Control device, vehicle, and control method

Abstract

According to the present invention, there is obtained a control device whereby the usability of a vehicle in which automatic torque control is executed can be improved more than in the past. A control device according to the present invention is installed in a vehicle and comprises: a control state acquisition unit that acquires information indicating that automatic torque control for automatically controlling the torque outputted by a drive source of the vehicle is being executed; a brake input unit operation state acquisition unit that acquires at least information indicating whether or not a brake input unit is being operated; and a command unit that is configured to, when the brake input unit is operated in a state in which the automatic torque control is being executed, interrupt the automatic torque control, output a torque reduction command for reducing the torque of the drive source to less than the magnitude at the time when the brake input unit was operated, and output a restoration command for restoring the automatic torque control when the brake input unit has shifted from a state of being operated to a state of not being operated.

Description

, , , , , , , , , , ,

[0005] ,

[0015] ,

[0010] ,

[0014] ,

[0009] ,

[0013] ,

[0008] ,

[0012] ,

[0007] ,

[0011] ,

[0006] ,

[0016]

Document Name

[0002]

Title of the Invention

[0003]

Technical Field

[0004]

.XXX

[0005] The present invention relates to a control device mounted on a vehicle in which automatic torque control is executed, a vehicle equipped with the control device, and a control method for a vehicle in which automatic torque control is executed.

[0006]

Background Art

[0007]

.XXX

[0008] Conventional vehicles include vehicles that execute automatic torque control. Automatic torque control is a control that automatically controls the torque output by the drive source of the vehicle when the accelerator is not being operated. For example, Patent Document 1 discloses a vehicle that executes automatic torque control and controls the torque of the drive source so that the vehicle speed becomes the target vehicle speed.

[0009]

Prior Art Documents

[0010]

Patent Documents

[0011]

.XXX

[0012]

Patent Document 1

[0013]

Summary of the Invention

[0014]

Problems to be Solved by the Invention

[0015]

.XXX

[0016] Conventional vehicles that perform automatic torque control are configured to terminate automatic torque control when the brake input is operated, prioritizing vehicle braking for safety reasons. Therefore, in conventional vehicles that perform automatic torque control, after the automatic torque control ends due to the operation of the brake input, the driver must either operate the accelerator to control the torque of the drive source or perform an operation to start automatic torque control again. Consequently, conventional vehicles that perform automatic torque control have the challenge of needing improved usability in situations where automatic torque control is desired in environments where the brake input is frequently operated.

[0017]

〇 0 0 5

[0018] The present invention was made against the backdrop of the above-mentioned problems, and its first objective is to provide a control device that can improve the usability of a vehicle in which automatic torque control is performed compared to conventional devices. The second objective of the present invention is to provide a vehicle equipped with such a control device. The third objective of the present invention is to provide a control method that can improve the usability of a vehicle in which automatic torque control is performed compared to conventional devices.

[0019] [Means for solving the problem]

[0020]

〇 0 0 6

[0021] The control device according to the present invention is a control device mounted on a vehicle and comprises: a control state acquisition unit that acquires information indicating that automatic torque control is being performed to automatically control the torque output by the vehicle's drive source; a brake input unit operation state acquisition unit that acquires at least information indicating whether or not a brake input unit is being operated; and a command unit configured to interrupt the automatic torque control when the brake input unit is operated while the automatic torque control is being performed, output a torque reduction command to reduce the torque of the drive source to a value lower than the value at the time the brake input unit was operated, and to return the automatic torque control when the brake input unit changes from an operated state to an unoperated state.

[0022]

〇 0 0 7

[0023] Furthermore, the vehicle according to the present invention is equipped with a control device according to the present invention.

[0024]

〇 0 0 8

[0025] Furthermore, the control method according to the present invention is a vehicle control method in which automatic torque control is performed to automatically control the torque output by a drive source, and comprises a torque reduction step in which, when the brake input unit is operated while the automatic torque control is being performed, the automatic torque control is interrupted and the torque of the drive source is reduced to a value lower than the value at the time the brake input unit was operated, and a recovery step in which the automatic torque control is restored when the brake input unit changes from an operated state to an unoperated state.

