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). 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 a characteristics adjustment function to adjust the characteristics of the braking force with respect to the index in the braking force control function.

Description

[0001]

Document Name

[0002]

Title of the Invention

[0003]

Technical Field

[0004]

.001

[0005]

Background Art

[0006]

.002

[0007]

Prior Art Documents

[0008]

Patent Documents

[0009]

〇003

[0010]

Patent Document 1

[0011]

Summary of the Invention

[0012]

Problems to be Solved by the Invention

[0013]

〇004

[0014]

〇005

[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 equipped with 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 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 wheels, and the execution unit performs a characteristic adjustment operation to adjust the characteristics of the braking force with respect to the index in the braking force control operation.

[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 equipped with 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, 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 wheels, and the execution unit performs a characteristic adjustment operation to adjust the characteristics of the braking force with respect to the index in the braking force control operation.

[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 equipped with a brake-by-wire braking system that applies braking force to the wheels and is not connected to a brake operating unit via a brake fluid flow path, wherein the execution unit of the control device performs a braking force control operation to control the braking system 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 a characteristic adjustment operation to adjust the characteristics of the braking force with respect to the index in the braking force control operation. As a result, the characteristics of the braking force with respect to the index 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 I: 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 I 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 to be 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 force applied by the rider to the pedals. 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 a 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, and a control device (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] The braking device 1 2 can apply braking force to the wheels. The braking device 1 2 is a brake-by-wire type braking device that is not connected to the brake operating unit via a brake fluid flow path. Details of the brake system 1 0 0, including the braking 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. 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 1.

[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 fuselage) 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] 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, etc. 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 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.

[0043]

[0024] FIG. 2 is a schematic diagram showing a schematic configuration of the brake system 100 of the straddle-type vehicle 1. As shown in FIG. 2, the brake system 100 includes a braking device 12, a control device 20, and a brake operation unit 31.

[0044]

[0025] The brake system 100 includes, as the braking device 12, a braking device 12f for the front wheel 2 and a braking device 12r for the rear wheel 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.

[0045]

[0026] Hereinafter, an example in which both the front wheel 2 and the rear wheel 3 are braked by the by-wire type braking device 12 will be described. However, as will be described later, one of the front wheel 2 and the rear wheel 3 may be braked by the pressure of the brake fluid.

[0046]

[0027] The brake system 100 includes, as the brake operation unit 31, a brake operation unit 31f for the front wheel 2 and a brake operation unit 31r for the rear wheel 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.

[0047]

[0028] The brake operation unit 31f is, for example, a brake lever. The braking device 12f brakes the front wheel 2 at least in conjunction with the brake operation unit 31f. The brake operation unit 31r is, for example, a brake pedal. The braking device 12r brakes the rear wheel 3 at least in conjunction with the brake operation unit 31r.

[0048]

[0029] The braking device 12f includes a brake caliper 41f that is held by the body of the saddle-riding 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 using 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 wheel 2, and a braking force is applied to the front wheel 2.

[0049]

[0030] The braking device 12r includes a brake caliper 41r that is held by the body of the saddle-riding type vehicle 1 and has a brake pad (not shown), and an actuator 42r provided on the brake caliper 41r. The actuator 42r is a device driven by using electric power, for example, a motor. When the actuator 42r is driven, the brake pad (not shown) of the brake caliper 41r is pressed against the rotor 3a of the rear wheel 3, and a braking force is applied to the rear wheel 3.

[0050] [0 0 3 1] The brake operating unit 3 1 f is equipped with a brake sensor 5 1 f that detects the amount of brake operation performed using the brake operating unit 3 1 f. The detection result from the brake sensor 5 1 f is output to the control device 2 0. The control device 2 0 controls the actuator 4 2 f of the braking device 1 2 f so that a braking force determined according to the amount of brake operation performed using the brake operating unit 3 1 f is applied to the front wheel 2.

[0051] [0 0 3 2] 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.

[0052] [0 0 3 3] As will be described later, the brake sensors 51f and 51r may also detect the operating force of the brakes.

[0053] [0 0 3 4] 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.

[0054] [0 0 3 5] 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 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). [0 0 3 6] The execution unit 2 2 performs various controls by controlling the operation of each device of the saddle-type vehicle 1. For example, the execution unit 2 2 controls the operation of the engine 1 1 and the braking device 1 2.

[0055] [0 0 3 7] 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.

