Vehicle control system

Abstract

In vehicle control systems (S) and (S'), at least either one of control processing for controlling an operation of a first operation unit (34) by a first control unit (102) of first electronic-control devices (100) and (100'), using first data obtained by the first control unit (102); and second data transmitted by second transmission units (207), (207') of second electronic-control devices (200), (200'), received by first reception units (106), (106') of the first electronic-control devices (100), (100'), and obtained by a second control unit (202) of the second electronic-control devices (200), (200') in a calculation cycle executed at the same timing as a calculation cycle in which the first control unit (102) obtains the first data; and control processing for controlling an operation of a second operation unit (46) by the second control unit (202) of the second electronic-control devices (200), (200'), using the second data obtained by the second control unit (202) and the first data transmitted by first transmission units (107), (107') of the first electronic-control devices (100), (100'), received by second reception units (206), (206') of the second electronic-control devices (200), (200'), and obtained by the first control unit (102) in a calculation cycle executed at the same timing as a calculation cycle in which the second control unit (202) obtains the second data is executed.

Description

Vehicle Control Systems

[0001] The present invention relates to a control system for a vehicle.

[0002] In recent years, in vehicles such as saddle-ride vehicles, in order to grasp the dynamic operating state of a controlled object such as a suspension device that suspends the wheels, a configuration has been proposed in which various sensors are attached to such a controlled object, output signals indicating detection values ​​detected by the various sensors are input from the various sensors, and the controlled object is controlled based on the detection values ​​indicated by the output signals.

[0003] Under these circumstances, Patent Document 1 relates to an electronically variable suspension system for a motorcycle, and discloses a configuration in which the electronically variable suspension system 10 includes a plurality of sensors 111 and 112, a suspension unit 120, an actuator unit 130, and a control unit 140, and the control unit 140 is electrically connected to the plurality of sensors 111 and 112 and the actuator unit 130.

[0004] Patent No. 6546675

[0005] However, according to the inventor's investigations, the configuration in Patent Document 1 involves first changing the damping force and preload value of the rear suspension unit based on a first control signal, then generating a second control signal based on multiple sensor signals, and then changing one or both of the damping force and preload value of the front suspension unit based on the second control signal. In other words, in Patent Document 1, the damping force and preload value of the front suspension unit and the damping force and preload value of the rear suspension unit are not changed simultaneously, and therefore it is thought that it tends to be difficult to synchronize the damping force and preload value data obtained in relation to the front suspension unit with the damping force and preload value data obtained in relation to the rear suspension unit, and in this respect there is room for improvement.

[0006] The present invention was developed based on the above considerations, and aims to provide a vehicle control system that is capable of controlling a controlled object while ensuring synchronization between data obtained in relation to a first operating section and data obtained in relation to a second operating section in a vehicle.

[0007] In order to achieve the above object, in one aspect of the present invention, there is provided a vehicle control system that is applied to a vehicle having front wheels, a first operating unit provided in association with the front wheels, rear wheels, and a second operating unit provided in association with the rear wheels, and that includes a first electronic control device that has a first control unit that controls the operation of the first operating unit, a first receiving unit that receives second data related to the second operating unit from an external device, and a first transmitting unit that transmits first data related to the first operating unit to an external device, and a second electronic control device that has a second control unit that controls the operation of the second operating unit, a second receiving unit that receives the first data from an external device, and a second transmitting unit that transmits the second data to an external device, wherein the first control unit and second data obtained by the second control unit in a calculation cycle that is transmitted by the first transmission unit and received by the first receiving unit, and that is executed at the same timing as the calculation cycle in which the first control unit obtains the first data. The second control unit then performs at least one of the following control processes: a control process in which the second control unit controls the operation of the first operation unit using the first data obtained by the first transmission unit and second data obtained by the second control unit in a calculation cycle that is transmitted by the first transmission unit and received by the second receiving unit, and that is executed at the same timing as the calculation cycle in which the second control unit obtains the second data; and a control process in which the second control unit controls the operation of the second operation unit using the second data obtained by the second control unit and the first data obtained by the first control unit in a calculation cycle that is transmitted by the first transmission unit and received by the second receiving unit, and that is executed at the same timing as the calculation cycle in which the second control unit obtains the second data.

