Control device, electric motorcycle, and control method

Abstract

Provided is a control device with which it is possible to achieve an electric motorcycle in which the range can be improved while preventing a deterioration in the stability of vehicle behavior. An electric motorcycle provided with a control device related to the present invention comprises an electric motor, a brake operation part, a friction braking device that generates, by means of a wheel, a friction braking force generated in response to the operation amount of the brake operation part, and a friction braking force reduction mechanism that reduces the friction braking force generated by the wheel. The control device is a configuration that generates power by causing the drive motor to function as a regenerative brake, and comprises an acquisition unit that acquires operation amount information relating to the operation amount of the brake operation part, and an execution unit that adjusts, on the basis of the operation amount information, the magnitude of the friction braking force that is reduced by the friction braking force reduction mechanism and the magnitude of the regenerative braking force generated when the drive motor is caused to function as a regenerative brake.

Description

[0001] [Document name] Statement

[0002] [Title of invention] Control device, electric motorcycle and control method

[0003] [Technical Field]

[0004]

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

[0005] [Background technology]

[0006] [. 0 0 2] Conventionally, electric vehicles that use a motor as a drive source are known to operate the motor as a regenerative brake to generate electricity and charge the battery when the motor is not driving the wheels (see, for example, Patent Document 1). In the case of motorcycles, 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 when the motor is not driving the wheels.

[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, conventional electric motorcycles have little opportunity to use the motor as a regenerative brake, and the battery cannot be fully charged. In this regard, it is conceivable to actively use regenerative braking to ensure sufficient battery charge. However, with electric motorcycles, the amount of change in vehicle body position when braking force is generated is large, so 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 cruising range while suppressing a decrease in the stability of the vehicle body behavior. A second object of the present invention is to provide an electric motorcycle equipped with such a control device. A third object of the present invention is to provide a control method that can realize an electric motorcycle that can improve the cruising range while suppressing a decrease in the stability of the vehicle body behavior.

[0015] [Means for solving the problem]

[0016]

[0006] The control device according to the present invention is a control device for a vehicle behavior control system mounted on an electric motorcycle, the electric motorcycle comprising: a drive motor which is a motor that serves as a drive source; at least one brake operation unit operated by a rider; at least one friction brake device that generates friction braking force, which is braking force generated by friction, on a wheel of the electric motorcycle according to the amount of operation of the brake operation unit; and at least one friction braking force reduction mechanism that reduces the friction braking force generated on the wheel; the control device is configured to operate the drive motor as a regenerative brake to generate electricity, and comprises an acquisition unit that acquires operation amount information related to the operation amount of at least one of the brake operation units, and a second adjustment unit that adjusts, based on at least one of the operation amount information acquired by the acquisition unit, the magnitude of the friction braking force to be reduced by the friction braking force reduction mechanism and the magnitude of the first regenerative braking force, which is braking force generated when the drive motor is operated as a regenerative brake. and an execution unit that executes the brake force adjustment operation.

[0017]

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

[0008] A control method according to the present invention is a control method for a vehicle behavior control system mounted on an electric motorcycle, the electric motorcycle comprising: a drive motor as a drive source; at least one brake operation unit operated by a rider; at least one friction brake device that generates frictional braking force, which is braking force generated by friction, on a wheel of the electric motorcycle in accordance with the amount of operation of the brake operation unit; and at least one friction braking force reduction mechanism that reduces the friction braking force generated on the wheel. The control method is a method of generating electricity by operating the drive motor as a regenerative brake, and comprises: an acquisition step of acquiring operation amount information related to the operation amount of at least one of the brake operation units; and a braking force adjustment step of adjusting, based on at least one piece of operation amount information acquired in the acquisition step, the magnitude of the friction braking force to be reduced by the friction braking force reduction mechanism and the magnitude of the regenerative braking force, which is braking force generated when the drive motor is operated as a regenerative brake.

[0018] [Effects of the Invention]

[0019]

[0009] The control device according to the present invention adjusts the magnitude of the friction braking force and the magnitude of the first regenerative braking force based on operation amount information of at least one brake operating unit, thereby suppressing a decrease in the stability of the vehicle behavior of the electric motor cycle, improving the amount of charge to the battery through regenerative braking, and improving the cruising range.

[0020] BRIEF DESCRIPTION OF THE DRAWINGS

[0021] [ 0 0 1 0 ]

[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.

[0023] [Fig. 2] A diagram showing an example of the configuration of a brake system of an electric motorcycle according to an embodiment of the present invention.

[0024] [Figure 3] A block diagram for explaining a control device according to an embodiment of the present invention.

[0025] FIG. 4 is a flow chart for explaining the relationship between the type of first brake force adjusting operation executed by the control device according to the embodiment of the present invention and the operation state of the brake operating unit.

[0026] FIG. 5 is a flow chart for explaining the operation when the control device according to the embodiment of the present invention executes the first brake force adjusting operation.

[0027] [Fig. 6] A diagram showing a modified example of the brake system of the electric motorcycle according to the embodiment of the present invention.

[0028] [Fig. 7] A diagram showing a modified example of the brake system of the electric motorcycle according to the embodiment of the present invention.

[0029] [Fig. 8] A diagram showing the configuration of an electric motorcycle equipped with a modified example of the control device according to the embodiment of the present invention.

[0030] [Figure 9] A diagram showing an example of the configuration of a brake system of the electric motorcycle shown in Figure 8.

[0031] [Mode for Carrying Out the Invention]

[0032]

[0011] Below, an example of a control device, electric motorcycle, and control method according to the present invention will be described 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 motorcycles, motorbikes, scooters, etc.

[0033]

[0012] 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 reference numerals at all. Furthermore, detailed structural details may be simplified or omitted as appropriate.

[0013] Embodiments. <Configuration of an electric motorcycle> Figure 1 is a diagram showing the configuration of an electric motorcycle equipped with a control device according to an embodiment of the present invention. Figure 2 is a diagram showing an example of the configuration of a brake system for an electric motorcycle according to an embodiment of the present invention.

[0034]

[0014] The electric motorcycle 200 is, for example, a motorcycle. The electric motorcycle 200 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. In other words, the electric motorcycle 200 is equipped with the front wheel 3 and the rear wheel 4 as wheels. The electric motorcycle 200 also includes a drive motor 5 as a drive source, and a battery 7 that supplies power to the drive motor 5.

[0035]

[0015] In the electric motorcycle 200 according to this embodiment, the drive motor 5 is connected to the rear wheel 4. That is, in the electric motorcycle 200 according to this embodiment, the rear wheel 4 is a drive wheel that is driven by the drive motor 5. In the electric motorcycle 200 according to this embodiment, the front wheel 3, which is different from the drive wheel, is a non-drive wheel that is not driven by the drive motor 5. However, in the electric motorcycle 200, the front wheel 3 may be a drive wheel and the rear wheel 4 may be a non-drive wheel. In the electric motorcycle 200 according to this embodiment, the drive motor 5 is an in-wheel motor housed in the drive wheel. However, the present invention is not limited to this, and the drive motor 5 may be provided outside the drive wheel and connected to the drive wheel by a transmission mechanism such as a chain.

[0036]

[0016] <Configuration of vehicle body behavior control system> This electric motorcycle 2000 is equipped with a vehicle body behavior control system 100. The vehicle body behavior control system 100 also includes a brake system 100 and a control device 110. When the drive motor 5 is not driving the rear wheel 4, the control device 110 operates the drive motor 5 as a regenerative brake to generate electricity and charge the battery 7. The control device 110 controls the brake system 10 and performs the first brake force adjustment operation described below. The detailed configuration of the control device 110 will be described later.

[0037] [ 0 0 1 7 ]

[0038] <Configuration of Brake System> Brake system 10 includes at least one brake operation unit that is operated by the rider. In this embodiment, brake system 10 includes brake operation unit 11 and brake operation unit 13 that are provided on handlebar 2 as brake operation units. In this embodiment, brake operation unit 11 and brake operation unit 13 are brake levers, but brake operation unit 11 and brake operation unit 13 may be something other than a brake lever, such as a brake pedal.

