Wheel slip control apparatus for a straddle-type vehicle and control method

Abstract

The present invention achieves a control device and a control method capable of normalizing slip control for a straddle-type vehicle. In the control device and the control method according to the present invention, an execution unit of the control device executes a slip control in which the following are performed: a front wheel pressure-reducing operation in which a front wheel relaxation valve (62a), which is energized and brought to an open state to reduce the brake fluid pressure of a front wheel (2), is returned to a closed state after being put into the open state from the closed state; and a rear wheel pressure-reducing operation in which a rear wheel relaxation valve (62b), which is energized and put into an open state to reduce the brake fluid pressure of a rear wheel (3), is returned to a closed state after being put into the open state from the closed state. In the slip control, the execution unit executes a prohibiting operation, which prohibits bringing the rear wheel relaxation valve (62b) to the open state, at least at one time point within a valve-closing period, which is the period from when the front wheel relaxation valve (62a) begins to close until said valve finishes closing at the end of the front wheel pressure-reducing operation.

Description

[0001] [Document name] Statement

[0002] [Title of invention] Wheel slip control device and control method for saddle-ride type vehicle

[0003] [Technical Field]

[0004]

[001] This disclosure relates to a control device and a control method that can optimize slip control in a saddle-ride type vehicle.

[0005] [Background technology]

[0006]

[0002] Conventionally, there has been a control device for controlling the behavior of a saddle-ride type vehicle that can perform slip control to control the slip state of the wheels by controlling the pressure of the brake fluid in the wheels of the saddle-ride type vehicle. For example, as disclosed in Patent Document 1, there is a slip control in which a release valve that reduces the pressure of the brake fluid in the wheel is changed from a closed state to an open state, thereby reducing the braking force acting on the wheel.

[0007] [Prior art document]

[0008] [Patent Documents]

[0009] [ 0 0 0 3 ]

[0010] [Patent Document 1] JP 2018-024324 A

[0011] [Summary of the Invention]

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

[0013]

[0004] As described above, in slip control, a pressure reducing operation is performed to reduce the pressure of the brake fluid by driving the release valve. In particular, in saddle-ride vehicles, pressure reducing operations may be performed separately for the front and rear wheels. Here, in saddle-ride vehicles, the installation space for devices is limited compared to four-wheeled automobiles, etc., so the front wheel release valve used for the pressure reducing operation for the front wheels and the rear wheel release valve used for the pressure reducing operation for the rear wheels may be installed in close locations. In this case, due to the influence of a magnetic field generated by driving one release valve, a situation may arise in which the behavior of the other release valve deviates from the expected behavior. Specifically, if a magnetic field is generated by driving one release valve, it may take longer to close the other release valve, and the amount of brake fluid reduced by the other release valve may be greater than expected. Such events can make it difficult to properly implement slip control.

[0014]

[0005] The present invention has been made in light of the above-mentioned problems, and provides a control device and a control method that can optimize slip control in a saddle-ride type vehicle.

[0015] [Means for solving the problem]

[0016]

[0006] A control device according to the present invention is a control device for controlling the behavior of a saddle-ride type vehicle, and includes an execution unit that executes slip control to perform a front wheel pressure reduction operation in which a front wheel release valve, which is energized to open and reduces the pressure of brake fluid in a front wheel of the saddle-ride type vehicle, is changed from a closed state to an open state and then returned to the closed state, and a rear wheel pressure reduction operation in which a rear wheel release valve, which is energized to open and reduces the pressure of brake fluid in a rear wheel of the saddle-ride type vehicle, is changed from a closed state to an open state and then returned to the closed state, and the execution unit executes a prohibition operation to prohibit the rear wheel release valve from opening during the slip control, at least at one point in time during a valve closing period, which is a period from when the front wheel release valve starts to close to when it finishes closing, at the end of the front wheel pressure reduction operation.

[0017]

[0007] A control method according to the present invention is a control method for controlling the behavior of a saddle-ride type vehicle, in which an execution unit of a control device executes slip control in which a front wheel pressure reducing operation of a front wheel release valve, which is energized to open and reduces the pressure of brake fluid in a front wheel of the saddle-ride type vehicle, is changed from a closed state to an open state and then returned to the closed state, and a rear wheel pressure reducing operation of a rear wheel release valve, which is energized to open and reduces the pressure of brake fluid in a rear wheel of the saddle-ride type vehicle, is changed from a closed state to an open state and then returned to the closed state, and in the slip control, the execution unit executes a prohibiting operation to prohibit the rear wheel release valve from becoming an open state at least at one point in time during a valve closing period, which is a period from when the front wheel release valve starts to close to when it finishes closing, at the end of the front wheel pressure reducing operation.

[0018] [Effects of the Invention]

[0019]

[0008] In the control device and control method according to the present invention, an execution unit of the control device performs slip control in which a front wheel release valve, which is energized to open to reduce the pressure of the brake fluid in the front wheels of a saddle-ride type vehicle, is switched from a closed state to an open state and then returned to the closed state (front wheel pressure reduction operation), and a rear wheel release valve, which is energized to open to reduce the pressure of the brake fluid in the rear wheels of a saddle-ride type vehicle, is switched from a closed state to an open state and then returned to the closed state (rear wheel pressure reduction operation). In the slip control, the execution unit performs a prohibition operation to prohibit the rear wheel release valve from being opened, at least at one point in time during the valve closing period, which is the period from when the front wheel release valve starts to close to when it finishes closing, at the end of the front wheel pressure reduction operation. This suppresses the generation of a magnetic field caused by energization of the rear wheel release valve during the period when the front wheel release valve is closed when the front wheel pressure reduction operation is completed, thereby reducing the effect of the magnetic field on the front wheel release valve. This suppresses an increase in the amount of pressure reduction of the front wheel brake fluid during the front wheel pressure reduction operation, thereby optimizing slip control in saddle-ride type vehicles.

[0020] [Brief explanation of the drawings]

[0021] [ 0 0 0 9 ]

[0022] [Figure 1] A schematic diagram showing the general configuration of a saddle-type vehicle according to an embodiment of the present invention.

[0023] [Figure 2] A block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention.

[0024] [Figure 3] A schematic diagram showing the general configuration of a brake system for a saddle-type vehicle according to an embodiment of the present invention.

[0025] [Figure 4] A flowchart showing an example of the processing flow performed by a control device according to an embodiment of the present invention.

[0026] DETAILED DESCRIPTION OF THE INVENTION

[0027]

[0010] Hereinafter, a control device and a control method according to the present invention will be described with reference to the drawings.

[0028]

[0011] Although the following describes a control device used for a two-wheeled motorcycle (see saddle-ride vehicle 1 in Fig. 1), the vehicle controlled by the control device of the present invention may be a saddle-ride vehicle other than a two-wheeled motorcycle. A saddle-ride vehicle is a vehicle on which a rider straddles. Examples of saddle-ride vehicles include motorcycles (motorcycles and motor tricycles) and bicycles. Motorcycles include vehicles powered by engines and vehicles powered by electric motors. Examples of motorcycles include motorcycles, scooters, and electric scooters. A bicycle is a vehicle that can be propelled down the road by the rider's pedaling force applied to the pedals. Bicycles include standard bicycles, electrically assisted bicycles, and electric bicycles.