[0056] [0 0 3 8] Operation of the control device > The operation of the control device 2〇 according to the embodiment of the present invention will be described.

[0057] [0 0 3 9] 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 indicator showing the degree of input to the brake operation unit 31 in 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 said braking operation (for example, the angle of movement or the distance of movement).

[0058] [ 0 0 4 0 ] 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 brake operation using the brake operation unit 3 1.

[0059] [0 0 4 1] In the following, an example will be given in which the amount of brake operation is used as the above indicator in braking force control operation. However, as will be described later, the operating force of the brake operation may be used as the above indicator in braking force control operation. The operating force of the brake operation may mean, for example, the force applied by the rider to the brake operation unit 3 1 in the brake operation (for example, the force applied by the rider to the brake operation unit 3 1 in order to rotate or move the brake operation unit 3 1).

[0060] [0 0 4 2] 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 operation unit 3 1. As described above, the operating force F〇 is the operating force of the brake operation using the brake operation unit 3 1. The braking force FB is the braking force applied to the wheel by the braking device 1 2.

[0061] [ 0 0 4 3 ] Here, the brake operating part 3 1 is subjected to a biasing force by a biasing member such as a spring, which returns the brake operating part 3 1 to its initial position where no force is acting. This biasing force acts as a reaction force to the brake operation using the brake operating part 3 1, and this biasing force increases as the operating amount AO increases. In other words, as the operating amount AO increases, the biasing force increases. This line shows the braking force characteristics of FB relative to ○.

[0062] [0 0 4 6] In Figure 4, the characteristic line L20 shows the characteristics of the operating force F〇 with respect to the manipulated variable A〇. 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 AO decreases. The characteristic line L20 includes the characteristic lines L21 and L22. The characteristic line L21 shows the characteristics of the operating force FO 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 AO.

[0063] [0 0 4 7] 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 〇 is stored, for example, in the memory unit 2 3. Therefore, the execution unit 2 2 can perform the braking force control operation by referring to the information indicating the characteristic line L 1 〇 stored in the memory unit 2 3.

[0064] [0 0 4 8] As described above, during braking, the braking force FB increases as the operating force F〇 and the operating amount AO increase. Specifically, after the braking operation begins, no braking force FB is generated on the wheels until the operating force F〇 and the operating amount AO increase to a certain extent, and only after the operating force FO and the operating amount AO have increased to a certain extent does the braking force FB begin to be generated on the wheels. The operating amount AO1 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 FO at which the braking force FB begins to be generated.

[0065] [0 0 4 9] Furthermore, as described above, the braking force FB applied to the wheel is determined to a value corresponding to the manipulated amount AO on the characteristic curve L1〇. Therefore, the maneuvering force FO and maneuvering amount AO when a predetermined braking force FB occurs are determined according to the characteristic curve L1〇. For example, the maneuvering amount AO2 in Figure 4 is the maneuvering amount AO when the braking force FB reaches its maximum value. Also, the maneuvering force F〇2 in Figure 4 is the maneuvering force F〇 when the braking force FB reaches its maximum value.

[0066] [0 0 5 0] Note that the characteristic lines L1 and L2 shown in Figure 4 are merely examples, and the characteristic lines L1 and L2 are not limited to the example in Figure 4. For example, the characteristic lines L1 and L2 shown in Figure 4 are simply represented for ease of understanding. However, in reality, the characteristic lines L1 and L2 may follow more complex trajectories.

[0067] [0 0 5 1] 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 ○ which shows the characteristics of the braking force FB with respect to the manipulated amount AO. Here, when the saddle-type vehicle 1 is in motion, if the characteristics of the braking force FB with respect to the manipulated amount AO in the braking force control operation are uniform and do not change, for example, depending on the driving conditions, a situation may arise where the operability of the brake operation by the rider decreases. Therefore, in this embodiment, the execution unit 2 2 performs a characteristic adjustment operation to adjust the characteristics of the braking force FB with respect to the manipulated amount AO in the braking force control operation, 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.

[0068]

[0052] 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 1 is turned on. Step S101 in Figure 5 corresponds to the start of the control flow shown in Figure 5.

[0069] [0 0 5 3] 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.

