DE102014018436B4 - Saddle-type vehicle inclination angle detecting device - Google Patents

Abstract

An inclination angle detection device (S) of a saddle type vehicle (1) comprising: a detection unit (C) configured to determine an inclination angle of the saddle type vehicle (1) based on an acceleration component (XG, YG) of the saddle type vehicle (1), detected by an acceleration sensor (20), the acceleration sensor (20) being configured to detect acceleration components (XG, YG) in biaxial directions of a first detection axis (L1), which denotes a direction that is 45 degrees with respect to a Axis line (L0) is inclined vertically orthogonally to a pivot axis (L) arranged in parallel to a vehicle width direction of the saddle type vehicle (1) as a detection axis, and a second detection axis (L2) which has a direction orthogonal to the first detection axis ( L1) is referred to as a detection axis in a plane extending from the vehicle width direction and a vertical direction of the vehicle (1) from the saddle eltyp is defined to detect, a suspension arm (14), which supports a rear wheel (R) of the vehicle (1) of the saddle type, is fixedly attached to the pivot axis (L), the acceleration sensor (20) so on the vehicle (1) is mounted that the axis line (L0) is orthogonal to the pivot axis (L) at a central part of the pivot axis (L) in the vehicle width direction, and the detection unit (C) is formed based on a relationship between a positive and negative symbol of FIG Acceleration components (XG, YG) in the biaxial directions to determine whether or not the saddle-type vehicle (1) has overturned, and when the detection unit (C) determines that the saddle-type vehicle (1) has not overturned, the inclination angle of the saddle-type vehicle (1) in the plane defined by the vehicle width direction and the vertical direction of the saddle-type vehicle (1) based on the acceleration components (XG, YG) in the biaxial directions.

Description

BACKGROUND OF THE INVENTION

The present invention relates to a saddle-type vehicle inclination angle detection device, and more particularly relates to a saddle-type vehicle inclination angle detection device that detects an inclination angle of a saddle-type vehicle based on an acceleration component of the saddle-type vehicle detected by an acceleration sensor.

Conventionally, a configuration has been used in which an overturn sensor in saddle-type vehicles such as. A motorcycle, moped and scooter is provided, and when overturning of a vehicle is detected by the overturning sensor, fuel injection and ignition control are stopped and driving of a fuel pump is stopped, thereby stopping an engine of the vehicle.

Such an overturning sensor generally has a mechanical configuration in which a weight and a pendulum moving in accordance with an inclination of a vehicle body are provided, and at the time of overturning the vehicle, the weight and the pendulum switch a switch to make overturning of the vehicle. However, in recent years, instead of such a mechanical sensor, an electric acceleration sensor using a semiconductor element has been used as a tip-over sensor.

Specifically, Japanese Patent Specification relates to JP 4 773 504 B2 an overturn detection device for a motorcycle and the motorcycle, and it discloses a configuration including: a vertical acceleration sensor that detects an acceleration component in a first detection direction that is a direction vertical to the ground when a vehicle body is not in an inclined state, and a horizontal acceleration sensor that detects an acceleration component in a second detection direction that is a direction orthogonal to the first detection direction. The overturn detection device detects an inclination angle of a saddle type vehicle based on a value (Az / Ax) obtained by dividing an output value (Az) of the vertical acceleration sensor by an output value (Ax) of the horizontal acceleration sensor.

SUMMARY OF THE INVENTION

However, according to the study of the present inventors, in the configuration of the Japanese patent specification JP 4 773 504 B2 in particular, attempts to reduce a computational load at the time of obtaining an arctangent value by a microcomputer by obtaining the arctangent value (tan ^-1 (Az / Ax)) required for calculating an inclination angle of a motorcycle by using arctangent table data based on a division operation value ( Az / Ax). However, in the arctangular table data, an inclination of a curve indicating a relationship between the division operation value and the arctangent value changes rapidly in the vicinity of a point where the inclination angle of the motorcycle becomes 60 degrees. Therefore, a data amount of table data increases, thereby tending to increase the storage capacity. As a result, there is a tendency that it becomes difficult to obtain the arctangent value by an inexpensive microcomputer.