[0026] [Effects of the Invention]

[0027] [0 0 0 9]

[0028] The control device according to the present invention interrupts automatic torque control and reduces the torque of the drive source to a level lower than that at the time the brake input was operated when the brake input is operated while automatic torque control is in operation. Therefore, the control device according to the present invention can ensure the safety of the vehicle. Furthermore, the control device according to the present invention resumes automatic torque control when the brake input changes from an operated state to an unoperated state. In other words, the control device according to the present invention can automatically continue automatic torque control when the brake input changes from an operated state to an unoperated state. Therefore, by equipping a vehicle that performs automatic torque control with the control device according to the present invention, the usability of the vehicle is improved compared to conventional vehicles that perform automatic torque control.

[0029] [Brief explanation of the drawing]

[0030] [0 0 1 0]

[0031] [Figure 1] This figure shows the configuration of a vehicle equipped with a control device according to an embodiment of the present invention. [Figure 2] This is a block diagram illustrating the control device according to an embodiment of the present invention. [Figure 3] This figure illustrates the fluctuation of torque output from the drive source when a vehicle equipped with a control device according to an embodiment of the present invention performs automatic torque control.

[0032] [Figure 4] This figure illustrates the fluctuation of torque output from the drive source when a vehicle equipped with a control device according to an embodiment of the present invention performs automatic torque control.

[0033] [Figure 5] This is a control flow diagram illustrating an example of the operation of a control device according to an embodiment of the present invention. [Figure 6] This is a diagram illustrating a modified example of the control device according to an embodiment of the present invention, and illustrates the fluctuation of torque output from the drive source when a vehicle equipped with the control device performs automatic torque control.

[0034] [Figure 7] This figure illustrates a modified example of a control device according to an embodiment of the present invention, and illustrates the fluctuation of torque output from the drive source when a vehicle equipped with the control device performs automatic torque control.

[0035] [Figure 8] This figure illustrates a modified example of the control device according to an embodiment of the present invention, and is a control flow diagram showing an example of the operation of the control device.

[0036] [Modes for carrying out the invention]

[0037] [0 0 1 1]

[0038] Below, an example of a control device, vehicle, and control method according to the present invention will be described with reference to the drawings.

[0039] [0 0 1 2]

[0040] The configurations and operations described below are merely examples of the present invention, and the present invention is not limited to such configurations and operations.

[0041] [0 0 1 3]

[0042] For example, in the following, as an example of the vehicle according to the present invention, a lean vehicle is shown. Further, in the following, a motorcycle is exemplified as the lean vehicle. The lean vehicle generally refers to all vehicles whose body tilts in the turning direction when turning. For this reason, the lean vehicle is not limited to motorcycles. For example, the lean vehicle includes motorcycles (motorcycles, three-wheeled vehicles whose body tilts in the turning direction when turning), electric kick scooters, bicycles, and the like. Also, the motorcycle whose body tilts in the turning direction when turning may be powered by an engine or a motor. For example, it includes motorcycles, scooters, electric scooters, and the like. Also, a bicycle generally means all vehicles that can be propelled on the road by the pedaling force of the rider applied to the pedals. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, and the like. Also, the vehicle according to the present invention is not limited to the lean vehicle. The vehicle according to the present invention may be a motorcycle whose body does not tilt in the turning direction when turning, a four-wheeled vehicle, or the like.

[0043]

[0014]

[0044] Also, in the following, the same or similar descriptions are appropriately simplified or omitted. Also, in each figure, the same or similar members or parts are either not labeled or labeled with the same reference numeral. Also, the detailed structure is appropriately simplified or omitted in the illustration.

[0045]

[0015]

[0046] Embodiment.

[0047] <Configuration of Vehicle and Control Device>

[0048] FIG. 1 is a diagram showing the configuration of a vehicle equipped with a control device according to an embodiment of the present invention. Vehicle 100 is, for example, a motorcycle, and includes a vehicle body 1, a handle 2 rotatably held on the vehicle body 1, a front wheel 3 rotatably held on the vehicle body 1 together with the handle 2, and a rear wheel 4 rotatably held on the vehicle body 1. This vehicle 100 includes an engine as a drive source 5. Note that the drive source 5 of the vehicle 100 may be a motor. The torque output from the drive source 5 is controlled by a drive source control device 6. Specifically, vehicle 100 includes an accelerator 7 at the right end of the handle 2. That is, the accelerator 7 is operated by the right hand of the driver. The drive source control device 6 controls the torque output from the drive source 5 so as to be a torque value corresponding to the operation amount of the accelerator 7.

