CN104743016A - Inclination angle detection device of saddle type vehicle - Google Patents
Inclination angle detection device of saddle type vehicle Download PDFInfo
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- CN104743016A CN104743016A CN201410766693.5A CN201410766693A CN104743016A CN 104743016 A CN104743016 A CN 104743016A CN 201410766693 A CN201410766693 A CN 201410766693A CN 104743016 A CN104743016 A CN 104743016A
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- saddle
- type vehicle
- ride type
- axis
- inclination angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/14—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to accident or emergency, e.g. deceleration, tilt of vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
- G01C9/08—Means for compensating acceleration forces due to movement of instrument
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/112—Roll movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
Abstract
The invention provides an inclination angle detection device of a saddle type vehicle. In an inclination angle detection device (S) of a saddle type vehicle (1), in a plane (y-z plane) stipulated by a vehicle width direction (y axis direction) and a vertical direction (z axis direction), an acceleration sensor (20) detects acceleration components (XG,YG) of a first detection shaft (L1) and a second detection shaft (L2) in directions of the two shafts; the first detection shaft (L1) is a detection shaft including in an angle of 45 DEG relative to an axis (LO); the axis (LO) is orthorhombic with a pivot (L) parallelly configured relative to the vehicle width direction in the vertical direction; the second detection shaft (L2) is a detection shaft is a detection shaft in a direction orthorhombic with the first detection shaft (L1); a detection portion (C) detects an inclination angle of the saddle type vehicle (1) based on two axial acceleration components (XG,YG).
Description
Technical field
The present invention relates to the inclination angle detection device of saddle-ride type vehicle, particularly relate to the inclination angle detection device of saddle-ride type vehicle of the leaning angle detecting saddle-ride type vehicle that becomes to assign to according to the acceleration/accel of the saddle-ride type vehicle utilizing acceleration pick-up to detect.
Background technology
In the past, adopt structure as follows: on the saddle-ride type vehicles such as two-wheeled, mini-motorcycle and scooter, be provided with overturning sensor, and when utilizing overturning sensor to detect the overturning of vehicle, by making fuel injection and Ignition Control stop and stopping driving fuel pump, thus make the engine stop of vehicle.
In general, such overturning sensor is for the plummet of movement or pendular body according to the inclination of vehicle body, and there is following mechanical structure: when vehicle rollover, plummet or pendular body detect the overturning of vehicle by opening switch, but in recent years, as overturning sensor, adopt the electrodynamic type acceleration pick-up employing semiconductor element to replace such mechanical sensor.
Specifically, Japanese Patent No. 4773504 publication relates to two-wheeled turnover detecting device and two-wheeled, and disclose such structure: possess: longitudinal acceleration pick-up, it detects when vehicle body is in non-inclined state as the 1st detection side acceleration/accel composition upwards in direction perpendicular to the ground; With horizontal acceleration pick-up, its detect as with the 2nd detection side acceleration/accel composition upwards of the 1st detection side to orthogonal direction, the value (Az/Ax) obtained divided by the output valve (Ax) of horizontal acceleration pick-up according to the output valve (Az) with longitudinal acceleration pick-up detects the leaning angle of saddle-ride type vehicle.
; according to the research of the present inventor; in the structure of Japanese Patent No. 4773504 publication, specifically, utilize the arc-tangent value (tan needed to calculate two-wheeled leaning angle is asked for from division arithmetic value (Az/Ax) to the retrieval of arc tangent table data
-1(Az/Ax)), reduce computational load when utilizing microcomputer to ask for arc-tangent value thus, but in such arc tangent table data, due to from two-wheeled leaning angle be near 60 degree, represent that the degree of dip of the curve of the relation between division arithmetic value and arc-tangent value sharply changes, so the data volume that there are table data increases, the trend that memory capacity increases.Consequently, can think that there is such tendency: be difficult to ask for arc-tangent value by the microcomputer of cheapness.
In addition, in the structure of Japanese Patent No. 4773504 publication, such situation can be considered: because this arc tangent table self is corresponding with the scope to 90 degree, left and right as two-wheeled tilt angle ranges, therefore, two-wheeled under the situation of leaning angle more than 90 degree when overturning (such as two-wheeled in ramp overturning under such circumstances), its leaning angle is in beyond the scope of this arc tangent table, thus cannot detect two-wheeled leaning angle.