[0029]

[0012] In the following description, an engine (specifically, engine 11 in FIG. 1 described below) is installed as a drive source capable of outputting power for driving the drive wheels. However, a drive source other than an engine (for example, an electric motor) may be installed as the drive source, and multiple drive sources may be installed.

[0030]

[0013] 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.

[0031] [ 0 0 1 4 ]

[0032] In addition, a throttle valve is provided in the intake pipe of the engine 11, and the amount of air taken into the combustion chamber changes depending on the opening of the throttle valve.

[0033]

[0018] The hydraulic control unit 12 is a unit that controls the braking force acting on the wheels. For example, the hydraulic control unit 12 is provided on an oil passage connecting a master cylinder and a wheel cylinder, and includes components (such as a control valve) for controlling the brake hydraulic pressure of the wheel cylinder. The braking force acting on the wheels is controlled by controlling the operation of the components of the hydraulic control unit 12. Details of the brake system 10 including the hydraulic control unit 12 will be described later.

[0034]

[0019] The inertial measurement unit 13 is equipped with a three-axis gyro sensor and a three-directional acceleration sensor, and detects the attitude of the saddle-ride type vehicle 1. The inertial measurement unit 13 is provided, for example, on the body of the saddle-ride type vehicle 1. For example, the inertial measurement unit 13 detects the lean angle of the saddle-ride type vehicle 1 and outputs the detection result. The inertial measurement unit 13 may also detect other physical quantities that can be substantially converted into the lean angle of the saddle-ride type vehicle 1. The lean angle corresponds to an angle that represents the inclination in the roll direction of the body (specifically, the body) of the saddle-ride type vehicle 1 relative to the vertically upward direction. The inertial measurement unit 13 may also be equipped with only a part of the three-axis gyro sensor and the three-directional acceleration sensor.

[0035]

[0020] The front wheel speed sensor 14 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] of the front wheel 2 or the distance traveled per unit time [km / h1, etc.]) and outputs the detection result. The front wheel speed sensor 14 may also detect other physical quantities that can be substantially converted into the wheel speed of the front wheel 2. The front wheel speed sensor 14 is provided on the front wheel 2.

[0036]

[0021] The rear wheel speed sensor 15 is a wheel speed sensor that detects the wheel speed of the rear wheel 3 (for example, the number of rotations per unit time [rpm] of the rear wheel 3 or the distance traveled per unit time [km / h], etc.) and outputs the detection result. The rear wheel speed sensor 15 may also detect other physical quantities that can be substantially converted into the wheel speed of the rear wheel 3. The rear wheel speed sensor 15 is provided on the rear wheel 3.

[0037]

[0022] The control device 20 controls the behavior of the saddle-ride type vehicle 1. For example, part or all of the control device 20 is configured with a microcomputer, a microprocessor unit, a memory, etc. Furthermore, for example, part or all of the control device 20 may be configured with updatable components such as firmware, or may be a program module executed by commands from a CPU, etc. The control device 20 may be, for example, a single device, or may be divided into multiple devices.

[0038]

[0023] Figure 2 is a block diagram showing an example of the functional configuration of the control device 20. As shown in Figure 2, the control device 20 includes, for example, an acquisition unit 21 and an execution unit 22.

[0039]

[0024] The acquisition unit 21 acquires information from each device of the saddle-ride type vehicle 1 and outputs it to the execution unit 22. For example, the acquisition unit 21 acquires information from the inertial measurement unit 13, the front wheel speed sensor 14, and the rear wheel speed sensor 15. In this specification, acquisition of information may include extraction or generation of information (for example, calculation), etc.

[0040]

[0025] The execution unit 22 controls the operation of each device of the saddle-ride type vehicle 1. For example, the execution unit 22 controls the operation of the engine 11 and the hydraulic control unit 12.

[0041]

[0026] Here, with reference to Fig. 3, the schematic configuration of the brake system 10 of the saddle-ride type vehicle 1 and control of the braking force generated in the saddle-ride type vehicle 1 will be described. Fig. 3 is a schematic diagram showing the schematic configuration of the brake system 10 of the saddle-ride type vehicle 1. As shown in Fig. 3, the brake system 10 includes 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. A part of the front wheel braking mechanism 31 and a part of the rear wheel braking mechanism 32 are included in the hydraulic control unit 12.

[0042]

[0027] The front wheel braking mechanism 31 includes a master cylinder 51a attached to the first brake operating unit 41, a reservoir 52a attached to the master cylinder 51a, a brake caliper 53a held by the body and having a brake pad (not shown), a wheel cylinder 54a attached to the brake caliper 53a, a main flow path 55a that circulates brake fluid from the master cylinder 51a to the wheel cylinder 54a, and a sub-flow path 56a that releases brake fluid from the wheel cylinder 54a.

[0043]

[0028] The main flow path 55a is provided with an inlet valve (EV) 61a. The sub-flow path 56a bypasses the main flow path 55a between the wheel cylinder 54a side and the master cylinder 51a side of the inlet valve 61a. The sub-flow path 56a is provided with, from upstream to downstream, a release valve (AV) 62a, an accumulator 63a, and a pump 64a.

[0044]

[0029] The rear wheel braking mechanism 32 includes a master cylinder 51b attached to the second brake operating unit 42, a reservoir 52b attached to the master cylinder 51b, a brake caliper 53b held by the body and having a brake pad (not shown), a wheel cylinder 54b attached to the brake caliper 53b, a main flow path 55b that circulates brake fluid from the master cylinder 51b to the wheel cylinder 54b, and a sub-flow path 56b that releases brake fluid from the wheel cylinder 54b.

[0045]

[0030] Main flow path 55b is provided with an inlet valve (EV) 61b. Sub-flow path 56b bypasses the main flow path 55b between the wheel cylinder 54b side and the master cylinder 51b side of inlet valve 61. Sub-flow path 56b is provided with, from upstream to downstream, a release valve (AV) 62b, an accumulator 63b, and a pump 64b.

[0046]

[0031] In the following, when there is no particular distinction between the main flow path 55a and the main flow path 55b, they are simply referred to as the main flow path 55. When there is no particular distinction between the sub-flow path 56a and the sub-flow path 56b, they are simply referred to as the sub-flow path 56. When there is no particular distinction between the inlet valve 61a and the inlet valve 61b, they are simply referred to as the inlet valve 61. When there is no particular distinction between the release valve 62a and the release valve 62b, they are simply referred to as the release valve 62. When there is no particular distinction between the accumulator 63a and the accumulator 63b, they are simply referred to as the accumulator 63. When there is no particular distinction between the pump 64a and the pump 64b, they are simply referred to as the pump 64.

[0047]

[0032] The inlet valve 61 is a solenoid valve that opens when de-energized and closes when energized. That is, the inlet valve 61 is closed when energized. The release valve 62 is a solenoid valve that closes when de-energized and opens when energized. That is, the release valve 62 is open when energized.

[0048]

[0033] The hydraulic control unit 12 includes components for controlling the pressure of brake fluid, including an inlet valve 61, a release valve 62, an accumulator 63, and a pump 64, a base 12a on which these components are provided and in which flow paths for forming a main flow path 55 and a sub-flow path 56 are formed, and a motor 65.

