CN110461696A - Motorcycle tilting detection device - Google Patents
Motorcycle tilting detection device Download PDFInfo
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- CN110461696A CN110461696A CN201880021955.1A CN201880021955A CN110461696A CN 110461696 A CN110461696 A CN 110461696A CN 201880021955 A CN201880021955 A CN 201880021955A CN 110461696 A CN110461696 A CN 110461696A
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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
- G01C9/06—Electric or photoelectric indication or reading means
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Abstract
The dumping detecting device (4) of motorcycle (1) of the invention detects whether motorcycle (1) topples over based on body sway angle (θ i), it has acceleration transducer, the acceleration transducer has 2 detection axises (10A, 10B) for intersecting (θ c) with the angle of cut of acute angle with vertical direction (Y) under the not inclined upright state of vehicle body, along each detection axis (10A, 10B) towards vehicle-body width direction (Dw) left and right lower section detection direction on, detect the vehicle body acceleration (Acc) for calculating body sway angle respectively.
Description
Technical field
The present invention relates to motorcycle tilting detection devices, more particularly to are detected using the motorcycle tilting of acceleration transducer
Device.
Background technique
A kind of motorcycle tilting detection device is disclosed in patent document 1, is had in the not inclined upright state of vehicle body
The longitudinal sensor of acceleration in lower detection direction i.e. the 1st detection direction perpendicular to the ground and detection and the 1st detection side
The horizontal sensor of acceleration on vertical direction i.e. the 2nd detection direction.
Whether the device determines vehicle based on the calculated result of (horizontal sensor output) ÷ (longitudinal sensor output)
Topple over.Even if producing noise, the variation of longitudinal sensor and horizontal sensor in longitudinal sensor and horizontal sensor as a result,
It can also cancel out each other, so as to accurately determine vehicle according to preset detection angles in acceleration transducer
Whether topple over.
Existing technical literature
Patent document
Patent document 1: No. 4773504 bulletins of Japanese Patent No.
Summary of the invention
The technical problems to be solved by the invention
However, i.e. value of the detection signal after A/D is converted of the output of acceleration transducer is used in patent document 1
Determine whether vehicle topples over, and convert the transformed error of range based on A/D by reducing, determines what whether vehicle toppled over to improve
Precision.Therefore, the noise itself exported in patent document 1 there is no the detected value for especially taking acceleration transducer into account subtracts
It is small, determine that the raising for the precision whether motorcycle topples over is still problematic.
The present invention is to complete in view of the above problems, and its purpose is to provide a kind of motorcycle tilting detection devices, is led to
The noise itself for reducing the output of acceleration transducer is crossed, can be improved the precision for determining whether motorcycle topples over.
Technical scheme applied to solve the technical problem
To achieve the goals above, motorcycle tilting detection device of the invention detects motor based on the inclination angle of vehicle body
Whether vehicle topples over, and has acceleration transducer, which has under the not inclined upright state of vehicle body and vertical
2 detection axises that direction is intersected with the angle of cut of acute angle, along the detection below left and right of each detection axis towards vehicle-body width direction
On direction, the vehicle body acceleration for calculating body sway angle is detected respectively.
Preferably, the angle of cut of each detection axis is respectively 45 °.
Preferably, acceleration transducer is set to the control unit of control motorcycle engine, and control unit, which is used as, to be based on adding
Each acceleration that velocity sensor detects works come the judging unit for determining whether motorcycle topples over, and judging unit is accelerating
Each acceleration for detecting of degree sensor both in defined acceleration range when, be based on each acceleration calculation body sway
Angle determines motorcycle tilting when calculated inclination angle is more than defined upper limit threshold.
Preferably, at least one acceleration of judging unit in each acceleration that acceleration transducer detects is adding
Except velocity interval and when continuing more than the stipulated time time of the state except acceleration range, it is based on each acceleration calculation
Body sway angle determines motorcycle tilting when calculated inclination angle is more than upper limit threshold.
Preferably, when judging unit determines motorcycle tilting, make engine stop.
