Control device and control method

Abstract

The present invention obtains a control device and a control method with which the operability of a brake operation can be improved. A control device (20) and a control method according to the present invention are for controlling the behavior of a saddle-type vehicle comprising a brake-by-wire braking device (12), which is not connected to a brake operation unit (31) via a brake fluid flow path and which applies a braking force to wheels (2, 3), and an operational feedback imparting device (61) that imparts operational feedback to a rider via the brake operation unit (31). An execution unit of the control device (20) executes a braking force control function to control the braking device (12) such that a braking force determined according to an index indicating the degree of input provided to the brake operation unit (31) in a brake operation using the brake operation unit (31) is applied to the wheels (2, 3). The execution unit executes an operational feedback control function to control the operational feedback imparting device (61) at the time of the execution of the braking force control function.

Description

【0001】 【Document Name】 Specification 【0002】 【Title of the Invention】 Control Device and Control Method 【0003】 【Technical Field 】 【0004】 【.001】 This disclosure relates to a control device and a control method capable of improving the operability of brake operation. 【0005】 【Background Art 】 【0006】 【.002】 Conventionally, in a saddle-riding type vehicle, as a braking device for applying a braking force to a wheel, for example, a braking device that brakes the wheel by the pressure of the brake fluid of a wheel cylinder connected via a brake operation unit and a flow path of the brake fluid is used (see, for example, Patent Document 1). 【0007】 【Prior Art Documents 】 【0008】 【Patent Documents 】 【0009】 【〇003】 【0010】 [[ID=2⑧]]【Patent Document 1】 Japanese Unexamined Patent Application Publication No. 2018 - 8674 【0011】 【Summary of the Invention】 【0012】 【Problems to be Solved by the Invention】 【0013】 【〇004】 By the way, as a braking device for applying a braking force to a wheel, in addition to the above braking device, there is a by-wire type braking device that is not connected via a brake operation unit and a flow path of the brake fluid and applies a braking force to the wheel. The operation of the by-wire type braking device is controlled by a control device. And in a saddle-riding type vehicle equipped with such a by-wire type braking device, it is desired to improve the operability of the brake operation by the rider. 【0014】 【〇005】 The present invention has been made based on the above problems, and aims to obtain a control device and a control method capable of improving the operability of brake operation. 【0015】[Means for solving the problem] 【0016】 [〇 0 0 6] The control device according to the present invention is a control device for controlling the behavior of a saddle-type vehicle that includes a brake-by-wire braking device that applies braking force to a wheel and is not connected to a brake operating unit via a brake fluid flow path, and an operating feel device that provides an operating feel to the rider via the brake operating unit, and comprises an execution unit that performs a braking force control operation to control the braking device so that the braking force determined according to an index indicating the degree of input to the brake operating unit in a brake operation using the brake operating unit is applied to the wheel, and the execution unit performs an operating feel control operation to control the operating feel device when the braking force control operation is performed. 【0017】 [〇 0 0 7] The control method according to the present invention is a control method for controlling the behavior of a saddle-type vehicle comprising a brake-by-wire braking device that applies braking force to a wheel and is not connected to a brake operating unit via a brake fluid flow path, and an operating feel device that provides an operating feel to the rider via the brake operating unit, wherein the execution unit of the control device performs a braking force control operation to control the braking device so that the braking force determined according to an index indicating the degree of input to the brake operating unit in a brake operation using the brake operating unit is applied to the wheel, and the execution unit performs an operating feel control operation to control the operating feel device when the braking force control operation is performed. 【0018】 [Effects of the Invention] 【0019】[〇 0 0 8] The control device and control method according to the present invention are a control device and control method for controlling the behavior of a saddle-type vehicle that includes a brake-by-wire braking device that applies braking force to the wheels and is not connected to a brake operating unit via a brake fluid flow path, and an operating feel providing device that provides operating feel to the rider via the brake operating unit, wherein the execution unit of the control device performs a braking force control operation to control the braking device so that a braking force determined according to an index indicating the degree of input to the brake operating unit in a brake operation using the brake operating unit is applied to the wheels, and the execution unit performs an operating feel control operation to control the operating feel providing device when the braking force control operation is performed. As a result, the operating feel of the brake operating unit in the braking force control operation can be optimized according to the situation, thereby improving the operability of the brake operation. 【0020】 [Brief explanation of the drawing] 【0021】 [ 0 0 0 9 ] 【0022】 [Figure 1] This is a schematic diagram showing the general configuration of a saddle-type vehicle according to an embodiment of the present invention. 【0023】 [Figure 2] This is a schematic diagram showing the general configuration of a brake system according to an embodiment of the present invention. 【0024】 [Figure 3] Block diagram showing an example of the functional configuration of a control device according to an embodiment of the present invention. 【0025】 [Figure 4] This figure shows an example of the relationship between the manipulated amount, the manipulating force, and the braking force in a braking force control operation according to an embodiment of the present invention. 【0026】 [Figure 5] This is a flowchart showing an example of the processing flow performed by the control device according to an embodiment of the present invention. 【0027】 [Modes for Carrying Out the Invention] 【0028】 [ 0 0 1 0 ] The control device and control method according to the present invention will be described below with reference to the drawings. 【0029】[0 0 1 1] In the following, a control device used for two-wheeled motorcycles is described (see saddle-type vehicle 1 in Figure 1), but the vehicle controlled by the control device according to the present invention may be other saddle-type vehicles other than two-wheeled motorcycles. A saddle-type vehicle means a vehicle on which a rider straddles and rides. Saddle-type vehicles include, for example, motorcycles (two-wheeled vehicles, three-wheeled vehicles), bicycles, buggies, etc. Motorcycles include vehicles powered by engines, vehicles powered by electric motors, etc. Motorcycles include, for example, motorcycles, scooters, electric scooters, etc. A bicycle means a vehicle that can be propelled on the road by the pedaling force applied by the rider. Bicycles include ordinary bicycles, electric assist bicycles, electric bicycles, etc. 【0030】 [0 0 1 2] Furthermore, the following description explains the case in which an engine (specifically, engine 11 in Figure 1 described later) is installed as a drive source capable of outputting power to drive the drive wheels, but other drive sources other than an engine (for example, an electric motor) may be installed as a drive source, and multiple drive sources may be installed. 【0031】 [0 0 1 3] Furthermore, the configurations and operations described below are examples, and the control device and control method according to the present invention are not limited to such configurations and operations. 【0032】 [0 0 1 4] In addition, similar or identical explanations have been simplified or omitted as appropriate below. Also, in each figure, identical or similar members or parts have either had their reference numerals omitted or have been given the same reference numeral. Furthermore, detailed structures have been simplified or omitted as appropriate in the illustrations. 【0033】 [ 0 0 1 5 ] 【0034】 <Configuration of the saddle-type vehicle> The configuration of the saddle-type vehicle 1 according to an embodiment of the present invention will be described below. 【0035】 [0 0 1 6] Figure 1 is a schematic diagram showing the general configuration of the saddle-type vehicle 1. The saddle-type vehicle 1 is a two-wheeled motorcycle that corresponds to an example of the saddle-type vehicle according to the present invention. As shown in Figure 1, the saddle-type vehicle 1 comprises a front wheel 2, a rear wheel 3, an engine 11, a braking device 12, an input device 13, an inertial measuring device (IMU) 14, a front ambient environment sensor 15, a rear ambient environment sensor 16, and a control unit (ECU) 20. 【0036】 [0 0 1 7] Engine 11 is an example of a power source for a saddle-type vehicle 1 and is capable of outputting power to drive the drive wheels (specifically, the rear wheels 3). For example, engine 11 is provided with one or more cylinders in which a combustion chamber is formed, a fuel injector that injects fuel into the combustion chamber, and a spark plug. When fuel is injected from the fuel injector, a mixture of air and fuel is formed in the combustion chamber, and this mixture is ignited by the spark plug and combusted. As a result, a piston provided in the cylinder moves back and forth, and the crankshaft rotates. In addition, a throttle valve is provided in the intake manifold of engine 11, and the amount of intake air into the combustion chamber changes according to the throttle opening, which is the opening of the throttle valve. 【0037】 [0 0 1 8] Brake device 1 2 can apply braking force to the wheels. Brake device 1 2 is a by-wire type brake device that is not connected to the brake operating unit via a brake fluid flow path. Details of the brake system 1 0 ○ including brake device 1 2 will be described later. 【0038】 [0 0 1 9] The input device 13 accepts various operations from the rider. The input device 13 includes, for example, a push button provided on the handlebars and used for operating the rider. Manual setting information, which is information regarding manual settings made by the rider's operation using the input device 13, is output to the control device 2. 【0039】 [0 0 2 0] The inertial measuring device 14 is equipped with a 3-axis gyro sensor and a 3-directional acceleration sensor, and detects the attitude of the saddle-type vehicle 1. Note that the inertial measuring device 14 may be equipped with only a portion of the 3-axis gyro sensor and the 3-directional acceleration sensor. The inertial measuring device 14 is installed, for example, on the body of the saddle-type vehicle! 【0040】 [0 0 2 1] For example, the inertial measuring device 14 detects the lean angle of the saddle-type vehicle 1 and outputs the detection result. The inertial measuring device 14 may also detect other physical quantities that are substantially convertible to the lean angle of the saddle-type vehicle 1. The lean angle corresponds to the angle representing the inclination of the body (specifically, the torso) of the saddle-type vehicle 1 in the roll direction relative to the vertically upward direction. 【0041】 [ 0 0 2 2 ] Also, for example, the inertial measuring device 1 4 detects the pitch angle of the saddle-type vehicle 1 with respect to the horizontal direction and outputs the detection result. The inertial measuring device 1 4 may also detect other physical quantities that can be substantially converted to the pitch angle of the saddle-type vehicle 1 with respect to the horizontal direction. The pitch angle corresponds to the angle representing the vertical inclination of the body of the saddle-type vehicle 1. Therefore, the pitch angle of the saddle-type vehicle 1 with respect to the horizontal direction corresponds to the angle representing how much the body of the saddle-type vehicle 1 has rotated with respect to the horizontal direction in the pitch direction, which is the rotation direction around the axis in the left-right direction of the vehicle. 【0042】 [ 0 0 2 3 ] The front ambient environment sensor 1 5 and the rear ambient environment sensor 1 6 each detect ambient environment information regarding the environment around the saddle-type vehicle. The front ambient environment sensor 1 5 is located at the front of the saddle-type vehicle 1 and detects ambient environment information in front of the saddle-type vehicle 1. The rear ambient environment sensor 1 6 is located at the rear of the saddle-type vehicle 1 and detects ambient environment information behind the saddle-type vehicle 1. 【0043】

