control device.

[0002] A brake assist technology has been known for increasing the braking force of a vehicle when a driver applies emergency braking. Patent Document 1 discloses a technology that determines that an emergency braking has occurred and executes brake assist control when the pressure in a master cylinder of a brake mechanism and the rate of increase in that pressure satisfy a preset assist start condition.

[0003] Japanese Patent Application Publication No. 9-272418

[0004] Drivers of moving vehicles sometimes momentarily increase the braking force of their brakes while driving, even when the brake operation is not intended to bring the vehicle to a sudden stop. In particular, in the case of saddle-type vehicles, braking is often used to control vehicle behavior, such as posture control, and if brake assist control is performed when the driver does not intend to bring the vehicle to a sudden stop, the driver may feel uncomfortable while driving.

[0005] This specification includes the entire contents of Japanese Patent Application No. 2023-056502, filed on March 30, 2023. A braking force control device is provided that, in a moving body, when an assist start condition for brake assist is met, executes brake assist control to cause a braking device to generate a braking force equal to or greater than the braking force corresponding to the operation of a brake operator, the braking force control device comprising: a determination unit that compares an increase rate of a predetermined value related to the braking device with a predetermined first threshold value; and the assist start condition is determined based on the frequency at which the determination unit determines that the increase rate has reached or exceeded the first threshold value.

[0006] When the driver does not intend to make a sudden stop, the brake assist control is unlikely to be executed, and when the driver needs to make a sudden stop, the brake assist control is executed, thereby enabling braking force control.

[0007] FIG. 1 is an explanatory diagram of a saddle-ride type vehicle provided with a brake control device according to a first embodiment. FIG. 2 is a block diagram showing the configuration of a brake device for a saddle-ride type vehicle. FIG. 3 is a block diagram showing the configuration of a braking force control device. FIG. 4 is a graph showing an example of a change in master cylinder pressure over time. FIG. 5 is a graph showing an example of a change in counter count over time. FIG. 6 is a flowchart of brake assist. FIG. 7 is a graph showing an example of a change in master cylinder pressure over time in a second embodiment. FIG. 8 is a flowchart of brake assist.

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the description, directions such as front, rear, left, right, up and down are the same as directions relative to the vehicle body unless otherwise specified. In addition, the symbol FR in each drawing indicates the front of the vehicle body, the symbol UP indicates the upper side of the vehicle body, and the symbol LH indicates the left side of the vehicle body.

[0009] 1 is a side view of a saddle-ride type vehicle 10 according to an embodiment of the present invention. The saddle-ride type vehicle 10 is a vehicle including a body frame 11, a power unit 12 supported by the body frame 11, a front fork 14 that supports a front wheel 13 so as to be steerable, a swing arm 16 that supports a rear wheel 15, and a seat 17 for a rider. The saddle-ride type vehicle 10 is a vehicle in which a rider sits astride on the seat 17. The seat 17 is provided above the rear of the body frame 11.

[0010] The body frame 11 includes a head pipe 18 provided at the front end of the body frame 11, a front frame 19 located rearward of the head pipe 18, and a rear frame 20 located rearward of the front frame 19. The front end of the front frame 19 is connected to the head pipe 18. The seat 17 is supported by the rear frame 20.

[0011] The front forks 14 are supported by a head pipe 18 so as to be steerable to the left and right. The front wheel 13 is supported by an axle 13a provided at the lower end of the front forks 14. A steering handle 21 that is gripped by the rider and used for steering is attached to the upper end of the front forks 14.

[0012] The swing arm 16 is supported by a pivot shaft 22 that is supported by the body frame 11. The pivot shaft 22 is a shaft that extends horizontally in the vehicle width direction. The pivot shaft 22 is inserted into the front end of the swing arm 16. The swing arm 16 swings up and down around the pivot shaft 22. The rear wheel 15 is supported by an axle 15a that is provided at the rear end of the swing arm 16.