[0049]

[0034] The base 12 a may be formed of a single member or a plurality of members. When the base 12 a is formed of a plurality of members, each component may be provided separately in a different member.

[0050]

[0035] The operation of the above components of the hydraulic control unit 12 and the motor 65 is controlled by the execution unit 22 of the control device 20. As a result, the braking force generated on the front wheels 2 by the front wheel braking mechanism 31 and the braking force generated on the rear wheels 3 by the rear wheel braking mechanism 32 are controlled.

[0051]

[0036] Under normal conditions (i.e., when the system is set to generate a braking force on the wheel in response to the rider's brake operation), the control device 20 opens the inlet valve 61 and closes the release valve 62. When the first brake operating unit 41 is operated in this state, the piston (not shown) of the master cylinder 51a in the front wheel braking mechanism 31 is pressed, increasing the pressure of the brake fluid in the wheel cylinder 54a and causing the brake pad (not shown) of the brake caliper 53a to press against the rotor 2a of the front wheel 2, generating a braking force on the front wheel 2. Furthermore, when the second brake operating unit 42 is operated, in the rear wheel braking mechanism 32, the piston (not shown) of the master cylinder 51b is pressed, increasing the pressure of the brake fluid in the wheel cylinder 54b, and the brake pad (not shown) of the brake caliper 53b is pressed against the rotor 3a of the rear wheel 3, generating a braking force on the rear wheel 3.

[0052]

[0037] Here, the execution unit 22 can execute slip control to control the slip state of the wheels by controlling the pressure of the brake fluid in the wheels of the saddle-riding type vehicle 1. Specifically, the execution unit 22 can execute anti-lock brake control as slip control when the rider of the saddle-riding type vehicle 1 applies the brakes. In anti-lock brake control, the braking force of the wheels is adjusted to a braking force that can prevent the wheels from locking. The execution unit 22 executes anti-lock brake control when the wheels lock or there is a possibility that the wheels will lock. Note that anti-lock brake control is merely one example of slip control, and slip control can also include, for example, control that is not intended to prevent the wheels from locking.

[0053]

[0038] As described above, the hydraulic control unit 12 includes the front wheel braking mechanism 31 and the rear wheel braking mechanism 32. The execution unit 22 can individually control the braking force generated on the front wheels 2 by the front wheel braking mechanism 31 and the braking force generated on the rear wheels 3 by the rear wheel braking mechanism 32. Therefore, the execution unit 22 can individually execute anti-lock brake control for each of the front wheels 2 and the rear wheels 3.

[0054] Hereinafter, the inlet valve 61a and the release valve 62a included in the front wheel braking mechanism 31 will also be referred to as the front wheel inlet valve 61a and the front wheel release valve 62a, respectively. Additionally, the inlet valve 61b and the release valve 62b included in the rear wheel braking mechanism 32 will also be referred to as the rear wheel inlet valve 61b and the rear wheel release valve 62b, respectively.

[0055]

[0040] In the antilock brake control for the front wheels 2, the execution unit 22 repeatedly executes, in this order, for example, a front wheel pressure reducing operation for reducing the pressure of the brake fluid in the front wheels 2 (specifically, the pressure of the brake fluid in the wheel cylinder 54a), a front wheel pressure maintaining operation for maintaining the pressure of the brake fluid in the front wheels 2, and a front wheel pressure increasing operation for increasing the pressure of the brake fluid in the front wheels 2.

[0056] First, in the front wheel pressure reduction operation, the execution unit 22 closes the front wheel inlet valve 61 a and opens the front wheel release valve 62 a. This causes brake fluid to flow from the wheel cylinder 54 a to the accumulator 63 a, reducing the pressure of the brake fluid in the wheel cylinder 54 a and reducing the braking force acting on the front wheel 2.

[0057] Next, in the front wheel holding operation, the execution unit 22 closes both the front wheel on valve 61 a and the front wheel off valve 62 a. This maintains the pressure of the brake fluid in the wheel cylinder 54 a (for example, maintains a substantially constant pressure), and the braking force acting on the front wheel 2 is maintained.

[0058] Next, in the front wheel pressure increasing operation, the execution unit 22 opens the front wheel inlet valve 61 a and closes the front wheel release valve 62 a. As a result, the pressure of the brake fluid in the master cylinder 51 a acts on the wheel cylinder 54 a, increasing the pressure of the brake fluid in the wheel cylinder 54 a and increasing the braking force acting on the front wheel 2.

[0059] Specifically, the front wheel pressure reducing operation is an operation of switching the front wheel release valve 62 a, which reduces the pressure of the brake fluid in the front wheel 2 of the saddle-ride type vehicle 1 by energizing it to an open state, from a closed state to an open state and then returning it to the closed state. In other words, a series of operations of switching the front wheel release valve 62 a from a closed state to an open state and then returning it to a closed state corresponds to one front wheel pressure reducing operation. Note that the front wheel pressure reducing operation may be performed multiple times in succession, followed by a front wheel holding operation.

[0060]

[0045] In addition, in the antilock brake control for the rear wheels 3, the execution unit 22 repeatedly executes, in this order, for example, a rear wheel pressure reducing operation for reducing the pressure of the brake fluid in the rear wheels 3 (specifically, the pressure of the brake fluid in the wheel cylinder 54b), a rear wheel pressure maintaining operation for maintaining the pressure of the brake fluid in the rear wheels 3, and a rear wheel pressure increasing operation for increasing the pressure of the brake fluid in the rear wheels 3.

[0061] First, in the rear wheel pressure reduction operation, the execution unit 22 closes the rear wheel inlet valve 61b and opens the rear wheel release valve 62b. This causes brake fluid to flow from the wheel cylinder 54b to the accumulator 63b, reducing the pressure of the brake fluid in the wheel cylinder 54b and reducing the braking force acting on the rear wheel 3.

[0062] Next, in the rear wheel holding operation, the execution unit 22 closes both the rear wheel on valve 61 b ​​and the rear wheel off valve 62 b. This maintains the pressure of the brake fluid in the wheel cylinder 54 b (for example, maintains a substantially constant pressure), and the braking force acting on the rear wheel 3 is maintained.

[0063] Next, in the rear wheel pressure increasing operation, the execution unit 22 opens the rear wheel inlet valve 61b and closes the rear wheel release valve 62. As a result, the pressure of the brake fluid in the master cylinder 51b acts on the wheel cylinder 54b, increasing the pressure of the brake fluid in the wheel cylinder 54b and increasing the braking force acting on the rear wheel 3.

[0064] Specifically, the rear wheel pressure reducing operation is an operation of switching the rear wheel release valve 62 b, which reduces the pressure of the brake fluid in the rear wheel 3 of the saddle-ride type vehicle 1 by energizing it to an open state, from a closed state to an open state and then returning it to the closed state. In other words, a series of operations of switching the rear wheel release valve 62 b from a closed state to an open state and then returning it to a closed state corresponds to one rear wheel pressure reducing operation. Note that the rear wheel pressure reducing operation may be performed multiple times in succession, followed by a rear wheel holding operation.