[0049]

[0016]

[0050] Further, the vehicle 100 includes a brake input unit that generates a braking force on the wheels. Specifically, the vehicle 100 includes a brake lever 8 as a brake input unit that generates a braking force on the front wheel 3, which is one of the wheels. The brake lever 8 is provided at the right end of the handle 2 and is operated by the right hand of the driver. When the brake lever 8 is operated by the driver, a brake pad (not shown) is pressed against a rotor 3a that rotates together with the front wheel 3, and a braking force corresponding to the operation amount of the brake lever 8 is generated on the front wheel 3. Also, the vehicle 100 includes a brake pedal 9 as a brake input unit that generates a braking force on the rear wheel 4, which is one of the wheels. The brake pedal 9 is provided at the lower part of the vehicle body 1 and is operated by the foot of the driver. When the brake pedal 9 is operated by the driver, a brake pad (not shown) is pressed against a rotor 4a that rotates together with the rear wheel 4, and a braking force corresponding to the operation amount of the brake pedal 9 is generated on the rear wheel 4.

[0051]

[0017]

[0052] Furthermore, the mechanism for pressing the brake pads against rotors 3a and 4a is not particularly limited, and any well-known mechanism can be used. For example, the mechanism for pressing the brake pads against rotors 3a and 4a may be a mechanism that uses the pressure of brake fluid in the wheel cylinder to operate the brake pads. Alternatively, for example, the mechanism for pressing the brake pads against rotors 3a and 4a may be an electric brake mechanism that uses a linear actuator to operate the brake pads.

[0053] [ 0 0 1 8 ]

[0054] Furthermore, the vehicle 100 according to this embodiment is equipped with a brake control device 11 that controls the braking force generated on the wheels regardless of the amount of operation of the brake input unit. The brake control device 11 generates a braking force on the wheels, for example, when the brake input unit is not being operated. In the case of a mechanism that operates brake pads using the pressure of brake fluid, the brake control device 11 increases the pressure of the brake fluid in the wheel cylinder using a pump, for example, and generates a braking force on the wheels when the brake input unit is not being operated. In the case of a mechanism that operates brake pads using an electric brake, the brake control device 11 issues an operation command to a linear actuator, for example, and generates a braking force on the wheels when the brake input unit is not being operated.

[0055] [0 0 1 9] Incidentally, in conventional vehicles, vehicles that perform automatic torque control are known. Automatic torque control is a control that automatically controls the torque output by the vehicle's drive source when the accelerator is not being operated. For example, a vehicle that performs automatic torque control performs automatic torque control and controls the torque of the drive source so that the vehicle speed reaches the target vehicle speed when the accelerator is not being operated. Also, for example, a vehicle that performs automatic torque control performs automatic torque control and maintains the torque output by the drive source at a specified torque when the accelerator is not being operated. The vehicle 1 0 ○ according to this embodiment is also configured to perform automatic torque control. Note that automatic torque control also includes control that indirectly controls torque by automatically controlling physical quantities other than torque that change in conjunction with torque.

[0056] [ 0 0 2 0 ]

[0057] In conventional vehicles that perform automatic torque control, when the brake input is operated, the system prioritizes braking for safety reasons and terminates the automatic torque control. Therefore, in conventional vehicles that perform automatic torque control, after the automatic torque control is terminated due to the operation of the brake input, the driver had to manually operate the accelerator to control the torque of the drive source, or perform the operation to start the automatic torque control again. Consequently, in situations where the brake input is frequently operated and automatic torque control is desired, there was a need for improved usability in conventional vehicles that perform automatic torque control.

[0058] [ 0 0 2 1 ]

[0059] Therefore, the vehicle 100 according to this embodiment is equipped with a control device 2〇 to improve usability compared to the conventional. In other words, the control device 2〇 is mounted on the vehicle 1〇〇.

[0060] [ 0 0 2 2 ]

[0061] Figure 2 is a block diagram illustrating a control device according to an embodiment of the present invention. The control device 20 includes, as functional units, a control state acquisition unit 21, a brake input unit operation state acquisition unit 22, and a command unit 23. In this embodiment, the control device 20 also includes an execution unit 24 as a functional unit. Here, the control device 20 may be a single unit or may be divided into multiple units. Furthermore, at least a part of the functional unit of the control device 20 may be mounted on a control device other than the control device 20 installed in the vehicle 100. For example, at least a part of the functional unit of the control device 20 may be mounted on the drive source control device 6 or the brake control device 11. Furthermore, part or all of the control device 20 may be composed of, for example, a microcontroller, a microprocessor unit, etc., or it may be composed of an updatable firmware, etc., or it may be a program module executed by commands from a CPU, etc.