[0013] The power unit 12 is disposed between the front wheel 13 and the rear wheel 15, and is supported by the body frame 11. The power unit 12 is an internal combustion engine. The power unit 12 includes a crankcase 23 and a cylinder section 24 that houses a reciprocating piston. An exhaust device 25 is connected to an exhaust port of the cylinder section 24. The output of the power unit 12 is transmitted to the rear wheel 15 by a driving force transmission member that connects the power unit 12 and the rear wheel 15.

[0014] The saddle-ride type vehicle 10 also includes a front fender 26 that covers the front wheel 13 from above, a rear fender 27 that covers the rear wheel 15 from above, steps 28 on which a rider places their feet, and a fuel tank 29 that stores fuel used by the power unit 12. The front fender 26 is attached to the front fork 14. The rear fender 27 and steps 28 are provided below the seat 17. The fuel tank 29 is supported by the body frame 11.

[0015] The control device 32, which controls the fuel injection of the power unit 12, etc., is provided below the seat 17. The control device 32 is a computer that includes a braking control device 59, and includes a storage device 71 and a processor 69 that performs various functions by executing programs stored in the storage device 71, as will be described later with reference to FIG.

[0016] An IMU (Inertial Measurement Unit) 34 including a six-axis sensor therein is provided below the seat 17 .

[0017] A brake pedal 36 (49A) is provided below the pivot shaft 22. The driver can adjust the braking force of the rear wheel 15 by operating the brake pedal 36 with his / her right leg. In other words, the driver can adjust the braking force of the rear brake 53 by operating the brake pedal 36 (see FIG. 2 described later). In addition, a rear brake master cylinder 31 is provided near the brake pedal 36. The rear brake master cylinder 31 converts pedal pressure into brake fluid pressure and pumps the brake fluid to the brake caliper 62 of the rear wheel 15.

[0018] A brake lever 38 (49B) is provided on the handlebars 21. The driver can adjust the braking force on the front wheels 13 by operating the brake lever 38 with his or her fingers. In other words, the driver can adjust the braking force of the front brakes 51 by operating the brake lever 38 (see FIG. 2, which will be described later). In addition, a front brake master cylinder 30 is provided near the brake lever 38. The front brake master cylinder 30 converts the force applied by gripping the lever into hydraulic pressure and sends brake fluid under pressure to the brake calipers 63 of the front wheels 13.

[0019] FIG. 2 is a block diagram showing the configuration of the braking device 41 of the saddle-ride type vehicle 10. As shown in FIG.

[0020] The front brake 51 and the rear brake 53 are examples of the braking device 41 .

[0021] A brake control device 59 that controls the braking device 41 is connected to a fluid pressure sensor 57 that measures the fluid pressure of the brake fluid in the rear brake master cylinder 31. The brake control device 59 is connected to a fluid pressure sensor 55 that measures the fluid pressure of the brake fluid in the front brake master cylinder 30. The brake control device 59 is also connected to a fluid pressure sensor 64 that measures the fluid pressure in a brake caliper 62 of the rear brake, and a fluid pressure sensor 65 that measures the fluid pressure in a brake caliper 63 of the front brake.

[0022] The brake control device 59 is connected to a rear wheel speed sensor 45 that measures the wheel speed of the rear wheel 15. The wheel speed information of the rear wheel 15 measured by the rear wheel speed sensor 45 is used for an ABS (Anti-lock-Brake System) function that prevents the rear wheel 15 from locking when the driver depresses the brake pedal 36, which is a brake operator 49A, and for executing traction control, etc.

[0023] The brake control device 59 is connected to a front wheel speed sensor 43 that measures the wheel speed of the front wheels 13 .

[0024] The brake control device 59 is also connected to a throttle opening sensor 47 that detects the opening degree of a throttle that adjusts the amount of fuel injection in the power unit 12 .