In the configuration of the Japanese Patent JP 4 773 504 B2 the arctangent itself supports a range of up to 90 degrees on both sides as a tilt angle range of the motorcycle. Therefore, if the motorcycle overturns in a case where the lean angle exceeds 90 degrees (for example, in a case where the motorcycle overturns on an inclined road), the lean angle is out of the range of the arctangle table and thus it is assumed that the angle of inclination of the motorcycle cannot be recognized.

Also occurs in the configuration of the Japanese Patent JP 4 773 504 B2 when the angle of inclination of the motorcycle exceeds 90 degrees, an inverse phenomenon of the right and left inclination occurs. Therefore, it is necessary to determine whether the motorcycle is in an overturned condition, such as. B. is in an inverted state by performing a calculation separately from the calculation using the arctangent value, and thus it is assumed that the configuration tends to become complicated.

The present invention has been achieved in view of the above studies, and it is an object of the present invention to provide an inclination angle detecting device of a saddle type vehicle which can detect a larger inclination angle of the saddle type vehicle accurately and by a simple method.

In order to achieve the above object, the present invention is to provide an inclination angle detection device of a saddle type vehicle including a detection unit capable of detecting an inclination angle of the saddle type vehicle based on an acceleration component of the saddle type vehicle, which is detected by an acceleration sensor, the detection unit detecting the inclination angle of the saddle type vehicle in a plane defined by a vehicle width direction and a vertical direction of the saddle type vehicle based on acceleration components in biaxial directions detected by the acceleration sensor, a first detection axis indicating a direction inclined by 45 degrees with respect to an axis line vertically orthogonal to a pivot axis arranged parallel to the vehicle width direction as a detection axis, and a second detection axis indicating a direction orthogonal to the first detection axis referred to as an acquisition axis.

According to a first embodiment of the present invention, the detection unit obtains the inclination angle of the saddle type vehicle by performing a division operation of the acceleration components based on the magnitude of the acceleration components in the biaxial directions.

According to a second embodiment of the present invention, and in addition to the first embodiment, the detection unit obtains the inclination angle of the saddle type vehicle by searching table data showing a relationship between a division operation value resulting from the division operation and an arctan value of the division operation value by the arctangent value according to the division operation value.

According to the invention, the acceleration sensor is mounted on the saddle-type vehicle such that the axis line is orthogonal to the pivot axis at a central part of the pivot axis in the vehicle width direction.

In the saddle-type vehicle inclination angle detecting device according to the present invention, the acceleration sensor detects acceleration components in biaxial directions of the first detection axis, which denotes the direction inclined by 45 degrees with respect to the axis line that is vertically orthogonal to the pivot axis that is parallel to the vehicle width direction is disposed as a detection axis, and the second detection axis denoting the direction orthogonal to the first detection axis as a detection axis in the plane defined by the vehicle width direction and the vertical direction of the saddle type vehicle. The detection unit detects the inclination angle of the saddle type vehicle based on the acceleration components in the biaxial directions. Accordingly, a larger inclination angle of the saddle type vehicle can be detected accurately and with a simple method.

In the inclination angle detection device of a saddle type vehicle according to the first embodiment of the present invention, the detection unit obtains the inclination angle of the saddle type vehicle by performing the division operation of the acceleration components based on the magnitude of the acceleration components in the biaxial directions. Accordingly, even when the saddle-type vehicle inclines to a right or left direction with respect to a moving direction, a larger inclination angle of the saddle-type vehicle can be detected. Further, at the time of performing the division operation of the acceleration components, by replacing a divisor and a dividend, the data and calculation processing for obtaining the inclination angle of the saddle type vehicle can be simplified.

In the inclination angle detection device of a saddle type vehicle according to the second embodiment of the present invention, the detection unit obtains the inclination angle of the saddle type vehicle by searching table data indicating the relationship between the division operation value resulting from the division operation and the arctangent value of the division operation value to get the arctangent value corresponding to the division operation value. Accordingly, the complicated arctangent value can be obtained simply by searching the table data, and even an inexpensive microcomputer can accurately obtain the inclination angle of the saddle type vehicle.