[0039]

[0018] The brake system i0 also includes at least one friction brake device 35 that generates frictional braking force, which is braking force generated by friction, on the wheels of the electric motorcycle 200 in accordance with the amount of operation of the brake operating unit. In this embodiment, the friction brake device 35 includes a front wheel friction brake device 35a and a rear wheel friction brake device 35b. The front wheel friction brake device 35a presses a brake pad (not shown) against a rotor 3a that rotates together with the front wheel 3 in accordance with the amount of operation of the brake operating unit 11, thereby generating frictional braking force on the front wheel 3. The rear wheel side friction brake device 35 b presses a brake pad (not shown) against a rotor 4 a that rotates together with the rear wheel 4 in accordance with the amount of operation of the brake operating unit 13, thereby generating a friction braking force on the rear wheel 4.

[0019] Here, the friction brake device 35 that generates a friction braking force on the non-driven wheel is defined as the non-driven wheel side friction brake device. In this case, in this embodiment, the front wheel side friction brake device 35 a is the non-driven wheel side friction brake device. Also, the friction brake device 35 that generates a friction braking force on the driven wheel is defined as the driven wheel side friction brake device. In this case, in this embodiment, the rear wheel side friction brake device 35 b is the driven wheel side friction brake device. Also, the brake operating unit that generates a friction braking force in the non-driven wheel side friction brake device is defined as the non-driven wheel side brake operating unit. In this case, in this embodiment, the brake operating unit 11 is the non-drive wheel side brake operating unit. Also, the brake operating unit that generates a friction braking force in the drive wheel side friction brake device is defined as the drive wheel side brake operating unit. In this case, in this embodiment, the brake operating unit 13 is the drive wheel side brake operating unit.

[0040]

[0020] In this embodiment, the friction brake device 35 is a hydraulic brake device that varies the hydraulic pressure of the brake fluid in accordance with the amount of operation of the brake operating unit, thereby generating a friction braking force on the wheel. In other words, in this embodiment, the front wheel friction brake device 35 a and the rear wheel friction brake device 35 b are hydraulic brake devices that vary the hydraulic pressure of the brake fluid in accordance with the amount of operation of the brake operating unit, thereby generating a friction braking force on the wheel. However, the friction brake device 35 may be configured to receive a control signal in accordance with the amount of operation of the brake operating unit, operate an electric actuator in accordance with the control signal, press brake pads against a rotor, and generate a friction braking force on the wheel.

[0041]

[0021] The brake system 10 according to this embodiment will now be described in detail. The brake system 10 is filled with brake fluid and includes a hydraulic circuit 12 that connects a brake operating unit 11 to a front wheel friction brake device 35a. The brake system 10 is also filled with brake fluid and includes a hydraulic circuit 14 that connects a brake operating unit 13 to a rear wheel friction brake device 35b.

[0042]

[0022] The hydraulic circuit 12 includes a master cylinder 21 incorporating a piston (not shown) pressed by the brake operating unit 11, a reservoir 22 attached to the master cylinder 21, and a main flow path 41 connecting the master cylinder 21 to a front wheel friction brake device 35a. The front wheel friction brake device 35a connected to the hydraulic circuit 12 includes a brake caliper 23 having a brake pad (not shown) and a wheel cylinder 24 that operates a brake node (not shown) of the brake caliper 23. That is, the front wheel friction brake device 35a, which is a hydraulic brake device, is configured to generate friction braking force using the hydraulic pressure of the brake fluid stored in the wheel cylinder 24. The main flow path 41 may be configured as a pipe or may be a hole formed in a member such as a metal material.

[0043]

[0023] Similarly, the hydraulic circuit 14 includes a master cylinder 21 incorporating a piston (not shown) pressed by the brake operating portion 13, a reservoir 22 attached to the master cylinder 21, and a main flow path 41 connecting the master cylinder 21 and the rear wheel friction brake device 35b. The rear wheel friction brake device 35 connected to the hydraulic circuit 14 includes a brake caliper 23 having brake pads (not shown) and a wheel cylinder 24 that operates the brake pads (not shown) of the brake caliper 23. That is, the rear wheel friction brake device 35b, which is a hydraulic brake device, is configured to generate friction braking force using the hydraulic pressure of the brake fluid stored in the wheel cylinder 24.

[0044]

[0024] The brake system 10 also includes at least one friction braking force reduction mechanism that reduces the friction braking force generated on the wheels of the electric motorcycle 200. In this embodiment, the brake system 10 includes a front wheel friction braking force reduction mechanism 36 a and a rear wheel friction braking force reduction mechanism 36 b as the friction braking force reduction mechanism.

[0045]

[0025] The front-wheel-side friction braking force reduction mechanism 36a is provided in the hydraulic circuit 12 and is a friction braking force reduction mechanism that reduces the friction braking force generated on the front wheels 3. As described above, in this embodiment, the front wheels 3 are non-driven wheels. Therefore, the front-wheel-side friction braking force reduction mechanism 36a can be defined as a non-driven wheel-side friction braking force reduction mechanism that reduces the friction braking force generated on the non-driven wheels. When the hydraulic circuit 12 is equipped with the front-wheel-side friction braking device 35a that is a hydraulic brake device, the front-wheel-side friction braking force reduction mechanism 36a includes a sub-flow path 42, an inlet valve 25, a release valve 26, an accumulator 27, a pump 50, and a pump motor 51.

[0046]

[0026] One end of the sub-flow path 42 is connected to a main flow path intermediate portion 41a of the main flow path 41, and the other end is connected to a main flow path intermediate portion 41b of the main flow path 41. One end of the sub-flow path 42 may be connected to the master cylinder 21. The other end of the sub-flow path 42 may be connected to the wheel cylinder 24. The sub-flow path 42 may be constituted by piping, or may be a hole formed in a member such as a metal material. The inlet valve 25 is provided in a region of the main flow path 41 between the main flow path intermediate portion 41a and the main flow path intermediate portion 41. The opening and closing operation of the inlet valve 25 opens and closes the flow path portion of the main flow path 41 where the inlet valve 25 is installed, thereby controlling the flow rate of brake fluid flowing through this region. The inlet valve 25 is, for example, an electromagnetic valve that switches the flow of brake fluid at its installation location from open to closed when it is switched from a non-energized state to an energized state.

[0047]

[0027] The release valve 26, the accumulator 27 that stores brake fluid, and the pump 50 are provided in the secondary flow path 42. Specifically, the secondary flow path 42 is provided with, in this order from upstream, the release valve 26, the accumulator 27, and the pump 50. The opening and closing operation of the release valve 26 opens and closes the flow path portion of the secondary flow path 42 where the release valve 26 is installed, thereby controlling the flow rate of brake fluid flowing through this area. The release valve 26 is a solenoid valve that, for example, when switched from a non-energized state to an energized state, switches the flow of brake fluid toward the accumulator 27 via its installation location from closed to open. The pump 50 applies pressure to the brake fluid in the secondary flow path 42, causing the brake fluid to move. The pump 50 is driven by a pump motor 51. In other words, the pump motor 51 is the driving source of the pump 50.

[0048]

[0028] The front-wheel friction braking force reduction mechanism 36a is controlled by the control device 110 and is also used for anti-lock brake control of the front wheels 3. Specifically, the control device 110 closes the inlet valve 25 to stop the increase in hydraulic pressure of the brake fluid in the wheel cylinder 24. The control device 110 also opens the release valve 26 to release the brake fluid in the wheel cylinder 24 to the accumulator 27, reducing the hydraulic pressure of the brake fluid in the wheel cylinder 24. The control device 110 also closes the release valve 26 to stop the reduction in hydraulic pressure of the brake fluid in the wheel cylinder 24. The control device 110 also opens the inlet valve 25 to increase the hydraulic pressure of the brake fluid in the wheel cylinder 24. The control device 110 also drives the pump motor 51, which returns the brake fluid in the accumulator 27 to the master cylinder 21 via the pump 50. In anti-lock brake control, the control device 110 repeats the above-described control of the inlet valve 25 and the release valve 26 to prevent the front wheels 3 from locking.