[0008] According to the vehicle control system of one aspect of the present invention described above, at least one of the following control processes is executed: a control process in which the first control unit of the first electronic control unit controls the operation of the first operating unit using the first data obtained by the first control unit and the second data obtained by the second control unit in a calculation cycle that is transmitted by the second transmitting unit and received by the first receiving unit and is executed at the same timing as the calculation cycle in which the first control unit obtains the first data; and a control process in which the second control unit of the second electronic control unit controls the operation of the second operating unit using the second data obtained by the second control unit and the first data obtained by the first control unit in a calculation cycle that is transmitted by the first transmitting unit and received by the second receiving unit and is executed at the same timing as the calculation cycle in which the second control unit obtains the second data.Therefore, it is possible to control the controlled object while ensuring synchronization between the first data obtained in relation to the first operating unit and the second data obtained in relation to the second operating unit in the vehicle.

[0009] Fig. 1 is a side view showing the right side of a vehicle to which a vehicle control system according to an embodiment of the present invention is applied. Fig. 2 is a schematic diagram showing the configuration of the vehicle control system according to the embodiment. Fig. 3 is a schematic diagram showing the configuration of a modified example of the vehicle control system according to the embodiment.

[0010] Hereinafter, a vehicle control system according to an embodiment of the present invention will be described in detail with reference to the drawings. In the drawings, the x-axis and z-axis form a two-axis Cartesian coordinate system, with the x-axis direction being the longitudinal direction of the vehicle and the forward direction being indicated as the positive direction of the x-axis, and the z-axis direction being the vertical direction of the vehicle and the upward direction being indicated as the positive direction of the z-axis. The direction perpendicular to the x-axis and z-axis is the width direction of the vehicle.

[0011] [Configuration of the Vehicle] First, with reference to FIG. 1, the configuration of a vehicle to which the vehicle control system of this embodiment is applied will be described in detail.

[0012] FIG. 1 is a side view showing the right side of a vehicle to which a vehicle control system according to this embodiment is applied.

[0013] As shown in Figure 1 as a motorcycle, which is a type of saddle-ride type vehicle, vehicle 1 typically mainly comprises a frame member 10, which is a vehicle body framework member made of metal such as iron pipe material, a drive source 20, which is an internal combustion engine, a steering front suspension mechanism 30 that suspends front wheels 32, which are driven wheels, so that they can be steered, and a rear suspension mechanism 40 that suspends rear wheels 42, which are driven wheels. In addition to motorcycles, typical saddle-ride type vehicles may also be small, lightweight three-wheeled or four-wheeled vehicles such as buggies. Furthermore, drive source 20 may be an engine, an electric motor, or a combination of an engine and an electric motor.

[0014] More specifically, the steering front suspension mechanism 30 typically includes a telescopic front fork 34 that suspends the front wheel 32 and is attached to a support member (not shown) of the frame member 10, a steering stem 36 that is attached to the support member of the frame member 10, and a handlebar 38 that is an operation member used when steering the front wheel 32 and is fixed to the steering stem 36. A first sensor S1 that detects physical quantities and the like related to the operating state of the telescopic front fork 34 is attached to the telescopic front fork 34. From the perspective of appropriately controlling the operating state of the telescopic front fork 34, it is preferable that the first sensor S1 include one or more sensors selected from the group consisting of a stroke sensor that detects the stroke amount of the telescopic front fork 34, an acceleration sensor that detects acceleration in the vertical and lateral directions of the mounting portion of the telescopic front fork 34 relative to the frame member 10, and a temperature sensor that detects the temperature of the telescopic front fork 34 itself or the ambient temperature, and each sensor outputs a voltage signal indicating a voltage corresponding to the detected value.