In the saddle type vehicle inclination angle detection device according to the present invention, the acceleration sensor is mounted on the saddle type vehicle so that the axis line is orthogonal to the pivot axis at the central part of the pivot axis in the vehicle width direction. Accordingly, the need to correct the acceleration components detected in the biaxial directions by a portion offset from the central part in the vehicle width direction can be eliminated, thereby simplifying the data and calculation processing for obtaining the inclination angle of the saddle type vehicle can.

Figure list

• 1A Fig. 13 is a side view of a saddle type vehicle to which a lean angle detecting device according to an embodiment of the present invention is applied;
• 1B Fig. 13 is a front view of the saddle type vehicle to which the inclination angle detection device according to the embodiment is applied;
• 1C Fig. 13 is a schematic diagram showing a state where an acceleration sensor of the inclination angle detecting device of the embodiment is mounted on the saddle type vehicle using a central part of a pivot axis provided in the saddle type vehicle as a reference;
• 2A Fig. 13 shows a relationship between an inclination angle of the saddle-type vehicle to which the inclination angle detection device according to the embodiment is applied and respective output values of a first detection axis and a second detection axis of the acceleration sensor of the inclination angle detection device according to the embodiment;
• 2 B Fig. 13 shows a relationship between the inclination angle of the saddle-type vehicle to which the inclination angle detection device according to the embodiment is applied and a division operation value to be used in the inclination angle detection device according to the embodiment;
• 3A Fig. 13 is an arctangent function graph showing a relationship between the inclination angle of the saddle-type vehicle to which the inclination angle detection device according to the embodiment is applied and the division operation value to be used in the inclination angle detection device according to the embodiment;
• 3B corresponds to a partially enlarged view of FIG 3A who have an area R. shows that in 3A is shown with an aspect ratio being changed, and is an arctangle table that can be used in the inclination angle detecting device according to the embodiment; and
• 4th Fig. 13 is a flowchart showing a flow of a tilt angle detection process by the tilt angle detection device according to the embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

A tilt angle detecting device of a saddle type vehicle according to an embodiment of the present invention will be explained in detail below with reference to the accompanying drawings. In the drawings, an x-axis, a y-axis and a z-axis constitute a three-axis orthogonal coordinate system. A positive direction of the x-axis is a rearward direction of a vehicle body, a positive direction of the y-axis is a right direction of the vehicle body, and a positive direction of the z-axis is an upper direction of the vehicle body. A direction of the x-axis corresponds to a longitudinal direction of the vehicle body, a direction of the y-axis corresponds to a width direction of the vehicle body (a vehicle width direction), and a direction of the z-axis corresponds to a vertical direction of the vehicle body.

[Configuration of the saddle type vehicle]

The configuration of the saddle type vehicle to which the inclination angle detection device according to the present embodiment is applied will be described in detail with reference to FIG 1A until 1C explained.

1A Fig. 13 is a side view of the saddle type vehicle to which the lean angle detection device according to the present embodiment is applied. 1B Fig. 13 is a front view of the saddle type vehicle to which the inclination angle detection device according to the present embodiment is applied. 1C Fig. 13 is a schematic diagram showing a state where an acceleration sensor of the inclination angle detection device according to the present embodiment is mounted on the saddle type vehicle using a central part of a pivot axis provided in the saddle type vehicle as a reference.

As in the 1A until 1C shown includes a vehicle 1 of the saddle type, such as B. a motorcycle on which a lean angle detection device S. according to the present embodiment is applied, a frame 11th , a pivot support portion 12th that is firmly attached to the frame 11th is attached, and a pivot member 13th that is rotatable on the pivot support portion 12th is attached. The frame 11th corresponds to the vehicle body of the vehicle 1 of the saddle type. The swivel element 13th includes a pivot axis L. , which is a rotation axis that extends in a state of being attached to the swing support portion 12th turns. The pivot axis L. extends in the width direction of the vehicle body, and a central point P in the width direction of the vehicle body is at the central part of the rotation axis L. defined in the width direction of the vehicle body. The center point P is an arrangement reference point at the time of arranging constituent parts of the vehicle 1 of the saddle type in the design, and is a representative one Point of the behavior of the vehicle 1 represents the saddle type. A swing arm 14th , which is a suspension arm as a strength element, which is a rear wheel R. of the vehicle 1 of the saddle type via a shaft member (not shown) while supporting the position of the rear wheel R. is defined, is fixed to the pivot element 13th attached. The swing arm 14th can be in a plane parallel to an xz plane with the help of the swivel axis L. swing as the center of oscillation. In the 1A until 1C is the vibrating element 13th is shown as a single element; however, it can be divided into a variety of elements.