[0025] The pressurizing module 61 and the rear brake master cylinder 31 are connected by a pipe that transmits the hydraulic pressure of the brake fluid. Similarly, the pressurizing module 61 and the front brake master cylinder 30 are connected by a pipe that transmits the hydraulic pressure of the brake fluid. Furthermore, the pressurizing module 61 and the brake caliper 62 of the rear brake are connected by a pipe that transmits the hydraulic pressure of the brake fluid. Similarly, the pressurizing module 61 and the brake caliper 63 of the front brake are connected by a pipe that transmits the hydraulic pressure of the brake fluid.

[0026] The braking control device 59 is also connected to the IMU 34. The braking control device 59 is connected to the pressure module 61 and controls the pressure module 61.

[0027] The braking control device 59 is included in the control device 32. Of course, the braking control device 59 and the control device 32 may be separate devices.

[0028] FIG. 3 is a functional block diagram of the braking control device 59. The braking control device 59 is a computer, an ECU (Electronic Control Unit). The braking control device 59 includes a processor 69 such as a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory), and performs various controls. The RAM is used as a working area and storage area for the CPU, and the ROM stores an operating system and programs executed by the CPU. The processor 69 executes programs stored in a control program storage area 72 of a storage device 71 to realize various functions described below. The storage device 71 may be an SSD (Solid State Drive), etc.

[0029] The processor 69 realizes the function of a measurement unit 73 that measures predetermined values ​​related to the braking system 41, including the front brake 51 and the rear brake 53. In this embodiment, the measurement unit 73 measures, as the predetermined values, the hydraulic pressures in the front brake master cylinder 30 and the rear brake master cylinder 31. The hydraulic pressures in the front brake master cylinder 30 and the rear brake master cylinder 31 are an example of master cylinder pressures of the braking system.

[0030] The processor 69 also implements the function of a measurement unit 73 that measures values ​​from other sensors, such as, but not limited to, a front wheel speed sensor 43, a rear wheel speed sensor 45, and a throttle opening sensor 47. The brake control device 59 may include an input interface circuit for signals from each of the sensors.

[0031] In addition, the predetermined value related to the braking device 41 including the front brake 51 and rear brake 53 measured by the measuring unit 73 may be the amount of operation of the brake operator 49 including the brake lever 38 and the brake pedal 36.

[0032] The processor 69 realizes the function of a calculation unit 75 that performs predetermined calculations on predetermined values ​​related to the braking system 41, including the front brake 51 and the rear brake 53. In this embodiment, the increase rates of the hydraulic pressures in the front brake master cylinder 30 and the rear brake master cylinder 31 are calculated.

[0033] The processor 69 realizes the function of a determination unit 77 that compares the increase rate of the hydraulic pressure in the front brake master cylinder 30 and the rear brake master cylinder 31 with a first threshold value that is predetermined and stored in the storage device 71. The determination unit 77 also determines whether a count, which is the result of counting by a counter 79 (described later), is greater than or equal to an assist start condition that is predetermined and stored in the storage device 71.

[0034] The processor 69 implements the function of a counter 79 that measures the frequency with which the determination unit 77 determines that the master cylinder pressure has reached or exceeded the first threshold within a predetermined period of time. The counter 79 is an example of a counting unit that measures the aforementioned frequency. The count of the counter 79 is also an example of the aforementioned frequency. The counter 79 adds 1 to the initial count of the counter 79 when the master cylinder pressure reaches or exceeds the first threshold within a unit time within the predetermined period of time, and subtracts 1 from the initial count of the counter 79 when the master cylinder pressure falls below the first threshold within a unit time within the predetermined period of time. The unit time is, for example, several milliseconds. In other words, the processor 69 includes a counting unit that measures the frequency with which the determination unit 77 determines that a predetermined value related to the braking device has reached or exceeded the first threshold within a predetermined period of time, and the start of assist is determined based on the aforementioned frequency.

[0035] The processor 69 realizes the function of a pressurizing module control unit 81 that performs brake assist control for the braking device 41. Specifically, it controls a motor that moves a piston that changes the hydraulic pressure in the pressurizing module 61. When the counter 79 satisfies the assist start condition, the pressurizing module 61 pressurizes the master cylinder to perform brake assist, i.e., increase the braking force.