In addition, in the structure of Japanese Patent No. 4773504 publication, can consider: due to when two-wheeled leaning angle is more than 90 degree, the reversal development that can tilt, therefore need to judge two-wheeledly whether be in the roll-over condition such as topsy-turvydom by the computing different from using the computing of arc-tangent value, it is stronger that its structure becomes miscellaneous tendency.
Summary of the invention
The present invention is through above research and completes, and its object is to the inclination angle detection device providing a kind of saddle-ride type vehicle, this inclination angle detection device can utilize high precision and easy method to detect the leaning angle of the greater angle of saddle-ride type vehicle.
To achieve these goals, 1st aspect of the present invention is, inclination angle detection device possesses the test section that can detect the leaning angle of described saddle-ride type vehicle based on the acceleration/accel composition of the saddle-ride type vehicle detected by acceleration pick-up freely, wherein, described test section detects based on described acceleration pick-up, 1st detection axis becomes to assign to detect the leaning angle of described saddle-ride type vehicle with the acceleration/accel on the direction of the 2nd these two axles of detection axis, described 1st detection axis is the detection axis tilted on the direction of 45 degree relative to following axis in the plane that overall width direction and the above-below direction by described saddle-ride type vehicle specifies, described axis is orthogonal with the pivot configured abreast relative to described overall width direction on described above-below direction, described 2nd detection axis is the detection axis on the direction orthogonal with described 1st detection axis.
In addition, on basis in the 1st, 2nd aspect of the present invention is, described test section carries out division arithmetic by the size of the described acceleration/accel composition on the direction based on described two axles to described acceleration/accel composition, asks for the described leaning angle of described saddle-ride type vehicle.
In addition, on basis in the 2nd, 3rd aspect of the present invention is, described test section retrieval represents the table data of the relation between the operation values of described division arithmetic and the arc-tangent value of the operation values of described division arithmetic and tries to achieve the described arc-tangent value corresponding with the operation values of described division arithmetic, thus, the described leaning angle of described saddle-ride type vehicle is asked for.
In addition, on basis in any one in the described 1st to the 3rd, 4th aspect of the present invention is, described acceleration pick-up is installed in described saddle-ride type vehicle in the mode that the central portion in the described overall width direction of described pivot is orthogonal with described pivot with described axis.
According to the inclination angle detection device of the saddle-ride type vehicle of the 1st aspect of the invention described above, acceleration pick-up is in the plane that overall width direction and the above-below direction by saddle-ride type vehicle specifies, detect the acceleration/accel composition on the direction of the 1st detection axis and the 2nd these two axles of detection axis, described 1st detection axis is the detection axis tilted on the direction of 45 degree relative to axis, described axis is orthogonal with the pivot configured abreast relative to overall width direction in the vertical direction, described 2nd detection axis is the detection axis on the direction orthogonal with the 1st detection axis, test section becomes to assign to detect the leaning angle of saddle-ride type vehicle based on the acceleration/accel of two axis, therefore, can high precision be utilized and easy method to detect the leaning angle of the greater angle of saddle-ride type vehicle.
In addition, according to the inclination angle detection device of the saddle-ride type vehicle of the 2nd aspect of the present invention, test section carries out division arithmetic based on the size of the acceleration/accel composition of two axis to acceleration/accel composition, try to achieve the leaning angle of saddle-ride type vehicle thus, therefore, even if when any one direction tilts saddle-ride type vehicle to the left and right relative to direct of travel, the leaning angle of the greater angle of saddle-ride type vehicle also can be detected.In addition, when carrying out division arithmetic to acceleration/accel composition, by exchanging divisor and dividend, data and the calculation process that can be used in the leaning angle asking for saddle-ride type vehicle are simplified.
In addition, according to the inclination angle detection device of the saddle-ride type vehicle of the 3rd aspect of the present invention, test section retrieval represents the table data of the relation between division arithmetic value and the arc-tangent value of division arithmetic value and tries to achieve the arc-tangent value corresponding with division arithmetic value, thus try to achieve the leaning angle of saddle-ride type vehicle, therefore, complicated arc-tangent value can be tried to achieve easily by the retrieval of table data, even the microcomputer of cheapness, also can ask for the leaning angle of saddle-ride type vehicle accurately.