[Configuration of the acceleration sensor]

The configuration of the acceleration sensor used in the inclination angle detection device according to the present embodiment S. is provided hereinafter, mainly with reference to FIG 1C explained.

As in 1C shown is an accelerometer 20th that is in the inclination angle detecting device S. according to the present embodiment is provided, typically a single acceleration sensor that includes two axes of detection. The accelerometer 20th is on the vehicle 1 of the saddle type fastened and assembled so that an axis line L0 passing through the center point P and vertically orthogonal to the pivot axis L. is referred to as the positional reference axis line. To such a mounting state of the acceleration sensor 20th To realize, it is typically enough that the acceleration sensor 20th firmly attached to the frame 11th or the like of the vehicle 1 of the saddle type and placed at the position of the center point P. When it is difficult to use the accelerometer 20th at the position of the center point P due to a restriction on the arrangement of the respective constituent parts of the vehicle 1 to arrange the saddle type, the acceleration sensor 20th at a position near the center point P which is a predetermined distance from the center point P on the axis line L0 is offset, arranged so that the axis line L0 passing through the center point P and vertically orthogonal to the pivot axis L. is referred to as the positional reference axis line.

In particular, the acceleration sensor comprises 20th a first acquisition axis L1 passing through the center point P and extending in the direction of the axis line that is 45 degrees counterclockwise with respect to the axis line L0 is rotated, and a second detection axis L2 passing through the center point P and extending in the direction of the axis line that is 45 degrees clockwise with respect to the axis line L0 is rotated, in a plane parallel to a yz plane. The accelerometer 20th can be the acceleration in biaxial directions of the first detection axis L1 and the second detection axis L2 orthogonal to the first detection axis L1 as acceleration components of the vehicle 1 from the saddle type. The detection sensitivity of the first detection axis L1 and the detection sensitivity of the second detection axis L2 can be compensated by moving the detection axes of acceleration in two directions at 45 degrees with respect to the axis line L0 extending in the vertical direction can be inclined. Therefore, even if there is an attitude of the vehicle 1 of the saddle type in the vertical direction (a pitching direction) changes the inclination angle of the vehicle 1 can be precisely recorded by the saddle type. With the accelerometer 20th is in view of the positional accuracy of the acceleration sensor 20th with respect to the center position P, a positional accuracy of the axis line L0 with respect to the center point P, an angular accuracy of the axis line L0 in relation to the pivot axis L. , an angular accuracy of the respective first detection axis L1 and the second detection axis L2 with respect to the axis line L0 and the like, as well as a tolerance such. B. the assembly tolerance or the manufacturing tolerance of the acceleration sensor 20th , made possible.

[Configuration of the inclination angle detection device]

The configuration of the inclination angle detection device S. in accordance with the present embodiment will hereinafter also be referred to with reference to FIG 2A until 2 B and the 3A until 3B as well as the 1A until 1C explained.

2A Fig. 13 shows a relationship between the inclination angle of the vehicle 1 of the saddle type to which the lean angle detecting device S. according to the present embodiment is applied, and respective output values (values of gravity) of the first detection axis L1 and the second detection axis L2 of the acceleration sensor 20th the inclination angle detection device S. according to the present embodiment. 2 B Fig. 13 shows a relationship between the inclination angle of the vehicle 1 of the saddle type to which the lean angle detecting device S. according to the present embodiment is applied, and a division operation value applied to the inclination angle detection device S. is to be used according to the present embodiment. 3A Fig. 13 is a graph of an arctangent function showing a relationship between the inclination angle of the saddle-type vehicle to which the inclination angle detection device according to the present embodiment is applied and the division operation value associated with the inclination angle detection device according to the present embodiment use is shows. 3B corresponds to a partially enlarged view of FIG 3A who have an area R. shows that in 3A is shown with an aspect ratio being changed, and is an arctangle table that can be used in the inclination angle detecting device according to the present embodiment.