[0049]

[0029] The rear-wheel-side friction braking force reduction mechanism 36b is provided in the hydraulic circuit 14 and is a friction braking force reduction mechanism that reduces the friction braking force generated on the rear wheels 4. As described above, in this embodiment, the rear wheels 4 are drive wheels. Therefore, the rear-wheel-side friction braking force reduction mechanism 36b can be defined as a drive wheel-side friction braking force reduction mechanism that reduces the friction braking force generated on the drive wheels. When the hydraulic circuit 14 is equipped with the rear-wheel-side friction brake device 35b that is a hydraulic brake device, the rear-wheel-side friction braking force reduction mechanism 36b includes a sub-flow path 42, an inlet valve 25, a release valve 26, and an accumulator 27. That is, the rear wheel side friction braking force reduction mechanism 36b differs from the front wheel side friction braking force reduction mechanism 36a in that it does not have a pump 50 or a pump motor 51.

[0050]

[0030] The rear wheel friction braking force reduction mechanism 36b is controlled by the control device 110 and is also used for anti-lock brake control of the rear wheels 4. Specifically, the control device 110 closes the inlet valve 25 to stop the increase in hydraulic pressure of the brake fluid in the wheel cylinder 24. The control device 110 also opens the release valve 26 to release the brake fluid in the wheel cylinder 24 to the accumulator 27, reducing the hydraulic pressure of the brake fluid in the wheel cylinder 24. The control device 110 also closes the release valve 26 to stop the reduction in hydraulic pressure of the brake fluid in the wheel cylinder 24. Thereafter, while antilock brake control of the rear wheels 4 is being executed, the control device 110 adjusts the magnitude of the first regenerative braking force, which is the braking force generated when the drive motor 5 is operated as a regenerative brake, to prevent the rear wheels 4 from locking. When the brake operating unit 13 is not operated, the hydraulic pressure of the brake fluid in the master cylinder 21 becomes lower than the hydraulic pressure of the brake fluid in the accumulator 27. As a result, the brake fluid in the accumulator 27 returns to the master cylinder 21.

[0051]

[0031] In other words, the rear wheel side friction braking force reduction mechanism 36b is a hydraulic pressure reduction mechanism that releases brake fluid in the wheel cylinder 24 to the accumulator 27 and discharges the brake fluid stored in the accumulator 27 from the accumulator 27 without a pump. By configuring the rear wheel side friction braking force reduction mechanism 36b in this way, the pump motor 51 is not required for the rear wheel side friction braking force reduction mechanism 36b, which reduces the cost of the brake system 10 equipped with the rear wheel side friction braking force reduction mechanism 36b and reduces the installation space required for the brake system 10 equipped with the rear wheel side friction braking force reduction mechanism 36b on the electric motorcycle 200. The rear wheel-side friction braking force reduction mechanism 36 b may be configured to include a pump 50 and a pump motor 51, similar to the front wheel-side friction braking force reduction mechanism 36 a. In this case, the control device 110 controls the rear wheel-side friction braking force reduction mechanism 36 b in the same way as the front wheel-side friction braking force reduction mechanism 36 a, thereby performing anti-lock brake control of the rear wheel 4.

[0052]

[0032] In this embodiment, the braking force generated when the drive motor 5 is operated as a regenerative brake is referred to as a first regenerative braking force to distinguish it from the braking force generated when the regenerative motor 6, which will be described later as a modified example, is operated as a regenerative brake. When it is not necessary to distinguish it from the braking force generated when the regenerative motor 6, which will be described later as a regenerative brake, the braking force generated when the drive motor 5 is operated as a regenerative brake may simply be referred to as a regenerative braking force.

[0053]

[0033] The brake system 10 also includes a master cylinder hydraulic pressure sensor 30 in the hydraulic circuit 12 and the hydraulic circuit 14. The master cylinder hydraulic pressure sensor 30 detects the hydraulic pressure of the brake fluid in the master cylinder 21.

[0054] [ 0 0 3 4 ]

[0055] <Configuration of the control device> Figure 3 is a block diagram for explaining a control device according to an embodiment of the present invention. As described above, the control device 110 operates the drive motor 5 as a regenerative brake to generate electricity. The control device 110 may be a single device, or may be divided into multiple devices. Furthermore, part or all of the control device 110 may be composed of, for example, a microcomputer, a microprocessor unit, or the like, or may be composed of updatable firmware, or may be a program module executed by commands from a CPU, or the like.

[0056]

[0035] As shown in FIG. 3, the control device 110 has, as its functional units, an acquisition unit 111 and an execution unit 112. The acquisition unit 111 is a functional unit that acquires operation amount information related to at least one operation amount of the brake operation unit. The operation amount information is the operation amount of the brake operation unit or a physical amount that can be converted into the operation amount. In this embodiment, the acquisition unit 111 is configured to acquire operation amount information of the brake operation unit 11 and the brake operation unit 13. In addition, in this embodiment, the acquisition unit 111 acquires the operation amount information of the brake operation unit 11 based on the detection value of the master cylinder hydraulic pressure sensor 30 of the hydraulic circuit 12, and acquires the operation amount information of the brake operation unit 13 based on the detection value of the master cylinder hydraulic pressure sensor 30 of the hydraulic circuit 14. However, the method for acquiring the operation amount information of the brake operating unit is not limited to this. For example, the acquiring unit 111 may acquire the operation amount information of the brake operating unit using a stroke sensor that detects the stroke amount of the brake operating unit, or a pressure sensor that detects the pressure when the brake operating unit is pressed.

[0057]

[0036] The execution unit 112 is a functional unit that executes a first braking force adjustment operation based on at least one of the operation amount information acquired by the acquisition unit 111. The first braking force adjustment operation is an operation that adjusts the magnitude of the friction braking force reduced by the friction braking force reduction mechanism and the magnitude of the first regenerative braking force, which is the braking force generated when the drive motor 5 is operated as a regenerative brake. Note that adjusting the magnitude of the friction braking force reduced by the friction braking force reduction mechanism also includes a configuration in which the friction braking force reduction mechanism does not reduce the friction braking force. By having the execution unit 112 execute the first braking force adjustment operation, it is possible to improve the amount of charge to the battery 7 while suppressing a decrease in the stability of the vehicle behavior of the electric motorcycle 200. That is, by the execution unit 112 executing the first brake force adjustment operation, it is possible to improve the cruising distance of the electric motorcycle 200 while suppressing a decrease in the stability of the vehicle behavior of the electric motorcycle 200. The execution unit 112 according to this embodiment executes at least one of the following first brake force adjustment operations A to F as the first brake force adjustment operation based on operation amount information of at least one of the brake operation unit 11 and the brake operation unit 13.

[0058]

[0037] Fig. 4 is a flow chart for explaining the relationship between the type of first brake force adjusting operation performed by the control device according to the embodiment of the present invention and the operation state of the brake operation unit. In step S1, when at least one of the brake operation unit 11 and the brake operation unit 13 is operated, the control device 110 determines the type of first brake force adjusting operation to be performed, for example, based on the flow chart shown in Fig. 4, and performs the first brake force adjusting operation. Step S2 after step S1 is a step for determining the operation of the non-drive wheel side brake operation unit. If the brake operation unit 11 is operated in step S2, the control device 110 proceeds to step S3. Step S3 is a step for determining the operation of the drive wheel side brake operation unit. If the brake operation unit 13 is operated in step S3, the execution unit 112 performs the first brake force adjusting operation A.

