Leanable Vehicle Obstacle Braking With Front-Rear Force Split
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Solution Overview
Problem
Existing leaning vehicle driving assist control devices for obstacles do not effectively manage assisting braking force when a rider changes the vehicle's direction while dealing with an obstacle, as they fail to consider the unique brake operation patterns specific to leaning vehicles.
Innovation Solution
A driving assist control device that adjusts the assisting braking force based on the relationship between the obstacle and the vehicle, and the rider's brake operation, by controlling the front and rear wheel braking forces independently to maintain or modify the total braking force according to the brake operation amounts, ensuring the vehicle leans appropriately during turns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the assisting braking force is controlled based on brake operation amount and margin, then the braking control becomes more adaptive to obstacles, but the control complexity increases due to the unique leaning vehicle dynamics
Solution Approach 1:
The patent segments the braking control into independent front wheel and rear wheel control. The control device calculates separate assisting braking forces for front and rear wheels based on their respective brake operation amounts and the margin to obstacles. This segmentation allows adaptive control of each wheel independently, managing the complexity by breaking down the overall braking control into manageable parts while maintaining high adaptability to different obstacle scenarios.
2Ease of operation
If the front wheel braking force is decreased in response to decrease in front wheel brake operation amount, then the rider's brake operation is respected, but the total braking force may become insufficient for obstacle avoidance
Solution Approach 1:
The control device continuously monitors the brake operation amount and margin to obstacles, and dynamically adjusts the assisting braking force accordingly. When the rider decreases brake operation, the system feedbacks by reducing the assisting braking force proportionally, while still maintaining sufficient total braking force through the combined effect of rider input and assisted braking. This feedback mechanism ensures both rider responsiveness and obstacle avoidance reliability.
Solution Approach 2:
The patent changes the parameter of assisting braking force based on the margin to obstacles and brake operation amount. The control device calculates the assisting braking force as a function of these parameters, allowing the system to adapt the braking characteristics dynamically. When margin is small or brake operation is high, the assisting braking force is increased to ensure reliable obstacle avoidance, while respecting rider input variations.
3Productivity
If the assisting braking force is controlled independently for front and rear wheels, then the braking distribution is optimized, but the control system complexity increases
Solution Approach 1:
The control system is segmented into front wheel control and rear wheel control modules. Each module independently calculates the assisting braking force for its respective wheel based on the brake operation amount and margin to obstacles. This segmentation optimizes braking distribution by allowing independent adjustment of front and rear wheel braking forces, while managing system complexity through modular architecture where each segment follows the same control logic.
Solution Approach 2:
The control device performs multiple functions using a unified control approach: it calculates margin to obstacles, determines brake operation amount, and generates assisting braking forces for both front and rear wheels using the same fundamental algorithm. This universal control method optimizes braking distribution across different wheels while avoiding the need for completely separate control systems, thus balancing productivity and complexity.
Data Source
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AI summary
A driving assist control device 1011 for obstacles, which is included in a leaning vehicle 1001, is configured to control the assisting braking force so that at least one of the relationship 1 and the relationship 2 described below is established. Relationship 1: in a state in which braking force including the assisting braking force is generated by both a front wheel brake and a rear wheel brake or by only the front wheel brake, based on at least the front wheel brake operation amount and a margin obtained based on the relationship between the obstacle 2001 and the host vehicle 1001, at least the front wheel braking force generated by the front wheel brake is decreased in response to the decrease in a front wheel brake operation amount. Relationship 2: in a state in which braking force including the assisting braking force is generated by both a front wheel brake and a rear wheel brake or by only the rear wheel brake, based on at least the rear wheel brake operation amount and a margin obtained based on the relationship between the obstacle and the host vehicle, at least the rear wheel braking force generated by the rear wheel brake is decreased in response to the decrease in a rear wheel brake operation amount.