[0070] [0 0 5 4] Following step S 2, in step S 1 3, the execution unit 2 2 performs a characteristic adjustment operation based on the manual setting information and returns to step S 1 2. The characteristic adjustment operation is an operation that adjusts the characteristics of the braking force FB with respect to the manipulated amount AO in the braking force control operation. For example, the execution unit 2 2 can perform the characteristic adjustment operation by changing the information indicating the characteristic line L 1 〇 stored in the memory unit 2 3 (that is, by changing the trajectory of the characteristic line L 1 0).

[0071] [0 0 5 5] As described above, in the example of Figure 5, the lidar can change the characteristics of the braking force FB with respect to the manipulated amount AO in the braking force control operation by having the execution unit 22 perform a characteristic adjustment operation through a manual setting operation. In other words, the execution unit 22 performs a characteristic adjustment operation according to the manual setting operation by the lidar. Various examples of characteristic adjustment operations will be described below.

[0072] [0 0 5 6] The execution unit 22 may, for example, adjust the manipulated amount A 〇 ! at which the braking force FB begins to be generated during the characteristic adjustment operation.

[0073] [0 0 5 7] For example, if the LiDAR performs an operation to instruct the manipulated variable AO 1 to decrease, the execution unit 2 2 will decrease the manipulated variable AO 1 in the characteristic adjustment operation. On the other hand, if the LiDAR performs an operation to instruct the manipulated variable AO 1 to increase, the execution unit 2 2 will increase the manipulated variable AO 1 in the characteristic adjustment operation.

[0074] [0 0 5 8] A rider may want to adjust the control amount AO 1 and control force F〇 ! 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 control amount AO and control force FO. In such cases, the control amount AO 1 and control force F〇 1 can be optimized to suit the rider's intentions. For example, by reducing the control amount AO 1, it becomes possible to initiate braking of the saddle-type vehicle 1 with a smaller control amount AO and control force FO.

[0075] [0 0 5 9] In addition, the rider may want to adjust the control amount AO 1 and the control force FO 1 depending on the driving environment or driving mode of the saddle-type vehicle 1. For example, if the saddle-type vehicle 1 is driving on a mountain road with poor visibility, or if the driving mode of the saddle-type vehicle 1 is set to a driving mode suitable for sporty driving, the rider may want to initiate braking of the saddle-type vehicle 1 with a smaller control amount AO and a smaller control force F〇. In such cases, the control amount AO 1 and the control force F〇 1 can be optimized to suit the rider's intentions. For example, by reducing the control amount A〇!, it becomes possible to initiate braking of the saddle-type vehicle 1 with a smaller control amount A〇 and a smaller control force F〇.

[0076] [0 0 6 0] The execution unit 22 may, for example, adjust the manipulated amount AO when the braking force FB reaches a predetermined value during the characteristic adjustment operation. For example, the execution unit 22 may adjust the manipulated amount A〇2 when the braking force FB reaches its maximum value during the characteristic adjustment operation.

[0077] [0 0 6 1] For example, if the LiDAR performs an operation to instruct the manipulated variable AO 2 to decrease, the execution unit 2 2 will decrease the manipulated variable AO 2 in the characteristic adjustment operation. On the other hand, if the LiDAR performs an operation to instruct the manipulated variable AO 2 to increase, the execution unit 2 2 will increase the manipulated variable AO 2 in the characteristic adjustment operation.

[0078] [0 0 6 2] As described above, the rider may want to adjust the control amount AO 2 and the control force FO 2 according to, for example, their fatigue level or muscle strength. Also, as described above, the rider may want to adjust the control amount AO 2 and the control force F〇 2 according to, for example, the riding environment or riding mode of the saddle-type vehicle 1. In those cases, the control amount AO 2 and the control force F〇 2 can be optimized according to the rider's intentions. For example, by reducing the control amount AO 2, it becomes possible to reach the maximum braking force FB with a smaller control amount A〇 and control force F〇.

[0079] [0 0 6 3] In the above, an example was described in which the execution unit 22 adjusts the manipulated variable AO 2 when the braking force FB reaches its maximum value during the characteristic adjustment operation. However, the manipulated variable AO to be adjusted during the characteristic adjustment operation is not limited to the manipulated variable AO 2 when the braking force FB reaches its maximum value. For example, the execution unit 22 may adjust the manipulated variable AO 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.

[0080] [0 0 6 4] The execution unit 22 may, for example, adjust the rate of change of the braking force FB with respect to the manipulated variable AO during the characteristic adjustment operation.