[0059]

[0038] First brake force adjustment operation A is performed when both brake operating unit 11 and brake operating unit 13 are operated. First brake force adjustment operation A adjusts the magnitude of the friction braking force reduced by the friction braking force reduction mechanism and the magnitude of the first regenerative braking force so that the amount of change in the attitude of electric motorcycle 200 falls within a specified value when comparing a case where first brake force adjustment operation A is performed with a case where it is not performed. Note that the amount of change in the attitude of electric motorcycle 200 falling within a specified value means, for example, that the amount of change in pitch angle of electric motorcycle 200 falls within a specified value. Also, for example, as shown in FIG. 1, the value of pitch angle O when electric motorcycle 200 is front-loaded is set to a positive value of pitch angle O. The value of the pitch angle 0 when the electric motorcycle 200 is rear-loaded is set to the negative value of the pitch angle 0. The amount of change in the attitude of the electric motorcycle 200 being within a specified value means, for example, that the value of the pitch angle e of the electric motorcycle 200 remains unchanged in either positive or negative.

[0060] [.039] In the first braking force adjustment operation A, the execution unit 112 performs the first braking force adjustment operation A so that, for example, when comparing the case where the first braking force adjustment operation A is performed with the case where it is not performed, the ratio between the braking force generated on the rear wheels 4, which are the driven wheels, and the braking force generated on the front wheels 3, which are the non-driven wheels, is within a specified range. For example, the execution unit 112 adjusts the magnitude of the first regenerative braking force so that the ratio between the braking force generated on the rear wheels 4 and the braking force generated on the front wheels 3 is approximately 3:7. The braking force generated on the rear wheels 4 is the sum of the first regenerative braking force of the drive motor 5 and the friction braking force generated on the rear wheels 4. The braking force generated on the front wheels 3 is the friction braking force generated on the front wheels 3.

[0061] Specifically, for example, in the first braking force adjustment operation A, the execution unit 112 executes control to apply a first regenerative braking force of the drive motor 5 to the rear wheel 4. Such a first braking force adjustment operation A can also be executed in a brake system 10 that does not include a rear-wheel-side friction braking force reduction mechanism 36 b.

[0062] Specifically, for example, in the first braking force adjustment operation A, the execution unit 112 executes control to reduce the friction braking force generated on the rear wheels 4 by the rear wheel side friction braking force reduction mechanism 36 b and apply the first regenerative braking force of the drive motor 5 to the rear wheels 4. At this time, it is preferable that the execution unit 112 controls the rear wheel side friction braking force reduction mechanism 36 b so that the friction braking force generated on the rear wheels 4 remains to the extent that it cannot be covered by the first regenerative braking force of the drive motor 5. In other words, when the first braking force adjustment operation A is performed in this way, the acquisition unit 111 acquires non-driven wheel side operation amount information, which is operation amount information of the brake operation unit 11, and driven wheel side operation amount information, which is operation amount information of the brake operation unit 13. The execution unit 112 then adjusts the magnitude of the friction braking force to be reduced by the rear wheel friction braking force reduction mechanism 36 b and the magnitude of the first regenerative braking force based on the drive wheel side operation amount information and the non-drive wheel side operation amount information. By performing the first braking force adjustment operation A in this manner, the amount of charge to the battery 7 can be further improved.

[0063]

[0042] In the first braking force adjustment operation A, the execution unit 112 executes the first braking force adjustment operation A so that, for example, when comparing a case where the first braking force adjustment operation A is executed with a case where it is not executed, the difference between the sum of the braking force generated on the rear wheels 4, which are driving wheels, and the braking force generated on the front wheels 3, which are non-driving wheels, falls within a specified range. For example, the execution unit 112 executes the first braking force adjustment operation A so that the sum of the braking force generated on the rear wheels 4 and the braking force generated on the front wheels 3 becomes approximately the same.

[0064]

[0043] Specifically, for example, in the first braking force adjustment operation A, the execution unit 112 executes control to reduce the friction braking force generated on the front wheels 3 by the front wheel side friction braking force reduction mechanism 36 a, and to apply the first regenerative braking force of the drive motor 5 to the rear wheels 4. That is, when the first braking force adjustment operation A is performed in this manner, the acquisition unit 111 acquires non-driven wheel side operation amount information, which is operation amount information of the brake operation unit 11, and driven wheel side operation amount information, which is operation amount information of the brake operation unit 13. Then, the execution unit 112 adjusts the magnitude of the friction braking force reduced by the front wheel side friction braking force reduction mechanism 36 a and the magnitude of the first regenerative braking force, based on the driven wheel side operation amount information and the non-driven wheel side operation amount information. This type of first braking force adjustment operation A can also be performed in a brake system 10 that does not have a rear wheel friction braking force reduction mechanism 36b.

[0065]

[0044] Specifically, for example, in the first braking force adjustment operation A, the execution unit 112 executes control to reduce the friction braking force generated on the front wheels 3 using the front wheel-side friction braking force reduction mechanism 36a, and also reduces the friction braking force generated on the rear wheels 4 using the rear wheel-side friction braking force reduction mechanism 36b, thereby applying the first regenerative braking force of the drive motor 5 to the rear wheels 4. In this case, it is preferable that the execution unit 112 controls the rear wheel-side friction braking force reduction mechanism 36b so that the friction braking force generated on the rear wheels 4 remains by the amount that cannot be covered by the first regenerative braking force of the drive motor 5. That is, when the first braking force adjustment operation A is performed in this manner, the acquisition unit 111 acquires non-drive wheel side operation amount information, which is operation amount information of the brake operation unit 11, and drive wheel side operation amount information, which is operation amount information of the brake operation unit 13. Then, the execution unit 112 adjusts the magnitude of the friction braking force reduced by the rear wheel side friction braking force reduction mechanism 36 b and the front wheel side friction braking force reduction mechanism 36 a, and the magnitude of the first regenerative braking force, based on the drive wheel side operation amount information and the non-drive wheel side operation amount information. By performing the first braking force adjustment operation A in this manner, the amount of charge to the battery 7 can be further improved.

[0066]

[0045] In the first braking force adjusting operation A, the executing unit 112 executes the first braking force adjusting operation A so that, for example, when comparing a case where the first braking force adjusting operation A is executed with a case where it is not executed, the difference in braking force generated on the rear wheels 4, which are driving wheels, falls within a specified range. For example, the executing unit 112 executes the first braking force adjusting operation A so that the braking forces generated on the rear wheels 4 are approximately the same.

[0067]

[0046] Specifically, for example, in the first braking force adjustment operation A, the execution unit 112 reduces the friction braking force generated on the rear wheel 4 by the rear wheel side friction braking force reduction mechanism 36 b, and executes control to apply the first regenerative braking force of the drive motor 5 to the rear wheel 4. That is, when the first braking force adjustment operation A is performed in this way, the acquisition unit 111 acquires non-driven wheel side operation amount information, which is operation amount information of the brake operation unit 11, and driven wheel side operation amount information, which is operation amount information of the brake operation unit 13. Then, the execution unit 112 adjusts the magnitude of the friction braking force reduced by the rear wheel side friction braking force reduction mechanism 36 b and the magnitude of the first regenerative braking force, based on the driven wheel side operation amount information and the non-driven wheel side operation amount information. This first braking force adjustment operation A can also be performed in a brake system 10 that does not have a front-wheel friction braking force reduction mechanism 36a. In this case, it is preferable that the execution unit 112 controls the rear-wheel friction braking force reduction mechanism 36 so that the friction braking force generated at the rear wheels 4 remains to the extent that it cannot be covered by the first regenerative braking force of the drive motor 5. By performing the first braking force adjustment operation A in this manner, the amount of charge to the battery 7 can be further improved.

[0068]

[0047] If the brake operating unit 13 is not operated in step S3, the control device 110 proceeds to step S4. Step S4 is a judgment step in which it is determined whether the braking force equivalent to the operation amount of the brake operating unit 11 can be provided by the first regenerative braking force. If the braking force equivalent to the operation amount of the brake operating unit 11 can be provided by the first regenerative braking force, the control device 110 proceeds to step S5. Step S5 is a judgment step in which it is determined whether the amount of change in the attitude of the electric motorcycle 200 is within a specified value when comparing the case where the first brake force adjustment operation B described below is performed with the case where it is not performed. In step S5, when comparing the cases where the first brake force adjustment operation B is performed and where it is not performed, if the amount of change in the posture of the electric motor cycle 200 is within a specified value, the execution unit 112 performs the first brake force adjustment operation B.