[0015] The rear suspension mechanism 40 includes a swing arm 44 that is set on the frame member 10 and supports the rear wheel 42 so that it can swing freely with a predetermined geometry around a pivot shaft (not shown) as a rotation axis for swinging, and a rear spring / damper unit 46 that suspends the rear wheel 42. A first sensor S1 that detects physical quantities and the like related to the operating state of the rear spring / damper unit 46 is attached to the rear spring / damper unit 46. From the perspective of appropriately controlling the operating state and the like of the rear spring / damper unit 46, the second sensor S2 preferably includes one or more sensors selected from the group consisting of a stroke sensor that detects the stroke amount of the rear spring / damper unit 46, an acceleration sensor that detects acceleration in the vertical direction, width direction, etc. of the mounting portion of the rear spring / damper unit 46 relative to the frame member 10, and a temperature sensor that detects the temperature of the rear spring / damper unit 46 itself or the atmosphere around it, and each sensor outputs a voltage signal indicating a voltage corresponding to the detected value.

[0016] [Configuration of Vehicle Control System] Next, with reference to FIG. 2 as well, the configuration of the vehicle control system according to this embodiment will be described in detail together with its operation.

[0017] FIG. 2 is a schematic diagram showing the configuration of a vehicle control system according to this embodiment.

[0018] As shown in Fig. 2, the vehicle control system S includes a first electronic control unit 100 that receives an output signal from a first sensor S1 and controls the operation state of the telescopic front fork 34, and a second electronic control unit 200 that receives an output signal from a second sensor S2 and controls the operation state of the rear spring / damper unit 46. The first electronic control unit 100 and the second electronic control unit 200 are connected by a wired communication line (bus) L, and the communication standard is typically the Controller Area Network (CAN) bus communication standard. Other electronic control units, such as a third electronic control unit 300 and a fourth electronic control unit 400, may be connected to the communication line L. In this case, the first electronic control unit 100 to the fourth electronic control unit 400 can share data transmitted via the communication line L.

[0019] Specifically, the first electronic control unit 100 is attached to a support member (not shown) of the frame member 10 or the telescopic front fork 34, and operates using a battery (not shown) of the vehicle 1 as a power source, and is configured by an ECU (Electronic Control Unit), which is an arithmetic processing device including a microcomputer (including a CPU (Central Processing Unit)) etc. The first electronic control unit 100 has a first control unit 102, a first input unit 104, a first receiving unit 106, a first transmitting unit 107, and a first driving unit 108, all of which are shown as functional blocks.

[0020] The first control unit 102 is typically a functional block of a microcomputer having a CPU, memory, timer, etc., and references first data obtained based on the output signal from the first sensor S1 and second data obtained based on the output signal from the second sensor S2, reads out necessary control / processing programs and control / processing data from the memory, and executes the control / processing programs to control the operating state of the telescopic front fork 34, which is the object of control, by feedback control or the like. Although not shown, the object of control by the first control unit 102 may also include a front brake mechanism that brakes the front wheel 32. The operating state of the telescopic front fork 34 also includes the state of the stroke length of the damper, which is a component thereof, based on a 1G load state, the state of the damping force that determines the stroke speed, and the like.

[0021] The first input unit 104 is typically an electrical circuit to which an output signal from the first sensor S1 is input, and is configured with a waveform shaping circuit, an A / D (Analog to Digital) conversion circuit, etc. depending on the type of sensor included in the first sensor S1.

[0022] Here, the first control unit 102 reads out a necessary calculation processing program from memory and executes first data calculation processing to calculate first data based on an output signal from the first sensor S1 input to the first input unit 104. This first data calculation processing is initiated when an ignition switch (not shown) of the vehicle 1 is turned on from an off state and the first electronic control unit 100 is started up. While the first electronic control unit 100 is in the started up state, the necessary calculation programs and the like are read out from memory and repeatedly executed at predetermined calculation processing intervals. At this time, the output signal from the first sensor S1 is output when the ignition switch is turned on from an off state and the first sensor S1 is started up, and is input to the first input unit 104. After being subjected to processing such as waveform shaping and A / D conversion in the first input unit 104, the output signal is input to the first control unit 102 and calculated as first data at predetermined calculation processing intervals.

[0023] The first receiving unit 106 is typically a receiving circuit that corresponds to CAN bus communication and receives second data calculated by the second electronic control unit 200, transmitted from its second transmitting unit 207, and transmitted via the communication line L.