[0024] The ambient environment information detected by each ambient environment sensor may be information related to the distance or orientation to a subject located around the straddle-type vehicle 1 (for example, relative position, relative distance, relative speed, relative acceleration, etc.), or may be the characteristics of a subject located around the straddle-type vehicle 1 (for example, the type of the subject, the shape of the subject itself, marks attached to the subject, etc.). Each ambient environment sensor is, for example, a radar, a Lidar sensor, an ultrasonic sensor, a camera, or the like. 【0044】

[0025] Note that the ambient environment information can also be detected by ambient environment sensors mounted on other vehicles or by infrastructure facilities. That is, the control device 20 can also acquire the ambient environment information via wireless communication with other vehicles or infrastructure facilities. 【0045】

[0026] The control device 20 controls the behavior of the straddle-type vehicle 1. For example, part or all of the control device 20 is composed of a microcomputer, a microprocessor unit, or the like. Also, for example, part or all of the control device 20 may be composed of something that can be updated such as firmware, or may be a program module or the like executed by a command from a CPU or the like. The control device 20 may be, for example, one, or may be divided into a plurality. The details of the control device 20 will be described later. 【0046】

[0027] FIG. 2 is a schematic diagram showing a schematic configuration of the braking system 100 of the straddle-type vehicle 1. As shown in FIG. 2, the braking system 100 includes a braking device 12, a control device 20, and a brake operation unit 31. 【0047】

[0028] The braking system 100 includes, as a braking device 12, a braking device 12f for the front wheels 2 and a braking device 12r for the rear wheels 3. Hereinafter, when the braking device 12f and the braking device 12r are not particularly distinguished, they are simply referred to as the braking device 12. 【0048】

[0029] Hereinafter, an example in which both the front wheels 2 and the rear wheels 3 are braked by the braking device 12 of the by-wire system will be described. However, as will be described later, one of the front wheels 2 and the rear wheels 3 may be braked by the pressure of the brake fluid. 【0049】

[0030] The braking system 100 includes, as a brake operation unit 31, a brake operation unit 31f for the front wheels 2 and a brake operation unit 31r for the rear wheels 3. Hereinafter, when the brake operation unit 31f and the brake operation unit 31r are not particularly distinguished, they are simply referred to as the brake operation unit 31. 【0050】

[0031] The brake operation unit 31f is, for example, a brake lever. The braking device 12f brakes the front wheels 2 in conjunction with at least the brake operation unit 31f. The brake operation unit 31r is, for example, a brake pedal. The braking device 12r brakes the rear wheels 3 in conjunction with at least the brake operation unit 31r. 【0051】