[0036] FIG. 4 is an example of a graph showing changes in master cylinder pressure over time. The vertical axis represents master cylinder pressure, and the horizontal axis represents time. In this example, the master cylinder refers to either the front brake master cylinder 30 or the rear brake master cylinder 31. The solid line represents changes in master cylinder pressure over time 100, and the slope of the solid line corresponds to the increase rate of the master cylinder pressure. The slope of the dotted line corresponds to a predetermined first threshold 150. In other words, when the slope of the solid line on the graph is equal to or greater than the slope of the dotted line, this means that the increase rate of the master cylinder pressure is equal to or greater than the first threshold. Conversely, when the slope of the solid line on the graph is less than the slope of the dotted line, this means that the increase rate of the master cylinder pressure is less than the first threshold. Specifically, at times B and D on the graph, the increase rate of the master cylinder pressure is less than the first threshold, and at times A, C, E, F, and G, the increase rate of the master cylinder pressure is equal to or greater than the first threshold.

[0037] FIG. 5 is a graph showing an example of the change over time in the count measured by the counter 79. The vertical axis represents the count of the counter 79, and the horizontal axis represents time. In this example, the counter 79 has an initial count of 0. When the rate of increase in the master cylinder pressure is equal to or greater than a first threshold, the counter 79 counts up, adding 1 to the count. When the rate of increase in the master cylinder pressure is less than the first threshold, the counter 79 counts down, subtracting 1 from the count. Here, when the count satisfies the assist start condition of the counter 79, the pressurizing module 61 pressurizes the master cylinder, resulting in brake assist, i.e., an increase in braking force. If the assist start condition is a count of 3, then brake assist will start at time G. In other words, the first frequency related to the assist start condition is 3 in this case. The sensitivity of the brake assist can be adjusted by changing the assist start condition. That is, if the first frequency is set to a large value, brake assist will be more difficult to start, and if the first frequency is set to a small value, brake assist will be more likely to start.

[0038] 6 is a flowchart showing the operation of the brake assist. Here, the master cylinder is the front brake master cylinder 30. At this time, the assist start condition is the first assist start condition.

[0039] First, the measurement unit 73 detects the master cylinder pressure (step SA1). Then, the calculation unit 75 calculates the increase rate of the master cylinder pressure (step SA2). Next, the determination unit 77 compares the calculated increase rate of the master cylinder pressure with a first threshold value previously determined and stored in the memory device 71 to determine whether the increase rate of the master cylinder pressure is equal to or greater than the first threshold value (step SA3). If the increase rate of the master cylinder pressure is equal to or greater than the first threshold value (step SA3: YES), the counter 79 increments its count by one (step SA4). The determination unit 77 then determines whether the count of the counter 79 satisfies a predetermined assist start condition previously determined and stored in the memory device 71 (step SA5). If the count of the counter 79 satisfies the assist start condition (step SA5: YES), the pressure module control unit 81 controls the pressure module 61 to perform brake assist (step SA6).

[0040] Returning to the explanation of step SA3, if the rate of increase in the master cylinder pressure is less than the first threshold value (step SA3: NO), the count of counter 79 is decremented (step SA7), and the process returns to step SA1.

[0041] Returning to the explanation of step SA5, if the count of the counter 79 does not satisfy the assist start condition (step SA5: NO), the process returns to step SA1.

[0042] Here, in the flowchart, the master cylinder may be the rear brake master cylinder 31. In this case, the assist start condition is the second assist start condition. The first assist condition and the second assist condition may be the same or different. If the first assist condition and the second assist condition are different, it is desirable that the first frequency, which is the first assist start condition, be greater than the second frequency, which is the second assist start condition. This is because, when comparing the front brake 51 and the rear brake 53, if the timing at which the pressure module 61 increases the braking force to brake the front wheels 13 by the front brake 51 is earlier than the timing at which the pressure module 61 increases the braking force to brake the rear wheels 15 by the rear brake 53, the vehicle will stop with a lurch in the FR direction, which may result in unnatural vehicle behavior.