[0024] The first transmitting unit 107 is typically a transmitting circuit that supports CAN bus communication and transmits first data calculated by the first electronic control unit 100 to the second receiving unit 206 of the second electronic control unit 200 via the communication line L. Note that, if necessary, the first receiving unit 106 can also receive the first data transmitted from the first transmitting unit 107 via the communication line L.

[0025] The first drive unit 108 is typically an electric circuit that outputs a drive signal to an actuator that changes the operating state of the telescopic front fork 34, which is the object of control of the first control unit 102, and may include a switching element such as a transistor as necessary.

[0026] The second electronic control unit 200 is separate from the first electronic control unit 100, and is attached to a support member (not shown) of the frame member 10 or the rear spring / damper unit 46, and operates using the battery of the vehicle 1 as a power source, and is configured by an ECU, which is an arithmetic processing unit including a microcomputer consisting of a CPU, etc. The second electronic control unit 200 has a second control unit 202, a second input unit 204, a second receiving unit 206, a second transmitting unit 207, and a second driving unit 208, all of which are shown as functional blocks.

[0027] The second control unit 202 is typically a functional block of a microcomputer having a CPU, memory, timer, etc., and references the second data obtained based on the output signal from the second sensor S2 and the first data obtained based on the output signal from the first sensor S1, reads out the necessary control / processing program and control / processing data from the memory, and executes the control / processing program to control the operating state of the rear spring / damper unit 46, which is the object of control, by feedback control, etc. Although not shown, the control object of the second control unit 202 may also include a rear brake mechanism that brakes the rear wheels 42, etc. The operating state of the rear spring / damper unit 46 also includes the state of the stroke length and the state of the damping force that determines the stroke speed of the damper, which is a component of the unit, based on a 1G load state.

[0028] The second input section 204 is typically an electrical circuit to which the output signal from the second sensor S2 is input, and is composed of a waveform shaping circuit, an A / D conversion circuit, etc. depending on the type of sensor included in the second sensor S2.

[0029] Here, the second control unit 202 reads out a necessary calculation processing program from memory and executes second data calculation processing to calculate second data based on an output signal from the second sensor S2 input to the second input unit 204. This second data calculation processing is started when the ignition switch of the vehicle 1 is turned on from an off state and the second electronic control unit 200 is started up. While the second electronic control unit 200 is in the started up state, the necessary calculation program, etc. is read out from memory and repeatedly executed at predetermined calculation processing intervals. At this time, the output signal from the second sensor S2 is output when the ignition switch is turned on from an off state and the second sensor S2 is started up, and input to the second input unit 204. After undergoing processing such as waveform shaping and A / D conversion in the second input unit 204, the output signal is input to the second control unit 202 and calculated as second data at predetermined calculation processing intervals. Furthermore, the start timing and calculation processing cycle of the second data calculation process executed by the second control unit 202 are set to be equal to those of the first data calculation process executed by the first control unit 102 within a practical tolerance, so that when the first control unit 102 calculates the first data at a certain timing, the second control unit 202 can calculate the second data at substantially the same timing. In other words, a synchronous pair of first data and second data is calculated in synchronization with the calculation cycles of the first data calculation process and the second data calculation process, which are set at the same timing. Note that the control process by the first control unit 102 of the first electronic control unit 100 to control the operating state of a controlled object, such as the telescopic front fork 34, and the control process by the second control unit 202 of the second electronic control unit 200 to control the operating state of a controlled object, such as the rear spring / damper unit 46, may both be executed, or only one of them may be executed as necessary.

[0030] The second receiving unit 206 is typically a receiving circuit that corresponds to CAN bus communication and receives the first data calculated by the first electronic control unit 100, transmitted from its first transmitting unit 107, and transmitted via the communication line L.

[0031] The second transmitting unit 207 is typically a transmitting circuit that supports CAN bus communication and transmits second data calculated by the second electronic control unit 200 to the first receiving unit 106 of the first electronic control unit 100 via the communication line L. Note that, if necessary, the second receiving unit 206 can also receive the second data transmitted from the second transmitting unit 207 via the communication line L.