In addition, according to the inclination angle detection device of the saddle-ride type vehicle of the 4th aspect of the present invention, because acceleration pick-up is installed in saddle-ride type vehicle with axis in the mode that the central portion in the overall width direction of pivot is orthogonal with pivot, therefore, the essentiality of the acceleration/accel composition axially detected at two being carried out to correction from the amount that the central portion in overall width direction offsets can be got rid of, further, data and the calculation process that can be used in the leaning angle asking for saddle-ride type vehicle are simplified.
Accompanying drawing explanation
Figure 1A is the lateral plan of the saddle-ride type vehicle of the inclination angle detection device applied in embodiments of the present invention;
Figure 1B is the front view of the saddle-ride type vehicle of the inclination angle detection device applied in present embodiment;
The schematic diagram of Fig. 1 C to be central portion that the pivot be arranged on saddle-ride type vehicle is shown for benchmark be installed on the acceleration pick-up of the inclination angle detection device in present embodiment state of saddle-ride type vehicle;
Fig. 2 A is the figure of the relation between the 1st detection axis of the acceleration pick-up of inclination angle detection device in the leaning angle of the saddle-ride type vehicle that the inclination angle detection device applied in present embodiment is shown and present embodiment and the 2nd detection axis output valve separately;
Fig. 2 B is the figure of the relation between the division arithmetic value that uses in the inclination angle detection device in the leaning angle of the saddle-ride type vehicle that the inclination angle detection device applied in present embodiment is shown and present embodiment;
Fig. 3 A is the diagram of curves of the arctan function of relation between the division arithmetic value that uses in the inclination angle detection device in the angle of inclination of the saddle-ride type vehicle that the inclination angle detection device applied in present embodiment is shown and present embodiment;
The partial enlarged drawing of Fig. 3 A that Fig. 3 B illustrates after being equivalent to change the aspect ratio of the region R shown in Fig. 3 A, and be the arc tangent table that can use in inclination angle detection device in the present embodiment;
Fig. 4 is the diagram of circuit of the flow process that the leaning angle check processing undertaken by the inclination angle detection device in present embodiment is shown.
Label declaration
S: inclination angle detection device;
1: saddle-ride type vehicle;
11: vehicle frame;
12: pivotal bearing part;
13: pivotal parts;
14: swing arm;
20: acceleration pick-up;
E: driving engine;
R: trailing wheel;
C: test section;
L: pivot;
L0: the reference axis of position;
L1: the 1 detection axis;
L2: the 2 detection axis.
Detailed description of the invention
Below, suitably with reference to accompanying drawing, the inclination angle detection device of the saddle-ride type vehicle in embodiments of the present invention is described in detail.Further, in the drawings, x-axis, y-axis and z-axis form 3 axle orthogonal coordinate systems.In addition, the positive dirction of x-axis be vehicle body rear to, the positive dirction of y-axis is the right direction of vehicle body, and the positive dirction of z-axis is the upper direction of vehicle body.In addition, the direction of x-axis is equivalent to the length direction of vehicle body, and the direction of y-axis is equivalent to the Width of vehicle body (overall width direction), and the direction of z-axis is equivalent to the above-below direction of vehicle body.
(structure of saddle-ride type vehicle)
First, with reference to Figure 1A to Fig. 1 C, the structure of the saddle-ride type vehicle of the inclination angle detection device applied in present embodiment is described in detail.
Figure 1A is the lateral plan of the saddle-ride type vehicle of the inclination angle detection device applied in present embodiment; Figure 1B is the front view of the saddle-ride type vehicle of the inclination angle detection device applied in present embodiment.In addition, the schematic diagram of Fig. 1 C to be central portion that the pivot be arranged on saddle-ride type vehicle is shown for benchmark be installed on the acceleration pick-up of the inclination angle detection device in present embodiment state of saddle-ride type vehicle.