The tilt angle detection device S. according to the present embodiment, an arithmetic processing device such as B. a microcomputer including a CPU (Central Processing Unit), a memory and the like (not all are shown), and typically the inclination angle detecting device is S. an ECU (Electronic Control Unit). The tilt angle detection device S. reads a necessary control program and necessary control data from the memory and records the angle of inclination of the vehicle 1 of the saddle type based on the acceleration in the biaxial directions detected by the acceleration sensor 20th through a registration unit C. the same is recorded. The registration unit C. can be implemented as a functional block of the CPU or it can be implemented as an electrical circuit in the tilt angle detection device S. will be realized.

In general, when the detection axis of the acceleration sensor is inclined 45 degrees with respect to the vertical direction in a state where the vehicle is moving 1 of the saddle type is located upright in the z-direction, the detection sensitivity is not zero, and thus the inclination angle of the vehicle 1 exactly calculated from the saddle type. However, in this case, the inclination angle of the vehicle changes at the time of calculation 1 of the saddle type with reference to the tangent table data when the inclination angle of the vehicle changes 1 of the saddle type approaches 45 degrees and 135 degrees to the right and left, the inclination of the tangent table data to be referred to rapidly, and the inverse phenomenon of horizontal inclination angles occurs. Therefore, it becomes difficult to adjust the vehicle inclination angle 1 to capture from the saddle type. When attempting to calculate the inclination angle using the table data, different table data are required in each of the right and left directions.

Therefore, at the registration unit C. the inclination angle detection device S. according to the present embodiment, the acceleration sensor 20th with the first acquisition axis L1 and the second detection axis L2 described above and an acceleration component value (a value XG) which is the output value (the value of gravity) in the direction of the first detection axis L1 and an acceleration component value (a value YG) that is the output value (the value of gravity) in the direction of the second detection axis L2 is, of the vehicle 1 of the saddle type, each by the accelerometer 20th are used to perform the division operation or the like by changing the divisor and the dividend according to the magnitude relationship of these values.

In particular, the registration unit differentiates C. first respective areas that are in 2A and 2 B corresponding to the size relation of the detected XG value and YG value, and calculates one of a division operation value (an XG / YG value) obtained by dividing the XG value by the YG value and a Division operation value (a YG / XG value) obtained by dividing the YG value by the XG value, depending on the range. However, if the Vehicle inclination angle 1 of the saddle type, which is obtained based on the relationship of the respective positive and negative symbols of the detected XG value and YG value, is within a range of a narrow angle ranging from 135 degrees in the left ( L. ) Direction and 135 degrees in the right direction ( R. ) is arranged, the registration unit determines C. that the vehicle 1 of the saddle type is overturned without performing the division operation, and performs a stopping operation of the engine E. Accordingly, the computational load on the microcomputer can be reduced. The area in which by the registration unit C. it is determined that the vehicle 1 overturned from the saddle type can according to the specification of the vehicle 1 can be adjusted according to the type of saddle. Furthermore, the area of the narrow angle, which is between 135 degrees in the left ( L. ) Direction and 135 degrees in the right direction ( R. ) is arranged, a range from 135 degrees to 180 degrees, contained in the left ( L. ) Direction, and a range of 135 degrees to 180 degrees, contained in the right ( R. ) Area.

The registration unit C. searches the arctangular table data showing the relationship between the division operation value and the vehicle inclination angle 1 of the saddle type shown in 3B , is defined in advance, according to the angle of inclination of the vehicle 1 of the saddle type, which corresponds to the division operation value, thereby the inclination angle of the vehicle 1 is calculated from the saddle type. The arctangular table that is used in 3B shows a relationship between the XG / YG value and the inclination angle of the vehicle 1 of the saddle type. However, as described above, the division operation value is obtained by changing the divisor and the dividend according to the magnitude relationship between the XG value and the YG value, the arctangle table showing the relationship between the YG / XG value and the inclination angle of the vehicle 1 of the saddle type that becomes similar to that shown in 3B is shown. Therefore, by preparing data in an arctangent table contained in 3B and applying either the XG value or the YG value to the horizontal axis thereof the inclination angle of the saddle type vehicle 1 can be calculated in both the right and left directions.