[0065]

[0050] Although the brake system 10 has been described above with reference to Fig. 3, the example of Fig. 3 is merely an example, and the configuration of the brake system 10 is not limited to the example of Fig. 3. For example, a supply flow path may be further provided to supply brake fluid from the master cylinder 51 to the sub-flow path 56.

[0066]

[0051] <Operation of the control device> With reference to FIG. 4, the operation of the control device 20 according to the embodiment of the present invention will be described.

[0067]

[0052] As described above, the execution unit 22 of the control device 20 can individually execute anti-lock brake control for each of the front wheels 2 and the rear wheels 3. Here, since the installation space for devices is limited in the saddle-ride type vehicle 1 compared to a four-wheeled automobile, the front wheel release valve 62a used in the front wheel pressure reduction operation and the rear wheel release valve 62b used in the rear wheel pressure reduction operation may be installed in close positions. In this case, due to the influence of a magnetic field generated by the actuation of one release valve, a situation may arise in which the behavior of the other release valve deviates from the expected behavior. Specifically, when a magnetic field is generated by the actuation of one release valve, it takes longer to close the other release valve, and the amount of brake fluid pressure reduction by the other release valve may be greater than expected. Such events can make it difficult to properly implement anti-lock brake control.

[0068] Therefore, in this embodiment, the execution unit 22 of the control device 20 executes a prohibition operation for prohibiting the rear wheel release valve 62 b from opening during antilock brake control at at least one point in a valve closing period, which is a period from when the front wheel release valve 62 a starts to close until it finishes closing, at the end of the front wheel pressure reducing operation, thereby optimizing the antilock brake control in the saddle type vehicle 1. In more detail, executing the prohibition operation at at least one point in a valve closing period means that the prohibition operation is executed during a period having a length that includes at least one point in the valve closing period. An example of processing performed by such a control device 20 will be described below.

[0069]

[0054] Fig. 4 is a flowchart showing an example of the flow of processing performed by the control device 20. Step S101 in Fig. 4 corresponds to the start of the control flow shown in Fig. 4. Step S111 in Fig. 4 corresponds to the end of the control flow shown in Fig. 4. The control flow shown in Fig. 4 is started, for example, when the front wheel pressure reduction operation is not being performed.

[0070]

[0055] When the control flow shown in Figure 4 starts, in step S102, the execution unit 22 determines whether the front wheel pressure reduction operation has started.

[0071] Specifically, when the front wheel 2 locks or there is a possibility that the front wheel 2 may lock, the execution unit 22 starts the front wheel pressure reduction operation and changes the front wheel release valve 62 a from a closed state to an open state. For example, when the degree of slippage of the front wheel 2 exceeds a reference value, the execution unit 22 determines that the front wheel 2 has locked or there is a possibility that the front wheel 2 may lock. The degree of wheel slippage is an index showing the degree to which the wheel is slipping on the road surface, and can be expressed, for example, by a value obtained by dividing the difference between the vehicle speed of the saddle-riding type vehicle 1 and the wheel speed of the wheel by the vehicle speed. The reference value is set, for example, to a value that can appropriately determine whether the front wheel 2 has locked or there is a possibility that the front wheel 2 may lock. Note that the acquisition unit 21 can acquire the vehicle speed of the saddle-riding type vehicle 1 based on the detection results of the front wheel speed sensor 14 and the rear wheel speed sensor 15, for example.

[0072]

[0057] If it is determined that the front wheel pressure reduction operation has not started (Step S! 02 / NO), the front wheel pressure reduction operation has not started and Step S102 is repeated. On the other hand, if it is determined that the front wheel pressure reduction operation has started (Step S! 02 / YES), the front wheel pressure reduction operation is started and the process proceeds to Step S103.

[0073]

[0058] If the answer to step S102 is YES, then in step S103, the execution unit 22 determines whether the prohibition conditions for the prohibited operation are met.

[0074] As described above, the prohibiting operation is an operation that prohibits the rear wheel release valve 62 b from being in an open state. In the example of FIG. 4, the operation that prohibits the rear wheel pressure reduction operation corresponds to the prohibiting operation. As will be described later, in the example of FIG. 4, the execution unit 22 basically starts the prohibiting operation in conjunction with the start of the front wheel pressure reduction operation. In other words, the execution unit 22 basically prohibits the rear wheel pressure reduction operation in conjunction with the start of the front wheel pressure reduction operation. This makes it possible to suppress the generation of a magnetic field caused by the energization of the rear wheel release valve 62 b during the valve closing period of the front wheel release valve 62 a when the front wheel pressure reduction operation is ended (that is, the period from when the front wheel release valve 62 a starts to close until it finishes closing). This reduces the effect of the magnetic field on the front wheel release valve 62 a. Therefore, the increase in the amount of pressure reduction of the brake fluid in the front wheel 2 during the front wheel pressure reduction operation can be suppressed.

[0075] However, if the prohibition conditions for the prohibited operation are satisfied when the front wheel pressure reduction operation starts, the execution unit 22 prohibits the prohibited operation. In other words, if the prohibition conditions for the prohibited operation are satisfied when the front wheel pressure reduction operation starts, the execution unit 22 maintains the state in which the rear wheel pressure reduction operation is permitted.

[0076]

[0061] The prohibition conditions for the prohibited actions may include, for example, conditions related to running state information, which is information related to the running state of the saddle-ride type vehicle 1. In other words, the execution unit 22 may prohibit the prohibited actions based on, for example, the running state information. The running state information is used, for example, to estimate the running stability of the saddle-ride type vehicle 1.

[0077] For example, the execution unit 22 may use turning state information related to the turning state of the saddle-riding type vehicle 1 as driving state information to prohibit the prohibited operation. The turning state information includes, for example, information about the lean angle of the saddle-riding type vehicle 1. The acquisition unit 21 can acquire lean angle information of the saddle-riding type vehicle 1 from, for example, the inertial measurement unit 13. For example, the larger the lean angle, the lower the driving stability of the saddle-riding type vehicle 1 can be determined. When the driving stability of the saddle-riding type vehicle 1 is low, it is highly necessary to make it easier to avoid locking of the rear wheel 3 without prohibiting the rear wheel decompression operation. Therefore, for example, the execution unit 22 prohibits the prohibited operation when the lean angle is greater than a reference angle. In this case, the condition that the lean angle is greater than the reference angle is used as the prohibition condition. The reference angle is set to a value that can appropriately determine whether the riding stability of the saddle-type vehicle 1 is low, for example.

[0078]

[0063] The turning state information may be information other than information about the lean angle of the saddle-ride type vehicle 1. For example, the turning state information may be information about the yaw rate of the saddle-ride type vehicle 1, information about the lateral acceleration of the saddle-ride type vehicle 1, information about the steering angle of the saddle-ride type vehicle 1, or map information. The acquisition unit 21 may be provided in the saddle-ride type vehicle 1 and may identify the turning state of the saddle-ride type vehicle 1 by performing image processing on an image captured by a camera that captures an image of the periphery of the saddle-ride type vehicle 1. Information identified in this way using an image captured by a camera may also be an example of turning state information.

