JP6212387B2 - Inclination angle detection device for saddle riding type vehicle - Google Patents

Description

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

  Conventionally, saddle riding type vehicles such as motorcycles, mopeds, scooters, etc. have been provided with a fall sensor, and when the fall of the vehicle is detected by the fall sensor, fuel injection and ignition control are stopped and the fuel pump is stopped. By doing so, the structure which stops the engine of a vehicle is employ | adopted.

  Such a fall sensor is generally provided with a weight or pendulum that moves according to the inclination of the vehicle body, and has a mechanical configuration in which the fall of the vehicle is detected when the weight or pendulum switches on when the vehicle falls. However, in recent years, instead of such a mechanical sensor, an electrical acceleration sensor using a semiconductor element has been adopted as a fall sensor.

  Specifically, Patent Document 1 relates to a motorcycle overturn detection device and a motorcycle, and a vertical acceleration that detects an acceleration component in a first detection direction that is a direction perpendicular to the ground when the vehicle body is in a non-tilt state. A configuration comprising a sensor and a lateral acceleration sensor that detects an acceleration component in a second detection direction that is a direction orthogonal to the first detection direction is disclosed, and an output value (Az) of the vertical acceleration sensor The inclination angle of the saddle-ride type vehicle is detected based on a value (Az / Ax) obtained by dividing by the output value (Ax) of the lateral acceleration sensor.

Japanese Patent No. 4773504

However, according to the study of the present inventor, in the configuration of Patent Document 1, specifically, the arc tangent value (tan ⁻¹ (Az / Ax)) necessary for calculating the inclination angle of the motorcycle is divided. By calculating arc tangent table data from the calculated value (Az / Ax), it is intended to reduce the calculation load when calculating the arc tangent value by the microcomputer. Since the slope of the curve indicating the relationship between the division calculation value and the arc tangent value suddenly changes from around the inclination angle of 60 °, the amount of table data tends to increase and the storage capacity tends to increase. As a result, it can be considered that it is difficult to obtain the arctangent value with an inexpensive microcomputer.

  Further, in the configuration of Patent Document 1, since the arc tangent table itself corresponds to the range of 90 ° left and right as the range of the tilt angle of the motorcycle, the situation where the tilt angle exceeds 90 °. If the motorcycle falls over (for example, if the motorcycle falls on a slope), the inclination angle is outside the range of the arc tangent table, and the inclination angle of the motorcycle cannot be detected. Can be considered.

Further, in the configuration of Patent Document 1, when the inclination angle of the motorcycle exceeds 90 °, the reverse phenomenon of the left and right inclinations occurs, so that the motorcycle is in an upside down state by an operation different from the operation using the arctangent value. It is necessary to determine whether or not the vehicle is in a fall state, and the configuration tends to be complicated.

  The present invention has been made through the above-described studies, and provides a tilt angle detection device for a saddle type vehicle that can accurately and easily detect a wider tilt angle of the saddle type vehicle. The purpose is to provide.

In order to achieve the above object, the present invention provides a tilt angle detection device for a saddle type vehicle that can detect the tilt angle of the saddle type vehicle based on an acceleration component of the saddle type vehicle detected by an acceleration sensor. The saddle riding type vehicle is arranged in parallel to the vehicle width direction in a plane defined by the vehicle width direction and the vertical direction of the saddle riding type vehicle, and is disposed behind the saddle riding type vehicle. The acceleration sensor has a pivot shaft that supports a wheel and supports a swingable suspension arm, and the acceleration sensor passes through a center point of the pivot shaft in the vehicle width direction and is orthogonal to the pivot shaft in the vertical direction. the axis while being attached to the saddle-type vehicle as a reference line, a first detection axis and a detection axis direction which is inclined at 45 ° through the center point with respect to said axis, said center point the through first Detecting a second detection axis and the detection axis and a direction perpendicular to the detection axis, two axes direction of the acceleration component of the detection unit, based on the relationship of the code between the positive and negative of the acceleration component of the two-axis direction And determining whether the saddle riding type vehicle has fallen or not, and when determining that the saddle riding type vehicle has not fallen , the inclination angle of the saddle riding type vehicle is determined based on the acceleration component in the two-axis direction. Detecting is the first aspect.

  In addition to the first aspect, the present invention provides that the detection unit divides the acceleration components based on the magnitudes of the acceleration components in the biaxial directions, thereby calculating the The second aspect is to obtain the inclination angle.