[0081] [0 0 6 5] For example, if LiDAR performs an operation to instruct the above rate of change to decrease, the execution unit 22 will decrease the above rate of change in the characteristic adjustment operation. On the other hand, if LiDAR performs an operation to instruct the above rate of change to increase, the execution unit 22 will increase the above rate of change in the characteristic adjustment operation.

[0082] [0 0 6 6] As mentioned above, the rider may want to adjust the above rate of change depending on, for example, their fatigue level or muscle strength. Also, as mentioned above, the rider may want to adjust the above rate of change depending on, for example, the riding environment or riding mode of the saddle-type vehicle 1. In those cases, the above rate of change can be optimized according to the rider's intentions. For example, by increasing the above rate of change, it becomes possible to increase the braking force FB with a smaller operating amount A〇 and operating force F〇.

[0083] [0 0 6 7] The execution unit 22 may, for example, adjust the characteristics of the braking force FB with respect to the manipulated variable AO during the process of increasing the manipulated variable AO, and the characteristics of the braking force FB with respect to the manipulated variable AO during the process of decreasing the manipulated variable AO, respectively, in the characteristic adjustment operation.

[0084] [0 0 6 8] For example, the lidar can perform an operation to instruct the lidar to separately adjust characteristic line L11, which shows the characteristics of the braking force FB with respect to the manipulated variable AO during the process of increasing the manipulated variable AO, and characteristic line L12, which shows the characteristics of the braking force FB with respect to the manipulated variable AO during the process of decreasing the manipulated variable AO. The execution unit 22 adjusts characteristic line L11 and characteristic line L12 separately according to such an operation of the lidar. In this way, characteristic line L1 can be optimized in accordance with the lidar's intentions.

[0085] [0 0 6 9] The above describes various examples of characteristic adjustment operations. However, the execution unit 22 may perform all of the types of adjustments described above in the characteristic adjustment operation, or it may perform only some of the types of adjustments described above.

[0086] [0 0 7 0] In addition, when setting the characteristic adjustment operation, the rider can individually set the characteristics of the braking force FB with respect to the amount of operation AO for the brake operation using the brake operation unit 3 1 f for the front wheel 2 and the brake operation using the brake operation unit 3 1 r for the rear wheel 3. In other words, the execution unit 2 2 can individually adjust the above characteristics for the brake operation using the brake operation unit 3 1 f for the front wheel 2 and the above characteristics for the brake operation using the brake operation unit 3 1 r for the rear wheel 3 during the characteristic adjustment operation. [0 0 7 1] The above describes an example in which the execution unit 2 2 performs the characteristic adjustment operation based on manual setting information. However, the execution unit 2 2 may also automatically perform the characteristic adjustment operation based on information other than manual setting information. Various examples of automatically performed characteristic adjustment operations will be described below.

[0087] [0 0 7 2] 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.

[0088] [0 0 7 3] 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.

[0089] [0 0 7 4] 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 make the braking of the wheels more effective.

[0090] [0 0 7 5] Furthermore, making the brakes on the wheels more effective may include, for example, accelerating the timing at which a braking force FB begins to be generated on the wheels, or making it easier for a large braking force FB to be generated on the wheels. For example, by reducing the amount of control AO 1 at which the braking force FB begins to be generated, the timing at which a braking force FB begins to be generated on the wheels can be accelerated. Also, for example, by reducing the amount of control AO at which the braking force FB reaches a predetermined value, or by increasing the rate of change of the braking force FB with respect to the amount of control AO, it is possible to make it easier for a large braking force FB to be generated on the wheels.

[0091] [0 0 7 6] 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 amount of operation AO 1 at which 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, the execution unit 22 may reduce the amount of operation A〇 at which the braking force FB reaches a predetermined value 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, the execution unit 22 may increase the rate of change of the braking force FB with respect to the amount of operation A〇 during the characteristic adjustment operation.

[0092] [0 0 7 7] 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 brakes on the wheels more effective.

[0093] [0 0 7 8] 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 pedal, which is the brake operation unit 31r for the rear wheel 3, with the foot, and in the characteristic adjustment operation, it is preferable to make the braking of the wheels easier to perform. For example, if the brake operation unit 31r is set on the right side of the saddle-type vehicle 1, when the saddle-type vehicle 1 is tilted significantly to the left in the roll direction, it becomes difficult for the rider to perform braking operations using the brake operation unit 31r. Therefore, by making the braking of the wheels easier to perform in such circumstances, safety can be more effectively improved. [0 0 7 9] 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.

