Controller and electric motorcycle

Abstract

The invention provides a controller (10) capable of realizing an electric motorcycle (100) in which a charge amount of a battery (7) by a regenerative brake can be improved while a reduction in stability of body behavior is suppressed. A controller (10) is a controller (10) that is mounted to an electric motorcycle (100) having a motor (5) as a drive source and that executes control to actuate the motor (5) as a regenerative brake and generate electricity. The controller (10) includes: an acquisition section that acquires measurement information on a measurement result by an inertial measurement unit (6) mounted to the electric motorcycle (100); and an execution section (12) that executes operation control of the regenerative brake on the basis of the measurement information.

Description

[0001] [Document name] Statement

[0002] [Title of invention] Control device and electric motorcycle

[0003] [Technical Field]

[0004]

[001] The present invention relates to a control device mounted on an electric motorcycle, and an electric motorcycle equipped with the control device.

[0005] [Background technology]

[0006]

[002] Conventionally, electric vehicles using a motor as a drive source are known to operate the motor as a regenerative brake to generate electricity and charge the battery (see, for example, Patent Document 1). In the motorcycle field, an electric motorcycle has also been proposed in which the motor, which is the drive source, operates as a regenerative brake to generate electricity and charge the battery.

[0007] [Prior art documents]

[0008] [Patent documents]

[0009]

〇 0 0 3

[0010] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-143274

[0011] Summary of the Invention

[0012] [Problem to be solved by the invention]

[0013] [0 0 4] Normally, the braking force used to brake an electric motorcycle is mainly generated by friction braking. As a result, with conventional electric motorcycles, there are few opportunities to use the motor, which is the drive source, as a regenerative brake, and the battery cannot be fully charged. In this case, it is possible to actively use regenerative braking to ensure the battery is charged. However, because electric motorcycles experience a large change in vehicle body position when braking, excessive use of regenerative braking could result in unstable vehicle behavior.

[0014]

[0005] The present invention has been made in light of the above-mentioned problems, and has a first object to provide a control device that can realize an electric motorcycle that can improve the amount of charge to the battery through regenerative braking while suppressing a decrease in the stability of the vehicle body behavior. Also, a second object of the present invention is to provide an electric motorcycle equipped with such a control device.

[0015] [Means for solving the problem]

[0016]

[0006] The control device according to the present invention is mounted on an electric motorcycle using a motor as a drive source, and operates the motor as a regenerative brake to generate electricity. The control device comprises an acquisition unit that acquires measurement information relating to the measurement results of an inertial measurement device mounted on the electric motorcycle, and an execution unit that controls the operation of the regenerative brake based on the measurement information.

[0017]

[0007] Furthermore, the electric motorcycle according to the present invention is equipped with the control device according to the present invention.

[0018] [Effects of the Invention]

[0019]

[0008] The control device according to the present invention controls the operation of the regenerative brake based on measurement information relating to the measurement results from an inertial measurement unit mounted on the electric motorcycle. This makes it possible to improve the amount of charge to the battery by regenerative braking while suppressing a decrease in the stability of the vehicle behavior of the electric motorcycle.

[0020] [Brief explanation of the drawings]

[0021]

〇 0 0 9

[0022] [Fig. 1] A diagram showing the configuration of an electric motorcycle equipped with a control device according to an embodiment of the present invention. [Fig. 2] A block diagram for explaining the control device according to an embodiment of the present invention.

[0023] [Figure 3] A diagram for explaining an example of regeneration suppression control performed by the execution unit of a control device related to an embodiment of the present invention.

[0024] [Figure 4] A diagram for explaining an example of regeneration suppression control performed by the execution unit of a control device related to an embodiment of the present invention.

[0025] [Figure 5] A diagram for explaining an example of regeneration promotion control performed by the execution unit of a control device related to an embodiment of the present invention.

[0026] [Figure 6] A diagram for explaining an example of regeneration promotion control performed by the execution unit of a control device related to an embodiment of the present invention.

[0027] [Figure 7] A diagram for explaining an example of adjustment control performed by the execution unit of a control device related to an embodiment of the present invention.

[0028] [Figure 8] A diagram for explaining an example of adjustment control performed by the execution unit of the control device related to an embodiment of the present invention.

[0029] [Figure 9] A flow chart for explaining the operation when a control device according to an embodiment of the present invention performs operational control of regenerative braking.