Preferably, judging unit determines the angle of cut and angle of cut expected value of detection axis each when control unit is by horizontal placing
Difference using the angle of cut deviation as each detection axis, and detected come corrected acceleration sensor based on identified angle of cut deviation
Each acceleration after correction is used to determine whether motorcycle to topple over by each acceleration.
Preferably, judging unit is weighted and averaged multiple acceleration that acceleration transducer detects respectively, will weight
Each acceleration after average is for determining whether motorcycle topples over.
Preferably, acceleration transducer has: the shell with rectangular space, being filled in the rectangular space can
Mobile gas is carried out based on body sway angle；Configure the heater heated in rectangular space and to gas；And match
The temperature sensor of the temperature of the gas after being heated by the heaters is set in rectangular space and detects, which is logical
Cross using temperature sensor detection be heated by the heaters after gas heat transmitting come detect along each detection axis vehicle body it is each
The gas type acceleration transducer of acceleration, gas type acceleration transducer are distributed with gas under the not inclined upright state of vehicle body
Gradient in the corner of rectangular space is configured at vehicle body.
Preferably, acceleration transducer has: substrate；It is fixed on the fixed polar plate of substrate；And with fixed polar plate phase
Mobile movable plate can be carried out to configuration and based on body sway angle, which is by detecting fixed polar plate
The variation of the distance between movable plate passes to detect the static capacitive acceleration of each acceleration of the vehicle body along each detection axis
Sensor, static capacitive acceleration transducer is with fixed polar plate under the not inclined upright state of vehicle body and movable plate along each detection
The gradient of axis is configured at vehicle body.
Invention effect
Motorcycle tilting detection device according to the present invention, the noise itself of the output by reducing acceleration transducer,
It can be improved the precision for determining whether motorcycle topples over.
Detailed description of the invention
Fig. 1 is the structure chart for indicating motorcycle tilting detection device involved in one embodiment of the present invention.
Fig. 2 is the figure for indicating the detection axis and detection direction of the acceleration transducer of Fig. 1.
Fig. 3 is the figure for indicating the gas type acceleration transducer for embodying an example of the acceleration transducer of Fig. 2.
Fig. 4 is indicated the figure of the static capacitive acceleration transducer of another materialization of the acceleration transducer of Fig. 2.
Fig. 5 is the flow chart for toppling over judgement control for indicating the ECU of Fig. 1 and executing.
Fig. 6 is the explanatory diagram of the calculation method of the body sway angle θ i in the step S2 of Fig. 5.
Specific embodiment
In the following, being based on attached drawing, motorcycle tilting detection device involved in one embodiment of the present invention is illustrated.
Fig. 1 is the structure chart for indicating motorcycle tilting detection device.The engine 2 of motorcycle 1 is that such as capacity is 50cc
Four-cycle, single-cylinder petrol engine is the traveling power source of motorcycle.Hereinafter, motorcycle 1 is also referred to as vehicle 1, vehicle 1
The such expression of vehicle body is suitably used in the related statement at inclination angle when toppling over.
The dumping detecting device 4 of vehicle 1 is by the acceleration that the ECU of control engine 26 at (control unit) and is arranged in ECU6
Sensor 8 etc. is spent to constitute.ECU6 has processor, is executed by processor and topples over the journey for determining to control for realizing aftermentioned
Sequence plays the role of judging unit.Acceleration transducer 8 is used for the tiltangleθ i in dumping detecting device 4 based on vehicle body
To determine whether vehicle 1 topples over.Specifically, ECU6 topples over judgement control by the way that execution is aftermentioned, it is based on acceleration transducer 8
Each acceleration A cc detected determines whether vehicle 1 inclines based on the calculated tiltangleθ i to calculate tiltangleθ i
.