With the accelerometer 20th are the detection axes of acceleration in the two directions by 45 degrees with respect to the axis line L0 extending in the vertical direction is inclined. Hence the curve of the arctangent function given in 3A is shown offset from the positive direction of the longitudinal axis by about 45 degrees. Furthermore, the curve of the arctangent function shown in 3A is shown a substantially linear curve in the area R. from about 1 degree to about 100 degrees of the tilt angle. Therefore, it is preferred to use the arctangular table in 3B is shown to build according to the curve of the arctangent function in a mode in which the range R. is further enlarged in the direction of the horizontal axis than in the direction of the longitudinal axis and the data of the arctangular table is previously in the memory (flash ROM or the like) in the inclination angle detection device S. to save and at the time of calculating the angle of inclination of the vehicle 1 of the saddle type, read out the data from the memory to positively use the area in which the relationship between the division operation value and the inclination angle of the vehicle 1 the linear relationship becomes of the saddle type. Furthermore, in the data of the arctangle table, which are shown in 3B is shown, the table data approximately on a straight line up to the inclination angle of 100 degrees, thereby making it possible to detect overturn of the vehicle with less table data in a general vehicle overturn detection process. Further, since the table data does not return to data at the time of the upright position even when the inclination angle reaches 90 degrees, the inclination angle of 90 degrees or more can be easily and reliably detected, for example, even in the case of overturning on a sloping road the angle of inclination can be recorded precisely.

The tilt angle detection device S. with such a configuration, detects the inclination angle of the vehicle 1 of the saddle type by performing the inclination angle detection process described below. A flow of the inclination angle detection process performed by the inclination angle detection device S. is performed in accordance with the present embodiment is also referred to below with reference to FIG 4th explained.

[Tilt angle detection process]

4th Fig. 13 is a flowchart showing a flow of a tilt angle detection process by the tilt angle detection device S. according to the present embodiment.

As in the flowchart in 4th As shown, the inclination angle detection process of the present embodiment is started at a time point when an ignition switch (not shown) of the vehicle 1 of the saddle type is turned on and the inclination angle detecting device S. from a power source, such as B. a battery (not shown) attached to the vehicle 1 of the saddle type is mounted, power is supplied, and goes to a process in FIG S1 Further. The inclination angle detection process is repeatedly performed for every predetermined control cycle while power is supplied to the inclination angle detection device S. is delivered.

In the process in step S1 reads the registration unit C. the inclination angle detection device S. the acceleration component value (the XG value) in the direction of the first detection axis L1 by the accelerometer 20th is detected. Accordingly, the process is at step S1 is completed and the inclination angle detection process proceeds with a process in step S2 away.

In the process in step S2 reads the registration unit C. the inclination angle detection device S. the acceleration component value (the YG value) in the direction of the second detection axis L2 by the accelerometer 20th is detected. Accordingly, the process is at step S2 is completed and the inclination angle detection process proceeds with a process in step S3 away.

In the process in step S3 reads the registration unit C. the data indicating a correspondence relationship between the respective symbols of the XG value and the YG value and the area shown in 2A and 2 B is shown, and judges at which position in the area shown in 2A and 2 B As shown, the XG value and the YG value exist based on the respective symbols of the XG value and the YG value used in the processes in step S1 and step S2 can be read out while referring to the data. Accordingly, the process is at step S3 is completed and the inclination angle detection process proceeds with a process in step S4 away.

In the process in step S4 distinguishes the registration unit C. whether these positions are in the range of the narrow angle that between 135 degrees in the left ( L. ) Direction and 135 degrees in the right direction ( R. ) is inserted, shown in 2A and 2 B , based on the positions of the XG value and the YG value obtained through the process in step S3 be assessed. As a result of the distinction, when these positions exist in the range of the narrow angle between 135 degrees in the left ( L. ) Direction and 135 degrees in the right direction ( R. ) is inserted, the registration unit conducts C. the inclination angle detection process becomes a process in step S11 Further. On the other hand, if these positions are not in the range of the narrow angle that is between 135 degrees in the left ( L. ) Direction and 135 degrees in the right direction ( R. ) is inserted, the detection unit directs the inclination angle detection process to a process in step S5 Further.