[0032] The braking device 12f includes a brake caliper 41f that is held by the body of the saddle-type vehicle 1 and has a brake pad (not shown), and an actuator 42f provided on the brake caliper 41f. The actuator 42f is a device driven by electric power, for example, a motor. When the actuator 42f is driven, the brake pad (not shown) of the brake caliper 41f is pressed against the rotor 2a of the front wheels 2, and a braking force is applied to the front wheels 2. 【0052】 [0 0 3 3] The braking device 12r is held on the body of the saddle-type vehicle 1 and comprises a brake caliper 41r having brake pads (not shown) and an actuator 42r provided on the brake caliper 41r. The actuator 42r is a device driven using electricity, for example, a motor. When the actuator 42r is driven, the brake pads (not shown) of the brake caliper 41r are pressed against the rotor 3a of the rear wheel 3, and braking force is applied to the rear wheel 3. 【0053】 [0 0 3 4] The brake operating unit 31f is equipped with a brake sensor 51f that detects the amount of brake operation performed using the brake operating unit 31f. The detection result from the brake sensor 51f is output to the control device 20. The control device 20 controls the actuator 42f of the braking device 12f so that a braking force determined according to the amount of brake operation performed using the brake operating unit 31f is applied to the front wheel 2. 【0054】 [0 0 3 5] The brake operating unit 3 1 r is equipped with a brake sensor 5 1 r that detects the amount of brake operation performed using the brake operating unit 3 1 r. The detection result from the brake sensor 5 1 r is output to the control device 2 0. The control device 2 0 controls the actuator 4 2 r of the braking device 1 2 r so that a braking force determined according to the amount of brake operation performed using the brake operating unit 3 1 r is applied to the rear wheel 3. 【0055】[0 0 3 6] Here, the brake system 10○ includes an operation feel device 61 that provides the rider with an operating feel via the brake operating section 31. The operation feel device 61 is provided on the brake operating section 31. Specifically, the brake system 100 includes an operation feel device 61f provided on the brake operating section 31f and an operation feel device 61r provided on the brake operating section 31r. Hereafter, when there is no particular distinction between the operation feel device 61f and the operation feel device 61r, they will simply be referred to as the operation feel device 61. 【0056】 [0 0 3 7] The tactile feedback device 6 1 is, for example, a motor that can apply force to the brake operating section 3 1 on which the tactile feedback device 6 1 is provided, in the direction of rotation of the brake operating section 3 1. For example, the tactile feedback device 6 1 can provide the rider with a tactile feedback by adjusting the reaction force acting on the rider's hand during brake operation using the brake operating section 3 I on which the tactile feedback device 6 1 is provided. 【0057】 [0 0 3 8] Figure 3 is a block diagram showing an example of the functional configuration of the control device 20. As shown in Figure 3, the control device 20 includes, for example, an acquisition unit 21, an execution unit 22, and a storage unit 23. The control device 20 also communicates with each device of the saddle-type vehicle 1. 【0058】 [0 0 3 9] The acquisition unit 2 1 acquires information from each device of the saddle-type vehicle 1 and outputs it to the execution unit 2 2. For example, the acquisition unit 2 1 acquires information from the input device 1 3, the inertial measuring device 1 4, the front surrounding environment sensor 1 5, the rear surrounding environment sensor 6, the brake sensor 5 1 f, and the brake sensor 5 1 r. In this specification, information acquisition may include information extraction or generation (e.g., calculation). 【0059】[0 0 4 0] The execution unit 22 performs various controls by controlling the operation of each device of the saddle-type vehicle 1. For example, the execution unit 22 controls the operation of the engine 11, the braking device 12, the operation feel device 61f, and the operation feel device 61r. 【0060】 [ 0 0 4 1 ] The memory unit 2 3 stores various types of information. For example, the memory unit 2 3 stores information used in the processing performed by the execution unit 2 2. 【0061】 [0 0 4 2] Operation of the control device > The operation of the control device 2〇 according to the embodiment of the present invention will be described. 【0062】 [0 0 4 3] As described above, the execution unit 22 of the control device 20 performs a braking force control operation to control the braking device 12 so that a braking force determined according to the amount of braking operation performed using the brake operation unit 31 is applied to the wheels. Here, the amount of braking operation corresponds to an example of an index indicating the degree of input to the brake operation unit 31 in the braking operation. Note that the amount of braking operation may mean, for example, the amount of movement of the brake operation unit 31 due to the braking operation (for example, the angle of movement or the distance of movement). 【0063】 [0 0 4 4] As described above, the braking force control operation is an operation that controls the braking device 1 2 so that a braking force is applied to the wheels according to an index indicating the degree of input to the brake operation unit 3 1 in a brake operation using the brake operation unit 3 1. 【0064】[0 04 5] Figure 4 is a diagram showing an example of the relationship between the manipulated amount AO, the operating force F〇, and the braking force FB in braking force control operation. As described above, the manipulated amount AO is the manipulated amount of the brake operation using the brake operating unit 3 1. The operating force FO is the operating force of the brake operation using the brake operating unit 3 1. The operating force F〇 may mean, for example, the force applied to the brake operating unit 3 1 by the rider during braking operation (for example, the force applied by the rider to the brake operating unit 3 1 in order to rotate or move the brake operating unit 3 1). The braking force FB is the braking force applied to the wheel by the braking device 1 2. 【0065】 [0 04 6] Here, a biasing force is applied to the brake operating part 31 by a biasing member such as a spring, in the direction of returning the brake operating part 31 to its initial position where no force is being applied. This biasing force acts as a reaction force to the brake operation using the brake operating part 31, and this biasing force increases as the amount of operation AO increases. In other words, as the amount of operation AO increases, a larger operating force F〇 is required. 【0066】 [0 04 7] In Figure 4, the horizontal axis represents the controllable amount A〇, and the vertical axis represents the controllable force F〇 and the braking force FB, showing the relationship between the controllable amount AO and the controllable force FO, and the relationship between the controllable amount AO and the braking force FB. 【0067】 [0 04 8] In Figure 4, the characteristic line L10 shows the characteristics of the braking force FB with respect to the manipulated variable AO. As shown by the characteristic line L10, the braking force FB increases as the manipulated variable AO increases, and decreases as the manipulated variable AO decreases. The characteristic line L10 includes the characteristic lines L11 and L12. The characteristic line L10 shows the characteristics of the braking force FB with respect to the manipulated variable AO during the process of increasing the manipulated variable AO. The characteristic line L12 shows the characteristics of the braking force FB with respect to the manipulated variable A0 during the process of decreasing the manipulated variable AO. 【0068】 [0 04 9] In Figure 4, the characteristic line L20 shows the characteristics of the operating force F〇 with respect to the manipulated variable AO. As shown by the characteristic line L20, the operating force FO increases as the manipulated variable AO increases, and the operating force FO decreases as the manipulated variable A〇 decreases. The characteristic line L20 includes the characteristic lines L21 and L22. The characteristic line L21 shows the characteristics of the operating force F〇 with respect to the manipulated variable AO during the process of increasing the manipulated variable AO. The characteristic line L22 shows the characteristics of the operating force F〇 with respect to the manipulated variable A〇 during the process of decreasing the manipulated variable A〇. 【0069】 [0 0 5 0] In the example in Figure 4, during braking using the brake operating unit 3 1, the relationship between the operating amount AO and the operating force F〇 changes along the characteristic line L 2 0. In other words, the rider can change the operating amount AO to a value corresponding to the operating force F〇 on the characteristic line L 2 0 by changing the operating force FO. Then, in the braking force control operation, the execution unit 2 2 determines the braking force FB applied to the wheel to a value corresponding to the operating amount AO on the characteristic line L 1 0, and controls the braking device 1 2 so that the determined braking force FB is applied to the wheel. The information indicating the characteristic line L 1 0 is stored in the memory unit 2 3, for example. Therefore, the execution unit 2 2 can perform the braking force control operation by referring to the information indicating the characteristic line L 1 0 stored in the memory unit 2 3. 【0070】[0 0 5 1] As described above, during braking, the braking force FB increases as the operating force F〇 and the operating amount A〇 increase. Specifically, after the braking operation begins, no braking force FB is generated on the wheel until the operating force F〇 and the operating amount A〇 increase to a certain extent, and after the operating force FO and the operating amount A〇 have increased to a certain extent, the braking force FB begins to be generated on the wheel. The operating amount AO! in Figure 4 is the operating amount AO at which the braking force FB begins to be generated. Also, the operating force FO1 in Figure 4 is the operating force F〇 at which the braking force FB begins to be generated. [0 0 5 2] Furthermore, as described above, the braking force FB applied to the wheel is determined to the value corresponding to the operating amount AO on the characteristic curve L10. Therefore, the operating force FO and operating amount AO at which a predetermined braking force FB is generated can be determined according to the characteristic curve L1〇. For example, the operating amount AO2 in Figure 4 is the operating amount AO at which the braking force FB reaches its maximum value. Also, the operating force F〇2 in Figure 4 is the operating force F〇 at which the braking force FB reaches its maximum value. 【0071】 [0 0 5 3] Also, as shown by the characteristic line L20 in Figure 4, after the brake operation is started, the operating amount AO does not increase until the operating force F〇 has increased to a certain extent, and after the operating force F〇 has increased to a certain extent, the operating amount AO begins to increase. In other words, after the brake operation is started, the brake operating part 31 does not move until the operating force F〇 has increased to a certain extent, and after the operating force F〇 has increased to a certain extent, the brake operating part 31 begins to move. For example, the operating force F〇3 in Figure 4 is the operating force F〇 when the brake operating part 31 begins to move. 