  In addition to the second aspect, the present invention searches the table data indicating the relationship between the division calculation value and the arctangent value of the division calculation value, and corresponds to the division calculation value. It is a third aspect to obtain the inclination angle of the saddle riding type vehicle by obtaining the arc tangent value.

According to the inclination angle detection device for a saddle-ride type vehicle according to the first aspect of the present invention described above, the acceleration sensor is within the plane defined by the vehicle width direction and the vertical direction of the saddle-ride type vehicle. in the vertical direction the pivot axis passes through the center point in the vehicle width direction of the pivot shaft for supporting the suspension arm is swingably supports the rear wheel of Rutotomoni saddle type vehicle is arranged parallel to the direction A first detection axis that is mounted on a saddle-ride type vehicle with an orthogonal axis as a reference line and that is inclined by 45 ° through the center point with respect to the axis, and a first detection axis that passes through the center point . Detecting an acceleration component in a biaxial direction with a second detection axis having a direction orthogonal to the detection axis of 1 as a detection axis, and the detection unit based on the relationship between the positive and negative signs of the acceleration component in the biaxial direction Determine whether the saddle riding type vehicle has fallen and Because detects the inclination angle of the saddle riding type vehicle on the basis of the case where the type vehicle is determined not to fall in the acceleration component of the two-axis directions, accurately wider-angle inclination of the saddle type vehicle, In addition, it is possible to detect by a simple method, and it is possible to eliminate the necessity of correcting the acceleration component detected in the biaxial direction by the amount offset from the center portion in the vehicle width direction. It is possible to simplify data and calculation processing for obtaining the inclination angle .

  In addition, according to the lean angle detecting device for saddle riding type vehicles according to the second aspect of the present invention, the detecting unit divides the acceleration components based on the magnitude of the acceleration components in the biaxial direction, thereby reducing the saddle type vehicle. Since the inclination angle of the saddle type vehicle is obtained, even if the saddle type vehicle is inclined in either the left or right direction with respect to the traveling direction, the wider inclination angle of the saddle type vehicle is obtained. Can be detected. In addition, when dividing the acceleration components, the divisor and the dividend are exchanged, thereby simplifying data and calculation processing for obtaining the inclination angle of the saddle riding type vehicle.

Further, according to the tilt angle detection device for a saddle-ride type vehicle according to the third aspect of the present invention, the detection unit searches the table data indicating the relationship between the division calculation value and the arc tangent value of the division calculation value. Since the arc tangent value corresponding to the division calculation value is obtained to obtain the inclination angle of the saddle-ride type vehicle, a complicated arc tangent value can be easily obtained by searching table data, and an inexpensive microcomputer. Even so, the inclination angle of the saddle-ride type vehicle can be obtained with high accuracy.

FIG. 1A is a side view of a saddle-ride type vehicle to which the tilt angle detection device according to the embodiment of the present invention is applied. FIG. 1B is a diagram illustrating the tilt angle detection device according to the present embodiment. FIG. 1C is a front view of the saddle-ride type vehicle, and FIG. 1C is a saddle-ride type in which the acceleration sensor of the tilt angle detection device according to the present embodiment is based on the center portion of the pivot shaft provided in the saddle-ride type vehicle. It is a schematic diagram which shows the state with which the type | mold vehicle was mounted | worn. FIG. 2A shows the tilt angle of the saddle-ride type vehicle to which the tilt angle detection device of the present embodiment is applied, and the first detection axis and the second detection of the acceleration sensor of the tilt angle detection device of the present embodiment. It is a figure which shows the relationship between each output value of an axis | shaft, FIG.2 (b) is the inclination angle of the saddle-ride type vehicle to which the inclination angle detection apparatus in this embodiment is applied, and the inclination angle in this embodiment. It is a figure which shows the relationship with the division calculation value used with a detection apparatus. FIG. 3A is an arc tangent function graph showing the relationship between the tilt angle of the saddle-ride type vehicle to which the tilt angle detection device of the present embodiment is applied and the division calculation value used in the tilt angle detection device of the present embodiment. It is. FIG. 3B corresponds to a partially enlarged view of FIG. 3A in which the area R shown in FIG. 3A is changed in aspect ratio, and is used in the tilt angle detection device in the present embodiment. The arc tangent table to get. FIG. 4 is a flowchart illustrating the flow of the tilt angle detection process performed by the tilt angle detection device according to the present embodiment.