[0069]

[0048] The first brake force adjusting operation B is a first brake force adjusting operation that is executed when the brake operating unit 11 is operated. In other words, the first brake force adjusting operation B is a first brake force adjusting operation that can be executed without the acquisition unit 111 acquiring the operation amount of the brake operating unit 13, as long as it is determined that the brake operating unit 13 is not being operated.

[0070]

[0049] In the first braking force adjustment operation B, the execution unit 112 reduces the friction braking force generated on the front wheels 3 by the front wheel side friction braking force reduction mechanism 36 a, and executes control to apply a first regenerative braking force equivalent to the friction braking force reduced by the front wheel side friction braking force reduction mechanism 36 a to the rear wheels 4. That is, when the first braking force adjustment operation B is performed in this manner, the acquisition unit 111 acquires non-driven wheel side operation amount information, which is operation amount information of the brake operation unit 11. Then, the execution unit 112 adjusts the magnitude of the friction braking force reduced by the front wheel side friction braking force reduction mechanism 36 a and the magnitude of the first regenerative braking force based on the non-driven wheel side operation amount information. At this time, it is preferable that the execution unit 112 controls the front wheel friction braking force reduction mechanism 36a so that no friction braking force remains on the front wheels 3. By performing the first braking force adjustment operation B in this manner, it is possible to further improve the amount of charge to the battery 7. Note that this first braking force adjustment operation B can also be performed in a brake system 10 that does not have a rear wheel friction braking force reduction mechanism 36b.

[0071]

[0050] In step S5, when comparing the case where the first brake force adjustment operation B is performed with the case where it is not performed, if the amount of change in the attitude of the electric motorcycle 200 is not within a specified value, the execution unit 112 performs the first brake force adjustment operation C.

[0072]

[0051] The first brake force adjusting operation c is a first brake force adjusting operation that is executed when the brake operating unit 11 is operated. In other words, the first brake force adjusting operation C is a first brake force adjusting operation that can be executed without the acquisition unit 111 acquiring the operation amount of the brake operating unit 13, as long as it is determined that the brake operating unit 13 is not being operated.

[0073]

[0052] In the first braking force adjustment operation C, the execution unit 112 executes the first braking force adjustment operation c so that, for example, when comparing a case where the first braking force adjustment operation C is executed with a case where it is not executed, the ratio between the braking force generated on the rear wheels 4 (drive wheels) and the braking force generated on the front wheels 3 (non-drive wheels) falls within a specified range. In the first braking force adjustment operation C, the execution unit 112 executes the first braking force adjustment operation C so that, for example, when comparing a case where the first braking force adjustment operation C is executed with a case where it is not executed, the difference between the sum of the braking force generated on the rear wheels 4 (drive wheels) and the braking force generated on the front wheels 3 (non-drive wheels) falls within a specified range. At this time, the execution unit 112 may reduce the friction braking force generated on the front wheels 3 by the front-wheel-side friction braking force reduction mechanism 36 a so that the first regenerative braking force is as large as possible. That is, when the first braking force adjustment operation c is performed in this manner, the acquisition unit 111 acquires non-driven wheel side operation amount information, which is operation amount information of the brake operation unit 11. Then, the execution unit 112 adjusts the magnitude of the friction braking force reduced by the front wheel side friction braking force reduction mechanism 36 a and the magnitude of the first regenerative braking force based on the non-driven wheel side operation amount information. Note that such first braking force adjustment operation c can also be performed in a brake system 10 that does not have a rear wheel side friction braking force reduction mechanism 36 b.

[0074]

[0053] In step S4, if the first regenerative braking force is not sufficient to provide the braking force corresponding to the operation amount of the brake operating unit 11, the execution unit 112 executes a first braking force adjustment operation D.

[0075]

[0054] The first brake force adjusting operation D is a first brake force adjusting operation that is executed when the brake operating unit 11 is operated. In other words, the first brake force adjusting operation D is a first brake force adjusting operation that can be executed without the acquisition unit 111 acquiring the operation amount of the brake operating unit 13, as long as it is determined that the brake operating unit 13 is not being operated.

[0076] In the first braking force adjustment operation D, the execution unit 112 performs the first braking force adjustment operation D so that, for example, when comparing a case where the first braking force adjustment operation D is performed with a case where it is not performed, the ratio between the braking force generated on the rear wheels 4, which are driving wheels, and the braking force generated on the front wheels 3, which are non-driving wheels, falls within a specified range. In addition, in the first braking force adjustment operation D, the execution unit 112 performs the first braking force adjustment operation D so that, for example, when comparing a case where the first braking force adjustment operation D is performed with a case where it is not performed, the difference between the sum of the braking force generated on the rear wheels 4, which are driving wheels, and the braking force generated on the front wheels 3, which are non-driving wheels, falls within a specified range. At this time, the execution unit 112 may reduce the friction braking force generated on the front wheels 3 by the front-wheel-side friction braking force reduction mechanism 36 a so that the first regenerative braking force is as large as possible. That is, when the first braking force adjustment operation D is performed in this manner, the acquisition unit 111 acquires non-driven wheel side operation amount information, which is operation amount information of the brake operation unit 11. Then, the execution unit 112 adjusts the magnitude of the friction braking force reduced by the front wheel side friction braking force reduction mechanism 36 a and the magnitude of the first regenerative braking force based on the non-driven wheel side operation amount information. Note that such first braking force adjustment operation D can also be performed in a brake system 10 that does not have a rear wheel side friction braking force reduction mechanism 36 b.

[0077]

[0056] If the brake operating unit 11 is not operated in step S2, the control device 110 proceeds to step S6. Step S6 is a determination step for determining whether the first regenerative braking force can provide the braking force corresponding to the operation amount of the brake operating unit 13. If the first regenerative braking force can provide the braking force corresponding to the operation amount of the brake operating unit 13, the execution unit 112 executes the first braking force adjustment operation E.

[0078]

[0057] The first brake force adjustment operation E is a first brake force adjustment operation that is executed when the brake operating unit 13 is operated. In other words, the first brake force adjustment operation E is a first brake force adjustment operation that can be executed without the acquisition unit 111 acquiring the operation amount of the brake operating unit 11, as long as it is determined that the brake operating unit 11 is not being operated. Furthermore, when the execution unit 112 is configured to perform only the first brake force adjustment operation E and a first brake force adjustment operation F described below, it is not necessary to acquire whether the brake operating unit 11 is being operated. The execution unit 112 only needs to execute the first brake force adjustment operation E and a first brake force adjustment operation F described below, regardless of whether the brake operating unit 11 is being operated.

[0079]

[0058] In the first braking force adjustment operation E, the execution unit 112 executes the first braking force adjustment operation E so that the difference in braking force generated on the rear wheels 4, which are the driving wheels, is within a specified range when comparing when the first braking force adjustment operation E is executed and when it is not executed. That is, when the first braking force adjustment operation E is performed in this manner, the acquisition unit 111 acquires driving wheel side operation amount information, which is operation amount information of the brake operation unit 13. Then, the execution unit 112 adjusts the magnitude of the friction braking force reduced by the rear wheel side friction braking force reduction mechanism 36 b and the magnitude of the first regenerative braking force, based on the driving wheel side operation amount information. At this time, it is preferable that the execution unit 112 control the rear wheel side friction braking force reduction mechanism 36 b so that no friction braking force generated on the rear wheels 4 remains. By performing the first braking force adjustment operation E in this manner, it is possible to further improve the amount of charge to the battery 7. Note that this first braking force adjustment operation E can also be performed in a brake system 10 that does not have a front wheel friction braking force reduction mechanism 36 a.

[0080]

[0059] If the first regenerative brake force cannot provide the braking force equivalent to the operation amount of the brake operating unit 13 in step S6, the execution unit 112 executes a first brake force adjustment operation F.