【0072】[0 0 5 4] Note that the characteristic curves L10 and L20 shown in Figure 4 are merely examples, and the characteristic curves L10 and L20 are not limited to the example in Figure 4. For example, the characteristic curves L10 and L20 shown in Figure 4 are simply represented for ease of understanding. However, in reality, the characteristic curves L10 and L20 may follow more complex trajectories. 【0073】 [0 0 5 5] As described above, the operation of the brake-by-wire braking system 1 2 is controlled by the control device 2 0. Specifically, in the braking force control operation, the execution unit 2 2 controls the operation of the braking system 1 2 based on the characteristic curve L 1 0 which shows the characteristics of the braking force FB with respect to the manipulated amount AO. Here, while the saddle-type vehicle 1 is in motion, for example, depending on the driving conditions, situations may arise where the operability of the brake operation by the rider decreases. Therefore, in this embodiment, when the execution unit 2 2 is executing the braking force control operation, it performs an operation feel control operation that controls the operation feel device 6 1, thereby improving the operability of the brake operation by the rider, as will be described later. The following describes an example of processing performed by the control device 2 0. 【0074】 [0 0 5 6] Figure 5 is a flowchart showing an example of the processing flow performed by the control device 20. The control flow shown in Figure 5 starts, for example, after the power to the saddle-type vehicle is turned on. Step S! in Figure 5 corresponds to the start of the control flow shown in Figure 5. 【0075】 [0 0 5 7] When the control flow shown in Figure 5 starts, in step S102, the acquisition unit 21 acquires manual setting information from the RID. In step S102, for example, the acquisition unit 21 acquires manual setting information from the input device 13, which is information regarding manual settings made by operating the RID using the input device 13. 【0076】 [0 0 5 8] Following step S! ○ 2, in step S! ○ 3, the execution unit 2 2 performs a characteristic adjustment operation based on the manual setting information and returns to step S1 ○ 2. The characteristic adjustment operation is an operation that adjusts the characteristics of the operation force F〇 with respect to the amount of brake operation AO, and corresponds to an example of an operation feel control operation that controls the operation feel device 6 I when a braking force control operation is performed. Specifically, the execution unit 2 2 can perform the characteristic adjustment operation by controlling the operation feel provided to the rider by the operation feel device 6 1. 【0077】 [0 0 5 9] As described above, in the example of Figure 5, the RIDER can change the characteristics of the operating force F〇 relative to the operating amount A〇 of the brake operation by performing a manual setting operation, causing the execution unit 22 to perform a characteristic adjustment operation. In other words, the execution unit 22 performs a characteristic adjustment operation according to the manual setting operation by the RIDER. Various examples of characteristic adjustment operations will be described below. 【0078】 [0 0 6 0] The execution unit 22 may, for example, adjust the operation F〇! corresponding to the operation amount A〇! when the braking force FB begins to be generated during the characteristic adjustment operation. 【0079】 [0 0 6 1] For example, if the LiDAR performs an operation to instruct the operation force F〇 1 to decrease, the execution unit 2 2 will decrease the operation force F〇 1 in the characteristic adjustment operation. On the other hand, if the LiDAR performs an operation to instruct the operation force FO 1 to increase, the execution unit 2 2 will increase the operation force F〇 1 in the characteristic adjustment operation. 【0080】[0 0 6 2] A rider may want to adjust the operating force F〇 1 depending on their fatigue level or muscle strength. For example, if the rider is highly fatigued or has low muscle strength, they may want to initiate braking of the saddle-type vehicle 1 with a smaller operating force FO. In such cases, the operating force F〇 1 can be optimized to suit the rider's intentions. For example, by reducing the operating force FO 1, it becomes possible to initiate braking of the saddle-type vehicle 1 with a smaller operating force FO. 【0081】 [0 0 6 3] In addition, the rider may want to adjust the operating force F〇 1 depending on the riding environment or riding mode of the saddle-type vehicle 1. For example, if the saddle-type vehicle 1 is traveling on a mountain road with poor visibility, or if the riding mode of the saddle-type vehicle 1 is set to a riding mode suitable for sporty riding, the rider may want to initiate braking of the saddle-type vehicle 1 with a smaller operating force F〇. In such cases, the operating force F〇 1 can be optimized to suit the rider's intentions. For example, by reducing the operating force FO 1, it becomes possible to initiate braking of the saddle-type vehicle 1 with a smaller operating force F〇. 【0082】 [0 0 6 4] The execution unit 22 may, for example, adjust the operation force F〇 corresponding to the operation amount AO when the braking force FB reaches a predetermined value during characteristic adjustment. For example, the execution unit 22 may, during characteristic adjustment, adjust the operation force FO 2 corresponding to the operation amount AO 2 when the braking force FB reaches its maximum value. 【0083】 [0 0 6 5] For example, if the LiDAR performs an operation to instruct the operation force F〇 2 to decrease, the execution unit 2 2 will decrease the operation force F〇 2 in the characteristic adjustment operation. On the other hand, if the LiDAR performs an operation to instruct the operation force F〇 2 to increase, the execution unit 2 2 will increase the operation force F〇 2 in the characteristic adjustment operation. 【0084】 [0 0 6 6] As mentioned above, a rider may want to adjust the operating force F〇 2 according to their fatigue level or muscle strength, for example. Also, as mentioned above, a rider may want to adjust the operating force F〇 2 according to the riding environment or riding mode of the saddle-type vehicle 1, for example. In those cases, the operating force F〇 2 can be optimized according to the rider's intentions. For example, by reducing the operating force F〇 2, it becomes possible to reach the maximum braking force FB with a smaller operating force F〇. 【0085】 [0 0 6 7] In the above, an example was described in which the execution unit 22 adjusts the control FO 2 corresponding to the control amount AO 2 when the braking force FB reaches its maximum value during the characteristic adjustment operation. However, the control FO 2 to be adjusted during the characteristic adjustment operation is not limited to the control FO 2 corresponding to the control amount A OO 2 when the braking force FB reaches its maximum value. For example, the execution unit 22 may adjust the control FO 2 corresponding to the control amount A OO when the braking force FB reaches a predetermined multiplier (e.g., 25%, 50%, 75%, etc.) relative to the maximum value during the characteristic adjustment operation. 【0086】 [0 0 6 8] The execution unit 22 may, for example, adjust the operation force F〇 3 when the brake operation unit 31 starts to move during the characteristic adjustment operation. 【0087】 [0 0 6 9] For example, if the LiDAR performs an operation to instruct the operation force F〇 3 to decrease, the execution unit 2 2 will decrease the operation force F〇 3 in the characteristic adjustment operation. On the other hand, if the LiDAR performs an operation to instruct the operation force FO 3 to increase, the execution unit 2 2 will increase the operation force F〇 3 in the characteristic adjustment operation. 【0088】[0 0 7 0] As described above, the rider may want to adjust the operating force F〇 3 according to, for example, their fatigue level or muscle strength. Also, as described above, the rider may want to adjust the operating force F〇 3 according to, for example, the riding environment or riding mode of the saddle-type vehicle 1. In those cases, the operating force F〇 3 can be optimized according to the rider's intentions. For example, by reducing the operating force F〇 3, it becomes possible to start moving the brake operating part 3 1 with a smaller operating force F〇. 【0089】 [0 0 7 1] The execution unit 22 may, for example, adjust the characteristics of the manipulated force F〇 with respect to manipulated variable A〇 during the process of increasing manipulated variable AO, and the characteristics of the manipulated force F〇 with respect to manipulated variable A〇 during the process of decreasing manipulated variable A〇, respectively, in the characteristic adjustment operation. 【0090】 [0 0 7 2] For example, the lidar can perform an operation to instruct the adjustment of two characteristic lines L2I, which shows the characteristics of the manipulated variable AO during the increasing process of the manipulated variable AO, and the characteristic line L22, which shows the characteristics of the manipulated variable A〇 during the decreasing process of the manipulated variable AO, separately. The execution unit 22 controls the operation feel device 61 so that characteristic line L21 and characteristic line L22 are adjusted separately according to such an operation of the lidar. This makes it possible to optimize the characteristic line L20 in accordance with the lidar's intentions. 【0091】 [0 0 7 3] The above describes various examples of characteristic adjustment operations. However, the execution unit 22 may perform all types of adjustments described above in the characteristic adjustment operation, or it may perform only some of the types of adjustments described above. 【0092】[0 0 7 4] In addition, the rider can individually set the characteristics of the operation force F〇 for the operation amount A〇 for the brake operation using the brake operation unit 31f for the front wheel 2 and the brake operation using the brake operation unit 31r for the rear wheel 3 when setting the characteristic adjustment operation. In other words, the execution unit 22 can individually adjust the above characteristics for the brake operation using the brake operation unit 31f for the front wheel 2 and the above characteristics for the brake operation using the brake operation unit 31r for the rear wheel 3 when performing the characteristic adjustment operation. 【0093】 [0 0 7 5] The above describes an example in which the execution unit 22 performs characteristic adjustment operations based on manually configured information. However, the execution unit 22 may also perform characteristic adjustment operations automatically based on information other than manually configured information. Various examples of automatically performed characteristic adjustment operations are described below. 【0094】 [0 0 7 6] The execution unit 22 may perform a characteristic adjustment operation based on the collision possibility of the saddle-type vehicle 1, for example. The collision possibility of the saddle-type vehicle 1 means, for example, the possibility that the saddle-type vehicle will collide with an object in its surroundings (for example, another vehicle). 