[0032] The second drive unit 208 is typically an electrical circuit that outputs a drive signal to an actuator that changes the operating state of the rear spring / damper unit 46, which is the object of control by the second control unit 202, and may include a switching element such as a transistor if necessary.

[0033] Furthermore, from the viewpoint of using synchronized first data and second data, the first data calculated synchronously by the first control unit 102 of the first electronic control unit 100 is transmitted from the first transmitting unit 107 of the first electronic control unit 100 and received by the second receiving unit 206 of the second electronic control unit 200 via the communication line L so that it can be directly used by the second control unit 202 together with the second data calculated synchronously by the second control unit 202 of the second electronic control unit 200, but it is preferable that the timing is typically set so as not to overlap with the timing at which the second control unit 202 of the second electronic control unit 200 next calculates the second data. In addition, from the viewpoint of using synchronized first data and second data, the second data calculated synchronously by the second control unit 202 of the second electronic control unit 200 is transmitted from the second transmitting unit 207 of the second electronic control unit 200 so that it can be directly used by the first control unit 102 together with the first data calculated synchronously by the first control unit 102 of the first electronic control unit 100, and is received by the first receiving unit 106 of the first electronic control unit 100 via the communication line L, but it is preferable that the timing is typically set so as not to overlap with the timing at which the first control unit 202 of the first electronic control unit 100 next calculates the first data.

[0034] [Configuration of a Modified Vehicle Control System] Next, with reference to FIG. 3, a configuration of a modified vehicle control system according to the present embodiment will be described in detail together with its operation.

[0035] FIG. 3 is a schematic diagram showing the configuration of a modified example of the vehicle control system according to the present embodiment.

[0036] 3, the configuration of the vehicle control system S' in this modified example is mainly different from the configuration of the above-described vehicle control system S in that the first electronic control unit 100' and the second electronic control unit 200' are connected via wireless communication W. The following description will focus on this difference, and the same components will be assigned the same reference numerals and detailed description thereof will be omitted.

[0037] Specifically, the first electronic control unit 100' and the second electronic control unit 200' are connected by wireless communication of a predetermined standard (hereinafter, sometimes simply referred to as wireless communication) using a wireless communication terminal 500 such as a router. Note that other electronic control units (not shown) can also be connected to the wireless communication terminal 500.

[0038] The first receiving unit 106 of the first electronic control unit 100' is typically a receiving circuit that supports wireless communication and receives second data calculated by the second electronic control unit 200' and transmitted from its second transmitting unit 207' via the wireless communication terminal 500.

[0039] The first transmitting unit 107′ of the first electronic control unit 100′ is typically a transmitting circuit that supports wireless communication and transmits first data calculated by the first electronic control unit 100′ to the second receiving unit 206′ of the second electronic control unit 200′ via the wireless communication terminal 500. Note that, if necessary, the first receiving unit 106′ can also receive the first data transmitted from the first transmitting unit 107′ and transmitted via the wireless communication terminal 500.

[0040] The second receiving unit 206' of the second electronic control unit 200' is typically a receiving circuit that supports wireless communication and receives first data calculated by the first electronic control unit 100' and transmitted from its first transmitting unit 107' via the wireless communication terminal 500.

[0041] The second transmitting unit 207′ of the second electronic control unit 200′ is typically a transmitting circuit that supports wireless communication and transmits second data calculated by the second electronic control unit 200′ to the first receiving unit 106′ of the first electronic control unit 100′ via the wireless communication terminal 500. Note that, if necessary, the second receiving unit 206′ can also receive the second data transmitted from the second transmitting unit 207′ and transmitted via the wireless communication terminal 500.