[0079]

[0064] For example, the execution unit 22 may prohibit the prohibited operation using deceleration state information related to the deceleration state of the saddle-riding type vehicle 1 as driving state information. The deceleration state information includes, for example, information about the deceleration of the saddle-riding type vehicle 1. The acquisition unit 21 can acquire the deceleration information of the saddle-riding type vehicle 1 based on, for example, the change in the speed of the saddle-riding type vehicle 1 over time. For example, if the deceleration is excessively low, it can be determined that the saddle-riding type vehicle 1 is traveling on a road surface with a low friction coefficient (for example, a frozen road surface), and the driving stability of the saddle-riding type vehicle 1 is low. As described above, when the driving stability of the saddle-riding type vehicle 1 is low, there is a strong need to make it easier to avoid locking of the rear wheel 3 without prohibiting the rear wheel pressure reduction operation. Therefore, for example, when the deceleration is lower than the reference deceleration, the execution unit 22 prohibits the prohibiting operation. In this case, the condition that the deceleration is lower than the reference deceleration is used as the prohibiting condition. Note that the reference deceleration is set to a value that can appropriately determine whether the saddle-ride type vehicle 1 is traveling on a road surface with a low friction coefficient.

[0080]

[0065] The deceleration state information may be information other than information about the deceleration of the saddle-ride type vehicle 1. For example, the deceleration state information may be information about the time rate of change of the deceleration of the saddle-ride type vehicle 1.

[0081]

[0066] The prohibition conditions for the prohibited actions may include, for example, conditions related to road surface condition information, which is information about road surface conditions. That is, the execution unit 22 may prohibit the prohibited actions based on, for example, the road surface condition information. The road surface condition information is used, for example, to estimate the running stability of the saddle-riding type vehicle 1.

[0082] For example, the execution unit 22 may prohibit the prohibited operation using information indicating whether the road surface on which the saddle-riding vehicle 1 is traveling has a low friction coefficient (for example, a frozen road surface) as road surface condition information. As described above, if the saddle-riding vehicle 1 is traveling on a road surface with a low friction coefficient, it can be determined that the traveling stability of the saddle-riding vehicle 1 is low. Also, as described above, if the traveling stability of the saddle-riding vehicle 1 is low, there is a high need to make it easier to avoid locking of the rear wheel 3 without prohibiting the rear wheel decompression operation. Therefore, for example, if the road surface on which the saddle-riding vehicle 1 is traveling has a low friction coefficient, the execution unit 22 prohibits the prohibited operation. In this case, the condition that the road surface on which the saddle-riding vehicle 1 is traveling has a low friction coefficient is used as the prohibition condition. For example, as described above, the acquisition unit 21 can acquire, as road surface condition information, information indicating whether the road surface on which the saddle-ride type vehicle 1 is traveling is a road surface with a low coefficient of friction, based on the deceleration of the saddle-ride type vehicle 1.

[0083]

[0068] The acquisition unit 21 may acquire, as road surface condition information, information indicating whether the road surface on which the saddle-ride type vehicle 1 is traveling has a low coefficient of friction, based on information other than the deceleration information of the saddle-ride type vehicle 1. For example, the acquisition unit 21 may acquire information indicating whether the road surface on which the saddle-ride type vehicle 1 is traveling has a low coefficient of friction, by performing image processing on an image of the road surface captured by a camera that captures an image of the surroundings of the saddle-ride type vehicle 1. Furthermore, for example, the acquisition unit 21 may acquire information indicating whether the road surface on which the saddle-ride type vehicle 1 is traveling has a low coefficient of friction, based on the hydraulic pressure of the brake fluid in the front wheel 2 at the start of the front wheel pressure reduction operation. For example, it can be determined that the lower the hydraulic pressure of the brake fluid in the front wheel 2 at the start of the front wheel pressure reduction operation, the more likely it is that the road surface on which the saddle-type vehicle 1 is traveling has a low coefficient of friction.

[0084]

[0069] The road surface condition information may be information other than information indicating whether the road surface on which the saddle-riding vehicle 1 is traveling is a road surface with a low friction coefficient. For example, the road surface condition information may be information indicating whether the road surface on which the saddle-riding vehicle 1 is traveling is wet, or information regarding the undulations of the road surface on which the saddle-riding vehicle 1 is traveling, etc.

[0070] The prohibition condition for the prohibited operation may include, for example, a condition regarding pressure reduction amount information, which is information regarding the amount of pressure reduction of the brake fluid of the front wheel 2 in the front wheel pressure reduction operation (specifically, the target pressure reduction amount). In other words, the execution unit 22 may prohibit the prohibited operation based on the pressure reduction amount information, for example. As described above, in the example of Fig. 4, by performing the prohibition operation (i.e., the operation prohibiting the rear wheel pressure reduction operation), it is possible to suppress an increase in the amount of pressure reduction of the brake fluid of the front wheel 2 in the front wheel pressure reduction operation. The pressure reduction amount information is used, for example, to estimate the need to suppress an increase in the pressure reduction amount of the brake fluid in the front wheels 2 by prohibiting operation.

[0085] For example, the execution unit 22 may prohibit the prohibited operation by using duration information regarding the duration of the front wheel depressurization operation as depressurization amount information. The duration information may be, for example, information that directly indicates the duration of the front wheel depressurization operation, or other information that can be substantially converted into the duration of the front wheel depressurization operation. When starting the front wheel depressurization operation, the execution unit 22 determines the duration of the front wheel depressurization operation using various information (for example, information including the degree of slippage of the front wheel 2).

[0086]

[0072] Here, it can be determined that the longer the duration of the front wheel pressure reduction operation, the greater the amount of pressure reduction of the brake fluid of the front wheel 2 during the front wheel pressure reduction operation (specifically, the target pressure reduction amount). When the amount of pressure reduction of the brake fluid of the front wheel 2 during the front wheel pressure reduction operation (specifically, the target pressure reduction amount) is large, the ratio of the amount of change in the amount of pressure reduction caused by executing the prohibition operation to the amount of pressure reduction becomes lower, and the need to suppress an increase in the amount of pressure reduction of the brake fluid of the front wheel 2 by the prohibition operation becomes less. Therefore, for example, the execution unit 22 prohibits the prohibition operation when the duration of the front wheel pressure reduction operation is longer than the reference time. In this case, the condition that the duration of the front wheel pressure reduction operation is longer than the reference time is used as the prohibition condition. Note that the above reference time is set, for example, to a value that can appropriately determine whether or not there is little need to suppress an increase in the amount of pressure reduction of the brake fluid of the front wheel 2 by the prohibition operation.

[0087]

[0073] The pressure reduction amount information may be information other than duration information relating to the duration of the front wheel pressure reduction operation. For example, the pressure reduction amount information may be information directly indicating the amount of pressure reduction (specifically, the target pressure reduction amount) of the brake fluid in the front wheel 2 during the front wheel pressure reduction operation. For example, the acquisition unit 21 can acquire information directly indicating the amount of pressure reduction (specifically, the target pressure reduction amount) of the brake fluid in the front wheel 2 during the front wheel pressure reduction operation based on the duration of the front wheel pressure reduction operation.