【0095】 [0 0 7 7] The acquisition unit 2 1 can acquire information indicating the possibility of collision with the saddle-type vehicle 1 based on the surrounding environment information of the saddle-type vehicle 1. For example, the acquisition unit 2 1 can acquire the relative distance and relative speed between the saddle-type vehicle 1 and surrounding objects based on the surrounding environment information of the saddle-type vehicle 1, and acquire information indicating the possibility of collision with the saddle-type vehicle 1 based on the relative distance and relative speed. 【0096】[0 0 7 8] The acquisition unit 2 1 may acquire information indicating the possibility of collision based on the braking state of the saddle-type vehicle 1. For example, the acquisition unit 2 1 may acquire information indicating the possibility of collision when an emergency braking operation is performed using the brake operation unit 3 1, or when an automatic emergency braking operation is performed. An emergency braking operation means, for example, a braking operation that causes a rapid deceleration of the saddle-type vehicle 1 with a large change in the amount of operation AO or the force of operation F〇 in a short period of time. An automatic emergency braking operation is an operation that automatically brakes the saddle-type vehicle 1 without brake operation, and is performed, for example, by the execution unit 2 2. 【0097】 [0 0 7 9] For example, if there is a possibility of the saddle-type vehicle 1 colliding with an object in front of the saddle-type vehicle 1, the execution unit 22 may perform a characteristic adjustment operation, and in this characteristic adjustment operation, the operating feel of the brake operation unit 31 may be made lighter. The acquisition unit 21 can acquire information indicating the possibility of the saddle-type vehicle 1 colliding with an object in front of the saddle-type vehicle 1, for example, based on the detection result of the front surrounding environment sensor 15. 【0098】 [0 0 8 0] Furthermore, making the operating feel of the brake operating unit 3 1 lighter may include, for example, enabling the braking of the saddle-type vehicle 1 to be started with a smaller operating force F〇, or enabling the braking force FB to be increased with a smaller operating force F〇. For example, by reducing the operating force F〇! corresponding to the operating amount A〇! when the braking force FB begins to be generated, or by reducing the operating force F〇 3 when the brake operating unit 3 1 begins to move, it becomes possible to start braking the saddle-type vehicle 1 with a smaller operating force F〇. Also, for example, by reducing the operating force F〇 corresponding to the operating amount AO when the braking force FB reaches a predetermined value, it becomes possible to increase the braking force FB with a smaller operating force F〇. 【0099】 〇 【0100】 [0 0 8 1] Specifically, if there is a possibility of collision between the saddle-type vehicle 1 and an object in front of it, the execution unit 22 may reduce the operating force F〇 1 corresponding to the operating amount AO 1 when the braking force FB begins to be generated during the characteristic adjustment operation. Also, if there is a possibility of collision between the saddle-type vehicle ! and an object in front of it, the execution unit 22 may reduce the operating force F〇 3 when the brake operation unit 3 1 begins to move during the characteristic adjustment operation. Also, if there is a possibility of collision between the saddle-type vehicle 1 and an object in front of it, the execution unit 22 may reduce the operating force F〇 corresponding to the operating amount AO when the braking force FB reaches a predetermined value during the characteristic adjustment operation. 【0101】 [0 0 8 2] When there is a possibility of collision between the saddle-type vehicle 1 and an object in front of it, by making the operating feel of the brake operating unit 3 1 lighter, it is possible to generate a large braking force FB on the wheels earlier, thereby suppressing the occurrence of a collision by the saddle-type vehicle 1 and improving safety. 【0102】 [0 0 8 3] Also, for example, if there is a possibility of collision between the saddle-type vehicle 1 and an object behind it, the execution unit 22 may perform a characteristic adjustment operation, and in this characteristic adjustment operation, it may make the operating feel of the brake operation unit 31 heavier. The acquisition unit 21 can acquire information indicating the possibility of collision between the saddle-type vehicle 1 and an object behind it, for example, based on the detection result of the rear surrounding environment sensor 16. 【0103】[0 0 8 4] Specifically, if there is a possibility of collision between the saddle-type vehicle 1 and an object behind the saddle-type vehicle, the execution unit 22 may increase the operating force F〇! corresponding to the operating amount AO 1 when the braking force FB begins to be generated during the characteristic adjustment operation. Also, if there is a possibility of collision between the saddle-type vehicle 1 and an object behind the saddle-type vehicle 1, the execution unit 22 may increase the operating force F〇 3 when the brake operation unit 3 1 begins to move during the characteristic adjustment operation. Also, if there is a possibility of collision between the saddle-type vehicle 1 and an object behind the saddle-type vehicle 1, the execution unit 22 may increase the operating force FO corresponding to the operating amount AO when the braking force FB reaches a predetermined value during the characteristic adjustment operation. [0 0 8 5] When there is a possibility of collision between the saddle-type vehicle 1 and an object behind it, by making the operating feel of the brake operating unit 3 1 heavier, it is possible to make it difficult to generate a large braking force FB on the wheels early, thereby suppressing the occurrence of collisions with the saddle-type vehicle 1 and improving safety. 【0104】 [0 0 8 6] The execution unit 22 may, for example, perform a characteristic adjustment operation based on the road surface gradient information of the saddle-type vehicle 1. The road surface gradient information may, for example, be information that directly indicates the road surface gradient, or it may be information that can be substantially converted into a road surface gradient. For example, the acquisition unit 21 can acquire road surface gradient information based on the detection result of the inertial measuring device 14. 【0105】 [0 0 8 7] For example, when the saddle-type vehicle 1 is stopped, the execution unit 22 may perform a characteristic adjustment operation if the absolute value of the gradient of the road surface on which the saddle-type vehicle 1 is located is greater than the min value, and in this characteristic adjustment operation, the operating feel of the brake operation unit 31 may be made lighter. 【0106】[0 0 8 8] Specifically, when the saddle-type vehicle 1 is stopped, if the absolute value of the gradient of the road surface on which the saddle-type vehicle 1 is located is greater than the min value, the execution unit 22 may reduce the operating force F〇 1 corresponding to the operating amount A〇 ! when the braking force FB begins to be generated during the characteristic adjustment operation. Also, when the saddle-type vehicle 1 is stopped, if the absolute value of the gradient of the road surface on which the saddle-type vehicle 1 is located is greater than the min value, the execution unit 22 may reduce the operating force F〇 3 when the brake operation unit 31 begins to move during the characteristic adjustment operation. Furthermore, when the saddle-type vehicle 1 is stopped, if the absolute value of the gradient of the road surface on which the saddle-type vehicle 1 is located is greater than the missing value, the execution unit 22 may reduce the operation amount F〇 corresponding to the operation amount AO when the braking force FB becomes a predetermined value during the characteristic adjustment operation. 【0107】 [0 0 8 9] When the saddle-type vehicle 1 is stopped, if the absolute value of the gradient of the road surface on which the saddle-type vehicle 1 is located is greater than the min value, by making the operating feel of the brake operating unit 3 1 lighter, it is possible to generate a large braking force FB on the wheels earlier, thereby suppressing the movement of the saddle-type vehicle 1 in the front-rear direction due to its own weight and improving safety. 【0108】 [0 0 9 0] The execution unit 22 may, for example, perform a characteristic adjustment operation based on the driving posture information of the saddle-type vehicle 1. The driving posture information includes various information regarding the posture of the saddle-type vehicle 1 while it is driving, and may include, for example, the turning posture information of the saddle-type vehicle 1, or the pitch posture information of the saddle-type vehicle 1. 【0109】[0 0 9 1] As described above, the execution unit 22 may, for example, perform a characteristic adjustment operation based on the turning attitude information of the saddle-type vehicle 1. The turning attitude information is information about physical quantities that reflect the attitude of the saddle-type vehicle 1 as it turns. Examples of turning attitude information include the lean angle of the saddle-type vehicle 1, the angular velocity of the lean angle, the yaw rate, the lateral acceleration, etc. 【0110】 [0 0 9 2] For example, if the lean angle of the saddle-type vehicle 1 is increasing, or if the lean angle exceeds the min value, the execution unit 22 may perform a characteristic adjustment operation, and in the characteristic adjustment operation, it may lighten the feel of operating the brake operation unit 31. 【0111】 [0 0 9 3] Specifically, if the lean angle of the saddle-type vehicle 1 is increasing, or if the lean angle exceeds the min value, the execution unit 22 may reduce the operating force F〇 1 corresponding to the operating amount AO 1 when the braking force FB begins to be generated during the characteristic adjustment operation. Also, if the lean angle of the saddle-type vehicle 1 is increasing, or if the lean angle exceeds the min value, and the absolute value of the gradient of the road surface on which the saddle-type vehicle 1 is located is greater than the min value, the execution unit 22 may reduce the operating force F〇 3 when the brake operation unit 31 begins to move during the characteristic adjustment operation. Furthermore, if the lean angle of the saddle-type vehicle 1 is increasing, or if the lean angle exceeds the min value, the execution unit 22 may reduce the operation amount F〇 corresponding to the operation amount A〇 when the braking force FB becomes a predetermined value during the characteristic adjustment operation. 【0112】 [0 0 9 4] If the lean angle of the saddle-type vehicle 1 is increasing, or if the lean angle exceeds the min value, it is assumed that the saddle-type vehicle 1 is leaning significantly in the roll direction. In such a situation, it is difficult for the rider to operate the brakes, so safety can be improved by making the operation of the brake operation unit 3 1 lighter. 【0113】