[0042] In other words, the wireless communication terminal 500 receives first data transmitted from the first transmitting unit 107' of the first electronic control unit 100' and transmits the first data to the second receiving unit 206' of the second electronic control unit 200', and also receives second data transmitted from the second transmitting unit 207' of the second electronic control unit 200' and transmits the second data to the first receiving unit 106 of the first electronic control unit 100'. Note that, as necessary, the wireless communication terminal 500 may receive first data transmitted from the first transmitting unit 107' of the first electronic control unit 100' and transmit the first data to the first receiving unit 106 of the first electronic control unit 100', or may receive second data transmitted from the second transmitting unit 207' of the second electronic control unit 200' and transmit the second data to the second receiving unit 206' of the second electronic control unit 200'.

[0043] Furthermore, the first electronic control unit 100' and the second electronic control unit 200' may be connected by pairing-type wireless communication in which one of them is a parent device and the other is a child device. In such a case, it is not necessary to provide a wireless communication terminal 500, but only the first electronic control unit 100' and the second electronic control unit 200' are connected by this pairing. Furthermore, to connect another electronic control unit, it is necessary to pair and connect with the one of the first electronic control unit 100' and the second electronic control unit 200' that is set as the parent device.

[0044] As is clear from the above description, in the first aspect of the vehicle control systems S, S' in this embodiment, the first control unit 102 of the first electronic control unit 100, 100' performs a control process to control the operation of the first operating unit 34, and a second control process to control the operation of the second electronic control unit 200, 200', using the first data obtained by the first control unit 102 and the second data transmitted by the second transmitting units 207, 207' of the second electronic control units 200, 200' and received by the first receiving units 106, 106' of the first electronic control units 100, 100', and obtained by the second control unit 202 of the second electronic control units 200, 200' in a calculation cycle executed at the same timing as the calculation cycle in which the first control unit 102 obtains the first data. Since the unit 202 executes at least one of the following control processes: a control process for controlling the operation of the second operating unit 46 using the second data obtained by the second control unit 202; and a control process for controlling the operation of the second operating unit 46 using the first data obtained by the first control unit 102 in a calculation cycle that is transmitted by the first transmitting unit 107, 107' of the first electronic control unit 100, 100' and received by the second receiving unit 206, 206' of the second electronic control unit 200, 200' and that is executed at the same timing as the calculation cycle in which the second control unit 202 obtains the second data.Therefore, it is possible to control the control objects 34, 46 while ensuring synchronization between the first data obtained in relation to the first operating unit 34 in the vehicle 1 and the second data obtained in relation to the second operating unit 46.

[0045] In addition, in the second phase of the vehicle control systems S, S' in this embodiment, in addition to the first phase, the first receiving units 106, 106' and the second transmitting units 207, 207', and the second receiving units 206, 206' and the first transmitting units 107, 107' are each connected via wired communication using a CAN bus, making it possible to refer to data of other controlled objects 34, 46.

[0046] In addition, in the third phase of the vehicle control systems S, S' in this embodiment, in addition to the first phase, the first receiving units 106, 106' and the second transmitting units 207, 207', and the second receiving units 206, 206' and the first transmitting units 107, 107' are each connected via wireless communication using a wireless communication terminal, thereby making it possible to refer to data of other controlled objects 34, 46.

[0047] Furthermore, in a fourth aspect of the vehicle control systems S, S' in this embodiment, in addition to any one of the first to third aspects, the first operating unit is a first suspension 34 connected to the front wheel 32, and the second operating unit is a second suspension 46 connected to the rear wheel 42, so that the required control can be performed on these suspensions 34, 46 using data detected in relation to these suspensions 34, 46.

[0048] Furthermore, in a fifth aspect of the vehicle control systems S, S' of this embodiment, in addition to the fourth aspect, the first data is obtained based on an output signal output from a first sensor S1 provided for the first suspension 34 and is data related to the first suspension 34, and the second data is obtained based on an output signal output from a second sensor S2 provided for the second suspension 46 and is data related to the second suspension 46, so that the required control can be performed on these suspensions 34, 46 using the data detected in relation to these suspensions 34, 46.

[0049] Furthermore, in a sixth aspect of the vehicle control systems S, S' in this embodiment, in addition to the fifth aspect, the first sensor S1 and the second sensor S2 are each one or more sensors selected from the group consisting of a stroke sensor, an acceleration sensor, and a temperature sensor, and appropriate control can be performed on the suspensions 34, 46 using data detected by such sensors.