[0094] [0 0 8 0] 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.

[0095] [0 0 8 1] 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 the characteristic adjustment operation, it may make the braking of the rear wheel 3 more effective. 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.

[0096] [0 0 8 2] Specifically, if the execution unit 22 determines that a wheelie is occurring, in the characteristic adjustment operation, it may reduce the amount of operation AO 1 at which 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 amount of operation AO at which the braking force FB in the brake operation using the brake operation unit 31r for the rear wheel 3 reaches a predetermined value. Also, if the execution unit 22 determines that a wheelie is occurring, in the characteristic adjustment operation, it may increase the rate of change of the braking force FB with respect to the amount of operation AO in the brake operation using the brake operation unit 31r for the rear wheel 3.

[0097] [0 0 8 3] When a wheelie occurs, by making it easier to apply brakes to the rear wheel 3, it becomes easier to generate braking force FB on the rear wheel 3, which is the drive wheel, and thus it becomes easier to eliminate the wheelie.

[0098] [0 0 8 4] 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 the characteristic adjustment operation, it may make the braking of the front wheel 2 less effective. 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).

[0099] [0 0 8 5] Specifically, if the execution unit 22 determines that a stoppie has occurred, it may increase the amount of operation AO 1 at which the braking force FB begins to be generated in the brake operation using the brake operation unit 31f for the front wheel 2 during the characteristic adjustment operation. Also, if the execution unit 22 determines that a stoppie has occurred, it may increase the amount of operation AO at which the braking force FB in the brake operation using the brake operation unit 31f for the front wheel 2 reaches a predetermined value during the characteristic adjustment operation. Also, if the execution unit 22 determines that a stoppie has occurred, it may decrease the rate of change of the braking force FB with respect to the amount of operation AO in the brake operation using the brake operation unit 31f for the front wheel 2 during the characteristic adjustment operation.

[0100] [0 0 8 6] When a stoppie occurs, by making it difficult to apply braking force to the front wheel 2, it is possible to make it difficult to generate braking force FB on the front wheel 2, thus making it easier to resolve the stoppie.

[0101] [0 0 8 7] 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. An emergency braking operation means, for example, a braking operation that causes a rapid deceleration of the saddle-type vehicle 1 by involving a large change in the operating amount A〇 or operating force F〇 in a short period of time.

[0102] [0 0 8 8] For example, if the execution unit 22 determines that an emergency braking operation has been performed based on the detection results of the brake sensors 51f and 51r, it may perform a characteristic adjustment operation, and in the characteristic adjustment operation, it may make the braking of the wheels more effective.

[0103] [0 0 8 9] Specifically, if the execution unit 22 determines that an emergency braking operation has been performed, it may reduce the amount of control AO 1 at which 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 has been performed, it may reduce the amount of control AO at which the braking force FB reaches a predetermined value during the characteristic adjustment operation. Also, if the execution unit 22 determines that an emergency braking operation has been performed, it may increase the rate of change of the braking force FB with respect to the amount of control AO during the characteristic adjustment operation.

[0104] [0 0 9 0] 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, safety can be improved by making the vehicle's brakes more effective in such cases.

[0105] [0 0 9 1] 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.

[0106] [0 0 9 2] Furthermore, even when the execution unit 22 automatically performs characteristic adjustment operations based on information other than manual setting information, it can individually adjust the characteristics of the braking force FB with respect to the operating amount AO in brake operation using the brake operation unit 31f for the front wheel 2, and the characteristics of the braking force FB with respect to the operating amount A〇 in brake operation using the brake operation unit 31r for the rear wheel 3.

[0107]

[0093] 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.

[0108] [0 0 9 4] For example, the above describes an example in which the amount of brake operation A 〇 is used as an indicator of the degree of input to the brake operation unit 3 1 in brake operation using the brake operation unit 3 1 in braking force control operation. However, in braking force control operation, the amount of brake operation F 〇 may be used as the above indicator. In other words, the execution unit 2 2 may control the braking device 1 2 in braking force control operation so that a braking force FB determined according to the amount of brake operation FO is applied to the wheel.

[0109] [0 0 9 5] In this example, for instance, brake sensor 51f detects the operation force F〇 of a brake operation using brake operation unit 31f, and brake sensor 51r detects the operation force F〇 of a brake operation using brake operation unit 31r. Then, execution unit 22 uses the detection results of brake sensors 51f and 51r to determine the braking force FB applied to the wheel in the braking force control operation to a value corresponding to the operation force F〇, and controls the braking device 12 so that the determined braking force FB is applied to the wheel. In this case, execution unit 22 adjusts the characteristics of the braking force FB with respect to the operation force F〇 in the braking force control operation in the characteristic adjustment operation.