[0081]

[0060] The first brake force adjustment operation F is a first brake force adjustment operation that is executed when the brake operation unit 13 is operated. In other words, the first brake force adjustment operation F is a first brake force adjustment operation that can be executed without the acquisition unit 111 acquiring the operation amount of the brake operation unit 11, as long as it is known that the brake operation unit 11 is not being operated. Furthermore, when the execution unit 112 is configured to perform only the first brake force adjustment operation E and the first brake force adjustment operation F, it is not necessary to acquire whether the brake operation unit 11 is being operated. The execution unit 112 only needs to execute the first brake force adjustment operation E and the first brake force adjustment operation F, regardless of whether the brake operation unit 11 is being operated or not.

[0082]

[0061] In the first braking force adjustment operation F, the execution unit 112 executes the first braking force adjustment operation F so that the difference in braking force generated on the rear wheels 4, which are the driving wheels, falls within a specified range when comparing when the first braking force adjustment operation F is executed with when it is not executed. That is, when the first braking force adjustment operation F is performed in this manner, the acquisition unit 111 acquires driving wheel side operation amount information, which is operation amount information of the brake operation unit 13. Then, the execution unit 112 adjusts the magnitude of the friction braking force reduced by the rear wheel side friction braking force reduction mechanism 36 b and the magnitude of the first regenerative braking force, based on the driving wheel side operation amount information. At this time, it is preferable that the execution unit 112 controls the rear-wheel friction braking force reduction mechanism 36b so that the friction braking force generated on the rear wheels 4 remains to the extent that it cannot be covered by the first regenerative braking force of the drive motor 5. By performing the first braking force adjustment operation F in this manner, it is possible to further improve the amount of charge to the battery 7. Note that such first braking force adjustment operation F can also be performed in a brake system 10 that does not have a front-wheel friction braking force reduction mechanism 36a.

[0083]

[0062] <Operation of the Control Device> The operation of the control device according to this embodiment when performing the first braking force adjustment operation will be described.

[0084]

[0063] Fig. 5 is a flow chart for explaining the operation when the control device according to the embodiment of the present invention performs a first brake force adjusting operation. When a start condition for performing the first brake force adjusting operation is met, the control device 110 starts the control shown in Fig. 5 in step S11. The start condition is, for example, when at least one of the brake operating unit 11 and the brake operating unit 13 is operated. Step S12 after step S11 is an acquisition step. In step S12, the acquisition unit 111 of the control device 110 acquires operation amount information related to the operation amount of at least one of the brake operating units. Step S13 after step S12 is a brake force adjusting step. In step S13, the execution unit 112 of the control device 11O adjusts the magnitude of the friction braking force to be reduced by the friction braking force reduction mechanism and the magnitude of the first regenerative braking force of the drive motor 5 based on at least one of the operation amount information acquired by the acquisition unit 111.

[0085]

[0064] Step S14 after step S13 is an end determination step. In step S14, the control device 110 determines whether the end condition of the control shown in Fig. 5 has been met. The end condition is, for example, when the brake operating unit 11 and the brake operating unit 13 are no longer being operated. If it is determined in step S14 that the end condition of the control shown in Fig. 5 has been met, the control device 110 proceeds to step S15 and ends the control shown in Fig. 5. On the other hand, if it is determined in step S14 that the end condition of the control shown in Fig. 5 has not been met, the control device 110 returns to step S12.

[0086]

[0065] <Effects of the Control Device> The control device 110 according to this embodiment is a control device for a vehicle behavior control system 100 mounted on an electric motorcycle 200. The electric motorcycle 200 is equipped with a drive motor 5, which is a motor that serves as a drive source, at least one brake operation unit operated by the rider, at least one friction brake device 35 that generates friction braking force, which is braking force generated by friction, on the wheels of the electric motorcycle 200 according to the amount of operation of the brake operation unit, and at least one friction braking force reduction mechanism that reduces the friction braking force generated on the wheels of the electric motorcycle 200. The control device 110 is configured to operate the drive motor 5 as a regenerative brake to generate electricity. The control device 110 includes an acquisition unit 111 and an execution unit 112. The acquisition unit 111 acquires operation amount information relating to at least one operation amount of the brake operation unit. The execution unit 112 executes a first braking force adjustment operation based on at least one of the operation amount information acquired by the acquisition unit 111 to adjust the magnitude of the friction braking force reduced by the friction braking force reduction mechanism and the magnitude of the first regenerative braking force, which is the braking force generated when the drive motor 5 is operated as a regenerative brake.

[0087]

[0066] The control device 110 configured in this manner can replace at least a portion of the friction braking force, which releases the kinetic energy of the electric motorcycle 200 as heat energy, with regenerative braking force, which recovers the kinetic energy of the electric motorcycle 200 as electrical energy. In this case, the control device 110 configured in this manner adjusts the magnitude of the friction braking force and the magnitude of the first regenerative braking force based on operation amount information of at least one brake operation unit. Therefore, by installing the control device 110 configured in this manner on the electric motorcycle 200, it is possible to improve the amount of charge to the battery 7 while suppressing a decrease in the stability of the vehicle behavior of the electric motorcycle 200. In other words, by installing the control device 110 configured in this manner in the electric motorcycle 200, it is possible to improve the cruising range of the electric motorcycle 200 while suppressing a decrease in the stability of the vehicle behavior of the electric motorcycle 200.

[0088]

[0067] In this embodiment, the drive motor 5 is an in-wheel motor housed in the drive wheel. Heat generated by friction braking is easily transmitted to the in-wheel motor via a rotor or the like. However, in this embodiment, the control device 110 performs the first brake force adjustment operation to suppress the friction braking force acting on the rear wheel 4, which is the drive wheel, thereby achieving the effect of suppressing heat transmission to the drive motor 5. In addition, in this embodiment, the control device 110 performs the first brake force adjustment operation to suppress the friction braking force acting on the wheel, thereby achieving the effect of improving the life of the brake pads.

[0089] [ 0 0 6 8 ]

[0090] <Modifications> The brake system 10 shown in FIG. 2 is an example of the brake system 10. Modifications of the brake system 10 will be introduced below.

[0091]

[0069] Fig. 6 is a diagram showing a modified example of the brake system of the electric motorcycle according to the embodiment of the present invention. The brake system 10 shown in Fig. 6 differs from the brake system 10 shown in Fig. 2 in that it does not include a rear wheel friction braking force reduction mechanism 36b. Even when the brake system 10 is configured as shown in Fig. 6, the control device 10 can perform a first braking force adjustment operation. For example, the control device 10 can perform first braking force adjustment operation A to first braking force adjustment operation D as the first braking force adjustment operation.

[0092]

[0070] Fig. 7 is a diagram showing a modified example of the brake system of the electric motorcycle according to the embodiment of the present invention. The brake system 10 shown in Fig. 7 differs from the brake system 10 shown in Fig. 2 in that it does not include the front wheel friction braking force reduction mechanism 36a. Even when the brake system 10 is configured as shown in Fig. 7, the control device 10 can perform a first braking force adjustment operation. For example, the control device 10 can perform first braking force adjustment operation A, first braking force adjustment operation C to first braking force adjustment operation F as the first braking force adjustment operation.

[0093]

[0071] Fig. 8 is a diagram showing the configuration of an electric motorcycle equipped with a modified example of a control device according to an embodiment of the present invention. Fig. 9 is a diagram showing an example of the configuration of a brake system for the electric motorcycle shown in Fig. 8. The electric motorcycle 200 shown in Fig. 8 is equipped with a regenerative motor 6. The regenerative motor 6 is connected to a wheel of the electric motorcycle 200 that is different from the drive wheel driven by the drive motor 5. In Fig. 8, the rear wheel 4 is the drive wheel driven by the drive motor 5. In Fig. 8, the front wheel 3 is the regenerative wheel that is connected to the regenerative motor 6.