Fig. 2 is the concept map for indicating the detection axis and detection direction of acceleration transducer 8.It is not inclined that Fig. 2 shows vehicle bodies
The case where when under upright state from the forward observation acceleration transducer 8 of vehicle 1.Bodywork height direction Dh and vertical direction Y phase
Together, vehicle-body width direction Dw is identical as horizontal direction X.Acceleration transducer 8 has 2 detection axises 10A, 10B.Each detection axis
10A, 10B are greater than 0 ° less than 90 ° with angle of cut θ c of acute angle, in other words with vertical direction Y under the not inclined upright state of vehicle body
The angle of cut θ c intersection.
In the case where Fig. 2, angle of cut θ c is 45 °.Then, acceleration transducer 8 is when vehicle body is in upright state, along
Each detection axis 10A, 10B and towards vehicle-body width direction Dh left and right lower section detection direction on detect vehicle body acceleration Acc respectively.
That is, each detection axis 10A, 10B direction indicated by an arrow in Fig. 2 is detection direction, lower section is that acceleration A cc increases to the left and right
The direction of (+), top is the direction that acceleration A cc reduces (-) to the left and right.
Fig. 3 is the figure for indicating the gas type acceleration transducer 8A for embodying an example of acceleration transducer 8.Fig. 3 table
From the gas of the forward observation present embodiment of vehicle 1 under the not inclined upright state of vehicle body in the same manner as showing with Fig. 2 the case where
The case where when formula acceleration transducer 8A.Bodywork height direction Dh is identical as vertical direction Y, vehicle-body width direction Dw and level side
It is identical to X.In addition, illustrating to be limited to present embodiment to it since gas type acceleration transducer 8A is well-known technique
Explanation needed in range, and omit the detailed description to principle etc..
Gas type acceleration transducer 8A has rectangular housing 12 when from the forward observation of vehicle 1, has 4 angles
Portion 12a.Rectangular space 14 is formed in shell 12, mobile gas can be carried out based on body sway angle θ i by being inside filled with
G.4 corner 14a are formed in rectangular space 14.The center of rectangular space 14 is configured with the heater heated to gas G
16.Each corner 14a of rectangular space 14 is each configured with the temperature sensing of the temperature of the gas G after detection is heated by heater 16
Device 18.
Gas type acceleration transducer 8A detects the heat of the gas G after being heated by heater 16 using each temperature sensor 18
Transmitting, and then detect Temperature Distribution, so that it is determined that in rectangular space 14 gas G position and movement speed, and detect vehicle body and incline
Along each acceleration A cc of the vehicle body of each detection axis 10A, 10B when tiltedly.
Here, as shown in figure 3, in gas type acceleration transducer 8A, under the not inclined upright state of vehicle body, the phase of shell 12
To a pair of of corner 12a be located at vertical direction Y, that is, bodywork height direction Dh.
In other words, the gas type acceleration transducer 8A of present embodiment is distributed in 14 bottom of rectangular space with gas G
The gradient of corner 14a be configured at vehicle body.To even if a little laterally rolling occurs for vehicle body in the case where vehicle body is in upright state
Dynamic, gas G will not be moved exceedingly on X in the horizontal direction, but steadily stay in corner 14a, and then accelerate gas type
The output (detected value) for spending each acceleration A cc of sensor 8A is stablized.
On the other hand, existing gas type acceleration transducer is usually under the not inclined upright state of vehicle body with Fig. 3
In the gas type acceleration transducer 8A that sees turn over 45 ° of gradient and be configured at vehicle body.In this case, shell 12 is adjacent
Corner 12a is located at horizontal direction X, that is, vehicle-body width direction Dw, gas G be distributed in 14 lower part of rectangular space adjacent corner 14a it
Between.
In addition, each detection axis 10A, 10B is arranged respectively along horizontal direction X, vertical direction Y.Therefore, in the prior art
In the case where, when vehicle body is in, and a little transverse shakiness occurs under upright state, gas G is easy, gas mobile to horizontal direction X
The output of each acceleration A cc of formula acceleration transducer 8A, which can become, increases the unstable of noise because of vehicle body transverse shakiness
Value.