[0095] In particular, the execution unit 22 performs a characteristic adjustment operation when the saddle-type vehicle 1 is tilted significantly in the roll direction and it is difficult to press down on the brake operation unit 31r for the rear wheel 3, which is the brake pedal, with the foot, and in the characteristic adjustment operation, it is preferable to lighten the feel of operating the brake operation unit 31. For example, if the brake operation unit 31r is set on the right side of the saddle-type vehicle 1, it becomes difficult for the rider to perform braking operations using the brake operation unit 31r when the saddle-type vehicle 1 is tilted significantly to the left in the roll direction. Therefore, in such circumstances, safety can be more effectively improved by lightening the feel of operating the brake operation unit 31. 【0114】

[0096] The execution unit 22 may use the yaw rate of the saddle-type vehicle 1 or the lateral acceleration of the saddle-type vehicle 1 as turning attitude information instead of the lean angle of the saddle-type vehicle 1. 【0115】 [0 0 9 7] As described above, the execution unit 22 may perform a characteristic adjustment operation based on, for example, the pitch attitude information of the saddle-type vehicle 1. The pitch behavior information is information relating to the behavior of the saddle-type vehicle 1 in the pitch direction. Examples of pitch behavior information include the pitch angle of the saddle-type vehicle 1. 【0116】 [0 0 9 8] For example, if the execution unit 22 determines that a wheelie is occurring based on pitch behavior information, it may perform a characteristic adjustment operation, and in this characteristic adjustment operation, it may lighten the feel of the brake operation unit 31r for the rear wheel 3. A wheelie means that the rear wheel 3 of the saddle-type vehicle 1 is in contact with the ground and the front wheel 2 is off the ground. A wheelie occurs, for example, when rapid acceleration (i.e., acceleration accompanied by a sudden change in acceleration) is performed. 【0117】[0 0 9 9] Specifically, if the execution unit 22 determines that a wheelie is occurring, in the characteristic adjustment operation, it may reduce the operating force F〇 1 corresponding to the operating amount AO 1 when the braking force FB in the brake operation using the brake operation unit 31r for the rear wheel 3 begins to be generated. Also, if the execution unit 22 determines that a wheelie is occurring, in the characteristic adjustment operation, it may reduce the operating force F〇 3 when the brake operation unit 31 begins to move in the brake operation using the brake operation unit 31r for the rear wheel 3. Also, if the execution unit 22 determines that a wheelie is occurring, in the characteristic adjustment operation, it may reduce the operating force FO corresponding to the operating amount AO when the braking force FB in the brake operation using the brake operation unit 31r for the rear wheel 3 reaches a predetermined value. 【0118】 [0 1 0 0] When a wheelie occurs, by making the feel of operating the brake control unit 3 1 r for the rear wheel 3 lighter, it becomes easier to generate a large braking force FB on the rear wheel 3, which is the drive wheel, thus making it easier to eliminate the wheelie. 【0119】 [0 1 0 1] For example, if the execution unit 22 determines that a stoppie has occurred based on pitch behavior information, it may perform a characteristic adjustment operation, and in this characteristic adjustment operation, it may make the operating feel of the brake operation unit 31f for the front wheel 2 heavier. A stoppie means a state in which the front wheel 2 of the saddle-type vehicle 1 is in contact with the ground and the rear wheel 3 is off the ground. A stoppie occurs, for example, when the vehicle speed is somewhat high and the front wheel 2 is suddenly braked (i.e., brakes that involve a sudden change in braking force). 【0120】[0 1 0 2] Specifically, if the execution unit 22 determines that a stoppie has occurred, in the characteristic adjustment operation, it may increase the operation force FO 1 corresponding to the operation amount AO 1 when the braking force FB in the brake operation using the brake operation unit 31f for the front wheel 2 begins to be generated. Also, if the execution unit 22 determines that a stoppie has occurred, in the characteristic adjustment operation, it may increase the operation force F〇 3 when the brake operation unit 31 begins to move in the brake operation using the brake operation unit 31f for the front wheel 2. Also, if the execution unit 22 determines that a stoppie has occurred, in the characteristic adjustment operation, it may increase the operation force F〇 corresponding to the operation amount AO when the braking force FB in the brake operation using the brake operation unit 31f for the front wheel 2 reaches a predetermined value. 【0121】 [0 1 0 3] When a stoppie occurs, by making the operating feel of the brake operating part 3 1 f for the front wheel 2 heavier, it becomes more difficult to generate a large braking force FB on the front wheel 2 early on, thus making it easier to resolve the stoppie. 【0122】 [0 1 04] The execution unit 22 may, for example, perform a characteristic adjustment operation based on information of an emergency braking operation using the brake operation unit 31. As described above, an emergency braking operation means, for example, a braking operation that causes a large change in the operating amount AO or operating force F〇 in a short time to rapidly decelerate the saddle-type vehicle 1. 【0123】 [0 1 0 5] For example, if the execution unit 22 determines that an emergency braking operation is being performed based on the detection results of the brake sensors 51f and 51r, it may perform a characteristic adjustment operation, and in this characteristic adjustment operation, it may lighten the feel of operating the brake operation unit 31. 【0124】[0 1 0 6] Specifically, if the execution unit 22 determines that an emergency braking operation is being performed, it may reduce the operating force FO 1 corresponding to the operating amount AO 1 when the braking force FB begins to be generated during the characteristic adjustment operation. Also, if the execution unit 22 determines that an emergency braking operation is being performed, it may reduce the operating force F〇 3 when the brake operation unit 31 begins to move during the characteristic adjustment operation. Also, if the execution unit 22 determines that an emergency braking operation is being performed, it may reduce the operating force FO corresponding to the operating amount AO when the braking force FB reaches a predetermined value during the characteristic adjustment operation. 【0125】 [0 1 0 7] When sudden braking is performed, there is a high need to rapidly decelerate the saddle-type vehicle 1 and avoid a collision with an obstacle. Therefore, in such cases, safety can be improved by making the feel of operating the brake control unit 3 1 lighter. 【0126】 [0 1 0 8] The above describes various examples of automatic characteristic adjustment operations. However, the execution unit 22 may perform characteristic adjustment operations based on all the types of information described above as examples of information other than manual setting information, or it may perform characteristic adjustment operations based on any part of the types of information described above as examples of information other than manual setting information. 【0127】[0 1 0 9] Furthermore, even when the execution unit 2 2 automatically performs characteristic adjustment operations based on information other than manual setting information, it can individually adjust the characteristics of the operating force F〇 for the operating amount A〇 in brake operations using the brake operation unit 3 1 f for the front wheel 2, and the characteristics of the operating force F〇 for the operating amount AO in brake operations using the brake operation unit 3 1 r for the rear wheel 3. [〇 ! I 〇] The above describes an example in which the execution unit 2 2 performs a characteristic adjustment operation to adjust the characteristics of the operating force F〇 of the brake operation for the operating amount AO as an operation feel control operation to control the operation feel device 6 1 when performing a braking force control operation. However, the execution unit 2 2 may also perform a notification operation as another operation using the operation feel device 6 1. 【0128】 [0 1 1 1] The notification operation is an operation that notifies the rider of the saddle-type vehicle 1 by generating vibrations in the brake operation unit 3 1 using the operation feel device 6 1. For example, in the notification operation, the execution unit 2 2 controls the operation feel device 6 1 so that vibrations are instantaneously generated in the brake operation unit 3 1 at a preset period and amplitude. The period and amplitude of the vibrations in the notification operation are set by the rider, for example. The rider may also disable the notification operation by performing a predetermined operation. Various examples of notification operations will be described below. 【0129】 [0 1 1 2] The execution unit 22 may, for example, in the notification operation, notify the rider whether or not a rider support operation to assist the rider is being performed. 【0130】[0 1 1 3] Rider support operations may include various operations that support the rider. For example, rider support operations include speed control operations, slip suppression operations, and vehicle behavior stabilization operations. Speed ​​control operations are operations that automatically control the speed of the saddle-type vehicle 1, and include, for example, adaptive cruise control. Slip suppression operations are operations that suppress wheel slip, and include, for example, anti-lock brake control. Vehicle behavior stabilization operations are operations that stabilize the vehicle body posture of the saddle-type vehicle 1, and include, for example, operations that stabilize the vehicle body posture by controlling the driving force or braking force acting on the saddle-type vehicle 1. The execution unit 2 2 can, for example, execute the above various operations as rider support operations. 【0131】 [〇 ! 1 4 ] For example, the execution unit 22 performs a notification operation when a rider support operation is being performed, and cancels the notification operation when a rider support operation is not being performed. This allows the rider to recognize whether or not a rider support operation is being performed. 【0132】 [0 1 1 5] Also, for example, the execution unit 22 may perform a notification operation when a rider assistance operation that is currently being performed is canceled. In this case, for example, the rider is notified that the rider assistance operation has been canceled by causing vibration in the brake operation unit 31 for a short period of time. In this way, the rider can also recognize whether or not a rider assistance operation is being performed. 【0133】[0 1 1 6] The execution unit 22 may, for example, change at least one of the period and amplitude of the vibration generated by the notification operation depending on the type of rider assistance operation being performed. In addition, the execution unit 22 may, for example, generate vibration in the brake operating unit 31f for the front wheel 2 when a rider assistance operation for the front wheel 2 (for example, anti-lock brake control for the front wheel 2) is being performed in the notification operation, and generate vibration in the brake operating unit 31r for the rear wheel 3 when a rider assistance operation for the rear wheel 3 (for example, anti-lock brake control for the rear wheel 3) is being performed. 