[0110] [0 0 9 6] In other words, in the example described above (specifically, the example in which the characteristics of the braking force FB with respect to the manipulated amount AO are adjusted in the characteristic adjustment operation), the characteristics adjusted in the characteristic adjustment operation may be replaced from the characteristics of the braking force FB with respect to the manipulated amount A〇 to the characteristics of the braking force FB with respect to the operated force F〇. As mentioned above, in brake operation using the brake operating unit 3 1, the relationship between the manipulated amount AO and the operated force F〇 changes by following the characteristic curve L 2 0. Therefore, in the example described above (specifically, the example in which the characteristics of the braking force FB with respect to the manipulated amount AO are adjusted in the characteristic adjustment operation), as a result of adjusting the characteristics of the braking force FB with respect to the manipulated amount AO in the characteristic adjustment operation, the characteristics of the braking force FB with respect to the operated force F〇 are also adjusted in conjunction.

[0111] [0 0 9 7] Also, 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 the 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 the 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 that is 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.

[0112] [0 0 9 8] Effects of the control device > The effects of the control device 20 according to the embodiment of the present invention will be described.

[0113] [0 0 9 9] The control device 2 is not connected to the brake operation unit 3 1 via a brake fluid flow path, and controls the behavior of the saddle-type vehicle 1 equipped with a brake-by-wire braking system 1 2 that applies braking force FB to the wheels. The control device 2 0 also includes an execution unit 2 2 that performs a braking force control operation to control the braking system 1 2 so that a braking force FB determined according to an index indicating the degree of input to the brake operation unit 3 1 during braking operation using the brake operation unit 3 1 is applied to the wheels. The execution unit 2 2 then performs a characteristic adjustment operation to adjust the characteristics of the braking force FB with respect to the index in the braking force control operation. As a result, the characteristics of the braking force FB with respect to the index in the braking force control operation can be optimized according to the situation, thereby improving the operability of the brake operation.

[0114] [ 0 1 0 0 ] Preferably, in the control device 20, the index is the amount of brake operation AO. This allows the characteristics of the braking force FB with respect to the amount of operation AO in the braking force control operation to be optimized according to the situation, thereby appropriately improving the operability of the brake operation.

[0115] [0 1 0 1] Preferably, in the control device 20, the indicator is the operating force F〇 of the brake operation. This allows the characteristics of the braking force FB with respect to the operating force F〇 in the braking force control operation to be optimized according to the situation, thereby appropriately improving the operability of the brake operation.

[0116] [0 1 0 2] Preferably, in the control device 20, the execution unit 22 adjusts the indicator (for example, the manipulated amount AO1 and the manipulated force F〇!) at which braking force FB begins to be generated during characteristic adjustment operation. This makes it possible to optimize the timing at which braking force FB begins to be generated on the wheels according to the situation, thereby appropriately improving the operability of the brake operation.

[0117] [0 1 0 3] Preferably, in the control device 20, the execution unit 22 adjusts the indicator (for example, the manipulated amount AO2 and the manipulated force F〇2) at which the braking force FB becomes a predetermined value during the characteristic adjustment operation. This makes it possible to optimize the magnitude of the braking force FB generated on the wheels according to the situation, thereby appropriately improving the operability of the brake operation.

[0118] [0 1 0 4] Preferably, in the control device 20, the execution unit 22 adjusts the rate of change of the braking force FB with respect to the index during the characteristic adjustment operation. This makes it possible to optimize the magnitude of the braking force FB generated on the wheels according to the situation, thereby appropriately improving the operability of the brake operation.

[0119] [0 1 0 5] Preferably, in the control device 20, the execution unit 22 adjusts the above characteristics during the rise process of the index and the above characteristics during the fall process of the index, respectively, in the characteristic adjustment operation. As a result, the characteristics of the braking force FB with respect to the index in the braking force control operation can be adjusted more finely according to the situation, thereby appropriately improving the operability of the brake operation.