Fig. 4 is indicated the figure of the static capacitive acceleration transducer 8B of another materialization of acceleration transducer 8.Figure
4 indicate with Fig. 2, Fig. 3 the case where in the same manner as under the not inclined upright state of vehicle body from the forward observation present embodiment of vehicle 1
Static capacitive acceleration transducer 8B when the case where.Bodywork height direction Dh is identical as vertical direction Y, vehicle-body width direction Dw
It is identical as horizontal direction X.In addition, illustrating to be limited to it since static capacitive acceleration transducer 8B is well-known technique
In range needed for description of the present embodiment, and omit the detailed description to principle etc..
Static capacitive acceleration transducer 8B has substrate 20, fixed fixation electrode 22 on the base plate 20 and can
Mobile movable electrode 24 is carried out based on body sway angle θ i.Movable electrode 24 is located at the center of substrate 20, from movable electrode 24
Periphery radially protrude multiple movable plate 24a.Each movable plate 24a prolongs with being parallel to each detection axis 10A, 10B
Stretch setting.
In addition, movable electrode 24 is fixed on the base plate 20 by 4 spring portion 24c.Each spring portion 24c configuration is in movable electricity
The left and right of the upper and lower and horizontal direction X of the vertical direction Y of pole 24, to allow movable electrode 24 in prescribed limit up and down
Interior movement.On the other hand, fixed electrode 22 has fixed multiple fixed polar plate 22a on the base plate 20.Fixed polar plate 22a with can
Movable plate electrode 24a opposite configuration respectively, and be extended with being parallel to each detection axis 10A, 20B.
Also, static capacitive acceleration transducer 8B passes through detection the distance between fixed polar plate 22a and movable plate 24a
Variation, come each acceleration A cc when detecting body sway along the vehicle body of each detection axis 10A, 10B.Present embodiment as a result,
Static capacitive acceleration transducer 8B is with fixed substrate 22a and movable plate 24a under the not inclined upright state of vehicle body along each
The gradient of detection axis 10A, 10B is configured at vehicle body.
Configure fixed polar plate 22a and movable plate 24a in this way, the gravity of movable electrode 24 and can for resisting
The elastic force of the spring portion 24c of the gravity of moving electrode 24 works all along vertical direction Y.Thus, vertical is in vehicle body
Even if a little lateral wobble occurs under state, movable plate 24a will not be excessively mobile on X in the horizontal direction, and position is stablized, in turn
Stablize the output of each acceleration A cc of static capacitive acceleration transducer 8B.
On the other hand, existing static capacitive acceleration transducer is usually under the not inclined upright state of vehicle body to scheme
The gradient that the static capacitive acceleration transducer 8B seen in 4 turns over 45 ° is configured at vehicle body.In this case, movable electrode
24 gravity to the lower section of vertical direction Y act on, and the elastic force of spring portion 24c to vertical direction Y and horizontal direction X at
The direction effect of 45 ° of intersections.
In addition, each detection axis 10A, 10B is arranged respectively along horizontal direction X, vertical direction Y.Therefore, in the prior art
In the case where, when vehicle body is in, and a little transverse shakiness occurs under upright state, movable electrode 24 and movable plate 24a are easy
Mobile to horizontal direction X, the output of each acceleration A cc of static capacitive acceleration transducer 8B can become because of vehicle body transverse shakiness
And increase the unstable value of noise.
In addition, the output of each acceleration A cc travels on the very poor road of road conditions or shock by step etc. in vehicle 1
In the case of, it is also possible to become to increase the unstable value of noise because vehicle body longitudinally rocks.And in the present embodiment, lead to
Aftermentioned limitation processing (step S1, S3 of Fig. 5) and weighted average processing are crossed, can reduce the noise.
In the following, being illustrated referring to Fig. 5 to the flow chart for toppling over judgement control that ECU6 is executed.This topple over judgement control
In system, premised on the respective angle of cut θ c of each detection axis 10A, 10B is 45 °, detected based on acceleration transducer 8 at this time
Each acceleration A cc calculates tiltangleθ i, therefore, it is determined that whether vehicle 1 topples over.