[0094]

[0072] Here, the friction brake device 35 that generates friction braking force on the regenerative wheel is defined as the regenerative wheel side friction brake device. In this case, in this embodiment, the front wheel side friction brake device 35a is the regenerative wheel side friction brake device. Also, the brake operation unit that generates friction braking force on the regenerative wheel side friction brake device is defined as the regenerative wheel side brake operation unit. In this case, in this embodiment, the brake operation unit 11 is the regenerative wheel side brake operation unit. Also, the friction braking force reduction mechanism that reduces the friction braking force generated on the regenerative wheel is defined as the regenerative wheel side friction braking force reduction mechanism. In this case, in this embodiment, the front wheel side friction braking force reduction mechanism 36a is the regenerative wheel side friction braking force reduction mechanism.

[0095]

[0073] The control device 110 shown in Fig. 8 is configured to operate the regenerative motor 6 as a regenerative brake to generate electricity and charge the battery 7. Here, as described above, the acquisition unit 111 is configured to acquire operation amount information of the brake operation unit 11. That is, the control device 110 shown in Fig. 8 acquires regenerative wheel side operation amount information, which is operation amount information of the brake operation unit 11, which is the regenerative wheel side brake operation unit. Then, based on the regenerative wheel side operation amount information, the execution unit 112 executes a second brake force adjustment operation to adjust the magnitude of the friction braking force reduced by the front wheel side friction braking force reduction mechanism 36a, which is the regenerative wheel side friction braking force reduction mechanism, and the magnitude of the second regenerative braking force, which is the braking force generated when the regenerative motor 6 is operated as a regenerative brake.

[0096]

[0074] For example, in the brake system 10 shown in Fig. 9, when the execution unit 112 executes the second braking force adjustment operation, the control device 110 executes a reduction in the friction braking force generated on the front wheel 3 by the front wheel friction brake device 35a. The execution unit 112 then adjusts the magnitude of the second regenerative braking force so that the difference in braking force generated on the front wheel 3 when comparing a case where the second braking force adjustment operation is executed with a case where it is not executed falls within a specified range. By executing the second braking force adjustment operation by the execution unit 112, electricity can be generated not only by the drive motor 5 but also by the regenerative motor 6. Therefore, by executing the second braking force adjustment operation by the execution unit 112, the amount of charge to the battery 7 can be further improved.

[0097]

[0075] The regenerative motor 6 may be configured to drive the front wheels 3, which are regenerative wheels. By configuring the regenerative motor 6 in this way, the number of types of electric motor cycles 200 that can be equipped with the control device 110 increases, improving the versatility of the control device 110.

[0098]

[0076] In the brake system 10 shown in Fig. 9, the control device 110 controls the inlet valve 25 and the release valve 26 of the front wheel friction brake reduction mechanism 36a to perform anti-lock brake control for the front wheels 3. Specifically, the control device 110 closes the inlet valve 25 to stop the increase in hydraulic pressure of the brake fluid in the wheel cylinder 24. The control device 110 also opens the release valve 26 to release the brake fluid in the wheel cylinder 24 to the accumulator 27, thereby reducing the hydraulic pressure of the brake fluid in the wheel cylinder 24. The control device 110 also closes the release valve 26 to stop the reduction in hydraulic pressure of the brake fluid in the wheel cylinder 24. Thereafter, while antilock brake control of the front wheels 3 is being executed, the control device 110 adjusts the magnitude of the second regenerative braking force, which is the braking force generated when the regenerative motor 6 is operated as a regenerative brake, to prevent the front wheels 3 from locking. When the brake operating unit 11 is no longer operated, the hydraulic pressure of the brake fluid in the master cylinder 21 becomes lower than the hydraulic pressure of the brake fluid in the accumulator 27. As a result, the brake fluid in the accumulator 27 returns to the master cylinder 21.

[0099]

[0077] In other words, the front-wheel-side friction braking force reduction mechanism 36a is a hydraulic pressure reduction mechanism that releases brake fluid in the wheel cylinder 24 to the accumulator 27 and discharges the brake fluid stored in the accumulator 27 from the accumulator 27 without a pump. By configuring the front-wheel-side friction braking force reduction mechanism 36a in this way, the pump motor 51 is not required for the front-wheel-side friction braking force reduction mechanism 36a, which reduces the cost of the brake system 10 equipped with the front-wheel-side friction braking force reduction mechanism 36a and reduces the installation space required for the brake system 10 equipped with the front-wheel-side friction braking force reduction mechanism 36a on the electric motorcycle 200. The front-wheel-side friction braking force reduction mechanism 36a shown in Fig. 8 may be configured to include a pump 50 and a pump motor 51.

[0100]

[0078] Although an example of the 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 in a manner that is only part of the description of the embodiment.

[0101] [Explanation of symbols]

[0102] [ 0 0 7 9 ]

[0103] ! Fuselage, 2 Steering wheel, 3 Front wheel, 3a rotor, 4 Rear wheel, 4a rotor, 5 Drive motor, 6 Regenerative motor, 7 Battery, 10 Brake system, 11 Brake operation unit, 12 Hydraulic circuit, 13 Brake operation unit, 14 Hydraulic circuit, 21 Master cylinder, 22 Reservoir, 23 Brake caliper, 24 Wheel cylinder, 25 Fill valve, 26 Release valve, 27 Accumulator, 3 〇 Master cylinder hydraulic pressure sensor, 35 Friction brake device, 35a Front wheel friction brake device, 35b Rear wheel friction brake device, 3

[0104] 6a Front wheel friction braking force reduction mechanism, 36b Rear wheel friction braking force reduction mechanism, 41 Main flow path, 41a Midway part of main flow path, 41 Midway part of main flow path, 42 Secondary flow path, 5〇 Pump, 51 Pump motor, 100 Vehicle behavior control system, 110 Control device, 111 Acquisition unit, 112 Execution unit, 200 Electric motorcycle.

Claims

【Document Name】 Claims

1. A control device (110) of a vehicle behavior control system (100) mounted on an electric motor cycle (200), wherein the electric motor cycle (200) includes a drive motor (5) that is a motor serving as a drive source, at least one brake operation unit operated by a rider, and at least one friction brake device (35) that generates a friction brake force, which is a brake force generated by friction, on a wheel of the electric motor cycle (200) according to an operation amount of the brake operation unit, and at least one friction brake force reduction mechanism that reduces the friction brake force generated on the wheel, and the control device (110) is configured to operate the drive motor (5) as a regenerative brake to generate electricity, and an acquisition unit (111) that acquires operation amount information regarding at least one of the operation amounts of the at least one brake operation unit, and an execution unit (112) that executes a first brake force adjustment operation for adjusting a magnitude of the friction brake force reduced by the friction brake force reduction mechanism and a magnitude of a first regenerative brake force that is a brake force generated when the drive motor (5) is operated as a regenerative brake, based on at least one of the operation amount information acquired by the acquisition unit (111). The control device (110) is provided.

2. When a wheel of the electric motor cycle (200) connected to the drive motor (5) is defined as a drive wheel (4), the execution unit (112) is configured to execute the first brake force adjustment operation so that a difference in brake force generated on the drive wheel (4) is within a specified range when comparing whether to execute the first brake force adjustment operation. The control device (110) according to Claim 1.

3. When a wheel of the electric motor cycle (200) connected to the drive motor (5) is defined as a drive wheel (4), and a wheel of the electric motor cycle (200) different from the drive wheel (4) is defined as a non-drive wheel (3), when the execution unit (112) compares a case of executing the first brake force adjustment operation with a case of not executing the first brake force adjustment operation, the execution unit (112) is configured to execute the first brake force adjustment operation such that the difference in the sum of the brake force generated in the drive wheel (4) and the brake force generated in the non-drive wheel (3) is within a specified range. The control device (110) according to claim 1.

4. When a wheel of the electric motor cycle (200) connected to the drive motor (5) is defined as a drive wheel (4), and a wheel of the electric motor cycle (200) different from the drive wheel (4) is defined as a non-drive wheel (3), when the execution unit (112) compares a case of executing the first brake force adjustment operation with a case of not executing the first brake force adjustment operation, the ratio of the brake force generated in the drive wheel (4) to the brake force generated in the non-drive wheel (3) is within a specified range. The control device (110) according to claim 1.