[0062] [ 0 0 2 3 ]

[0063] The execution unit 24 is a functional unit that controls the torque of the drive source 5 and performs automatic torque control. Specifically, the execution unit 24 sends commands to the drive source control device 6 to decrease the torque from the current state and commands to increase the torque from the current state. The drive source control device 6 then controls the torque output from the drive source 5 based on the commands from the execution unit 24. The vehicle 100 in this embodiment is equipped with an operation unit 101. The operation unit 101 is configured to allow input of the start of automatic torque control, the end of automatic torque control, and the target vehicle speed during automatic torque control. When the execution unit 24 receives a command to start automatic torque control from the operation unit 101, it performs automatic torque control so that the vehicle speed of the vehicle 100 becomes the input target vehicle speed. Furthermore, in this embodiment, when the execution unit 24 performs automatic torque control so that the vehicle speed of vehicle 1〇〇 reaches the input target vehicle speed, it may also output a command to the brake control device 11 to generate braking force on the wheels. Note that if a control device other than the control device 20, such as the drive source control device 6 or the brake control device 11, is equipped with the execution unit 24, the control device 20 does not need to be equipped with the execution unit 24.

[0064] [ 0 0 2 4 ]

[0065] The control state acquisition unit 21 is a functional unit that acquires information indicating that automatic torque control is being performed. In this embodiment, the control state acquisition unit 21 is configured to receive a command to start automatic torque control sent from the operation unit 1 to the control device 2.

[0066] [ 0 0 2 5 ]

[0067] The brake input unit operation state acquisition unit 22 is a functional unit that acquires at least information indicating whether or not the brake input unit is being operated. In this embodiment, the brake input unit operation state acquisition unit 22 acquires at least information indicating whether or not the brake input unit is being operated from the brake operation state detection unit 10 provided by the vehicle 100. The configuration of the brake operation state detection unit io is not particularly limited. For example, the brake operation state detection unit 10 is a switch that is pressed when the brake input unit is operated. A brake operation state detection unit io with such a configuration can detect whether or not the brake input unit is being operated. Alternatively, for example, the brake operation state detection unit 10 is a stroke sensor that detects the amount of operation of the brake input unit. A brake operation state detection unit 10 with such a configuration can detect not only whether or not the brake input unit is being operated, but also the amount of operation of the brake input unit. Furthermore, if the vehicle 1〇〇 is equipped with a mechanism that operates the brake pads using the pressure of the brake fluid, for example, the brake operation state detection unit 10 is a pressure sensor that detects the pressure of the brake fluid in the master cylinder. A brake operation state detection unit 10 with such a configuration can detect not only whether or not the brake input unit is being operated, but also the amount of operation of the brake input unit.

[0068] [ 0 0 2 6 ]

[0069] Command Unit 23 is a functional unit that outputs a torque reduction command when the brake input unit is operated while automatic torque control is being performed. The torque reduction command is a command to interrupt automatic torque control and reduce the torque of the drive source 5 to a level below the magnitude at the time the brake input unit was operated. Specifically, Command Unit 23 outputs a torque reduction command to Execution Unit 24. Then, Execution Unit 24 interrupts automatic torque control and controls the drive source 5 via the drive source control device 6 so that the torque is reduced. Command Unit 23 is also a functional unit that outputs a return command to restore automatic torque control when the brake input unit changes from an operated state to an unoperated state. Specifically, Command Unit 23 outputs a return command to Execution Unit 24. Then, the execution unit 24 controls the drive source 5 via the drive source control device 6 so that the torque becomes the torque used when automatic torque control is executed.

[0070] [ 0 0 2 7 ]

[0071] In a vehicle 100 equipped with the control device 2〇 configured in this way, when performing automatic torque control, the torque output from the drive source 5 fluctuates as follows.

[0072] [ 0 0 2 8 ]

[0073] Figures 3 and 4 illustrate the fluctuations in torque output from the drive source when a vehicle equipped with a control device according to an embodiment of the present invention performs automatic torque control. In Figures 3(a) and 4(a), the vertical axis T represents the torque output from the drive source 5, with the torque value increasing towards the top of the page. In Figures 3(b) and 4(b), the vertical axis B represents the braking force generated on the wheels, with the braking force value increasing towards the top of the page. In Figures 3(a), 3(b), 4(a), and 4(b), the horizontal axis Ti represents time, with the passage of time indicating the progression of time towards the right of the page. Figures 3(b) and 4(b) are the same figure.