Specifically, first in step sl, determining each detection that acceleration transducer 8 detects after this control starts
Whether each acceleration A cc of axis 10A, 10B are all being greater than in regulation acceleration range of the 0mG less than 1500mG.Step S1's sentences
It surely is to exclude to exist vehicle 1 by the sharply increase and decrease of acceleration A cc caused by the vibration that is subject to whens the step etc. on road surface
Toppling over except determine object for vehicle 1 and carry out.In addition, above-mentioned regulation acceleration range is based on each detection axis 10A, 10B
Respective angle of cut θ c is 45 ° of this case to determine.
When determining result for "Yes", i.e., each acceleration A cc of each detection axis 10A, 10B meets 0mG < Acc <
When 1500mG, each acceleration A cc that acceleration transducer 8 detects becomes the gravity direction generated when vehicle 1 is toppled over i.e.
Each detection axis 10A, 10B shown in Fig. 2+direction on vector, then move to step S2.
On the other hand, when determining result for "No", i.e., at least one in each acceleration A cc of each detection axis 10A, 10B
When a acceleration is unsatisfactory for 0mG < Acc < 1500mG, determine that each acceleration A cc detected becomes what vehicle 1 generated when toppling over
Vector on the opposite direction in gravity direction, that is, each detection axis 10A, 10B shown in Fig. 2-direction, then moves to step
S3.In this case, it is contemplated that be vehicle 1 at a slant or temporarily by road surface step etc. situation.
In step S2, body sway angle θ i is calculated using aftermentioned method, then moves to step S4.
In step S3, determine whether the time t1 of state of each acceleration A cc except regulation acceleration range continue for being 0.5
The the more than stipulated time of second.
When determining result for "Yes", step S2 is moved to, after calculating body sway angle θ i, moves to step S4.It is another
Aspect determines that vehicle 1 is interim inclination or temporarily by road surface step, again returns to step when determining result for "No"
Whether S1 determines each acceleration A cc in regulation acceleration range.
In step S4, whether calculated body sway angle θ i is at 65 ° of defined upper limit threshold or more in determination step S2.
When determining result for "Yes", step S5 is moved to.On the other hand, when determining result for "No", sentenced according to tiltangleθ i
It is disconnected, and determine that vehicle 1 is not toppled over, step S1 is again returned to, determines each acceleration A cc whether in regulation acceleration range.
In step S5, whether the judgement result of determination step S4 continue for preset time (example for the case where "Yes"
Such as 3 seconds) more than.When determining result for "Yes", determine that vehicle body 1 is toppled over, this control terminates.After being determined as that vehicle body 1 is toppled over,
ECU6 carries out stopping the processing such as engine 2, so that driver or contactant are involved in wheel etc. when preventing vehicle 1 from toppling over, to ensure
Safety.On the other hand, when determining result for "No", determine that vehicle 1 is not toppled over, again return to step S1, determine each acceleration
Acc is spent whether in regulation acceleration range.
Fig. 6 is the explanatory diagram of the body sway angle θ i calculation method in step S2.Fig. 6 is shown when vehicle 1 is toppled over from vehicle 1
Forward observation acceleration transducer 8 when the case where.Bodywork height direction Dh intersects with vertical direction Y, vehicle-body width direction Dw
Intersect with horizontal direction X.In the case of fig. 6, acceleration transducer 8 detects the+vector A in direction on detection axis 10A
Acceleration A cc detects-the acceleration A cc, vector A, B of these acceleration As cc of the vector B in direction on detection axis 10B
Synthesis can be expressed as towards the vector C below vertical direction Y.
Then, ECU6 calculates vector C, in other words using the arctan function for each acceleration A cc for forming vector A, B
It is the angle of cut of vertical direction Y and detection axis 10A as calculating angle Δ θ i.Calculating angle Δ θ i is 20 ° in the case where such as Fig. 6.
Then, ECU6 calculates the sum of angle of cut θ c (45 °) of calculating angle Δ θ i (20 °) and detection axis 10A and bodywork height direction Dh and makees
For tiltangleθ i (65 °).The upper limit threshold of the step S4 for the toppling over judgement control tiltangleθ i calculated at this time shown in Fig. 5
More than (65 °), therefore, it is determined that toppling over for vehicle 1.