5. When the wheel of the electric motorcycle (200) connected to the drive motor (5) is defined as the drive wheel (4), the electric motorcycle (200) includes, as the friction brake device (35), a drive-wheel-side friction brake device (35b) that generates the friction braking force on the drive wheel (4), includes, as the brake operation unit, a drive-wheel-side brake operation unit (13) that generates the friction braking force on the drive-wheel-side friction brake device (35b), includes, as the friction brake force reduction mechanism, a drive-wheel-side friction brake force reduction mechanism (36b) that reduces the friction braking force generated on the drive wheel (4), the acquisition unit (111) is configured to acquire drive-wheel-side operation amount information regarding the drive-wheel-side operation amount that is the operation amount of the drive-wheel-side brake operation unit (13), and the execution unit (112) is configured to adjust, in the first brake force adjustment operation, the magnitude of the friction braking force to be reduced by the drive-wheel-side friction brake force reduction mechanism (36b) and the magnitude of the first regenerative braking force based on the drive-wheel-side operation amount information. The control device (110) according to any one of claims 1 to 4.

6. When a wheel of the electric motor cycle (200) different from the drive wheel (4) is a non-drive wheel (3), the electric motor cycle (200) includes, as the friction brake device (35), a non-drive wheel side friction brake device (35a) that generates the friction braking force on the non-drive wheel (3), includes, as the brake operation unit, a non-drive wheel side brake operation unit (11) that generates the friction braking force on the non-drive wheel side friction brake device (35a), the acquisition unit (111) is further configured to acquire non-drive wheel side operation amount information regarding the non-drive wheel side operation amount that is the operation amount of the non-drive wheel side brake operation unit (11), and in the first brake force adjustment operation, the execution unit (112) is configured to adjust the magnitude of the friction braking force reduced by the drive wheel side friction braking force reduction mechanism (36b) and the magnitude of the first regenerative braking force based on the drive wheel side operation amount information and the non-drive wheel side operation amount information. The control device (110) according to claim 5.

7. The electric motor cycle (200) includes, as the friction braking force reduction mechanism, a non-drive wheel side friction braking force reduction mechanism (36a) that reduces the friction braking force generated on the non-drive wheel (3), and in the first brake force adjustment operation, the execution unit (112) is configured to adjust the magnitude of the friction braking force reduced by the drive wheel side friction braking force reduction mechanism (36b) and the non-drive wheel side friction braking force reduction mechanism (36a) and the magnitude of the first regenerative braking force based on the drive wheel side operation amount information and the non-drive wheel side operation amount information. The control device (110) according to claim 6. When a wheel of the electric motor cycle (200) different from the wheel connected to the drive motor (5) is a non-driven wheel (3), the electric motor cycle (200) includes, as the friction brake device (35), a non-driven wheel side friction brake device (35a) that generates the friction braking force on the non-driven wheel (3), and includes, as the brake operation unit, a non-driven wheel side brake operation unit (11) that generates the friction braking force on the non-driven wheel side friction brake device (35a). As the friction brake force reduction mechanism, it includes a non-driven wheel side friction brake force reduction mechanism (36a) that reduces the friction brake force generated on the non-driven wheel (3). The acquisition unit (111) is configured to acquire non-driven wheel side operation amount information regarding the non-driven wheel side operation amount, which is the operation amount of the non-driven wheel side brake operation unit (11). The execution unit (112) is configured to adjust, in the first brake force adjustment operation, the magnitude of the friction brake force reduced by the non-driven wheel side friction brake force reduction mechanism (36a) and the magnitude of the first regenerative brake force based on the non-driven wheel side operation amount information. The control device (110) according to any one of claims 1 to 4.

9. When a wheel of the electric motorcycle (200) connected to the drive motor (5) is defined as a drive wheel (4), the electric motorcycle (200) includes, as the friction brake device (35), a drive-wheel-side friction brake device (35b) that generates the friction braking force on the drive wheel (4), and includes, as the brake operation unit, a drive-wheel-side brake operation unit (13) that generates the friction braking force on the drive-wheel-side friction brake device (35b). The acquisition unit (111) is further configured to acquire drive-wheel-side operation amount information regarding the drive-wheel-side operation amount, which is the operation amount of the drive-wheel-side brake operation unit (13). The execution unit (112) is configured to adjust, in the first brake force adjustment operation, the magnitude of the friction braking force to be reduced by the non-drive-wheel-side friction brake force reduction mechanism (36a) and the magnitude of the first regenerative braking force based on the non-drive-wheel-side operation amount information and the drive-wheel-side operation amount information. The control device (110) according to Claim 8.

10. The electric motor cycle (200) includes a regeneration motor (6) connected to a wheel different from the wheel connected to the drive motor (5) among the wheels of the electric motor cycle (200). When the wheel connected to the regeneration motor (6) among the wheels of the electric motor cycle (200) is defined as the regeneration wheel (3), the electric motor cycle (200) includes a regeneration wheel side friction brake device (35a) that generates the frictional braking force on the regeneration wheel (3) as the frictional brake device (35), and includes a regeneration wheel side brake operation part (11) that generates the frictional braking force on the regeneration wheel side friction brake device (35a) as the brake operation part. As the frictional brake force reduction mechanism, it includes a regeneration wheel side frictional brake force reduction mechanism (36a) that reduces the frictional braking force generated on the regeneration wheel (3). The control device (110) is configured to operate the regeneration motor (6) as a regeneration brake to generate electricity. The acquisition part (111) is configured to acquire regeneration wheel side operation amount information regarding the regeneration wheel side operation amount, which is the operation amount of the regeneration wheel side brake operation part (11). The execution part (112) is configured to execute a second braking force adjustment operation for adjusting the magnitude of the frictional braking force reduced by the regeneration wheel side frictional braking force reduction mechanism (36a) and the magnitude of the second regeneration braking force, which is the braking force generated when the regeneration motor (6) is operated as a regeneration brake, based on the regeneration wheel side operation amount information. The control device (110) according to any one of Claims 1 to 4.

11. The regeneration motor (6) is a motor that drives the regeneration wheel (3). The control device (110) according to Claim 10.

12. 18 - The electric motor cycle (200) includes a hydraulic brake device that generates the frictional braking force using the pressure of the brake fluid stored in the wheel cylinder (24) as the frictional brake device (35) that generates the frictional braking force on the wheel connected to the drive motor (5). As the frictional brake reduction mechanism that reduces the frictional braking force generated on the wheel connected to the drive motor (5), it includes a hydraulic pressure reduction mechanism that discharges the brake fluid in the wheel cylinder (24) to the accumulator (27). The control device (110) is configured to discharge the brake fluid in the wheel cylinder (24) to the accumulator (27) when performing antilock brake control on the wheel connected to the drive motor (5), and to adjust the magnitude of the first generated braking force. The control device (110) according to any one of claims 1 to 4.

13. The drive motor (5) is a in-wheel motor housed in the wheel of the electric motor cycle (200). The control device (110) according to any one of claims 1 to 4.

14. An electric motor cycle (200) including the control device (110) according to any one of claims 1 to 4. A control method for a vehicle behavior control system (100) mounted on an electric motor cycle (200), wherein the electric motor cycle (200) includes a drive motor (5) as a drive source, at least one brake operation unit operated by a rider, at least one friction brake device (35) that generates a friction brake force, which is a brake force generated by friction, on a wheel of the electric motor cycle (200) according to an operation amount of the brake operation unit, and at least one friction brake force reduction mechanism that reduces the friction brake force generated on the wheel, the control method being a method of operating the drive motor (5) as a regenerative brake to generate electricity, the control method comprising: an acquisition step (S12) of acquiring operation amount information regarding at least one of the operation amounts of the at least one brake operation unit; and a brake force adjustment step (S13) of adjusting a magnitude of the friction brake force to be reduced by the friction brake force reduction mechanism and a magnitude of a regenerative brake force, which is a brake force generated when the drive motor (5) is operated as a regenerative brake, based on at least one of the operation amount information acquired in the acquisition step. 19 -

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