  Hereinafter, a tilt angle detection device for a saddle-ride type vehicle according to an embodiment of the present invention will be described in detail with reference to the drawings as appropriate. In the figure, the x-axis, y-axis, and z-axis form a three-axis orthogonal coordinate system. Further, the positive direction of the x axis is the rear direction of the vehicle body, the positive direction of the y axis is the right direction of the vehicle body, and the positive direction of the z axis is the upward direction of the vehicle body. Further, the x-axis direction corresponds to the longitudinal direction of the vehicle body, the y-axis direction corresponds to the vehicle width direction (vehicle width direction), and the z-axis direction corresponds to the vertical direction of the vehicle body.

[Configuration of saddle riding type vehicle]
First, with reference to FIG. 1A and FIG. 1B, a configuration of a saddle-ride type vehicle to which the tilt angle detection device according to the present embodiment is applied will be described in detail.

  FIG. 1A is a side view of a saddle riding type vehicle to which the tilt angle detection device according to the present embodiment is applied, and FIG. 1B is a saddle ride to which the tilt angle detection device according to the present embodiment is applied. It is a front view of a type vehicle. FIG. 1C is a schematic diagram illustrating a state in which the acceleration sensor of the tilt angle detection device according to the present embodiment is mounted on the saddle-ride type vehicle with the central portion of the pivot shaft provided in the saddle-ride type vehicle as a reference. FIG.

As shown in FIG. 1A to FIG. 1C, a saddle-ride type vehicle 1 such as a motorcycle to which the tilt angle detection device S according to this embodiment is applied is fixed to the frame 11 and the frame 11. A pivot support portion 12 and a pivot member 13 rotatably mounted on the pivot support portion 12. The frame 11 corresponds to the vehicle body of the saddle-ride type vehicle 1. The pivot member 13 has a pivot shaft L that is a pivot shaft that rotates in a state in which the pivot member 13 is mounted on the pivot support portion 12. The pivot shaft L extends in the width direction of the vehicle body, and a center point P in the width direction of the vehicle body is defined at a central portion of the pivot shaft L in the width direction of the vehicle body. The center point P is a layout reference point when the components of the saddle riding type vehicle 1 are arranged at the time of design, and is a representative point representing the behavior of the saddle riding type vehicle 1. Also, the pivot member 13 is fixedly provided with a swing arm 14 that is a suspension arm that supports the rear wheel R of the saddle-ride type vehicle 1 in a strong manner through a shaft member (not shown) while defining its position. The The swing arm 14 is swingable in a plane parallel to the xz plane with the pivot axis L as the swing center. In the drawing, the pivot member 13 is shown as a single member, but it may be divided into a plurality of members.

[Configuration of acceleration sensor]
Next, mainly with reference to FIG.1 (c), the structure of the acceleration sensor with which the inclination-angle detection apparatus S in this embodiment is provided is demonstrated.

  As shown in FIG. 1C, the acceleration sensor 20 provided in the tilt angle detection device S in the present embodiment is typically a single acceleration sensor having two detection axes. The acceleration sensor 20 is fixedly mounted on the saddle-ride type vehicle 1 so that an axis line L0 that passes through the center point P and is perpendicular to the pivot axis L in the vertical direction is the positional reference axis line. In order to realize such a mounting state of the acceleration sensor 20, the acceleration sensor 20 is typically fixed to the frame 11 of the saddle riding type vehicle 1 and disposed at the position of the center point P. In addition, when it is difficult to arrange the acceleration sensor 20 at the position of the center point P due to restrictions on the layout of various components of the saddle-ride type vehicle 1, the acceleration sensor 20 is connected to the center point P. An axis L0 perpendicular to the pivot axis L in the vertical direction is set as a positional reference axis on the axis L0 at a position near the center point P offset by a predetermined distance from the center point P. It is also possible.