In addition, determining in control toppling over, the correction process that angle of cut θ c is also carried out in the initial setting before starting is controlled.Tool
For body, the vector of each acceleration A cc of each detection axis 10A, 10B when ECU6 is based on placing that ECU6 is horizontal are calculated each at this time
The angle of cut θ c of detection axis 10A, 10B is as measured value.The measured value of angle of cut θ c is counted by the study processing executed by ECU6
It calculates.
Then, it is determined that the measured value of calculated angle of cut θ c with as angle of cut θ c expected value and scheduled angle (45 °)
Difference acceleration is passed as the deviation of the angle of cut θ c of each detection axis 10A, 10B and based on the deviation of identified angle of cut θ c
Each acceleration A cc that sensor 8 detects, which is corrected to angle of cut θ c, does not have each acceleration A cc that should be detected in the case where deviation.
That is, the vector for each acceleration A cc that acceleration transducer 8 detects is decomposed according to the angle of the deviation of angle of cut θ c, from
And calculating angle of cut θ c does not have each acceleration A cc that should be detected in the case where deviation.Then, by each acceleration after the correction
Acc is used to topple over the calculating of the judgement for the step S1 for determining control and the body sway angle θ i of step S2.
Moreover, determining in control toppling over, the filtering processing of acceleration A cc is also carried out.Specifically, to acceleration sensing
Multiple acceleration A cc that device 8 detects are weighted and averaged respectively, and each acceleration A cc after weighted average is used to topple over and is sentenced
Surely the calculating of the body sway angle θ i of the judgement and step S2 of the step S1 controlled.Determine to use in control specifically, toppling over
Each acceleration A cc be acceleration A cc (n) by detecting this multiplied by the value obtained after regulation weight WGT with it is previous
Value that the secondary acceleration A cc (n-1) detected is obtained after the value multiplied by (1- weight WGT) is added and calculated.Weight WGT quilt
It provides in the range of being greater than 0 less than 1, such as is applicable in 0.5 value.
As described above, in the dumping detecting device 4 of the vehicle 1 of present embodiment, acceleration transducer 8 have vehicle body not
2 detection axises 10A, 10B intersected under inclined upright state with vertical direction Y with the angle of cut θ c of acute angle.Also, acceleration passes
Sensor 8 is along each detection axis 10A, 10B and towards detecting vehicle respectively in the detection direction below the left and right of vehicle-body width direction Dh
Body acceleration A cc.Each detection axis 10A, 10B when vehicle body upright state is not Y and horizontal direction along vertical direction as a result,
X setting, but be arranged with intersecting with vertical direction Y and horizontal direction X, so as to which acceleration transducer 8 is steady with its output
Fixed posture is arranged 1 on vehicle, even if a little lateral wobble occurs when vehicle body upright state, the output of acceleration transducer 8
It is also stable, it is not easy to be influenced by the noise generated by vehicle body lateral wobble.
Specifically, when vehicle body upright state, in the case where gas type acceleration transducer 8A shown in Fig. 3, gas G
Distribution stablize, in the case where static capacitive acceleration transducer 8B shown in Fig. 4, the position of movable plate 24a is stablized, into
And it is able to suppress each acceleration A cc and excessive variation occurs.Thus, in present embodiment, acceleration transducer 8 can be reduced
The noise of output itself, therefore can be improved the judgement precision toppled over and determine control.
Determine in control in addition, toppling over, each detection axis 10A, 10B that acceleration transducer 9 detects in step sl
In the case that each acceleration A cc is judged as in regulation acceleration range, body sway angle θ i is calculated in step s 2, then
Determine that vehicle body 1 is toppled in the case that tiltangleθ i is upper limit threshold or more in step S4 later.In present embodiment, pass through
Using the determination step in above-mentioned two stage, vehicle 1 can be toppled over temporarily by road surface step etc. other than the case where definitely
It forecloses, therefore the judgement precision toppled over and determine control can be further increased.