[0074] [ 0 0 2 9 ]

[0075] Assume that when vehicle 100 is stationary, the execution unit 24 starts automatic torque control at time T il. If the brake input unit is not operated during the execution of automatic torque control, the torque output from the drive source 5 will fluctuate as shown in Figure 3(a). Now, if the brake input unit is operated as shown in Figures 3(b) and 4(b), the conventional vehicle performing automatic torque control will terminate automatic torque control at time T i2, when the brake input unit is operated.

[0076] [ 0 0 3 0 ]

[0077] On the other hand, in the vehicle 100 according to this embodiment, when the brake input unit is operated as shown in Figures 3(b) and 4(b), the torque output from the drive source 5 will fluctuate as shown in Figure 4(a). Specifically, when the brake input unit is operated at time Ti2, the command unit 23 outputs a torque reduction command. The execution unit 24 then interrupts automatic torque control and controls the drive source 5 to reduce the torque. As a result, the torque output from the drive source 5 is lower than the magnitude at time Ti2, when the brake input unit was operated. Note that in Figure 4(a), the torque reduction command is a command to set the torque of the drive source 5 to ○ [N•m]. However, the torque reduction command does not necessarily have to be a command to set the torque of the drive source 5 to ○ [N • m], as long as the torque of the drive source 5 decreases below the magnitude at time Ti 2, when the brake input unit is operated. Also, when the brake input unit changes from an operated state to an unoperated state at time Ti 3, the command unit 2 3 outputs a recovery command to restore automatic torque control. The execution unit 2 4 then controls the drive source 5 to the torque at the time of automatic torque control execution.

[0078] [ 0 0 3 1 ]

[0079] Control device operation >

[0080] Figure 5 is a control flow diagram showing an example of the operation of a control device according to an embodiment of the present invention. When the conditions for disclosing the operation shown in Figure 5 are met, in step S1, the control device 20 starts the operation shown in Figure 5. The condition for starting the operation is when the control state acquisition unit 21 acquires information indicating that automatic torque control is being performed. In other words, the condition for starting the operation is when automatic torque control is started. Step S2, following step S1, is a first brake input unit operation state determination step that determines whether or not the brake input unit is being operated. In step S2, if the brake input unit operation state acquisition unit 22 acquires information indicating that the brake input unit is being operated, the brake input unit operation state acquisition unit 22 proceeds to step S3. On the other hand, in step S2, if the brake input unit operation state acquisition unit 22 acquires information indicating that the brake input unit is not being operated, the brake input unit operation state acquisition unit 22 proceeds to step S6.

[0081] [ 0 0 3 2 ]

[0082] Step S3 is a torque reduction step. The torque reduction step is a step in which, when the brake input unit is operated while automatic torque control is being performed, the automatic torque control is interrupted and the torque of the drive source 5 is reduced to a value lower than the value at the time the brake input unit was operated. In step S3, the command unit 23 outputs a torque reduction command to the execution unit 24. The execution unit 24 then interrupts the automatic torque control and controls the drive source 5 via the drive source control device 6 so that the torque is reduced. Step S4, following step S3, is a second brake input unit operation state determination step that determines whether or not the brake input unit is not being operated. In step S4, if the brake input unit operation state acquisition unit 22 acquires information indicating that the brake input unit is not being operated, the brake input unit operation state acquisition unit 22 proceeds to step S5. On the other hand, if the brake input unit operation status acquisition unit 22 acquires information indicating that the brake input unit is being operated in step S4, the brake input unit operation status acquisition unit 22 proceeds to step S6.

[0083] [ 0 0 3 3 ]

[0084] Step S5 is a recovery step. The recovery step is a step in which automatic torque control is restored when the brake input unit changes from an operated state to an unoperated state. In step S5, the command unit 23 outputs a recovery command to the execution unit 24. The execution unit 24 then controls the drive source 5 via the drive source control device 6 so that the torque becomes the torque at the time of automatic torque control execution. Step S6 is a termination determination step. In step S6, the control device 20 determines whether the termination condition for the operation has been met. The termination condition for the operation is when the control state acquisition unit 21 acquires information indicating that automatic torque control is not being performed. If the termination condition for the operation has been met, the control device 20 proceeds to step S7 and terminates the operation shown in Figure 5. On the other hand, if the termination condition for the operation has not been met, the control device 20 returns to step S2.