[0088]

[0074] The above describes examples of conditions that can be used as prohibition conditions for prohibited actions. Here, the execution unit 22 may use all of the conditions described above as prohibition conditions, or any part of the conditions described above as prohibition conditions, or may use conditions other than the conditions described above as prohibition conditions in addition to or instead of the conditions described above. Also, for example, the execution unit 22 may prohibit a prohibited action when at least one of the multiple prohibition conditions is satisfied, or may prohibit a prohibited action when all of the multiple prohibition conditions are satisfied.

[0089]

[0075] If it is determined that the prohibition conditions for the prohibited operation are met (step S!O3 / YES), the control flow shown in Fig. 4 ends. On the other hand, if it is determined that the prohibition conditions for the prohibited operation are not met (step S!O3 / NO), proceed to step S104.

[0090]

[0076] If the result of step S103 is NO, in step S104, the execution unit 22 determines whether the rear wheel pressure reduction operation is being performed.

[0091]

[0077] If it is determined that rear wheel pressure reduction operation is being performed (step S104 / YES), proceed to step S105. On the other hand, if it is determined that rear wheel pressure reduction operation is not being performed (step S104 / NO), step S105 is not performed and proceed to step S106.

[0078] If the determination is YES in step S104, in step S105, the execution unit 22 starts rear wheel holding operation.

[0092] Specifically, if the determination in step S104 is YES, the rear wheel pressure reduction operation is being performed, so the rear wheel inlet valve 61b is closed and the rear wheel release valve 62b is open. Therefore, in step S105, the execution unit 22 starts a rear wheel holding operation in which the pressure of the brake fluid in the rear wheel 3 is maintained by changing the rear wheel release valve 62b from the open state to the closed state.

[0093]

[0080] If the result of step S104 is NO, or after step S105, in step S106, the execution unit 22 prohibits the rear wheel pressure reduction operation.

[0094]

[0081] When rear wheel pressure reduction operation is permitted, the execution unit 22 determines that the rear wheel 3 has locked or is likely to lock when, for example, the degree of slippage of the rear wheel 3 exceeds a reference value, and starts rear wheel pressure reduction operation. On the other hand, when rear wheel pressure reduction operation is prohibited, the execution unit 22 does not start rear wheel pressure reduction operation even when, for example, the degree of slippage of the rear wheel 3 exceeds a reference value.

[0095]

[0082] After step S106, in step S107, the execution unit 22 determines whether the duration of the front wheel pressure reduction operation has elapsed since the start of the front wheel pressure reduction operation.

[0096]

[0083] As described above, when the front wheel pressure reduction operation is started, the execution unit 22 determines the duration of the front wheel pressure reduction operation using various information (for example, information including the degree of slippage of the front wheel 2, etc.), and continues the front wheel pressure reduction operation for the determined duration.

[0097]

[0084] If it is determined that the duration of the front wheel pressure reduction operation has not elapsed since the start of the front wheel pressure reduction operation (step S107 / NO), step S107 is repeated. On the other hand, if it is determined that the duration of the front wheel pressure reduction operation has elapsed since the start of the front wheel pressure reduction operation (step S107 / YES), proceed to step S108.

[0098]

[0085] If the answer is YES in step S107, in step S108, the execution unit 22 outputs a valve closing command for the front wheel release valve 62a.

[0099]

[0086] The valve close command for the front wheel release valve 62a is a command to change the front wheel release valve 62a from an open state to a closed state, and is output from the control device 20 to the front wheel release valve 62a. When the valve close command is output to the front wheel release valve 62a, the front wheel release valve 62a begins to close. Here, the period having a time width from when the front wheel release valve 62a begins to close until it finishes closing corresponds to the valve closing period of the front wheel release valve 62a.

[0100]

[0087] After step S108, in step S109, the execution unit 22 controls the front wheel release valve 6

[0101] 2. Determine whether a reference time has elapsed since the valve close command was issued to a.

[0102] As will be described later, when a reference time has elapsed since a valve close command was output to the front wheel release valve 62 a, the execution unit 22 permits the rear wheel pressure reduction operation. In other words, when a reference time has elapsed since a valve close command was output to the front wheel release valve 62 a, the execution unit 22 ends the prohibition operation. Here, the reference time in step S109 is set based on length information, which is information about the length of the valve closure period of the front wheel release valve 62 a. In other words, the execution unit 22 determines the end point of the prohibition operation based on the length information.

[0103] For example, an expected length of the valve closing period of the front wheel release valve 62 a is determined in advance by experiment or the like. Then, the execution unit 22 uses, for example, a time longer than the expected length as the reference time. This allows the execution unit 22 to end the prohibition operation at a time later than the end of the valve closing period of the front wheel release valve 62 a (i.e., the time when the front wheel release valve 62 a finishes closing). However, the reference time may be the same as the expected length or may be shorter than the expected length.

[0104]

[0090] If it is determined that the reference time has not elapsed since the valve close command was output to the front wheel release valve 62a (step S!09 / NO), step S!09 is repeated. On the other hand, if it is determined that the reference time has elapsed since the valve close command was output to the front wheel release valve 62a (step S!09 / YES), proceed to step S110.

[0105]

[0091] If the answer to step S109 is YES, then in step S110, the execution unit 22 permits the rear wheel pressure reduction operation, and the control flow shown in Figure 4 ends.

[0106] As described above, in this embodiment, the execution unit 22 of the control device 20 performs a prohibition operation (in the above example, an operation to prohibit the rear wheel release valve 62b from opening) during slip control (anti-lock brake control in the above example), at least at one point during the valve closing period, which is the period from when the front wheel release valve 62a starts to close until it finishes closing, at the end of the front wheel pressure reduction operation. This suppresses the generation of a magnetic field caused by energizing the rear wheel release valve 62 during the valve closing period of the front wheel release valve 62a at the end of the front wheel pressure reduction operation, thereby reducing the effect of the magnetic field on the front wheel release valve 62a. Therefore, it is possible to suppress an increase in the amount of pressure reduction of the brake fluid of the front wheel 2 during the front wheel pressure reduction operation. Therefore, it is possible to optimize the slip control in the saddle-ride type vehicle 1.

[0107]

[0093] Here, in the saddle-ride type vehicle 1, the ability to brake the saddle-ride type vehicle 1 by braking the front wheels 2 with the front wheel braking mechanism 31 is higher than the ability to brake the saddle-ride type vehicle 1 by braking the rear wheels 3 with the rear wheel braking mechanism 32. For example, the maximum value of the braking force that can be generated on the front wheels 2 by the front wheel braking mechanism 31 is greater than the maximum value of the braking force that can be generated on the rear wheels 3 by the rear wheel braking mechanism 32. Therefore, by prioritizing the front wheel pressure reduction operation over the rear wheel pressure reduction operation as described above, it is possible to prevent a decrease in the ability to brake the saddle-ride type vehicle 1. Furthermore, in the saddle-ride type vehicle 1, from the viewpoint of stabilizing the behavior of the saddle-ride type vehicle 1 and preventing a decrease in safety, it is generally desirable to prioritize the front wheel pressure reduction operation over the rear wheel pressure reduction operation. Therefore, by prioritizing the front wheel decompression operation over the rear wheel decompression operation as described above, the deterioration of the safety of the saddle-type vehicle 1 can also be suppressed.