Determine in control in addition, toppling over, each detection axis 10A, 10B that acceleration transducer 8 detects in step sl
At least one acceleration is judged as except regulation acceleration range, only in step in each acceleration A cc
State of at least one acceleration except regulation acceleration range in S3 in each acceleration A cc continue for the stipulated time or more
In the case where, body sway angle θ i is just calculated in step s 2, and tiltangleθ i is upper limit threshold in step S4, S5 later
In the case that above state continue for the stipulated time, it is determined as that vehicle body 1 is toppled over.
Thus, for example causing each acceleration A cc to become-direction but this shape by road surface step despite vehicle 1
In the case that state continues the stipulated time, it can be determined as that vehicle 1 is toppled over according to tiltangleθ i.To, for example, will not exclude vehicle 1 with
The situation etc. toppled over after complicated posture left-right rotation, can detect toppling over for vehicle 1 under a wide range of situation.
Determine in control in addition, toppling over, is carried out by using to angle of cut θ c each acceleration A cc that is corrected that treated
Determine, topples over the judgement precision for determining control so as to further increase.
Determine in control in addition, toppling over, it is each after such filtering processing by using being weighted and averaged to each acceleration A cc
Acceleration A cc is determined, is temporarily increased caused by vibration when so as to prevent vehicle 1 through road surface step
Acceleration A cc error detection is that vehicle 1 is toppled over.
An embodiment of the invention is illustrated above, but the present invention is not limited thereto, is not departing from this hair
In the range of bright technical concept, various modifications may be made.
As long as example, the angle of cut θ c acute angle of detection axis 10A, 10B and vertical direction Y, however it is not limited to 45 °.In addition, toppling over
Determine the acceleration range of acceleration A cc used in control, calculates angle Δ θ i, the upper limit threshold of tiltangleθ i, stipulated time
The value of t1 etc. can carry out various changes according to the specification of acceleration transducer 8 or dumping detecting device 4.In addition, acceleration
The type of sensor 8 is not limited to the gas type acceleration transducer 8A enumerated as concrete example and static capacitive acceleration passes
Sensor 8B.
Label declaration
1 motorcycle (vehicle, vehicle body)
2 engines
4 dumping detecting devices
6ECU (control unit, judging unit)
8 acceleration transducers
8A gas type acceleration transducer (acceleration transducer)
8B static capacitive acceleration transducer (acceleration transducer)
10A, 10B detection axis
12 shells
14 rectangular spaces
The corner 14a
16 heaters
18 temperature sensors
20 substrates
22a fixed polar plate
24a movable plate.
Claims (9)
1. a kind of motorcycle tilting detection device, detects whether motorcycle topples over based on the inclination angle of vehicle body, which is characterized in that
Have acceleration transducer, the acceleration transducer have under the not inclined upright state of the vehicle body with vertical direction
With 2 detection axises that the angle of cut of acute angle intersects, along the inspection below each detection axis and the left and right towards vehicle-body width direction
It surveys on direction, detects the acceleration of the vehicle body at the inclination angle for calculating the vehicle body respectively.
2. motorcycle tilting detection device as described in claim 1, which is characterized in that
The angle of cut of each detection axis is respectively 45 °.
3. motorcycle tilting detection device as claimed in claim 1 or 2, which is characterized in that
The acceleration transducer is set to the control unit for controlling the engine of the motorcycle,
Described control unit plays the role of judging unit, each institute which is detected based on the acceleration transducer
Acceleration is stated, to determine whether the motorcycle topples over,
Each acceleration that the judging unit is detected in the acceleration transducer is both in defined acceleration model
When enclosing interior, based on the inclination angle of vehicle body described in each acceleration calculation, when the calculated inclination angle is the defined upper limit
When more than threshold value, the motorcycle tilting is determined.
4. motorcycle tilting detection device as claimed in claim 3, which is characterized in that
At least one acceleration of the judging unit in each acceleration that the acceleration transducer detects is in institute
It states except acceleration range and when continuing more than the stipulated time time of the state except the acceleration range, based on each
The inclination angle of vehicle body described in the acceleration calculation determines when the calculated inclination angle is the upper limit threshold or more
The motorcycle tilting.