【0134】 [0 1 1 7] The execution unit 22 may, for example, in the notification operation, notify the rider of the possibility of collision with the saddle-type vehicle 1. 【0135】 [〇 1 1 8 ] For example, the execution unit 2 2 may perform a notification operation if there is a possibility of collision between the saddle-type vehicle 1 and an object in front of the saddle-type vehicle 1. This allows the rider to recognize that there is a possibility of collision between the saddle-type vehicle 1 and an object in front of the saddle-type vehicle 1. 〇 In particular, it is preferable for the execution unit 2 2 to perform a notification operation if there is a possibility of collision between the saddle-type vehicle 1 and an object in front of the saddle-type vehicle 1, even though the brakes have already been applied. In such cases, there is a particularly high need to make the rider aware that there is a possibility of collision between the saddle-type vehicle 1 and an object in front of the saddle-type vehicle 1. 【0136】 [0 1 1 9] Also, for example, the execution unit 22 may perform a notification operation if there is a possibility of the saddle-type vehicle 1 colliding with an object behind the saddle-type vehicle 1. This allows the rider to recognize that there is a possibility of the saddle-type vehicle 1 colliding with an object behind the saddle-type vehicle 1. 【0137】[0 1 2 0] The execution unit 22 may, for example, control the notification operation based on behavior information of the saddle-type vehicle 1. The behavior information includes various information relating to the behavior of the saddle-type vehicle 1, and may include, for example, information on the lean angle of the saddle-type vehicle 1, or information on the speed of the saddle-type vehicle 1. 【0138】 [0 1 2 1] For example, the execution unit 22 may prohibit notification based on the behavior information of the saddle-type vehicle 1. For example, the execution unit 22 may prohibit notification if the lean angle of the saddle-type vehicle 1 is greater than the min value. Also, for example, the execution unit 22 may prohibit notification if the speed of the saddle-type vehicle 1 is greater than the min value. If the lean angle or speed is excessively large, the notification may be perceived as bothersome by the rider. Therefore, comfort is improved by prohibiting notification in such cases. 【0139】 [0 1 2 2] The execution unit 2 2 may change at least one of the period and amplitude of the vibration generated by the notification operation, depending on the magnitude of the lean angle or velocity. 【0140】 [0 1 2 3] The above describes an example of processing performed by the control device 20. However, the processing performed by the control device 20 may be a modified version of the processing example described above. 【0141】[0 1 24] For example, the above describes an example in which both the front wheel 2 and the rear wheel 3 are braked by a brake-by-wire system 1 2. However, one of the front wheel 2 and the rear wheel 3 may be braked by the pressure of brake fluid. That is, in the brake system 1 0 0, one of the front wheel 2 and the rear wheel 3 may be connected to the brake operating unit 3 1 via a brake fluid passage and braked by the pressure of brake fluid in the wheel cylinder. In this case, the execution unit 2 2 performs the above processing only with respect to the brake operation on the wheel braked by the brake-by-wire system 1 2. Note that in this case, one of the brake devices 1 2 f and 1 2 r is omitted from the brake system 1 0 0. 【0142】 [ 0 1 2 5 ] 【0143】 <Effects of the control device> The effects of the control device 20 according to the embodiment of the present invention will be described below. 【0144】[0 1 2 6] The control device 20 controls the behavior of a saddle-type vehicle 1 which is not connected to the brake operating unit 31 via a brake fluid flow path, and is equipped with a by-wire braking device 12 that applies braking force FB to the wheels, and an operating feel device 61 that provides operating feel to the rider via the brake operating unit 31. The control device 20 also includes an execution unit 22 that performs a braking force control operation to control the braking device 12 so that a braking force FB determined according to an index indicating the degree of input to the brake operating unit 31 during braking operation using the brake operating unit 31 is applied to the wheels. Furthermore, when the braking force control operation is performed, the execution unit 22 performs an operating feel control operation to control the operating feel device 61. As a result, the operating feel of the brake operating unit 31 during the braking force control operation can be optimized according to the situation, thereby improving the operability of the brake operation. [0 1 2 7] Preferably, in the control device 20, the index is the amount of brake operation A〇, and the operation feel control operation includes a characteristic adjustment operation that adjusts the characteristics of the brake operation force F〇 with respect to the amount of operation A〇 by controlling the operation feel provided to the rider by the operation feel providing device 61. This appropriately optimizes the operation feel of the brake operation unit 31 in the braking force control operation according to the situation. Thus, it appropriately improves the operability of the brake operation. 【0145】 [0 1 2 8] Note that the operation feel control operation may be an operation other than the characteristic adjustment operation. For example, the operation feel control operation may be an operation that temporarily changes the feel of the brake operation unit 3 1 by temporarily increasing or decreasing the reaction force acting on the rider's hand to a predetermined reaction force. 【0146】[0 1 2 9] Preferably, in the control device 20, the execution unit 22 adjusts the operating force FO 1 corresponding to the operating amount AO 1 when the braking force FB begins to be generated during the characteristic adjustment operation. This appropriately makes the operating feel of the brake operating unit 31 lighter or heavier depending on the situation. Thus, the operability of the brake operation is more appropriately improved. 【0147】 [0 1 3 0] Preferably, in the control device 20, the execution unit 22 adjusts the operating force F〇 (e.g., operating force F〇2) corresponding to the operating amount A〇 (e.g., operating amount AO2) when the braking force FB reaches a predetermined value during characteristic adjustment operation. This appropriately makes the operating feel of the brake operating unit 31 lighter or heavier depending on the situation. Thus, the operability of the brake operation is more appropriately improved. 【0148】 [0 1 3 1] Preferably, in the control device 20, the execution unit 22 adjusts the operating force F〇 3 when the brake operating unit 31 starts to move during the characteristic adjustment operation. This appropriately makes the operating feel of the brake operating unit 31 lighter or heavier depending on the situation. Thus, the operability of the brake operation is more appropriately improved. 【0149】 [0 1 3 2] Preferably, in the control device 20, the execution unit 22 performs a characteristic adjustment operation based on the likelihood of collision of the saddle-type vehicle 1. This allows the characteristics of the braking force F〇 for the manipulated amount AO to be adjusted taking into account the likelihood of collision of the saddle-type vehicle 1, thereby more appropriately improving the operability of the braking operation. 【0150】[0 1 3 3] Preferably, in the control device 20, the execution unit 22 performs a characteristic adjustment operation based on the gradient information of the road surface of the saddle-type vehicle 1. This allows the characteristics of the brake operation force F〇 for the manipulated amount AO to be adjusted taking into account the gradient of the road surface of the saddle-type vehicle 1, thereby more appropriately improving the operability of the brake operation. 【0151】 [0 1 34] Preferably, in the control device 20, the execution unit 22 performs a characteristic adjustment operation based on the driving posture information of the saddle-type vehicle 1. This allows the characteristics of the brake operation force F〇 for the manipulated amount AO to be adjusted in consideration of the driving posture of the saddle-type vehicle 1, thereby more appropriately improving the operability of the brake operation. 【0152】 [0 1 3 5] Preferably, in the control device 20, the execution unit 22 performs a characteristic adjustment operation based on information of an emergency braking operation using the brake operation unit 31. This allows the characteristics of the brake operation force F〇 with respect to the manipulated amount AO to be adjusted taking into account the information of the emergency braking operation, thereby more appropriately improving the operability of the brake operation. 【0153】 [0 1 3 6] Preferably, in the control device 20, the execution unit 22 performs a notification operation to notify the rider of the saddle-type vehicle 1 by generating vibration in the brake operation unit 31 using the operation feel device 61. In this way, information can be presented to the rider using the operation feel device 61. 【0154】 [0 1 3 7] Preferably, in the control device 20, the execution unit 22 notifies the rider in the notification operation whether or not a rider support operation to assist the rider is being performed. This allows the rider to recognize whether or not a rider support operation is being performed. 【0155】[0 1 3 8] Preferably, in the control device 20, the execution unit 22 notifies the rider of the possibility of collision with the saddle-type vehicle 1 during the notification operation. As a result, the rider can recognize the possibility of collision with the saddle-type vehicle 1. 【0156】 [0 1 3 9] Preferably, in the control device 20, the execution unit 22 controls the notification operation based on the behavior information of the saddle-type vehicle 1. This allows the notification operation to be controlled in consideration of the behavior of the saddle-type vehicle 1, so that, for example, unnecessary notification operations can be suppressed. 【0157】 [0 1 4 0] The present invention is not limited to the embodiments described. For example, only a portion of the embodiments may be implemented. 【0158】 [Explanation of symbols] 【0159】 [ 0 1 4 1 ] 【0160】1 Saddle-type vehicle, 2 wheels, 2 front wheels, 2a rotor, 3 wheels, 3 rear wheels, 3a rotor, 1 1 engine, 1 2 braking system, 1 2f braking system, 1 2r braking system, 1 3 input device, 1 4 inertial measurement device, 1 5 front surrounding environment sensor, 1 6 rear surrounding environment sensor, 2〇 control device, 2 1 acquisition unit, 2 2 execution unit, 2 3 memory unit, 3 1 brake operation unit, 3 1f brake operation unit, 3 1r brake operation unit, 4 1f brake caliper, 4 1r brake caliper, 4 2f actuator, 4 2r actuator, 5 1f brake sensor, 5 1r brake sensor, 6 1 Operation feel device, 6 1 f Operation feel device, 6 1 r Operation feel device, 1 ○○ Brake system, AO Operating amount, AO 1 Operating amount, AO 2 Operating amount, FB Braking force, F〇 Operating force, F〇! Operating force, F〇2 Operating force, FO3 Operating force, L! 〇 Characteristic line, L1 1 Characteristic line, L1 2 Characteristic line, L2 0 Characteristic line, L2 1 Characteristic line, L2 2 Characteristic line.