[0108]

[0094] The above describes an example of the process performed by the control device 20 with reference to Fig. 4. However, the process performed by the control device 20 may be a process obtained by modifying the process example described above.

[0109] For example, in the above example, the execution unit 22 starts the prohibition operation (i.e., prohibits the rear wheel pressure reduction operation) before the start of the closed period of the front wheel release valve 62 a, and ends the prohibition operation (i.e., permits the rear wheel pressure reduction operation) after the end of the closed period of the front wheel release valve 62 a. However, the execution unit 22 only needs to execute the prohibition operation at least once during the closed period of the front wheel release valve 62 a, and the start and end times of the prohibition operation are not limited to the above example. For example, the execution unit 22 may start the prohibition operation after the start of the closed period of the front wheel release valve 62 a. The execution unit 22 may not start the prohibition operation upon the start of the front wheel pressure reduction operation as in the above example, but may start the prohibition operation, for example, after the start of the front wheel pressure reduction operation and before the start of the closed period of the front wheel release valve 62 a. Also, for example, the execution unit 22 may end the prohibition operation before the end of the closed period of the front wheel release valve 62 a.

[0110]

[0096] In the above example, for example, in step S103, the execution unit 22 determines whether the prohibition conditions for the prohibited operation are satisfied. However, step S103 may be performed after step S106 (i.e., the process of prohibiting the rear wheel pressure reduction operation). In addition, in step S103, it may be determined whether some of the prohibition conditions for the prohibited operation are satisfied, and after step S106, it may be determined whether other parts of the prohibition conditions for the prohibited operation are satisfied. Note that, if it is determined after step S106 that the prohibition conditions for the prohibited operation are satisfied, the execution unit 22 permits the rear wheel pressure reduction operation. In addition, step S103 may be omitted from the example of FIG. 4.

[0111]

[0097] <Effects of the control device> The effects of the control device 20 according to the embodiment of the present invention will be described.

[0112]

[0098] The control device 2〇 includes an execution unit 22 that executes slip control (anti-lock brake control in the above example) that performs a front wheel pressure reduction operation of changing a front wheel release valve 62a, which reduces the pressure of the brake fluid in the front wheel 2 of the saddle-ride type vehicle 1, from a closed state to an open state by being energized to open, and then returning it to the closed state, and a rear wheel pressure reduction operation of changing a rear wheel release valve 62b, which reduces the pressure of the brake fluid in the rear wheel 3 of the saddle-ride type vehicle 1 by being energized to open, from a closed state to an open state, and then returning it to the closed state. The execution unit 22 then executes a prohibition operation to prohibit the rear wheel release valve 62b from opening during slip control at least at one point during the valve closure period, which is the period from when the front wheel release valve 62a starts to close until it finishes closing, at the end of the front wheel pressure reduction operation. This suppresses the generation of a magnetic field caused by energizing the rear wheel release valve 62b during the valve closure period of the front wheel release valve 62a at the end of the front wheel pressure reduction operation, thereby reducing the effect of the magnetic field on the front wheel release valve 62a. This suppresses an increase in the amount of pressure reduction of the brake fluid in the front wheel 2 during the front wheel pressure reduction operation. This allows for optimal slip control in the saddle-riding vehicle 1.

[0113]

[0099] Here, in the saddle-ride type vehicle 1, the ability to brake the saddle-ride type vehicle 1 by braking the front wheels 2 with the front wheel braking mechanism 31 is higher than the ability to brake the saddle-ride type vehicle 1 by braking the rear wheels 3 with the rear wheel braking mechanism 32. For example, the maximum value of braking force that can be generated on the front wheels 2 by the front wheel braking mechanism 31 is greater than the maximum value of braking force that can be generated on the rear wheels 3 by the rear wheel braking mechanism 32. Therefore, by prioritizing the front wheel pressure reduction operation over the rear wheel pressure reduction operation as described above, it is possible to prevent a decrease in the ability to brake the saddle-ride type vehicle 1. Furthermore, in the saddle-ride type vehicle 1, from the viewpoint of stabilizing the behavior of the saddle-ride type vehicle 1 and preventing a decrease in safety, it is generally desirable to prioritize the front wheel pressure reduction operation over the rear wheel pressure reduction operation. Therefore, by prioritizing the front wheel decompression operation over the rear wheel decompression operation as described above, the deterioration of the safety of the saddle-type vehicle 1 can also be suppressed.

[0114] Preferably, in the control device 20, the execution unit 22 starts the prohibition operation at a time before the start of the valve closing period. This makes it possible to suppress the generation of a magnetic field caused by energizing the rear wheel release valve 62 b during at least the period of the valve closing period that includes the start of the valve closing period, thereby effectively reducing the effect of the magnetic field on the front wheel release valve 62 a. Therefore, it is possible to effectively suppress an increase in the amount of pressure reduction of the brake fluid of the front wheel 2 during the front wheel pressure reduction operation.

[0115] Preferably, in the control device 20, the execution unit 22 starts the prohibition operation when the front wheel pressure reduction operation starts. This appropriately starts the prohibition operation before the start of the valve closing period. Therefore, it is appropriately realized to effectively reduce the influence of the magnetic field caused by energizing the rear wheel release valve 62 b on the front wheel release valve 62 a.

[0116] Preferably, in the control device 20, the execution unit 22 ends the prohibition operation at a point after the end of the valve closing period. This makes it possible to suppress the generation of a magnetic field caused by energizing the rear wheel release valve 62 b during at least the period of the valve closing period that includes the end of the valve closing period, thereby effectively reducing the effect of the magnetic field on the front wheel release valve 62 a. Therefore, it is possible to effectively suppress an increase in the amount of pressure reduction of the brake fluid of the front wheel 2 during the front wheel pressure reduction operation.

[0117]

[0103] Preferably, in the control device 20, the execution unit 22 determines the end point of the prohibition operation based on length information, which is information about the length of the valve-closed period. This appropriately realizes that the prohibition operation ends at a point after the end point of the valve-closed period. Therefore, it is appropriately realized that the influence of the magnetic field caused by energizing the rear wheel release valve 62 b on the front wheel release valve 62 a is effectively reduced.

[0118] Preferably, in the control device 20, when the rear wheel pressure reducing operation is not being performed at the start of the prohibition operation, the execution unit 22 keeps the rear wheel release valve 62 b in a closed state in the prohibition operation to prohibit the rear wheel pressure reducing operation. This appropriately realizes prohibiting the rear wheel release valve 62 b from being opened when the rear wheel pressure reducing operation is not being performed at the start of the prohibition operation.

[0119] Preferably, in the control device 20, when a rear wheel pressure reducing operation is being performed at the start of the prohibiting operation, the executing unit 22 starts a holding operation (in the above example, a rear wheel holding operation) for maintaining the brake fluid pressure of the rear wheel 3 by changing the rear wheel release valve 62 b from an open state to a closed state in the prohibiting operation, and prohibits the rear wheel pressure reducing operation. Thereby, when a rear wheel pressure reducing operation is being performed at the start of the prohibiting operation, it is appropriately realized to prohibit the rear wheel release valve 62 b from being in an open state.