[0030] DETAILED DESCRIPTION OF THE INVENTION

[0031]

[0010] An example of a control device and electric motorcycle according to the present invention will be described below with reference to the drawings. The following describes an example in which the control device according to the present invention is mounted on a motorcycle, which is an example of an electric motorcycle. However, the electric motorcycle according to the present invention is not limited to motorcycles, and may be any motorcycle that uses a motor as a drive source. Motorcycles include, for example, motorcycles, three-wheeled motor vehicles, motorbikes, scooters, etc.

[0032]

[0011] Furthermore, the configurations, operations, etc. described below are merely examples, and the present invention is not limited to such configurations, operations, etc. Furthermore, in each drawing, the same or similar members or parts may be designated by the same reference numerals or may not be designated by the reference numerals. Furthermore, detailed structures may be appropriately simplified or omitted from the illustration.

[0033]

[0012] Embodiment <Configuration of Electric Motorcycle and Control Device> The following describes the configuration of an electric motorcycle according to this embodiment and the control device according to this embodiment.

[0034]

[0013] Figure 1 shows the configuration of an electric motorcycle equipped with a control device according to an embodiment of the present invention. The electric motorcycle 100 is, for example, a motorcycle. The electric motorcycle 100 includes a body 1, a handlebar 2 rotatably held by the body 1, a front wheel 3 rotatably held together with the handlebar 2 by the body 1, and a rear wheel 4 rotatably held by the body 1. The electric motorcycle 100 also includes a motor 5 as a drive source and a battery 7 that supplies power to the motor 5.

[0035]

[0014] In the electric motorcycle 100 according to this embodiment, the motor 5 drives the rear wheel 4. That is, in the electric motorcycle 100 according to this embodiment, the rear wheel 4 is the drive wheel. This is not a limitation, and the electric motorcycle 100 may have the front wheel 3 as the drive wheel. Also, in the electric motorcycle 100 according to this embodiment, the motor 5 is an in-wheel motor housed in the drive wheel. However, this is not a limitation, and the motor 5 may be provided outside the drive wheel and connected to the drive wheel by a transmission mechanism such as a chain.

[0036]

[0015] The electric motorcycle 100 also includes an inertial measurement unit 6 and a control unit 10. In other words, the electric motorcycle 100 is equipped with an inertial measurement unit 6 and a control unit 10. The inertial measurement unit 6 measures at least acceleration in one axis direction or angular velocity around one axis. In this embodiment, it is configured to measure acceleration in three mutually orthogonal axis directions and angular velocity around these three axes. The control unit 10 controls the drive of the motor 5. When the motor 5, which is the drive source, is not driving the rear wheel 4, the control unit 10 operates the motor 5 as a regenerative brake to generate electricity and charge the battery 7. The control unit 10 may be a single unit or may be divided into multiple units. Furthermore, part or all of the control device 10 may be composed of, for example, a microcomputer, a microprocessor unit, etc., or may be composed of updatable firmware, etc., or may be a program module, etc., that is executed by instructions from a CPU, etc.

[0037]

[0016] The following describes the configuration of the control device 10 that is used when operating the motor 5 as a regenerative brake. FIG. 2 is a block diagram for explaining a control device according to an embodiment of the present invention. The control device 10 has, as functional units, an acquisition unit 11 and an execution unit 12. The acquisition unit 11 is a functional unit that acquires measurement information related to the measurement results by the inertial measurement unit 6. The measurement information related to the measurement results by the inertial measurement unit 6 is, for example, a physical quantity measured by the inertial measurement unit 6. Furthermore, for example, the measurement information related to the measurement results by the inertial measurement unit 6 is a physical quantity calculated based on the physical quantity measured by the inertial measurement unit 6. The execution unit 12 is a functional unit that executes operation control of the regenerative brake based on the measurement information acquired by the acquisition unit 11.

[0038]

[0017] In this embodiment, the inertial measurement unit 6 is provided in the control device 10. The inertial measurement unit 6 is housed in a housing 15 provided in the control device 10 together with the acquisition unit 11 and the execution unit 12. In detail, for example, the inertial measurement unit 6 is housed in the housing 15 together with a board on which the components constituting the acquisition unit 11 and the execution unit 12 are mounted. Also, for example, the inertial measurement unit 6 is mounted on a board on which the components constituting the acquisition unit 11 and the execution unit 12 are mounted, and is housed in the housing 15.