In the process in step S5 distinguishes the registration unit C. whether one of the XG value and the YG value included in the processes in step S1 and step S2 read out is zero. As a result of the discrimination, if the XG value or the YG value is zero, the detection unit conducts C. the inclination angle detection process becomes a process in step S6 Further. On the other hand, if both the XG value and the YG value are not zero, the detection unit conducts C. the inclination angle detection process becomes a process in step S7 Further.

In the process in step S6 the registration unit decides C. that the angle of inclination of the vehicle 1 saddle type is 45 degrees. Accordingly, the process is at step S6 is completed and the tilt angle detection process continues with the process in step S11 away.

In the process in step S7 distinguishes the registration unit C. the size relationship of the XG value and the YG value established in the processes in step S1 and step S2 can be read out. As a result of the discrimination, if the XG value is greater than the YG value, the detection unit conducts C. the inclination angle detection process becomes a process in step S8 Further. On the other hand, if the YG value is greater than the XG value, the detection unit conducts C. the inclination angle detection process becomes a process in step S9 Further.

In the process in step S8 calculates the registration unit C. a value obtained by dividing the YG value by the XG value (YG value / XG value) as the division operation value ANSDIV. Accordingly, the method is at step S8 is completed and the inclination angle detection process proceeds with a process in step S10 away.

In the process in step S9 calculates the registration unit C. a value obtained by dividing the XG value by the YG value (XG value / YG value) as the division operation value ANSDIV. Accordingly, the method is at step S9 is completed and the tilt angle detection process continues with the process in step S10 away.

In the process in step S10 reads the registration unit C. the arctangular table data stored in 3A and 3B from memory and searches for the vehicle lean angle 1 of the saddle type corresponding to the division operation value ANSDIV used in the process in step S8 or step S9 is calculated while referring to the data. Accordingly, the method is at step S10 is completed and the tilt angle detection process continues with the process in step S11 away.

In the process in step S11 determines the registration unit C. the condition of the vehicle 1 of the saddle type, based on the angle of inclination of the vehicle 1 of the saddle type, and performs a corresponding process according to the determination result. Especially when the position included in the process in step S3 is present in the area of the narrow angle between 135 degrees in the left ( L. ) Direction and 135 degrees in the right direction ( R. ) is inserted, which is in 2A and 2 B is shown, the detection unit determines C. that the vehicle is of the saddle type 1 is overturned without performing the division operation to perform a stop operation of the motor E. Furthermore, the acquisition unit C. an output control of the engine E. based on the vehicle's lean angle 1 of the saddle type, each in the processes in step S3 and step S10 is obtained. Accordingly, the method is at step S11 to complete the series of tilt angle detection processes.

As can be seen from the above explanations, detected in the inclination angle detecting device S. of the vehicle 1 of the saddle type 1 according to the present embodiment, the acceleration sensor 20th the acceleration components XG and YG in the biaxial directions of the first detection axis L1 , which denotes the direction that is 45 degrees with respect to the axis line L0 vertically orthogonal to the pivot axis L. is inclined, which is arranged parallel to the vehicle width direction as a detection axis, and the second detection axis, which denotes the direction orthogonal to the first detection axis as a detection axis, in the plane (yz plane) extending from the vehicle width direction (the direction of the y-axis) and the vertical direction (the z-axis direction) of the vehicle 1 is defined by the saddle type. The registration unit C. detects the angle of inclination of the vehicle 1 of the saddle type based on the acceleration components XG and YG in the biaxial directions. Accordingly, a larger angle of inclination of the vehicle can be made 1 of the saddle type can be recorded precisely and with a simple procedure.

In the inclination angle detecting device S. of the vehicle 1 of the saddle type according to the present embodiment is given to the detection unit C. the angle of inclination of the saddle-type vehicle 1 by taking the division operation of the acceleration components XG and YG , based on the size of the acceleration components XG and YG in the biaxial directions. Accordingly, even when the vehicle is moving 1 of the saddle type tends to a right or left direction with respect to the moving direction, a larger angle of inclination of the vehicle 1 be recorded by the saddle type. Further, at the time of performing the division operation, the acceleration components XG and YG by exchanging the divisor and the dividend, the data and calculation processing for obtaining the inclination angle of the saddle type vehicle 1 be simplified.