5. motorcycle tilting detection device as claimed in claim 4, which is characterized in that
When the judging unit determines the motorcycle tilting, make the engine stop.
6. such as described in any item motorcycle tilting detection devices of claim 1 to 5, which is characterized in that
The judging unit determines the angle of cut and the angle of cut of each detection axis when the horizontal placing of described control unit
The difference of expected value is using the deviation of the angle of cut as each detection axis, and based on the deviation of the identified angle of cut come school
Each acceleration after correction is used to determine the motor by each acceleration that the just described acceleration transducer detects
Whether vehicle topples over.
7. such as described in any item motorcycle tilting detection devices of claim 1 to 6, which is characterized in that
The judging unit is weighted and averaged multiple acceleration that the acceleration transducer detects respectively, will add
Each acceleration after weight average is for determining whether the motorcycle topples over.
8. such as described in any item motorcycle tilting detection devices of claim 1 to 7, which is characterized in that
The acceleration transducer has:
Shell with rectangular space is filled with and can carry out mobile gas based on the inclination angle of the vehicle body in the rectangular space
Body；
Configure the heater heated in the rectangular space and to the gas；And
It configures in the rectangular space and detects by the temperature sensor of the temperature of the gas after heater heating,
The acceleration transducer is by the gas after being heated using temperature sensor detection by the heater
Heat transmitting, come detect the vehicle body along each detection axis each acceleration gas type acceleration transducer,
The gas type acceleration transducer is distributed in the rectangle with the gas under the not inclined upright state of the vehicle body
The gradient in the corner in space is configured at the vehicle body.
9. such as described in any item motorcycle tilting detection devices of claim 1 to 7, which is characterized in that
The acceleration transducer has:
Substrate；
It is fixed on the fixed polar plate of the substrate；And
It is configured in opposite directions with the fixed polar plate and movable plate that the inclination angle based on the vehicle body can move,
The acceleration transducer is by detection the distance between the fixed polar plate and the movable plate variation, to detect
Along the static capacitive acceleration transducer of each acceleration of the vehicle body of each detection axis,
The static capacitive acceleration transducer with the fixed polar plate under the not inclined upright state of the vehicle body and it is described can
Movable plate electrode is configured at the vehicle body along the gradient of each detection axis.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017070405A JP6835652B2 (en) | 2017-03-31 | 2017-03-31 | Motorcycle fall detection device |
| JP2017-070405 | 2017-03-31 | ||
| PCT/JP2018/002343 WO2018179764A1 (en) | 2017-03-31 | 2018-01-25 | Overturn detection device for motorcycle |
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| CN110461696A true CN110461696A (en) | 2019-11-15 |
| CN110461696B CN110461696B (en) | 2021-01-15 |
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| JP7226052B2 (en) * | 2019-04-16 | 2023-02-21 | スズキ株式会社 | Accident Judgment System, Accident Judgment Method, Program |
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| JPH08226816A (en) * | 1994-10-12 | 1996-09-03 | Temic Telefunken Microelectron Gmbh | Sensor device for inclination detection |
| JP2000028630A (en) * | 1998-07-08 | 2000-01-28 | Honda Motor Co Ltd | Gas-type sensor |
| CN1412523A (en) * | 2001-10-19 | 2003-04-23 | 雅马哈发动机株式会社 | Turnover detector for two-wheeled motorcycle |
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| CN101644718A (en) * | 2009-07-02 | 2010-02-10 | 中国科学院声学研究所 | Capacitive acceleration sensor with acoustic cavity |
| CN104743016A (en) * | 2013-12-27 | 2015-07-01 | 株式会社京浜 | Inclination angle detection device of saddle type vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018179764A1 (en) | 2018-10-04 |
| CN110461696B (en) | 2021-01-15 |
| JP2018171973A (en) | 2018-11-08 |
| JP6835652B2 (en) | 2021-02-24 |
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