As shown in Figure 1A to Fig. 1 C, the two-wheeled saddle-ride type vehicle 1 that waits applying the inclination angle detection device S in present embodiment possesses: vehicle frame 11; Pivotal bearing part 12, it is fixedly set in vehicle frame 11; With pivotal parts 13, it is rotatably mounted in pivotal bearing part 12.Vehicle frame 11 is equivalent to the vehicle body of saddle-ride type vehicle 1.Pivotal parts 13 has the pivot L as turning cylinder, and this pivot L rotates under the state being installed on pivotal bearing part 12.Pivot L extends along the Width of vehicle body, and the central portion in the vehicle-body width direction of pivot L specifies the center point P in this vehicle-body width direction.Center point P is layout bench mark when being configured the inscape of saddle-ride type vehicle 1 when designing, and is also the representative point of the action representing saddle-ride type vehicle 1 simultaneously.In addition, be fixedly installed the swing arm 14 as cantilever at pivotal parts 13, this swing arm 14 specify the position of the trailing wheel R of saddle-ride type vehicle 1 and high strength ground supporting wheels R via omitting graphic spindle unit.Swing arm 14 with pivot L for center of oscillation with the parallel plane plane of x-z in swing freely.Further, in the drawings, although pivotal parts 13 is represented as independent parts, also multiple parts can be divided into.
(structure of acceleration pick-up)
Next, the structure of main reference Fig. 1 C to the acceleration pick-up that the inclination angle detection device S in present embodiment possesses is described.
As shown in Figure 1 C, the acceleration pick-up 20 that the inclination angle detection device S in present embodiment possesses has two detection axis, and its typically independent single acceleration pick-up being.Acceleration pick-up 20 is fixedly installed in saddle-ride type vehicle 1 in mode as follows: being the reference axis of its position with the axis L0 of pivot L-orthogonal in the vertical direction by center point P.In order to realize the installing condition of such acceleration pick-up 20, as long as degree of will speed up sensor 20 is typically fixedly installed on vehicle frame 11 grade of saddle-ride type vehicle 1 and is configured in the position of center point P.And, when the restriction in the layout owing to being subject to various component parts key element because of saddle-ride type vehicle 1 etc. relation and be difficult to degree of will speed up sensor 20 be configured in the position of center point P, can also degree of will speed up sensor 20 be configured in as follows on axis L0 from the degree of the distance of center point P skew regulation, position near center point P, wherein, aforesaid way is: being the reference axis of its position with the axis L0 of pivot shaft L-orthogonal in the vertical direction by center point P.
Specifically, acceleration pick-up 20 has: the 1st detection axis L1, and it, with in the parallel plane plane of y-z, is extended along the direction that have rotated the axis of 45 degree relative to axis L0 counterclockwise by center point P; With the 2nd detection axis L2, it is with in the parallel plane plane of y-z, extended along the direction that have rotated the axis of 45 degree relative to axis L0 clockwise by center point P, acceleration pick-up 20 can detect the acceleration/accel on the direction of the 1st detection axis L1 and the 2nd these two axles of detection axis L2 orthogonal with it freely, as the composition of the acceleration/accel of saddle-ride type vehicle 1.By making the detection axis of the acceleration/accel of both direction like this relative to the axis L0 inclination 45 degree extended along the vertical direction, the 1st detection axis L1 can be made equal with the 2nd detection axis L2 detection sensitivity separately, therefore, even if the posture of saddle-ride type vehicle 1 has changed on above-below direction (spacing direction), also can correctly detect its leaning angle.And, in described acceleration pick-up 20, about acceleration pick-up 20 relative to the positional precision of center point P, axis L0 relative to the positional precision of center point P, axis L0 relative to the angle precision of pivot L, the 1st detection axis L1 and the 2nd detection axis L2 relative to the respective angle precision etc. of axis L0, allow the tolerances such as the location tolerance of acceleration pick-up 20 and production tolerance.
(structure of inclination angle detection device)
Below, further, on the basis of Figure 1A to Fig. 1 C, be also described with reference to Fig. 2 A to Fig. 2 B and the structure of Fig. 3 A to Fig. 3 B to the inclination angle detection device S in present embodiment.
The figure of the relation between the division arithmetic value used in the inclination angle detection device S in the leaning angle of Fig. 2 A to be the figure of the relation between the 1st detection axis L1 of the acceleration pick-up 20 of inclination angle detection device S in the leaning angle of the saddle-ride type vehicle 1 that the inclination angle detection device S applied in present embodiment is shown and present embodiment and the 2nd detection axis L2 output valve separately (gravity value), Fig. 2 B be saddle-ride type vehicle 1 that the inclination angle detection device S applied in present embodiment is shown and present embodiment.In addition, Fig. 3 A is the diagram of curves of the arctan function of relation between the division arithmetic value that uses in inclination angle detection device in the angle of inclination of the saddle-ride type vehicle that the inclination angle detection device applied in present embodiment is shown and present embodiment.In addition, the partial enlarged drawing of Fig. 3 A that Fig. 3 B illustrates after being equivalent to change the aspect ratio of the region R shown in Fig. 3 A, and be the arc tangent table that can use in inclination angle detection device in the present embodiment.