[0050] Furthermore, in a seventh aspect of the vehicle control system S, S' in this embodiment, in addition to any one of the first to sixth aspects, the vehicle 1 is a saddle-ride type vehicle, and therefore, the control objects 34, 46 can be controlled while ensuring synchronization between the first data obtained in association with the first actuation unit 34 in the saddle-ride type vehicle and the second data obtained in association with the second actuation unit 46.

[0051] It should be noted that the present invention is not limited to the above-described embodiment in terms of the type, shape, arrangement, number, etc. of the components, and it goes without saying that such modifications can be made as appropriate within the scope of the gist of the invention, such as by appropriately replacing the components with components that achieve equivalent effects.

[0052] As described above, the present invention can provide a vehicle control system that can control a controlled object while ensuring synchronization between data obtained in relation to a first operating section in a vehicle and data obtained in relation to a second operating section, and due to its general-purpose nature, it is expected to be widely applicable to the arrangement structure of optical units in vehicles having pivot axes.

[0053] REFERENCE SIGNS LIST 1...Saddle-ride type vehicle 10...Frame member 20...Drive source 30...Steering / front suspension mechanism 32...Front wheel 34...Telescopic front fork 36...Steering stem 38...Handle 40...Rear suspension mechanism 42...Rear wheel 44...Swing arm 46...Rear damper / spring unit S1, S2...Sensor S, S'...Control system 100...First electronic control unit 102...First control unit 104...First input unit 106, 106'...First receiving unit 107, 107'...First transmitting unit 108...First driving unit 200...Second electronic control unit 202...Second control unit 204...Second input unit 206, 206'...Second receiving unit 207, 207'...Second transmitting unit 208...Second driving unit 300...Third electronic control unit 400...Fourth electronic control unit 500...wireless communication terminal

Claims

1. A vehicle control system that is applicable to a vehicle having front wheels, a first operating unit provided in association with the front wheels, rear wheels, and a second operating unit provided in association with the rear wheels, and that includes a first electronic control unit having a first control unit that controls the operation of the first operating unit, a first receiving unit that receives second data related to the second operating unit from the outside, and a first transmitting unit that transmits the first data related to the first operating unit to the outside, and a second electronic control unit having a second control unit that controls the operation of the second operating unit, a second receiving unit that receives the first data from the outside, and a second transmitting unit that transmits the second data to the outside, wherein the first control unit performs a control process to control the operation of the first operating unit using the first data obtained by the first control unit and second data that is transmitted by the second transmitting unit and received by the first receiving unit and that is obtained by the second control unit in a calculation cycle that is executed at the same timing as the calculation cycle in which the first control unit obtains the first data; a control process in which the second control unit controls the operation of the second operating unit using the second data obtained by the second control unit and the first data obtained by the first control unit in a calculation cycle that is transmitted by the first transmitting unit and received by the second receiving unit, and that is executed at the same timing as the calculation cycle in which the second control unit obtains the second data; 2. A vehicle control system as described in claim 1, characterized in that the first receiving unit and the second transmitting unit, and the second receiving unit and the first transmitting unit are each connected via wired communication using a CAN bus.

3. A vehicle control system as described in claim 1, characterized in that the first receiving unit and the second transmitting unit, and the second receiving unit and the first transmitting unit are each connected via wireless communication using a wireless communication terminal.

4. The vehicle control system according to claim 1, wherein the first actuating unit is a first suspension connected to the front wheels, and the second actuating unit is a second suspension connected to the rear wheels.

5. A vehicle control system as described in claim 4, characterized in that the first data is obtained based on an output signal output from a first sensor provided for the first suspension and is data related to the first suspension, and the second data is obtained based on an output signal output from a second sensor provided for the second suspension and is data related to the second suspension.

6. The vehicle control system according to claim 5, wherein the first sensor and the second sensor are each one or more sensors selected from the group consisting of a stroke sensor, an acceleration sensor, and a temperature sensor.

7. A vehicle control system according to any one of claims 1 to 6, wherein the vehicle is a saddle-ride type vehicle.

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