[0039]

[0018] By storing the inertial measurement unit 6, the acquisition unit 11, and the execution unit 12 in the housing 15, there is no need to provide a space on the electric motorcycle 100 for installing the inertial measurement unit 6 separately from the control device 10. Therefore, storing the inertial measurement unit 6, the acquisition unit 11, and the execution unit 12 in the housing 15 makes it easier to install them on the electric motorcycle 100. Furthermore, by storing the inertial measurement unit 6, the acquisition unit 11, and the execution unit 12 in the housing 15, they can be installed on the electric motorcycle 100 in a single operation. This reduces the manufacturing cost of the electric motorcycle 100. Furthermore, by storing the inertial measurement unit 6, the acquisition unit 11, and the execution unit 12 in the housing 15, it is possible to improve the communication speed between the inertial measurement unit 6 and the acquisition unit 11. Furthermore, by storing the inertial measurement unit 6, the acquisition unit 11, and the execution unit 12 in the housing 15, it is possible to prevent noise from entering the signal sent from the inertial measurement unit 6 to the acquisition unit 11, improving the communication quality between the inertial measurement unit 6 and the acquisition unit 11. Furthermore, by storing the inertial measurement unit 6, the acquisition unit 11, and the execution unit 12 in the housing 15, it is possible to prevent the communication line between the inertial measurement unit 6 and the acquisition unit 11 from being cut off. Of course, the inertial measurement unit 6 may be provided on the electric motorcycle 100 separately from the control unit 10. In this case, the inertial measurement unit 6 may be a dedicated inertial measurement unit that communicates with the control unit 10, an inertial measurement unit that also communicates with other control units, or an inertial measurement unit provided in other control units.

[0040]

[0019] Conventionally, electric motorcycles have a limited range due to limitations on the size of the battery that can be installed. For this reason, conventional electric motorcycles have been proposed that operate the motor (drive source) as a regenerative brake to generate electricity and charge the battery when the motor is not driving the wheels. However, the braking force when braking an electric motorcycle is usually generated mainly by friction braking. For this reason, conventional electric motorcycles have little opportunity to use the motor (drive source) as a regenerative brake, and the battery cannot be sufficiently charged. Therefore, it is considered to actively use regenerative braking to ensure the battery is charged. However, because the distance between the front and rear wheels of an electric motorcycle is shorter than that of an electric four-wheeled vehicle, the amount of change in the vehicle body position when braking force is generated is large. For this reason, excessive use of regenerative braking on an electric motorcycle can cause the vehicle's behavior to become unstable. As such, there has been a demand for an electric motorcycle that can improve the cruising range while preventing a decrease in the stability of the vehicle's behavior.

[0041]

[0020] Therefore, the control device 10 according to this embodiment controls the operation of the regenerative brake based on measurement information relating to the measurement results obtained by the inertial measurement unit 6 mounted on the electric motorcycle 100. The inertial measurement unit 6 can measure physical quantities related to the vehicle body behavior of the electric motorcycle 100. Therefore, by mounting the control device 10 according to this embodiment on the electric motorcycle 100, it is possible to improve the amount of charge to the battery by regenerative braking while suppressing a decrease in the stability of the vehicle body behavior, thereby realizing an electric motorcycle 100 with an improved cruising range. Below, several examples of regenerative brake operation control performed by the execution unit 12 of the control device 10 are shown. Note that when explaining examples of regenerative brake operation control below, the braking force generated by the regenerative brake may sometimes be simply referred to as regenerative braking force.

[0042] [ 0 0 2 1 ]

[0043] <Regeneration suppression control> The execution unit 12 executes regeneration suppression control as regenerative braking operation control based on the measurement information acquired by the acquisition unit 11. Regeneration suppression control is, for example, control that prevents the generation of regenerative braking force when the electric motorcycle 100 is traveling on an uphill road surface 200. Also, for example, regenerative suppression control is control that suppresses the regenerative braking of the motor 5 so that the regenerative braking force when the electric motorcycle 100 is traveling on an uphill road surface 200 is smaller than the regenerative braking force when the electric motorcycle 100 is traveling on a road surface 200 that is not uphill.