  Specifically, the acceleration sensor 20 has a first detection that extends in the direction of an axis that passes through the center point P and rotates 45 ° counterclockwise with respect to the axis L0 in a plane parallel to the yz plane. It has an axis L1 and a second detection axis L2 extending in the direction of the axis passing through the center point P and rotated clockwise by 45 ° with respect to the axis L0, and is orthogonal to the first detection axis L1 The acceleration in the biaxial direction of the second detection axis L2 thus made can be detected as an acceleration component of the saddle-ride type vehicle 1. Thus, the detection sensitivity of each of the first detection axis L1 and the second detection axis L2 is made equal by inclining the detection axis of the acceleration in two directions by 45 ° with respect to the axis L0 extending in the vertical direction. Therefore, even if the saddle riding type vehicle 1 changes its posture in the vertical direction (pitch direction), the inclination angle can be accurately detected. In the acceleration sensor 20, the positional accuracy of the acceleration sensor 20 with respect to the center point P, the positional accuracy of the axis L0 with respect to the center point P, the angular accuracy of the axis L0 with respect to the pivot axis L, the first detection axis L1 and the second detection axis L1. The angular accuracy of each of the detection axes L2 with respect to the axis L0 allows tolerances such as mounting tolerances and manufacturing tolerances of the acceleration sensor 20.

[Configuration of tilt angle detector]
Next, with reference to FIG. 2 and FIG. 3 in addition to FIG. 1 (c), the configuration of the tilt angle detection device S in the present embodiment will be described.

FIG. 2A shows the tilt angle of the saddle-ride type vehicle 1 to which the tilt angle detection device S according to the present embodiment is applied, and the first detection axis L1 of the acceleration sensor 20 of the tilt angle detection device S according to the present embodiment. FIG. 2B is a diagram showing a relationship between output values (gravity values) of the second detection axis L2 and FIG. 2B is a saddle-ride type vehicle to which the tilt angle detection device S according to the present embodiment is applied. It is a figure which shows the relationship between 1 inclination-angle and the division | segmentation calculation value used with the inclination-angle detection apparatus S in this embodiment. FIG. 3A is an arc tangent function showing the relationship between the tilt angle of the saddle-ride type vehicle to which the tilt angle detection device in the present embodiment is applied and the division calculation value used in the tilt angle detection device in the present embodiment. It is a graph of. FIG. 3B corresponds to a partially enlarged view of FIG. 3A in which the area R shown in FIG. 3A is changed in aspect ratio, and is used in the tilt angle detection device in the present embodiment. The arc tangent table to get.

  The inclination angle detection device S in the present embodiment is an arithmetic processing unit such as a microcomputer having a CPU (Central Processing Unit) and a memory (not shown), and is typically an ECU (Electronic Control Unit). The tilt angle detection device S reads the necessary control program and control data from the memory, and the detection unit C determines the tilt angle of the saddle-ride type vehicle 1 based on the biaxial acceleration detected by the acceleration sensor 20. To detect. The detection unit C may be realized as a functional block of the CPU in the inclination angle detection device S or may be realized as an electric circuit.

  In general, when the detection axis of the acceleration sensor is inclined 45 ° with respect to the vertical direction, the detection sensitivity does not become zero when the saddle riding type vehicle 1 is upright in the z direction. The inclination angle of the riding type vehicle 1 can be calculated with high accuracy. However, in this case, when calculating the tilt angle of the saddle-ride type vehicle 1 with reference to the tangent table data, if the tilt angle of the saddle-ride type vehicle 1 is around 45 ° and 135 ° left and right, the tangent table to be referred to It is difficult to detect the inclination angle of the saddle-ride type vehicle 1 because the inclination of the data changes abruptly and a reverse phenomenon of the left and right inclination angles occurs. Further, if the inclination angle is calculated using such table data, separate table data is required in the left-right direction.

  Therefore, in the detection unit C of the inclination angle detection device S in the present embodiment, the acceleration sensor 20 having the first detection axis L1 and the second detection axis L2 as described above is used, and each is detected by the acceleration sensor 20. The acceleration component value (XG value) that is the output value (gravity value) in the first detection axis L1 direction of the saddle riding type vehicle 1 and the output value (gravity in the second detection axis L2 direction of the saddle riding type vehicle 1) Using an acceleration component value (YG value) that is a value), a division operation or the like in which a divisor and a dividend are switched in accordance with the magnitude relationship of those values is executed.