[0085] [ 0 0 3 4 ]

[0086] >Effects of the Control Device > The control device 20 according to this embodiment is a control device mounted on a vehicle 100. The control device 20 includes a control state acquisition unit 21, a brake input unit operation state acquisition unit 22, and a command unit 23. The control state acquisition unit 21 acquires information indicating that automatic torque control is being performed. The brake input unit operation state acquisition unit 22 acquires at least information indicating whether or not the brake input unit is being operated. The command unit 23 outputs a torque reduction command when the brake input unit is operated while automatic torque control is being performed. The torque reduction command is a command to interrupt automatic torque control and reduce the torque of the drive source 5 to a value lower than the value at the time the brake input unit was operated. The command unit 23 also outputs a recovery command to restore automatic torque control when the brake input unit changes from an operated state to an unoperated state.

[0087] [ 0 0 3 5 ]

[0088] The control device 2 configured in this way interrupts automatic torque control and reduces the torque of the drive source 5 to a level lower than that at the time the brake input was operated when the brake input is operated while automatic torque control is in operation. Therefore, the control device 2 configured in this way can suppress the braking distance of the vehicle 100 and ensure the safety of the vehicle 100. Furthermore, the control device 20 configured in this way resumes automatic torque control when the brake input changes from an operated state to an unoperated state. In other words, the control device 20 configured in this way can automatically continue automatic torque control when the brake input changes from an operated state to an unoperated state. Therefore, the vehicle 100 equipped with the control device 2 configured in this way is easier to use than a conventional vehicle in which automatic torque control is performed.

[0089] [ 0 0 3 6 ]

[0090] Preferably, vehicle 100 is a lean vehicle, and the execution unit 24 performs automatic torque control when the lean vehicle 10〇 turns. Conventionally, it is known that when a lean vehicle turns, increasing the torque of the drive source and increasing the vehicle speed causes a force to act on the lean vehicle that tries to straighten it up. That is, when a lean vehicle turns, increasing the torque of the drive source and increasing the vehicle speed can suppress tipping during turning. For this reason, when vehicle 100 is a lean vehicle, by the execution unit 24 performing automatic torque control when vehicle 1〇〇 turns, the torque of the drive source 5 can be automatically increased when the brake input unit changes from an operated state to an unoperated state, thereby suppressing tipping during turning and improving the safety of vehicle 100.

[0091] [ 0 0 3 7 ]

[0092] Preferably, the vehicle 100 is configured such that the brake input unit and the accelerator 7 are operated with the same hand. The vehicle 100 shown in Figure 1 is also configured such that the brake lever 8, which is one of the brake input units, and the accelerator 7 are operated with the driver's right hand. Conventionally, in vehicles where the brake input unit and accelerator are operated with the same hand, there are situations where it is necessary to operate the brake input unit and accelerator simultaneously with the same hand. However, in the vehicle 100 according to this embodiment, by performing automatic torque control, it becomes possible to drive the vehicle 100 by operating only the brake input unit in such situations, making it easier to drive the vehicle 100.

[0093] [ 0 0 3 8 ]

[0094] Preferably, vehicle 100 is an off-road vehicle. Conventionally, when an off-road vehicle descends a rock section, the driver operates the accelerator to descend one step, then operates the brake input to stop once the vehicle has reached the bottom, and then operates the accelerator again to descend another step, repeating this process. However, if vehicle 100 according to this embodiment is an off-road vehicle, by performing automatic torque control, the vehicle can descend the rock section by operating only the brake input. Therefore, if vehicle 100 according to this embodiment is an off-road vehicle, driving the off-road vehicle becomes easier.

[0095] [ 0 0 3 9 ]

[0096] <Variation>

[0097] Figure 6 is a diagram illustrating a modified example of a control device according to an embodiment of the present invention, and illustrates the fluctuation of torque output from the drive source when a vehicle equipped with the control device performs automatic torque control.

[0098] Note that the vertical and horizontal axes in Figures 6(a) and 6(b) are the same as those in Figures 3(a) and 3(b).

[0099] The torque reduction command output by the control unit 23 of the control device 2〇 shown in Figure 6 interrupts automatic torque control and, when the amount of operation of the brake input unit is less than or equal to a specified amount, commands the torque of the drive source 5 to decrease as the amount of operation of the brake input unit increases. In Figure 6, when the amount of operation of the brake input unit is less than or equal to a specified amount B1, the torque of the drive source 5 decreases as the amount of operation of the brake input unit increases. In terms of time, this occurs between time Ti2 and time Ti4, and between time Ti5 and time Ti3.