Claims

[Document Name] Scope of Claim [Claim 1] A control device (20) for controlling the behavior of a saddle-type vehicle (1), comprising: a brake-by-wire braking device (12) that applies braking force (FB) to wheels (2, 3) and is not connected to a brake operating unit (31) via a brake fluid flow path; and an operating feel device (61) that provides operating feel to the rider via the brake operating unit (31), wherein the control device (20) performs a braking force control operation to control the braking device (12) such that the braking force (FB), determined according to an index indicating the degree of input to the brake operating unit (31) in a brake operation using the brake operating unit (31), is applied to the wheels (2, 3). (2 2) comprises, and the execution unit (2 2) during the execution of the braking force control operation, the operation feel device A control device that performs tactile control operations to control (6 1). [Claim 2] The control device according to Claim 1, wherein the index is the amount of operation (AO) of the brake operation, and the operation feel control operation includes a characteristic adjustment operation that adjusts the characteristics of the operating force (F〇) of the brake operation with respect to the amount of operation (AO) by controlling the operation feel provided to the rider by the operation feel providing device (61). [Claim 3] The control device according to claim 2, wherein the execution unit (22) adjusts the operating force (FO1) corresponding to the operating amount (AO1) at which the braking force (FB) begins to be generated during the characteristic adjustment operation. [Claim 4] The execution unit (22) adjusts the operating force (F〇2) corresponding to the operating amount (AO2) when the braking force (FB) becomes a predetermined value in the characteristic adjustment operation. A control device according to any one of claims 2 to 5. [Claim 7] The control device according to any one of claims 2 to 5, wherein the execution unit (22) performs the characteristic adjustment operation based on the gradient information of the road surface of the saddle-type vehicle (1). [Claim 8] The control device according to any one of claims 2 to 5, wherein the execution unit (22) performs the characteristic adjustment operation based on the driving posture information of the saddle-type vehicle (1). [Claim 9] The control device according to any one of claims 2 to 5, wherein the execution unit (2 2) performs the characteristic adjustment operation based on information of an emergency braking operation using the brake operation unit (3 1). [Claim 1 ○] The execution unit (2 2) performs a notification operation to notify the rider by generating vibration in the brake operation unit (3 1) using the operation feel device (6 1). The control device according to claim 1. [Claim 1 1] The control device according to Claim 1, wherein the execution unit (22) in the notification operation notifies the rider whether or not a rider support operation to support the rider is being performed. [Claim 1 2] The control device according to Claim 1, wherein the execution unit (22) in the notification operation notifies the rider of the possibility of collision with the saddle-type vehicle (1). [Claim 13] The control device according to any one of Claims 10 to 12, wherein the execution unit (22) controls the notification operation based on the behavior information of the saddle-type vehicle (1). [Claim 14] A control method for controlling the behavior of a saddle-type vehicle (1) comprising a brake-by-wire braking device (12) that applies braking force (FB) to wheels (2, 3) and is not connected to a brake operating unit (31) via a brake fluid flow path, and an operating feel device (61) that provides an operating feel to the rider via the brake operating unit (31), wherein the execution unit (22) of a control device (20) performs a braking force control operation to control the braking device (12) so that the braking force (FB), determined according to an index indicating the degree of input to the brake operating unit (31) in a brake operation using the brake operating unit (31), is applied to the wheels (2, 3), and the execution unit (22) performs an operating feel control operation to control the operating feel device (61) when the braking force control operation is performed.

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