Inclination angle detection device S in present embodiment has the arithmetic processing apparatus such as the microcomputer that omits graphic CPU (Central ProcessingUnit: central processing unit) and memory device etc., typically ECU (Electronic Control Unit: electronic control unit).Control program required for inclination angle detection device S reads from memory device and control data, then detect the leaning angle of saddle-ride type vehicle 1 based on the acceleration/accel of two axis detected by acceleration pick-up 20 by its test section C.Test section C can realize as the functional module of CPU in inclination angle detection device S, also can realize as circuit.
Usually, when make the detection axis of acceleration pick-up relative to above-below direction tilt 45 degree, under the state that saddle-ride type vehicle 1 is upright in the z-direction, detection sensitivity can not vanishing, and can calculate the leaning angle of saddle-ride type vehicle 1 accurately.; in this case; when calculating the leaning angle of saddle-ride type vehicle 1 with reference to arc tangent table data; if the leaning angle of saddle-ride type vehicle 1 becomes near 45 degree and 135 degree, left and right; then the degree of dip of the arc tangent table data of institute's reference can sharply change; and the reversal development of the leaning angle of left and right can be produced, therefore, be difficult to detect the leaning angle of saddle-ride type vehicle 1.In addition, if for using such table data to calculate leaning angle, then also need difference table data in the lateral direction.
Therefore, in the test section C of inclination angle detection device S in the present embodiment, use the acceleration pick-up 20 with the 1st detection axis L1 and the 2nd detection axis L2 as described above, and use the acceleration/accel signal component value (XG value) of output valve (gravity value) in the 1st detection axis L1 direction as saddle-ride type vehicle 1 and the acceleration/accel signal component value (YG value) as the output valve (gravity value) in the 2nd detection axis L2 direction of saddle-ride type vehicle 1 that are detected respectively by acceleration pick-up 20, perform the division arithmetic exchanging divisor and dividend according to the magnitude relationship of these values.
Specifically, first, test section C differentiates the regional shown in Fig. 2 A and Fig. 2 B accordingly with the magnitude relationship between the XG value detected and YG value, and calculates the division arithmetic value (XG/YG value) and what arbitrarily in the division arithmetic value (YG/XG value) obtained divided by XG value by YG value that obtain divided by YG value by XG value according to this region.But, when the leaning angle of the saddle-ride type vehicle 1 that the relation of the respective sign symbol from the XG value detected and YG value is tried to achieve is positioned at the region clipping left 135 degree, (L) direction and right 135 degree, (R) direction with narrow angle, test section C judges saddle-ride type vehicle 1 overturning and does not perform division arithmetic, and performs the stopping action of driving engine E.Thereby, it is possible to reduce the computational load of microcomputer.Further, can suitably set according to the specification etc. of saddle-ride type vehicle 1 region that test section C is judged as out saddle-ride type vehicle 1 overturning.In addition, mean with the region clipping left 135 degree, (L) direction and right 135 degree, (R) direction with narrow angle: the region of more than 135 degree less than 180 degree in the region of more than 135 degree less than 180 degree on left (L) direction and right (R) direction.
Next, test section C calculates the leaning angle of saddle-ride type vehicle 1 by method as follows: from the data of the arc tangent table of the division arithmetic value shown in prespecified Fig. 3 B and the relation between the leaning angle of saddle-ride type vehicle 1, retrieve the leaning angle of the saddle-ride type vehicle 1 corresponding with division arithmetic value.At this, arc tangent shown in Fig. 3 B indicates the relation between the leaning angle of XG/YG value and saddle-ride type vehicle 1, but as described above, divisor is exchanged according to the magnitude relationship of XG value and YG value and dividend is tried to achieve due to division arithmetic value, therefore, illustrate that the arc tangent table of the relation between YG/XG value and the leaning angle of saddle-ride type vehicle 1 is also identical with the arc tangent table shown in Fig. 3 B.Therefore, the data of the arc tangent table of shown in set-up dirgram 3B, and any one in XG value and YG value is applied to this transverse axis, thereby, it is possible to calculate the leaning angle of the saddle-ride type vehicle 1 in two directions, left and right.