[0043] [Second embodiment] A saddle-ride type vehicle 10 provided with a brake control device 59 according to a second embodiment of the present invention will be described below. The previously described embodiment will be referred to as the first embodiment, and the following embodiment will be referred to as the second embodiment. The configuration of the equipment in the saddle-ride type vehicle 10 provided with the brake control device 59 according to the second embodiment is the same as that shown in Figures 1, 2, and 3 which represent the previously described embodiment, and therefore will not be described again. Figure 7 is a graph showing an example of the change in master cylinder pressure over time in this embodiment. Here, what differs from the first embodiment is that the master cylinder pressure, which is related to the comparison with the assist start condition, does not have a lower limit threshold P Ｌ and the upper threshold P Ｈ The master cylinder pressure is set to a lower limit threshold P Ｌ If the master cylinder pressure is smaller than the upper threshold P, the master cylinder pressure is not compared with the first threshold, and the master cylinder pressure does not contribute to a change in the count of the counter 79. ＨIf the master cylinder pressure is greater than the first threshold, the master cylinder pressure is not compared with the first threshold, and the master cylinder pressure does not contribute to a change in the count of counter 79. In other words, the start of assist is determined based on the frequency with which the master cylinder pressure exceeds the first threshold when the master cylinder pressure is between a predetermined lower threshold and a predetermined upper threshold. FIG. 8 is a flowchart illustrating the operation of the brake assist in this embodiment. Here, the master cylinder is front brake master cylinder 30. In this case, the assist start condition is the first assist start condition.

[0044] First, the measurement unit 73 detects the master cylinder pressure (step SB1). Ｌ The determination unit 77 determines whether the master cylinder pressure is equal to or greater than the lower limit threshold P Ｌ If the master cylinder pressure is equal to or greater than the upper threshold P Ｈ It is determined whether the master cylinder pressure is less than the upper threshold P Ｈ If the calculated master cylinder pressure increase rate is less than the predetermined threshold (step SB3: YES), the calculation unit 75 calculates the master cylinder pressure increase rate (step SB4). Next, the determination unit 77 compares the calculated master cylinder pressure increase rate with a first threshold value previously determined and stored in the storage device 71 to determine whether the master cylinder pressure increase rate is equal to or greater than the first threshold value (step SB5). If the master cylinder pressure increase rate is equal to or greater than the first threshold value (step SB5: YES), the counter 79 increments its count by 1 (step SB6). The determination unit 77 determines whether the count of the counter 79 satisfies a predetermined assist start condition previously determined and stored in the storage device 71 (step SB7). If the count of the counter 79 satisfies the assist start condition (step SB7: YES), the pressure module control unit 81 controls the pressure module 61 to perform brake assist (step SB8).

[0045] Returning to the explanation of step SB2, the master cylinder pressure is P Ｌ If not (step SB2: NO), the process returns to step SB1.

[0046] Returning to the explanation of step SB3, if the master cylinder pressure is P Ｈ If it is not less than 100 (step SB3: NO), the process ends.

[0047] Returning to the explanation of step SB5, if the rate of increase in the master cylinder pressure is not equal to or greater than the first threshold value (step SB5: NO), the count of the counter 79 is decremented (step SB9), and the process returns to step SB1.

[0048] Returning to the explanation of step SB7, if the count of the counter 79 does not satisfy the assist start condition (step SB7: NO), the process returns to step SB1.

[0049] Here, in the flowchart, the master cylinder may be the rear brake master cylinder 31. In this case, the assist start condition is the second assist start condition. The first assist condition and the second assist condition may be the same or different. If the first assist condition and the second assist condition are different, it is desirable that the first frequency, which is the first assist start condition, be greater than the second frequency, which is the second assist start condition.