  Specifically, first, the detection unit C determines each area shown in FIGS. 2A and 2B corresponding to the magnitude relationship between the detected XG value and YG value, Accordingly, either a division calculation value (XG / YG value) obtained by dividing the XG value by the YG value or a division calculation value (YG / XG value) obtained by dividing the YG value by the XG value is calculated. However, the inclination angle of the saddle-ride type vehicle 1 obtained from the relationship between the positive and negative signs of the detected XG value and YG value is 135 ° in the left (L) direction and 135 ° in the right (R) direction. When it is in the region sandwiched by the narrow angle, the detection unit C determines that the saddle riding type vehicle 1 is falling without executing the division operation, and executes the stopping operation of the engine E. Thereby, the calculation load of the microcomputer can be reduced. In addition, the area | region which the detection part C judges that the saddle-riding type vehicle 1 is falling can be suitably set according to the specification etc. of the saddle-riding type vehicle 1. FIG. Further, the region sandwiching 135 ° in the left (L) direction and 135 ° in the right (R) direction at a narrow angle is the region in the left (L) direction of 135 ° to 180 ° and the right (R) direction. It means an area between 135 ° and 180 °.

Next, the detection unit C uses the saddle riding type corresponding to the division calculation value from the data of the arc tangent table in which the relationship between the division calculation value and the inclination angle of the saddle riding type vehicle 1 shown in FIG. By searching the tilt angle of the vehicle 1, the tilt angle of the saddle-ride type vehicle 1 is calculated. Here, the arc tangent table shown in FIG. 3 (b) shows the relationship between the XG / YG value and the inclination angle of the saddle riding type vehicle 1. As described above, the division calculation value is the XG value and the YG value. Since the divisor and the dividend are switched according to the magnitude relationship of the values, the arctangent table showing the relationship between the YG / XG value and the inclination angle of the saddle riding type vehicle 1 is the same as that shown in FIG. Become. Therefore, by preparing the data of one arc tangent table shown in FIG. 3B and applying either the XG value or the YG value to the horizontal axis, the inclination angle of the saddle-ride type vehicle 1 in both the left and right directions can be determined. Can be calculated.

  Here, in the acceleration sensor 20, the detection axis of the acceleration in the two directions is inclined by 45 ° with respect to the axis L0 extending in the vertical direction, so that the arctangent function shown in FIG. The graph is offset by 45 ° in the positive direction of the vertical axis. In addition, the arc tangent function graph shown in FIG. 3A is a substantially linear graph in a region R from about 1 ° to about 100 ° of the inclination angle. Therefore, the arc tangent table shown in FIG. 3B is created according to the graph of the arc tangent function of the region R shown in FIG. 3A expanded in the horizontal axis direction than the vertical axis direction. Then, the data is stored in advance in a memory (flash ROM or the like) in the tilt angle detection device S, and when the tilt angle of the saddle riding type vehicle 1 is calculated, it is read out from the memory and the division calculation value and the saddle riding type vehicle are read out. It is preferable to actively use a region in which the inclination angle of 1 is linear. In addition, in the arc tangent table data shown in FIG. 3 (b), the table data value is on a substantially straight line up to the vicinity of an inclination angle of 100 °. Can be detected. Furthermore, since the table data does not return to the data in the upright state even when the inclination angle becomes 90 °, an inclination angle of 90 ° or more can be detected easily and reliably, for example, in the case of a fall on a slope However, the tilt angle can be accurately detected.

  The inclination angle detection device S having such a configuration detects the inclination angle of the saddle-ride type vehicle 1 by executing the following inclination angle detection process. Hereinafter, the flow of the tilt angle detection process performed by the tilt angle detection device S according to this embodiment will be described with reference to FIG.

[Inclination detection processing]
FIG. 4 is a flowchart showing the flow of the tilt angle detection process by the tilt angle detection device S in the present embodiment.

  As shown in the flowchart of FIG. 4, the inclination angle detection process in the present embodiment is omitted in the illustration of the saddle-ride type vehicle 1 mounted on the saddle-type vehicle 1 with the ignition switch not shown in the figure turned on. When the power is supplied from the power source such as a battery to the tilt angle detection device S, the tilt angle detection process proceeds to the process of step S1. The inclination angle detection process is repeatedly executed every predetermined control period while power is supplied to the inclination angle detection device S in this way.

  In the process of step S1, the detection unit C of the tilt angle detection device S reads the acceleration component value (XG value) in the first detection axis L1 direction detected by the acceleration sensor 20. Thereby, the process of step S1 is completed and the inclination angle detection process proceeds to the process of step S2.

  In the process of step S2, the detection unit C reads the acceleration component value (YG value) in the direction of the second detection axis L2 detected by the acceleration sensor 20. Thereby, the process of step S2 is completed, and the inclination angle detection process proceeds to the process of step S3.