At this, in acceleration pick-up 20, because the detection axis of the acceleration/accel in two direction is tilted 45 degree relative to the axis L0 extended along the vertical direction, therefore, the diagram of curves of the arctan function shown in Fig. 3 A is offset the degree of 45 degree along the positive dirction of the longitudinal axis.In addition, the diagram of curves of the arctan function shown in Fig. 3 A is the diagram of curves of substantially linear at the region R near 1 degree of leaning angle near 100 degree.Therefore, for the described region R shown in Fig. 3 A, preferably utilize region as follows energetically: this data in advance is also saved in the memory device (flash memory etc.) in inclination angle detection device S by the arc tangent table according to the diagram of curves construction drawing 3B of the arctan function of the form be exaggerated in its X direction compared with its y direction, when calculating the leaning angle of saddle-ride type vehicle 1, reading from memory device and making the relation that the angle of inclination of division arithmetic value and saddle-ride type vehicle 1 becomes linear.In addition, due in the data of the arc tangent table shown in Fig. 3 B, for being roughly in the table data value on straight line till near leaning angle 100 degree, therefore, as long as general vehicle rollover check processing, the overturning of vehicle just can be gone out with less table Data Detection.In addition, even if leaning angle becomes 90 degree, table data also can not get back to data during erectility, therefore, it is possible to easy and reliably detect the leaning angle of more than 90 degree, and, even if such as when the overturning etc. at ramp place, also correctly leaning angle can be detected.
The inclination angle detection device S with such structure detects the leaning angle of saddle-ride type vehicle 1 by performing leaning angle check processing shown below.Below, refer again to Fig. 4 further, the flow process of the leaning angle check processing undertaken by the inclination angle detection device S in present embodiment is described.
(leaning angle check processing)
Fig. 4 is the diagram of circuit of the flow process that the leaning angle check processing undertaken by the inclination angle detection device S in present embodiment is shown.
As illustrated in the flow diagram of fig. 4, leaning angle check processing in present embodiment is set as on-state and from the moment that the power supply such as the graphic battery of omission being equipped on saddle-ride type vehicle 1 supplies electric power to inclination angle detection device S at the graphic ignition lock of the omission of saddle-ride type vehicle 1, then, leaning angle check processing enters the process of step S1.During like this electric power being supplied to inclination angle detection device S, repeat leaning angle check processing at the control cycle of each regulation.
In the process of step S1, the test section C of inclination angle detection device S reads the acceleration/accel signal component value (XG value) in the 1st detection axis L1 direction detected by acceleration pick-up 20.Thus, the process of step S1 terminates, and leaning angle check processing enters the process of step S2.
In the process of step S2, test section C reads the acceleration/accel signal component value (YG value) in the 2nd detection axis L2 direction detected by acceleration pick-up 20.Thus, the process of step S2 terminates, and leaning angle check processing enters the process of step S3.
In the process of step S3, test section C reads the data of the corresponding relation shown between the region shown in the respective symbol of XG value and YG value and Fig. 2 A and Fig. 2 B from memory device, and the XG value read with reference to described data while based on the process by step S1 and step S2 and YG value symbol separately judge where XG value and YG value are positioned at the region shown in Fig. 2 A and Fig. 2 B.Thus, the process of step S3 terminates, and leaning angle check processing enters the process of step S4.
In the process of step S4, the position of the XG value that test section C determines based on the process by step S3 and YG value differentiates whether the position of described XG value and YG value is positioned at the region clipping 135 degree, a left side (L) direction and right 135 degree, (R) direction with narrow angle shown in Fig. 2 A and Fig. 2 B.Differentiate as a result, when be positioned at narrow angle clip 135 degree, a left side (L) direction and the right side 135 degree, (R) direction region, test section C makes leaning angle check processing enter the process of step S11.On the other hand, when be not positioned at clip the region in 135 degree, a left side (L) direction and right 135 degree, (R) direction with narrow angle, test section C makes leaning angle check processing enter the process of step S5.