[0050] The above-described embodiment illustrates one aspect of the present invention. The present invention is not limited to the above embodiment, and details of the configuration may be modified as appropriate. The processing units in the flowcharts shown in FIGS. 6 and 8 are divided according to the main processing content to facilitate understanding of the processing of the brake control device 59, and the present invention is not limited by the manner in which the processing units are divided or the names of the processing units. The operations in FIGS. 6 and 8 may be divided into more processing units depending on the processing content, or one processing unit may be divided so that it includes more processes. Furthermore, the processing order of the above flowcharts is not limited to the example shown in the drawings.

[0051] [Configurations Supported by the Above-described Embodiments] The above-described embodiments support the following configurations.

[0052] (Configuration 1) A braking force control device for a moving body that, when an assist start condition for brake assist is satisfied, executes brake assist control in a braking device to generate a braking force equal to or greater than the braking force corresponding to the operation of a brake operator, the braking force control device comprising: a determination unit that compares an increase rate of a predetermined value related to the braking device with a predetermined first threshold value, and the assist start condition is determined based on the frequency at which the determination unit determines that the first threshold value has been exceeded. This makes it possible to perform braking force control in which brake assist control is difficult to perform when the driver does not intend to make a sudden stop, and brake assist control is performed when the driver requires a sudden stop.

[0053] (Configuration 2) The braking force control device according to Configuration 1, comprising: a measurement unit that measures a predetermined value related to the braking device; a calculation unit that calculates and obtains an increase rate of the predetermined value; a determination unit that compares the increase rate of the predetermined value measured by the measurement unit with a predetermined first threshold; and a counting unit that measures the frequency with which the determination unit determines that the increase rate of the predetermined value has become equal to or greater than the first threshold within a predetermined period. This makes it possible to perform braking force control in which brake assist control is unlikely to be performed when the driver does not intend to make a sudden stop, and brake assist control is performed when the driver requires a sudden stop.

[0054] (Configuration 3) The braking force control device according to Configuration 1 or 2, wherein the predetermined value related to the braking device is the master cylinder pressure of the braking device. This makes it easier to distinguish between an increase in master cylinder pressure when the driver does not intend to make an emergency stop and an increase in master cylinder pressure when the driver needs to make an emergency stop, making it easier to execute brake assist control at a timing appropriate for the driver.

[0055] (Configuration 4) The braking force control device according to Configuration 1 or 2, wherein the predetermined value is the operation amount of the brake operator. This makes it easier to distinguish between an increase in the operation amount of the brake operator when the driver does not intend to stop and an increase in the operation amount of the brake operator when the driver needs to make an emergency stop, and makes it easier to execute brake assist control at a timing appropriate for the driver.

[0056] (Configuration 5) The braking force control device according to Configuration 3, wherein the assist start condition is determined based on the frequency of occurrence when the master cylinder pressure is between a predetermined lower threshold and a predetermined upper threshold. This makes it possible to perform braking force control in which the brake assist control is unlikely to be performed when the driver does not intend to make a sudden stop, but the brake assist control is performed when the driver requires a sudden stop.

[0057] (Configuration 6) The braking force control device according to Configuration 1, wherein the moving body is a saddle-ride type vehicle having front wheels and rear wheels, the front wheels and the rear wheels are provided with a front wheel braking device and a rear wheel braking device, respectively, and a first assist start condition for starting the brake assist control for the front wheel braking device is different from a second assist start condition for starting the brake assist control for the rear wheel braking device. By making the conditions for starting the brake assist different between the front wheel braking device and the rear wheel braking device, it is possible to achieve brake assist control that is suited to the convenience of the driver.

[0058] (Configuration 7) The braking force control device according to Configuration 6, characterized in that, when a first frequency, which is the first assist start condition, is compared with a second frequency, which is the second assist start condition, the first frequency is greater than the second frequency. The rear wheel braking device is often used by the driver to perform braking for posture control. Therefore, since brake assist control is less likely to be performed on the rear wheel braking device, brake assist control is less likely to be performed during braking associated with posture control, and the driver is less likely to feel uncomfortable.