[0044]

[0022] Note that there is a conventional technique for obtaining the gradient of the road surface on which a motorcycle is traveling using the measurement results of an inertial measurement unit (IMU) mounted on the motorcycle. The acquisition unit 11 of the control device 10 uses, for example, this conventional technique to obtain the gradient of the road surface 200 on which the electric motorcycle 100 is traveling. The execution unit 12 then uses the gradient of the road surface 200 obtained by the acquisition unit 11 for regeneration suppression control.

[0045]

[0023] When electric motorcycle 100 is traveling on an uphill road surface 200, if the regenerative braking force of motor 5 is too large, the speed of electric motorcycle 100 will quickly decrease. As a result, the driver of electric motorcycle 100 will frequently operate an accelerator control such as an accelerator lever to drive rear wheel 4 with motor 5. As a result, when electric motorcycle 100 is traveling on an uphill road surface 200, if the regenerative braking force is too large, the power stored in battery 7 will be consumed significantly. On the other hand, when the electric motorcycle 100 is traveling on an uphill road surface 200, the execution unit 12 executes regeneration suppression control, which suppresses a decrease in the speed of the electric motorcycle 100 and reduces the time that the motor 5 drives the rear wheel 4. Therefore, when the electric motorcycle 100 is traveling on an uphill road surface 200, the execution unit 12 executes regeneration suppression control, which suppresses consumption of the power stored in the battery 7 and improves the cruising range of the electric motorcycle 100.

[0046]

[0024] Here, as regeneration suppression control, when the electric motorcycle 100 is traveling on an uphill road surface 200, in order to suppress the regenerative braking of the motor 5 so that the regenerative braking force is smaller than the regenerative braking force when the electric motorcycle 100 is traveling on a road surface 200 that is not uphill, the execution unit 12 executes regeneration suppression control, for example, as shown in Figs. 3 and 4 described below.

[0047]

[0025] Figure 3 is a diagram illustrating an example of regenerative braking control executed by the execution unit of a control device according to an embodiment of the present invention. The vertical axis G in Figure 3 indicates the gradient of the road surface 200. The circle on the vertical axis G indicates that the road surface 200 is neither an upslope nor a downslope, i.e., the road surface 200 is horizontal. The vertical axis G indicates that the upward gradient of the road surface 200 increases as one moves from the circle toward the top of the page. The horizontal axis RB in Figure 3 indicates the magnitude of the regenerative braking force generated by the motor 5. The horizontal axis RB indicates that the regenerative braking force increases as one moves from the circle toward the right of the page.

[0048]

[0026] As shown in Figure 3, for example, in regeneration suppression control, the execution unit 12 increases the degree of suppression of regenerative braking as the upward gradient based on the measurement information acquired by the acquisition unit 11 increases. In other words, in regeneration suppression control, the execution unit 12 reduces the regenerative braking force of the motor 5 as the upward gradient of the road surface 200 on which the electric motorcycle 100 is traveling, which is obtained based on the measurement information acquired by the acquisition unit 11, increases. By performing regeneration suppression control in this way, the execution unit 12 can finely change the regenerative braking force of the motor 5 according to the upward gradient of the road surface 200, improving the control accuracy of the regeneration suppression control. Note that in Figure 3, the regenerative braking force of the motor 5 decreases linearly as the upward gradient of the road surface 200 increases. Without being limited to this, the regenerative braking force of the motor 5 may decrease in a curved manner or in a stepwise manner as the upward gradient of the road surface 200 increases.

[0049]

[0027] Figure 4 is a diagram illustrating an example of regeneration suppression control executed by the execution unit of the control device according to the embodiment of the present invention. The vertical axis G in Figure 4 is the same as the vertical axis G shown in Figure 3. The horizontal axis RB in Figure 4 is the same as the horizontal axis RB shown in Figure 3. As shown in Figure 4, for example, in regeneration suppression control, when the uphill gradient of the road surface 200 on which the electric motor cycle 100 is traveling is equal to or greater than a specified gradient G1, the execution unit 12 sets the regenerative braking force of the motor 5 to a value smaller than the regenerative braking force of the motor 5 when the electric motor cycle 100 is traveling on a road surface 200 that is not uphill. By having the execution unit 12 perform regeneration suppression control in this way, the regeneration suppression control becomes easier to control.