[0120] [0 1 0 6] Preferably, in the control device 20, the execution unit 22 performs a characteristic adjustment operation based on the manual setting information by the rider of the saddle-type vehicle 1. This allows the characteristics of the braking force FB with respect to the index in the braking force control operation to be adjusted in accordance with the rider's intention, thereby appropriately improving the operability of the brake operation.

[0121] [0 1 0 7] 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. As a result, the characteristics of the braking force FB with respect to the index in the braking force control operation can be adjusted taking into account the driving posture of the saddle-type vehicle 1, thereby appropriately improving the operability of the brake operation.

[0122] [0 1 0 8] Preferably, in the control device 20, the driving posture information includes the turning posture information of the saddle-type vehicle 1. This allows the characteristics of the braking force FB with respect to the index in the braking force control operation to be adjusted taking into account the turning posture of the saddle-type vehicle 1, thereby more appropriately improving the operability of the brake operation.

[0123] [0 1 0 9] Preferably, in the control device 20, the driving posture information includes pitch posture information of the saddle-type vehicle 1. This allows the characteristics of the braking force FB with respect to the index in the braking force control operation to be adjusted taking into account the pitch posture of the saddle-type vehicle 1, thereby more appropriately improving the operability of the brake operation.

[0124] [0 1 1 0] 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 braking force FB with respect to the index in the braking force control operation to be adjusted taking into account the information of the emergency braking operation, thereby appropriately improving the operability of the brake operation.

[0125] [0 1 1 1] The present invention is not limited to the descriptions of embodiments. For example, only a portion of the embodiments may be implemented.

[0126] [Explanation of symbols]

[0127] [ 0 1 1 2 ]

[0128] 1 Saddle-type vehicle, 2 Front wheel, 2a Rotor, 3 Rear wheel, 3a Rotor, 1 1 Engine, 1 2 Braking device, 1 2f Braking device, 1 2r Braking device, 1 3 Input device, 1 4 Inertial measurement device, 2 0 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, 1 0 0 Brake system, AO Manipulated amount, AO1 Manipulated amount AO 2 Manipulation amount, FB Braking force, F〇 Manipulation force, F〇! Manipulation force, FO 2 Manipulation force, L!〇 Characteristic curve, L1 1 Characteristic curve, L1 2 Characteristic curve, L2 0 Characteristic curve, L2 1 Characteristic curve, L2 2 Characteristic curve.

Claims

[Document Name] Scope of Claim

1. A control device (20) for controlling the behavior of a saddle-type vehicle (1) that is equipped with 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, 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). A control device comprising (2 2), wherein the execution unit (2 2) performs a characteristic adjustment operation to adjust the characteristics of the braking force (FB) with respect to the index in the braking force control operation.

2. The control device according to claim 1, wherein the index is the amount of operation (AO) of the brake operation.

3. The control device according to claim 1, wherein the index is the operating force (FO) of the brake operation.

4. The control device according to claim 1, wherein the execution unit (22) adjusts the index (AO1, FO1) at which the braking force (FB) begins to be generated in the characteristic adjustment operation.

5. The control device according to claim 1, wherein the execution unit (22) adjusts the index (AO2, FO2) when the braking force (FB) reaches a predetermined value in the characteristic adjustment operation.

6. The execution unit (22) in the characteristic adjustment operation, the braking force (F) with respect to the index The control device according to claim 1, which adjusts the rate of change of B).

7. The control device according to claim 1, wherein the execution unit (22) adjusts the characteristics during the rising process of the index and the characteristics during the falling process of the index, respectively, in the characteristic adjustment operation.

8. The control device according to any one of claims 1 to 7, wherein the execution unit (22) performs the characteristic adjustment operation based on manual setting information by the rider of the saddle-type vehicle (1).

9. The control device according to any one of claims 1 to 7, wherein the execution unit (22) performs the characteristic adjustment operation based on the driving posture information of the saddle-type vehicle (1). [Claim 1 ○] The control device according to claim 9, wherein the driving posture information includes turning posture information of the saddle-type vehicle (1).

11. The control device according to claim 9, wherein the driving posture information includes pitch posture information of the saddle-type vehicle (1). [Claim 1 2] The execution unit (2 2) receives information on the emergency braking operation using the brake operation unit (3 1) A control device according to any one of claims 1 to 7, which performs the characteristic adjustment operation based on the above.

13. A control method for controlling the behavior of a saddle-type vehicle (1) equipped with 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, 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 a characteristic adjustment operation to adjust the characteristics of the braking force (FB) with respect to the index in the braking force control operation.

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