In the process of step S3, the detection unit C reads data indicating the correspondence between the codes of the XG value and the YG value and the areas shown in FIGS. 2A and 2B from the memory, and stores the data. The XG value and the YG value are located in the area shown in FIGS. 2A and 2B based on the XG value and the YG value read by the processing in step S1 and step S2 with reference to each other. Judge whether to do. Thereby, the process of step S3 is completed, and the inclination angle detection process proceeds to the process of step S4.

In the process of step S4, the detection unit C determines the positions of the left (L) shown in FIGS. 2A and 2B based on the positions of the XG value and the YG value determined by the process of step S3. ) Direction and 135 [deg.] In the right (R) direction are determined to be within a region sandwiched by a narrow angle. As a result of the determination, when the left (L) direction 135 ° and the right (R) direction 135 ° are within a narrow angle, the detection unit C advances the inclination angle detection process to the process of step S11. . On the other hand, if it is not within the region sandwiching 135 ° in the left (L) direction and 135 ° in the right (R) direction at a narrow angle, the detection unit C advances the tilt angle detection process to the process of step S5 .

  In the process of step S5, the detection unit C determines whether one of the XG value and the YG value read by the processes of step S1 and step S2 is zero. As a result of the determination, when one of the XG value and the YG value is 0, the detection unit C advances the tilt angle detection process to the process of step S6. On the other hand, when both the XG value and the YG value are not 0, the detection unit C advances the tilt angle detection process to the process of step S7.

  In the process of step S6, the detection unit C determines that the inclination angle of the saddle riding type vehicle 1 is 45 °. Thereby, the process of step S6 is completed, and the tilt angle detection process proceeds to the process of step S11.

  In the process of step S7, the detection unit C determines the magnitude relationship between the XG value and the YG value read by the processes of step S1 and step S2. As a result of the determination, when the XG value is larger than the YG value, the detection unit C advances the tilt angle detection process to the process of step S8. On the other hand, when the YG value is larger than the XG value, the detection unit C advances the tilt angle detection process to the process of step S9.

  In the process of step S8, the detection unit C calculates a value obtained by dividing the YG value by the XG value (YG value / XG value) as a division operation value ANSDIV. Thereby, the process of step S8 is completed, and the inclination angle detection process proceeds to the process of step S10.

  In the process of step S9, the detection unit C calculates a value obtained by dividing the XG value by the YG value (XG value / YG value) as a division operation value ANSDIV. Thereby, the process of step S9 is completed and the inclination angle detection process proceeds to the process of step S10.

  In the process of step S10, the detection unit C reads the arc tangent table data shown in FIG. 3A or 3B from the memory, and is calculated in the process of step S8 or step S9 while referring to the data. The inclination angle of the saddle riding type vehicle 1 corresponding to the division calculation value ANSDIV is searched. Thereby, the process of step S10 is completed, and the inclination angle detection process proceeds to the process of step S11.

  In the process of step S11, the detection unit C determines the state of the saddle riding type vehicle 1 based on the inclination angle of the saddle riding type vehicle 1, and executes an appropriate process according to the determination result. Specifically, the position obtained in step S3 is a narrow angle between 135 ° in the left (L) direction and 135 ° in the right (R) direction shown in FIGS. 2 (a) and 2 (b). If it is within the sandwiched area, the detection unit C determines that the saddle riding type vehicle 1 has fallen, and executes the stop operation of the engine E without performing the division operation. Further, based on the inclination angle of the saddle-ride type vehicle 1 obtained in the processing of step S3 and step S10, output control of the engine E and the like are executed. Thereby, the process of step S11 is completed and a series of inclination angle detection processes are completed.

  As is clear from the above description, in the inclination angle detection device S of the saddle-ride type vehicle 1 in the present embodiment, the acceleration sensor 20 includes the vehicle width direction (the y-axis direction) and the vertical direction ( In a plane (y-z plane) defined by the z-axis direction), it is inclined by 45 ° with respect to the axis L0 perpendicular to the vertical axis in the vertical direction to the pivot axis L arranged parallel to the vehicle width direction. Detects acceleration components XG and YG in the biaxial direction of a first detection axis L1 having a direction as a detection axis and a second detection axis L2 having a direction orthogonal to the first detection axis L1 as a detection axis Since the detection unit C detects the inclination angle of the saddle riding type vehicle 1 based on the biaxial acceleration components XG and YG, the wider inclination angle of the saddle riding type vehicle 1 can be accurately determined. It can be detected by a simple method.