In the process of step S5, test section C differentiates whether the side in the XG value and YG value read by the process of step S1 and step S2 is 0.Differentiate as a result, a side in XG value and YG value is 0, test section C makes leaning angle check processing enter the process of step S 6.On the other hand, when XG value and YG value are not 0, test section C makes leaning angle check processing enter the process of step S7.
In the process of step S 6, test section C is judged to be that the leaning angle of saddle-ride type vehicle 1 is 45 degree.Thus, the process of step S6 terminates, and leaning angle check processing enters the process of step S11.
In the process of step S7, test section C differentiates the magnitude relationship between XG value and YG value read by the process of step S1 and step S2.Differentiate as a result, when XG value is larger than YG value, test section C makes leaning angle check processing enter the process of step S8.On the other hand, when YG value is larger than XG value, test section C makes leaning angle check processing enter the process of step S9.
In the process of step S8, the value (YG value/XG value) that test section C calculating YG value obtains divided by XG value is as division arithmetic value ANSDIV.Thus, the process of step S8 terminates, and leaning angle check processing enters the process of step S10.
In the process of step S9, the value (XG value/YG value) that test section C calculating XG value obtains divided by YG value is as division arithmetic value ANSDIV.Thus, the process of step S9 terminates, and leaning angle check processing enters the process of step S10.
In the process of step S10, test section C reads the arc tangent table data shown in Fig. 3 A or Fig. 3 B from memory device, with reference to these data while retrieve the leaning angle of the saddle-ride type vehicle 1 corresponding with the division arithmetic value ANSDIV calculated in the process of step S8 or step S9.Thus, the process of step S10 terminates, and leaning angle check processing enters the process of step S11.
In the process of step S11, test section C judges the state of saddle-ride type vehicle 1 based on the leaning angle of saddle-ride type vehicle 1, and performs suitable process according to judged result.Specifically, the position of trying to achieve in the process of step S3 be positioned at shown in Fig. 2 A and Fig. 2 B clip the region in 135 degree, a left side (L) direction and right 135 degree, (R) direction with narrow angle, test section C is judged as saddle-ride type vehicle 1 overturning, then performs the stopping action of driving engine E and does not perform division arithmetic.In addition, the output control etc. of driving engine E is performed based on the leaning angle of the saddle-ride type vehicle 1 of trying to achieve in the process of step S3 and step S10 respectively.Thus, the process of step S11 terminates, and a series of leaning angle check processing terminates.
Can understand according to above explanation, in the inclination angle detection device S of saddle-ride type vehicle 1 in the present embodiment, acceleration pick-up 20 is in the plane (y-z plane) that overall width direction (y-axis direction) and the above-below direction (z-axis direction) by saddle-ride type vehicle 1 specifies, detect the acceleration/accel component X G of two axis of the 1st detection axis L1 and the 2nd detection axis L2, YG, wherein, described 1st detection axis L1 is the detection axis tilted on the direction of 45 degree relative to axis L0, described axis L0 in the vertical direction with the pivot L-orthogonal configured abreast relative to overall width direction, described 2nd detection axis L2 is the detection axis on the direction orthogonal with the 1st detection axis L1, test section C is based on the acceleration/accel component X G of two axis, YG detects the leaning angle of saddle-ride type vehicle 1, therefore, can with high precision and easy method detects the leaning angle of the greater angle of saddle-ride type vehicle 1.
In addition, in the inclination angle detection device S of saddle-ride type vehicle 1 in the present embodiment, test section C carries out division arithmetic based on the acceleration/accel component X G of two axis, the size of YG to acceleration/accel component X G, YG, try to achieve the leaning angle of saddle-ride type vehicle 1 thus, therefore, even if when any one direction tilts saddle-ride type vehicle 1 to the left and right relative to direct of travel, the leaning angle of the greater angle of saddle-ride type vehicle 1 also can be detected.In addition, when carrying out division arithmetic to acceleration/accel component X G, YG, by exchanging divisor and dividend, data and the calculation process that can be used in the leaning angle asking for saddle-ride type vehicle 1 are simplified.
In addition, in the inclination angle detection device S of saddle-ride type vehicle 1 in the present embodiment, test section C retrieves the table data of the relation represented between division arithmetic value and the arc-tangent value of division arithmetic value and tries to achieve the arc-tangent value corresponding with division arithmetic value, thus try to achieve the leaning angle of saddle-ride type vehicle 1, therefore, complicated arc-tangent value can be tried to achieve easily by the retrieval of table data, even the microcomputer of cheapness, also can ask for the leaning angle of saddle-ride type vehicle 1 accurately.