[0120]

[0106] Preferably, in the control device 20, the execution unit 22 prohibits the prohibited action based on running state information, which is information related to the running state of the saddle riding type vehicle 1. This makes it possible to take into account the running state of the saddle riding type vehicle 1 and prohibit the prohibited action in accordance with the running stability of the saddle riding type vehicle 1.

[0121] Preferably, in the control device 20, the driving state information includes turning state information relating to the turning state of the saddle riding type vehicle 1. This makes it possible to appropriately prohibit the prohibited operation in accordance with the driving stability of the saddle riding type vehicle 1.

[0122]

[0108] Preferably, in the control device 20, the traveling state information includes deceleration state information relating to the deceleration state of the saddle riding type vehicle 1. This makes it possible to appropriately prohibit the prohibited operation in accordance with the traveling stability of the saddle riding type vehicle 1.

[0123] Preferably, in the control device 20, the execution unit 22 prohibits the prohibited action based on road surface condition information, which is information about the road surface condition. This makes it possible to prohibit the prohibited action in consideration of the road surface condition and in accordance with the running stability of the saddle riding type vehicle 1.

[0124]

[0110] Preferably, in the control device 20, the execution unit 22 prohibits the prohibited operation based on pressure reduction amount information, which is information related to the amount of pressure reduction of the brake fluid of the front wheels 2 during the front wheel pressure reduction operation. Thereby, the prohibited operation can be prohibited in consideration of the amount of pressure reduction of the brake fluid of the front wheels 2 during the front wheel pressure reduction operation, according to the need to suppress an increase in the amount of pressure reduction of the brake fluid of the front wheels 2 by the prohibited operation.

[0125] Preferably, in the control device 20, the pressure reduction amount information includes duration information relating to the duration of the front wheel pressure reduction operation. This makes it possible to appropriately prohibit the prohibition operation according to the need to suppress an increase in the amount of pressure reduction of the brake fluid of the front wheels 2 by the prohibition operation.

[0126]

[0112] The present invention is not limited to the description of the embodiments. For example, only a part of the embodiments may be implemented.

[0127] [Explanation of symbols]

[0128] [ 0 1 1 3 ]

[0129] 1 saddle-ride type vehicle, 2 front wheel, 2a rotor, 3 rear wheel, 3a rotor, 10 brake system, 11 engine, 12 hydraulic control unit, 12a base, 13 inertial measurement device, 14 front wheel speed sensor, 15 rear wheel speed sensor, 20 control device, 21 acquisition unit, 22 execution unit, 31 front wheel braking mechanism, 32 rear wheel braking mechanism, 41 first brake operation unit, 42 second brake operation unit, 51a master cylinder, 51b master cylinder, 52a reservoir, 52 reservoir, 53a brake caliper, 53b brake caliper, 54a wheel cylinder, 54b wheel cylinder, 5 5 a main flow path, 5 5 b main flow path, 5 6 a secondary flow path, 5 6 b secondary flow path, 6 1 a inlet valve, 6 1 b inlet valve, 6 2 a release valve, 6 2 b release valve, 6 3 a accumulator, 6 3 b accumulator, 6 4 a pump, 6 4 b pump, 6 5 motor.

Claims

[Document name] Scope of claims

1. A control device (20) for controlling a behavior of a saddle-ride type vehicle (1), comprising an execution unit (22) for executing slip control which performs a front wheel pressure reducing operation of switching a front wheel release valve (62a) for reducing the pressure of brake fluid in a front wheel (2) of the saddle-ride type vehicle (1) from a closed state to an open state and then returning it to a closed state by being energized to an open state, and a rear wheel pressure reducing operation of switching a rear wheel release valve (62b) for reducing the pressure of brake fluid in a rear wheel (3) of the saddle-ride type vehicle (1) from a closed state to an open state and then returning it to a closed state, wherein the execution unit (22) executes a prohibition operation for prohibiting the rear wheel release valve (62b) from being opened in the slip control, and a prohibition operation for prohibiting the front wheel release valve (62a) from being opened when the front wheel pressure reducing operation is completed. The control device executes the control signal at least at one point during a valve closing period, which is the period from when the valve starts to close to when it finishes closing.

2. The control device according to claim 1, wherein the execution unit (22) initiates the prohibition operation at a time point prior to the start of the valve closing period.

3. The control device as described in claim 2, wherein the execution unit (22) starts the prohibition operation in response to the start of the front wheel pressure reduction operation.

4. The control device according to claim 1, wherein the execution unit (22) terminates the prohibition operation at a time point after the end of the valve closing period.

5. The control device according to claim 4, wherein the execution unit (22) determines an end point of the prohibited operation based on length information which is information regarding the length of the valve closing period.

6. The control device according to claim 1, wherein, when the rear wheel pressure reducing operation is not being performed at the start of the prohibiting operation, the execution unit (22) maintains the rear wheel release valve (62b) in a closed state during the prohibiting operation to prohibit the rear wheel pressure reducing operation.

7. The control device as described in claim 1, wherein, when the rear wheel pressure reducing operation is being performed at the start of the prohibiting operation, the execution unit (22) starts a maintaining operation for maintaining the pressure of the brake fluid in the rear wheel (3) by changing the rear wheel release valve (62b) from an open state to a closed state in the prohibiting operation, and prohibits the rear wheel pressure reducing operation.

8. The control device according to any one of claims 1 to 7, wherein the execution unit (22) prohibits the prohibited action based on driving state information which is information relating to the driving state of the saddle riding type vehicle (1).

9. The control device according to claim 8, wherein the driving state information includes turning state information related to a turning state of the saddle type vehicle (1). [Claim 1 ○] The traveling state information includes deceleration state information regarding the deceleration state of the saddle type vehicle (1). The control device according to claim 8.

11. A control device described in any one of claims 1 to 7, wherein the execution unit (22) prohibits the prohibited operation based on road surface condition information, which is information regarding road surface conditions.

12. A control device as described in any one of claims 1 to 7, wherein the execution unit (22) prohibits the prohibited operation based on pressure reduction amount information, which is information regarding the amount of pressure reduction of the brake fluid of the front wheel (2) during the front wheel pressure reduction operation.

13. The control device described in claim 12, wherein the pressure reduction amount information includes duration information regarding the duration of the front wheel pressure reduction operation.

14. A control method for controlling a behavior of a saddle-ride type vehicle (1), wherein an execution unit (22) of a control device (20) executes slip control in which a front wheel pressure reducing operation of changing a front wheel release valve (62a) for reducing the pressure of brake fluid in a front wheel (2) of the saddle-ride type vehicle (1) from a closed state to an open state and then back to the closed state by being energized to an open state, and a rear wheel pressure reducing operation of changing a rear wheel release valve (62b) for reducing the pressure of brake fluid in a rear wheel (3) of the saddle-ride type vehicle (1) from a closed state to an open state and then back to the closed state, and the execution unit (22) executes a prohibition operation of prohibiting the rear wheel release valve (62) from being opened in the slip control, by controlling the front wheel release valve (62a) to be in an open state when the front wheel pressure reducing operation is completed. The control method is executed at least at one point during a valve closing period, which is the period from when the valve starts to close to when it finishes closing.

Images