  In addition, in the tilt angle detection device S of the saddle-ride type vehicle 1 in the present embodiment, the detection unit C performs a division operation on the acceleration components XG and YG based on the magnitudes of the acceleration components XG and YG in the biaxial direction. Since the inclination angle of the saddle-ride type vehicle 1 is obtained by the above, even if the saddle-ride type vehicle 1 is inclined in either the left or right direction with respect to the traveling direction, A wide angle of inclination can be detected. Further, when dividing the acceleration components XG and YG, the data and calculation processing for obtaining the inclination angle of the saddle riding type vehicle 1 can be simplified by exchanging the divisor and the dividend.

  In addition, in the tilt angle detection device S of the saddle-ride type vehicle 1 in the present embodiment, the detection unit C searches the table data indicating the relationship between the division calculation value and the arc tangent value of the division calculation value to obtain the division calculation value. Since the inclination angle of the saddle-ride type vehicle 1 is obtained by obtaining the corresponding arc tangent value, a complicated arc tangent value can be easily obtained by searching table data. In addition, the inclination angle of the saddle-ride type vehicle 1 can be obtained with high accuracy.

  In addition, in the inclination angle detection device S of the saddle-ride type vehicle 1 in the present embodiment, the acceleration sensor 20 is configured so that the axis L0 is orthogonal to the pivot axis L at the center in the vehicle width direction of the pivot axis L. Therefore, it is possible to eliminate the necessity of correcting the acceleration components XG and YG detected in the biaxial direction by the amount offset from the center in the vehicle width direction. Data and calculation processing for obtaining the tilt angle of the vehicle 1 can be simplified.

  In the present invention, the type, shape, arrangement, number, and the like of the members are not limited to the above-described embodiment, and the gist of the invention is appropriately replaced such that the constituent elements are appropriately replaced with those having the same operational effects. Of course, it can be changed as appropriate without departing from the scope.

  As described above, the present invention can provide a tilt angle detection device for a saddle type vehicle that can accurately detect a wider tilt angle of the saddle type vehicle with a simple method. Therefore, it is expected to be widely applicable to saddle-ride type vehicles because of its universality.

DESCRIPTION OF SYMBOLS S ... Inclination angle detection apparatus 1 ... Saddle-ride type vehicle 11 ... Frame 12 ... Pivot support part 13 ... Pivot member 14 ... Swing arm 20 ... Acceleration sensor E ... Engine R ... Rear wheel C ... Detection part L ... Pivot axis L0 ... Position Reference axis L1 ... first detection axis L2 ... second detection axis

Claims (3)

An apparatus for detecting an inclination angle of a saddle-ride type vehicle capable of detecting an inclination angle of the saddle-ride type vehicle based on an acceleration component of the saddle-ride type vehicle detected by an acceleration sensor,
The saddle riding type vehicle is arranged in parallel to the vehicle width direction in a plane defined by the vehicle width direction and the vertical direction of the saddle riding type vehicle and supports the rear wheel of the saddle riding type vehicle. A pivot shaft that pivotally supports a swingable suspension arm,
The acceleration sensor is attached to the saddle-ride type vehicle with an axis line passing through a center point of the pivot shaft in the vehicle width direction and orthogonal to the pivot shaft in the vertical direction as a reference line, and with respect to the axis line A first detection axis whose detection axis is a direction inclined by 45 ° through the center point, and a second detection axis whose detection axis is a direction orthogonal to the first detection axis through the center point And the acceleration component in the biaxial direction of
When the detection unit determines whether or not the saddle riding type vehicle has fallen based on a relationship between positive and negative signs of the acceleration components in the two-axis directions, and determines that the saddle riding type vehicle has not fallen inclination angle detection device for a saddle type vehicle and detecting the inclination angle of the saddle-type vehicle based on the acceleration component of the two-axis direction.   The said detection part calculates | requires the said inclination | tilt angle of the said saddle-riding type vehicle by dividing the said acceleration components based on the magnitude | size of the said acceleration component of the said 2 axis direction. Tilt angle detection device for saddle riding type vehicles.   The detection unit searches the table data indicating the relationship between the division calculation value and the arc tangent value of the division calculation value to obtain the arc tangent value corresponding to the division calculation value, thereby the saddle riding type vehicle. The inclination angle detection device for a saddle-ride type vehicle according to claim 2, wherein the inclination angle is calculated.

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