In addition, in the inclination angle detection device S of saddle-ride type vehicle 1 in the present embodiment, acceleration pick-up 20 is installed on saddle-ride type vehicle 1 in mode as follows: the central portion of axis L0 in the overall width direction of pivot L and pivot L-orthogonal, therefore, the essentiality of the acceleration/accel component X G, the YG that axially detect at two being carried out to correction from the amount that the central portion in overall width direction offsets can be got rid of, further, data and the calculation process that can be used in the leaning angle asking for saddle-ride type vehicle 1 are simplified.
And, in the present invention, the kind, shape, configuration, number etc. of parts are not limited to aforesaid embodiment, certainly its structural element suitably can be replaced as the structural element etc. that can play equal action effect, certainly also suitably can change in the scope not departing from invention main points.
Utilizability in industry
As described above, the present invention can provide a kind of inclination angle detection device of saddle-ride type vehicle, this inclination angle detection device can accurately and easy method can be utilized to detect the leaning angle of the greater angle of saddle-ride type vehicle, according to the characteristic that it is general and general, expect to be widely used in saddle-ride type vehicle.
Claims (4)
1. an inclination angle detection device for saddle-ride type vehicle, described inclination angle detection device possesses the test section that can detect the leaning angle of described saddle-ride type vehicle based on the acceleration/accel composition of the saddle-ride type vehicle detected by acceleration pick-up freely, wherein,
That described test section detects based on described acceleration pick-up, the 1st detection axis and the acceleration/accel on the direction of the 2nd these two axles of detection axis become to assign to detect the leaning angle of described saddle-ride type vehicle, described 1st detection axis is the detection axis tilted on the direction of 45 degree relative to following axis in the plane that overall width direction and the above-below direction by described saddle-ride type vehicle specifies, described axis is orthogonal with the pivot configured abreast relative to described overall width direction on described above-below direction, and described 2nd detection axis is the detection axis on the direction orthogonal with described 1st detection axis.
2. the inclination angle detection device of saddle-ride type vehicle according to claim 1, wherein,
Described test section carries out division arithmetic by the size of the described acceleration/accel composition on the direction based on described two axles to described acceleration/accel composition, asks for the described leaning angle of described saddle-ride type vehicle.
3. the inclination angle detection device of saddle-ride type vehicle according to claim 2, wherein,
Described test section retrieval represents the table data of the relation between the operation values of described division arithmetic and the arc-tangent value of the operation values of described division arithmetic and tries to achieve the described arc-tangent value corresponding with the operation values of described division arithmetic, thus, the described leaning angle of described saddle-ride type vehicle is asked for.
4. the inclination angle detection device of the saddle-ride type vehicle according to any one in claims 1 to 3, wherein,
Described acceleration pick-up is installed in described saddle-ride type vehicle in the mode that the central portion in the described overall width direction of described pivot is orthogonal with described pivot with described axis.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-271826 | 2013-12-27 | ||
| JP2013271826A JP6212387B2 (en) | 2013-12-27 | 2013-12-27 | Inclination angle detection device for saddle riding type vehicle |
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| Publication Number | Publication Date |
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| CN104743016A true CN104743016A (en) | 2015-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410766693.5A Pending CN104743016A (en) | 2013-12-27 | 2014-12-11 | Inclination angle detection device of saddle type vehicle |
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| Country | Link |
|---|---|
| JP (1) | JP6212387B2 (en) |
| CN (1) | CN104743016A (en) |
| DE (1) | DE102014018436B4 (en) |
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| CN110461696A (en) * | 2017-03-31 | 2019-11-15 | 株式会社三国 | Motorcycle tilting detection device |
| CN110914887A (en) * | 2017-06-12 | 2020-03-24 | 罗伯特·博世有限公司 | Processing unit and processing method for front recognition system, and motorcycle |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP3428047B1 (en) | 2016-03-09 | 2020-05-13 | Honda Motor Co., Ltd. | Two-wheeled motor vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6212387B2 (en) | 2017-10-11 |
| JP2015123940A (en) | 2015-07-06 |
| DE102014018436B4 (en) | 2021-11-18 |
| DE102014018436A1 (en) | 2015-07-02 |
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