[0059] (Configuration 8) The braking force control device according to Configuration 6 or 7, characterized in that the braking force of the front wheel braking device is instructed by a brake lever operated by the driver's hand, and the braking force of the rear wheel braking device is instructed by a brake pedal operated by the driver's leg. If the driver intends to make an emergency stop, there is a high possibility that the driver will grip the brake lever tightly. This makes it easy to distinguish between an operation that is considered to be a braking operation for an emergency stop and a braking operation for posture control using the brake pedal.

[0060] (Configuration 9) A saddle-ride type vehicle equipped with the braking force control device according to Configuration 1 or Configuration 2. This realizes a saddle-ride type vehicle in which brake assist control is unlikely to be executed when the driver does not intend to make an emergency stop, and in which brake assist control is executed when the driver needs to make an emergency stop.

[0061] REFERENCE SIGNS LIST 10 Saddle-ride type vehicle (mobile body) 13 Front wheel 15 Rear wheel 36, 49A Brake pedal 38, 49B Brake lever 41 Braking device 49 Brake operator 51 Front brake (front wheel braking device) 53 Rear brake (rear wheel braking device) 59 Braking control device 61 Pressurizing module 73 Measuring unit 75 Calculating unit 77 Determining unit 79 Counter (counting unit) 81 Pressurizing module control unit 100 Time change of master cylinder pressure 150 First threshold

Claims

1. A braking force control device (59) that executes braking assist control to generate a braking force greater than or equal to the braking force corresponding to the operation of a brake operator (49) in a moving body when the assist start condition of the braking assist is satisfied, wherein the moving body is a saddle-riding type vehicle (10) including front wheels (13) and rear wheels (15), and a front wheel braking device (51) and a rear wheel braking device (53) are respectively provided on the front wheels (13) and the rear wheels (15), a first assist start condition for starting the braking assist control for the front wheel braking device (51) is different from a second assist start condition for starting the braking assist control for the rear wheel braking device (53). A braking force control device characterized by the above.

2. The braking force control device according to claim 1, further comprising a determination unit (77) that compares an increase rate of a predetermined value related to the braking device (41) with a predetermined first threshold value, and the assist start condition is determined based on the frequency at which the determination unit (77) determines that the value is equal to or greater than the first threshold value. The braking force control device according to claim 1, characterized by the above.

3. A measurement unit (73) that measures a predetermined value related to the braking device; A calculation unit (75) that calculates and obtains an increase rate of the predetermined value; A determination unit (77) that compares the increase rate of the predetermined value measured by the measurement unit (73) with a predetermined first threshold value; A counting unit (79) that counts the frequency at which the determination unit (77) determines that the increase rate of the predetermined value is equal to or greater than the first threshold value within a predetermined period. The braking force control device according to claim 2, characterized by the above.

4. The braking force control device according to claim 2 or claim 3, wherein the predetermined value related to the braking device (41) is the master cylinder pressure of the braking device (41).

5. The braking force control device according to claim 2 or claim 3, wherein the predetermined value is the operation amount of the brake operator (49).

6. The braking force control device according to claim 4, wherein the assist start condition is determined based on the frequency that occurs when the master cylinder pressure is between a predetermined lower threshold value and a predetermined upper threshold value.

7. When comparing a first frequency that is the first assist start condition with a second frequency that is the second assist start condition, the first frequency is greater than the second frequency. The braking force control device according to claim 1, characterized by the above.

8. The front wheel braking device (51) is instructed of braking force by a brake lever (38) operated by a driver's hand, and the rear wheel braking device (53) is instructed of braking force by a brake pedal (36) operated by the driver's foot. The braking force control device according to claim 1 or claim 7, characterized by the above.

9. A saddle-riding type vehicle equipped with the braking force control device (59) according to any one of claims 1 to 3.