[0050] [ 0 0 2 8 ]

[0051] <Regeneration Promotion Control> The execution unit 12 executes regeneration promotion control as regenerative braking operation control based on the measurement information acquired by the acquisition unit 11. Regeneration promotion control is, for example, control that generates regenerative braking force when the electric motorcycle 100 is traveling on a downwardly sloping road surface 200. Also, for example, regeneration promotion control is control that promotes regenerative braking of the motor 5 so that the regenerative braking force when the electric motorcycle 100 is traveling on a downwardly sloping road surface 200 is greater than the regenerative braking force when the electric motorcycle 100 is traveling on a road surface 200 that is not downwardly sloping. Note that the acquisition unit 11 of the control device 10 acquires the gradient of the road surface 200 on which the electric motorcycle 100 is traveling, for example, as described above. The execution unit 12 uses the gradient of the road surface 200 acquired by the acquisition unit 11 for regeneration promotion control.

[0052]

[0029] When the electric motorcycle 100 is traveling on a downward slope road surface 200, even if the regenerative braking force of the motor 5 is increased, the body behavior of the electric motorcycle 100 is unlikely to become unstable. For this reason, when the electric motorcycle 100 is traveling on a downward slope road surface 200, In such a case, the smaller the turning radius of the electric motorcycle 100, the greater the turning degree. Also, for example, if there are multiple electric motorcycles 100 turning with the same turning radius, the faster the electric motorcycle 100 is turning, the greater the turning degree. The turning degree of the electric motorcycle 100 is determined by the acquisition unit 11, for example, based on a physical quantity that is correlated with the turning degree of the electric motorcycle 100 measured by the inertial measurement unit 6. The turning degree of the electric motorcycle 100 may also be determined by the execution unit 12. Also, the physical quantity that is correlated with the turning degree of the electric motorcycle 100 measured by the inertial measurement unit 6 is, for example, the lateral acceleration, roll angle, or yaw angle of the electric motorcycle 100. Furthermore, for example, a physical quantity that is correlated with the turning angle of the electric motorcycle 100 measured by the inertial measurement unit 6 is a physical quantity that can be converted into, for example, the lateral acceleration, roll angle, or yaw angle of the electric motorcycle 100.

[0053]

[0036] The greater the turning angle of the electric motorcycle 100, the greater the roll angle of the electric motorcycle 100. On the other hand, the greater the braking force acting on the electric motorcycle 100 while it is turning, the greater the force that tries to raise the electric motorcycle 100 in the roll direction. For this reason, when the electric motorcycle 100 is turning, the execution unit 12 executes adjustment control, which makes it possible to generate power at the motor 5 while suppressing a decrease in the stability of the vehicle behavior of the electric motorcycle 100. In other words, when the electric motorcycle 100 is turning, the execution unit 12 executes adjustment control, which makes it possible to increase the amount of charge to the battery through regenerative braking while suppressing a decrease in the stability of the vehicle behavior of the electric motorcycle 100, and thereby improve the cruising range of the electric motorcycle 100.

[0054]

[0037] Here, as adjustment control, when the regenerative braking of the motor 5 is suppressed so that the regenerative braking force when the electric motorcycle 100 is turning is smaller than the regenerative braking force when the electric motorcycle 100 is not turning, for example, the execution unit 12 executes adjustment control as shown in Figs. 7 and 8 described later.

[0055]

[0038] Fig. 7 is a diagram illustrating an example of adjustment control executed by the execution unit of a control device according to an embodiment of the present invention. The vertical axis R in Fig. 7 represents the turning angle of the electric motorcycle 100. The circle on the vertical axis R indicates that the electric motorcycle 100 is not turning. The vertical axis R indicates that the turning angle of the electric motorcycle 100 increases as one moves from the circle toward the top of the page. The horizontal axis RB in Fig. 7 is the same as the horizontal axis RB shown in Fig. 3.

[0056]

[0039] As shown in Fig. 7, for example, in adjustment control, the execution unit 12 increases the degree of regenerative braking suppression as the turning angle of the electric motorcycle 100 increases. In other words, in adjustment control, the execution unit 12 reduces the regenerative braking force of the motor 5 as the turning angle of the electric motorcycle 100 increases. By performing adjustment control in this way, the execution unit 12 can finely change the regenerative braking force of the motor 5 according to the turning angle of the electric motorcycle 100, improving the control accuracy of the adjustment control. Note that in Fig. 7, the regenerative braking force of the motor 5 decreases linearly as the turning angle of the electric motorcycle 100 increases. However, the regenerative braking force of the motor 5 may decrease in a curved manner or in a stepwise manner as the turning angle of the electric motorcycle 100 increases.