[0100] [ 0 0 4 0 ]

[0101] Conventionally, a mechanism using chains and gears has been known as a mechanism for transmitting torque from a drive source such as an engine to the drive wheels. In vehicles employing such a mechanism, when the vehicle is abruptly changed from an accelerating state to a decelerating state, a large shock is applied to the vehicle due to the play in the meshing part of the chain and gears. The same is true when the vehicle is abruptly changed from a decelerating state to an accelerating state. On the other hand, as shown in Figure 6, by controlling the torque of the drive source 5, the behavior of vehicle 100 can be changed smoothly when vehicle 100 changes from an accelerating state to a decelerating state, and when vehicle 100 changes from a decelerating state to an accelerating state. As a result, as shown in Figure 6, by controlling the torque of the drive source 5, the shock applied to vehicle 100 can be suppressed, and the comfort of vehicle 100 is improved.

[0102] [ 0 0 4 1 ]

[0103] Figure 7 is a diagram illustrating a modified example of a control device according to an embodiment of the present invention, and is a diagram illustrating the fluctuation of torque output from the drive source when a vehicle equipped with the control device performs automatic torque control.

[0104] Note that the vertical and horizontal axes in Figures 7(a) and 7(b) are the same as those in Figures 3(a) and 3(b).

[0105] The control device 2〇, explained using Figure 7, is installed in a vehicle 1〇〇 in which a motor is used as the drive source 5. When the drive source 5 is a motor, as shown in Figure 7, the torque reduction command output by the command unit 23 of the control device 20 can be a command to interrupt automatic torque control and cause the motor, which is the drive source 5, to perform regenerative power generation. In other words, the torque reduction command output by the command unit 23 can be a command to interrupt automatic torque control and reduce the torque of the drive source 5 to less than 〇 [N • m].

[0106] [ 0 0 4 2 ]

[0107] As shown in Figures 4 and 7, when the torque reduction command is a command to reduce the torque of the drive source 5 to ○ [N•m] or less, the load on the brake pads and other components can be reduced compared to when the torque reduction command is a command to increase the torque of the drive source 5 to ○ [N•m], thereby improving the reliability of the vehicle 100. Furthermore, as shown in Figure 7, when the torque reduction command is a command to cause the motor, which is the drive source 5, to perform regenerative power generation, the energy during the deceleration of the vehicle 100 can be recovered as electricity. As a result, energy saving of the vehicle 100 can be promoted.

[0108] [ 0 0 4 3 ]

[0109] Figure 8 is a diagram illustrating a modified example of the control device according to an embodiment of the present invention, and is a control flow diagram showing an example of the operation of the control device.

[0110] In the configuration of the execution unit 24 of the control device 20 described above, the vehicle 100 will start moving by automatic torque control from the time automatic torque control is started until a command to terminate automatic torque control is input to the operation unit 101, even after the vehicle 100 has stopped by operating the brake input unit, once the operation of the brake input unit is terminated.

[0111] [ 0 0 4 4 ]

[0112] The execution unit 24 may also be configured to terminate automatic torque control after a specified time has elapsed since the vehicle 100 has come to a stop. A control device 20 equipped with such an execution unit 24 will operate as shown in Figure 8, for example. Specifically, the operation of the control device 20 shown in Figure 8 includes, in addition to the operation of the control device 20 shown in Figure 5, step S1I between the torque reduction step of step S3 and the second brake input unit operation state determination step of step S4. Furthermore, the operation of the control device 20 shown in Figure 8 includes step S12 between step S11 and step S7. Step S11 is a time elapsed determination step. In step S11, the execution unit 24 determines whether a specified time has elapsed since the vehicle 100 came to a stop. If the specified time has not elapsed since vehicle 1 XX came to a stop, the execution unit 2 4 proceeds to step S4. On the other hand, if the specified time has elapsed since vehicle 1 XX came to a stop, the execution unit 2 4 terminates the automatic torque control in the automatic torque control termination step of step S1 2. After that, the control device 2 0 proceeds to step S7 and terminates the operation shown in Figure 8.

[0113] [0 0 4 5] When the vehicle is stopped for a long time, the driver of vehicle 100 may forget that automatic torque control is set. In such cases, when the driver finishes operating the brake input, the vehicle 100 may start moving automatically, which may surprise the driver. On the other hand, by configuring the control device 20 as explained using Figure 8, even if the driver forgets that automatic torque control is set, it is possible to suppress the driver from being surprised, and the safety of vehicle 100 is improved.