In the inclination angle detecting device S. of the vehicle 1 of the saddle type according to the present embodiment is given to the detection unit C. the angle of inclination of the saddle-type vehicle 1 by searching the table data indicating the relationship between the division operation value resulting from the division operation and the arctangent value of the division operation value to obtain the arctangent value corresponding to the division operation value. Accordingly, the complicated arctangent value can be obtained simply by searching the table data, and even an inexpensive microcomputer can know the inclination angle of the saddle type vehicle 1 received exactly.

In the inclination angle detecting device S. of the vehicle 1 of the saddle type according to the present embodiment is the acceleration sensor 20th so on the vehicle 1 mounted on the saddle type that the axle line L0 orthogonal to the swivel axis L. at the middle part of the pivot axis L. runs in the vehicle width direction. Accordingly, the need to correct the acceleration components XG and YG detected in the biaxial directions are eliminated by a portion offset from the central part in the vehicle width direction, thereby the data and calculation processing for obtaining the inclination angle of the saddle type vehicle 1 can be simplified.

In the present invention, the kind, shape, arrangement, number and the like of the constituent parts are not limited to those of the embodiment explained above, and it is needless to say that the constituent parts can be modified as necessary without departing from the scope of the invention to deviate, such as B. by replacing these elements with other elements having identical operational effects.

As described above, the present invention can provide a saddle-type vehicle inclination angle detection device that can detect a greater inclination angle of the saddle-type vehicle accurately and by a simple method. Therefore, because of its general purpose and universal properties, the present invention is expected to have a wide range of applications in the field of saddle-type vehicles.

Claims (3)

An inclination angle detection device (S) of a saddle type vehicle (1) comprising: a detection unit (C) configured to determine an inclination angle of the saddle type vehicle (1) based on an acceleration component (XG, YG) of the saddle type vehicle (1), which is detected by an acceleration sensor (20), wherein the acceleration sensor (20) is configured to detect acceleration components (XG, YG) in biaxial directions of a first detection axis (L1), which designates a direction that is 45 degrees with respect to an axis line (L0) is inclined vertically orthogonally to a pivot axis (L) arranged in parallel to a vehicle width direction of the saddle type vehicle (1) as a detection axis, and a second detection axis (L2) which is a direction orthogonal to the first detection axis (L1) is denoted as a detection axis in a plane divided from the vehicle width direction and a vertical direction of the vehicle (1) from Sa tteltyp is defined to detect, a suspension arm (14), which supports a rear wheel (R) of the vehicle (1) of the saddle type, is fixedly attached to the pivot axis (L), the acceleration sensor (20) so on the vehicle (1) is mounted that the axis line (L0) is orthogonal to the pivot axis (L) at a central part of the pivot axis (L) in the vehicle width direction, and the detection unit (C) is formed based on a relationship between positive and negative symbols of the acceleration components (XG, YG) in the biaxial directions to determine whether or not the saddle type vehicle (1) is overturned, and when the detection unit (C) determines that the saddle type vehicle (1) is is not overturned to detect the inclination angle of the saddle type vehicle (1) in the plane defined by the vehicle width direction and the vertical direction of the saddle type vehicle (1) based on the acceleration components (XG, YG) in the biaxial directions . Tilt angle detection device (S) of a vehicle (1) of the saddle type according to Claim 1 wherein the detection unit (C) obtains the inclination angle of the saddle type vehicle (1) by performing a division operation of the acceleration components (XG, YG) based on a magnitude of the acceleration components (XG, YG) in the biaxial directions. Tilt angle detection device (S) of a vehicle (1) of the saddle type according to Claim 2 , wherein the detection unit (C) obtains the inclination angle of the saddle type vehicle (1) by searching table data indicating a relationship between a division operation value resulting from the division operation and an arctangent value of the division operation value to obtain the arctangent value which corresponds to the division operation value.

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