[0057]

[0040] Fig. 8 is a diagram illustrating an example of adjustment control executed by the execution unit of the control device according to the embodiment of the present invention. The vertical axis R in Fig. 8 is the same as the vertical axis R shown in Fig. 7. The horizontal axis RB in Fig. 8 is the same as the horizontal axis RB shown in Fig. 7. As shown in Fig. 8, for example, in adjustment control, when the turning angle of the electric motorcycle 100 is equal to or greater than the specified value R1, the execution unit 12 sets the regenerative braking force of the motor 5 to a value smaller than the regenerative braking force of the motor 5 when the turning angle of the electric motorcycle 100 is smaller than the specified value R1. By having the execution unit 12 perform adjustment control in this way, the adjustment control becomes easier.

[0058]

[0041] <Operation of the Control Device> The operation of the control device according to this embodiment when it controls the operation of the regenerative brake will be described.

[0059]

[0042] Fig. 9 is a flow diagram illustrating the operation of a control device according to an embodiment of the present invention when it executes regenerative braking operation control. When the start conditions for executing regenerative braking operation control are met, the control device 10 starts the control shown in Fig. 9 in step S1. The start condition is, for example, when the electric motorcycle 100 is in the ignition-on state (power-on state). Step S2 after step S1 is an acquisition step. In step S2, the acquisition unit 11 of the control device 10 acquires measurement information related to the measurement results obtained by the inertial measurement unit 6. Step S3 after step S2 is a determination step in which it is determined whether or not to execute regenerative braking operation control. In step S3, if the motor 5 is not driving the rear wheel 4, the execution unit 12 of the control device 10 determines that regenerative braking operation control will be executed, and proceeds to step S4. On the other hand, in step S3, if the rear wheels 4 are driven by the motor 5, the execution unit 12 of the control device 1 determines that regenerative brake operation control will not be executed, and proceeds to step S5.

[0060]

[0043] Step S4 is an execution step for executing regenerative braking operation control. In step S4, the execution unit 12 executes regenerative braking operation control based on the measurement information acquired by the acquisition unit 11. For example, the execution unit 12 executes regenerative suppression control or regenerative acceleration control according to the gradient of the road 200 on which the electric motorcycle 100 is traveling. Also, for example, the execution unit 12 executes adjustment control according to the turning angle of the electric motorcycle 100. Also, when the electric motorcycle 100 is traveling on a level road surface 200 and is not turning, the execution unit 12 controls the regenerative braking force of the motor 5 to a specified regenerative braking force, for example.

[0061]

[0044] Step S5 is an end determination step. In step S5, the control device 10 determines whether or not the end condition of the control shown in Fig. 9 has been met. The end condition is, for example, when the electric motor cycle 100 is in the ignition-off state (power-off state). If it is determined in step S5 that the end condition of the control shown in Fig. 9 has been met, the control device 10 proceeds to step S6 and ends the control shown in Fig. 9. On the other hand, if it is determined in step S5 that the end condition of the control shown in Fig. 9 has not been met, the control device 10 returns to step S2.

[0062]

[0045] <Effects of the Control Device> The control device 10 according to this embodiment is mounted on an electric motorcycle 100 using a motor 5 as a drive source, and controls the motor 5 to operate as a regenerative brake to generate electricity. The control device 10 includes an acquisition unit 11 that acquires measurement information relating to measurement results from an inertial measurement unit 6 mounted on the electric motorcycle 100, and an execution unit 12 that controls the operation of the regenerative brake based on the measurement information.

[0063]

[0046] The inertial measurement unit 6 can measure physical quantities related to the vehicle body behavior of the electric motorcycle 100. Therefore, by controlling the operation of the regenerative brake based on the measurement information from the inertial measurement unit 6, the control device 10 can improve the amount of charge to the battery by regenerative braking while suppressing a decrease in the stability of the vehicle body behavior of the electric motorcycle 100, and can improve the cruising range.