[0114] [0 0 4 6] Although an example of the control device according to the present invention has been described above in the embodiments, the control device according to the present invention is not limited to the embodiments described. For example, the control device according to the present invention may be implemented in only a part of the embodiments described.

[0115] [Explanation of Symbols] [0 0 4 7] 1 Body, 2 Handle, 3 Front wheel, 3a Rotor, 4 Rear wheel, 4a Rotor, 5 Drive source, 6 Drive source control device, 7 Accelerator, 8 Brake lever, 9 Brake pedal, 1 ○ Brake operation state detection unit, 1 1 Brake control device, 2 0 Control device, 2 1 Control state acquisition unit, 2 2 Brake input unit operation state acquisition unit, 2 3 Command unit, 2 4 Execution unit, 1 0

[0116]

[0117] Vehicle, 1 Control Unit.

Claims

【Document Name 】Claims [Claim 1〇] , The aforementioned vehicle (1 XX) is an off-road vehicle. , When the brake input unit (8, 9) is operated while the automatic torque control is being performed, a torque reduction step (S3) is performed to interrupt the automatic torque control and reduce the torque (To) of the drive source (5) to a value lower than the value at the time the brake input unit (8, 9) was operated. , , , , The vehicle according to claim 7 (100). , When the brake input section (8, 9) changes from an operated state to an unoperated state, a recovery step (S5) is performed to restore the automatic torque control, , A control method for a vehicle (1XX) in which automatic torque control is performed to automatically control the torque (To) output by a drive source (5), , ,

1. A control device (20) mounted on a vehicle (100), A control state acquisition unit (21) acquires information indicating that automatic torque control is being performed to automatically control the torque (To) output by the drive source (5) of the vehicle (100), and a brake input unit operation state acquisition unit (22) acquires at least information indicating whether or not the brake input units (8, 9) are being operated. A command unit (23) is configured such that when the brake input unit (8, 9) is operated while the automatic torque control is being performed, it interrupts the automatic torque control and outputs a torque reduction command to reduce the torque (To) of the drive source (5) to a value lower than that at the time the brake input unit (8, 9) was operated, and when the brake input unit (8, 9) returns from an operated state to an unoperated state, it outputs a return command to resume the automatic torque control. It is equipped with Control device (20).

2. The torque reduction command is a command to interrupt the automatic torque control and reduce the torque (To) of the drive source (5) to 〇 [N•m] or less. The control device according to claim 1 (20).

3. The aforementioned drive source (5) is a motor, The torque reduction command is a command to interrupt the automatic torque control and cause the motor to generate regenerative power. The control device (20) according to claim 2.

4. The brake input unit operation state acquisition unit (22) is further configured to acquire the amount of operation of the brake input units (8, 9), The torque reduction command interrupts the automatic torque control and, when the manipulated amount of the brake input unit (8, 9) is less than or equal to a specified manipulated amount (B1), it is a command to reduce the torque (To) of the drive source (5) as the manipulated amount increases. A control device according to any one of claims 1 to 3 (20).

5. The system includes an execution unit (24) that controls the torque (To) of the drive source (5) and performs the automatic torque control, The execution unit (24) is configured to terminate the automatic torque control after a specified time has elapsed since the vehicle (100) came to a stop. A control device according to any one of claims 1 to 3 (20).

6. The aforementioned vehicle (100) is a lean vehicle, The system includes an execution unit (24) that controls the torque (To) of the drive source (5) and performs the automatic torque control, The execution unit (24) is configured to perform the automatic torque control when the lean vehicle turns. A control device according to any one of claims 1 to 3 (20). [Claim?] A vehicle (100) comprising a control device (20) according to any one of claims 1 to 3.

8. The configuration allows the brake input unit (8) and the accelerator to be operated with the same hand. The vehicle according to claim 7 (100).

9. The aforementioned vehicle (1 XX) is an off-road vehicle. The vehicle according to claim 7 (100). [Claim 1〇] A control method for a vehicle (1XX) in which automatic torque control is performed to automatically control the torque (To) output by a drive source (5), When the brake input unit (8, 9) is operated while the automatic torque control is being performed, a torque reduction step (S3) is performed to interrupt the automatic torque control and reduce the torque (To) of the drive source (5) to a value lower than the value at the time the brake input unit (8, 9) was operated. When the brake input section (8, 9) changes from an operated state to an unoperated state, a recovery step (S5) is performed to restore the automatic torque control, It is equipped with Control method.

Images