[0047] Although an example of a control device according to the present invention has been described above in the embodiment, the control device according to the present invention is not limited to the description of the embodiment. For example, the control device according to the present invention may be implemented with only a part of the description of the embodiment.

[0064] [Explanation of symbols]

[0065] [ 0 0 4 8 ]

[0066] ! Fuselage, 2 Handle, 3 Front wheel, 4 Rear wheel, 5 Motor, 6 Inertial measurement unit, 7 Battery, 10 Control unit, 11 Acquisition unit, 12 Execution unit, 15 Housing, 100 Electric motorcycle, 200 Road surface.

Claims

[Document name] Scope of claims

1. A control device (10) that is mounted on an electric motorcycle (100) using a motor (5) as a drive source and controls the motor (5) to operate as a regenerative brake to generate electricity, the control device (10) comprising: an acquisition unit (11) that acquires measurement information relating to measurement results by an inertial measurement unit (6) mounted on the electric motorcycle (100), and an execution unit (12) that executes operation control of the regenerative brake based on the measurement information.

2. The control device (10) according to claim 1, wherein the execution unit (12) is configured to execute, as the operation control, a regenerative suppression control that suppresses the regenerative braking so that, when the electric motorcycle (100) is traveling on a road surface having an uphill slope, a regenerative braking force generated by the regenerative braking is not generated, or the regenerative braking force is smaller than the regenerative braking force when the electric motorcycle (100) is traveling on a road surface that is not uphill, based on the measurement information.

3. The control device (10) according to claim 2, wherein the execution unit (12) is configured to increase a degree of suppression of the regenerative braking in the regenerative suppression control as an upward gradient based on the measurement information becomes larger.

4. The control device (10) according to claim 2, wherein the execution unit (12) is configured to, in the regenerative suppression control, set the regenerative braking force to a value smaller than the regenerative braking force in a state in which the electric motorcycle (100) is traveling on a road surface that has no upward gradient (G1) or more.

5. The control device (10) according to any one of claims 1 to 4, wherein the execution unit (12) is configured to execute, as the operation control, a regenerative promotion control for promoting the regenerative braking so as to generate a regenerative braking force, which is a braking force generated by the regenerative brake, when the electric motorcycle (100) is traveling on a road surface with a downward slope, or to increase the regenerative braking force compared to the regenerative braking force when the electric motorcycle (100) is traveling on a road surface that is not a downward slope, based on the measurement information.

6. The control device (10) according to claim 5, wherein the execution unit (12) is configured to increase a degree of promotion of the regenerative braking in the regenerative promotion control as a downward gradient based on the measurement information becomes larger. [Claim ?] The control device (10) according to claim 5, wherein, in the regeneration promotion control, the execution unit (12) is configured to set the regenerative braking force to a value larger than the regenerative braking force in a state in which the electric motorcycle (100) is traveling on a road surface that has a downward gradient equal to or greater than a specified gradient (G2).

8. The control device (10) according to any one of claims 1 to 4, wherein the execution unit (12) is configured to execute, as the operation control, an adjustment control for adjusting a regenerative braking force, which is a braking force generated by the regenerative brake, in accordance with a turning angle of the electric motorcycle (100) identified based on the measurement information.

9. The execution unit (12) executes, in the adjustment control, the electric motor based on the measurement information. The control device (10) according to claim 8, wherein the control device (10) is configured to suppress the regenerative braking so that the regenerative braking force is not generated when the electric motorcycle (100) is turning, or so that the regenerative braking force is smaller than the regenerative braking force when the electric motorcycle (100) is not turning.

10. The control device (10) according to claim 9, wherein the execution unit (12) is configured to increase a degree of suppression of the regenerative braking force as the turning angle increases in the adjustment control.

11. The control device (10) according to claim 9, wherein the execution unit (12) is configured to set the regenerative braking force to a value smaller than a value in a state in which the turning angle is smaller than the specified value (R1) during the adjustment control.

12. A method and apparatus for detecting a position of an object of an inertial measurement unit (6) and a housing (15), the inertial measurement unit (6) being mounted in the housing together with the acquisition unit (11) and the execution unit (12). The control device (10) according to any one of claims 1 to 4, which is housed in a control device (15).

13. An electric motorcycle (100) equipped with the control device (10) according to any one of claims 1 to 4.

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