JP6937264B2 - Brake control device for bar handlebar vehicles - Google Patents

Description

The present invention relates to a brake control device for a bar handle vehicle.

Conventionally, a technique for providing driving support such as a brake for a four-wheeled vehicle by using map information is known (see, for example, Patent Document 1). In this technology, the proper turning vehicle speed at the corner in front of the own vehicle is obtained based on the map information from the navigation system, and the deceleration required to reach the proper turning vehicle speed from the current vehicle speed and the distance to the corner. Ask for. Then, when the obtained deceleration is larger than the preset allowable deceleration, the own vehicle is decelerated in front of the corner.

Japanese Unexamined Patent Publication No. 6-036187 (particularly, paragraph 0047)

However, in the invention described in Patent Document 1, driving support for a bar handle vehicle such as a motorcycle is not assumed. That is, since the basic structure and operation of a four-wheeled vehicle and a bar-handled vehicle such as a motorcycle are different, the same control cannot be performed between the four-wheeled vehicle and the motorcycle, which is described in Patent Document 1. The technology cannot be applied to motorcycles as it is.

In particular, bar-handle vehicles such as motorcycles are more susceptible to the environment (for example, weather, temperature, road surface conditions, etc.) than four-wheeled vehicles, and it is necessary to consider the environmental impact when providing driving support. ..

From such a viewpoint, the present invention provides a brake control device for a bar-handle vehicle capable of traveling in a driving caution section by suppressing overspeeding in a driving caution section such as a corner or a slow-moving section.

In order to solve the above problems, the brake control device for a bar handle vehicle according to the present invention includes braking force control means capable of controlling the front wheel brake and the rear wheel brake of the bar handle vehicle, respectively, and the front and rear wheels of the bar handle vehicle. It includes a wheel speed sensor that detects the wheel speed of the wheel, and a vehicle speed calculation means that calculates the vehicle speed based on the wheel speed.
The brake control device for the bar handle vehicle also provides a position information acquisition means for acquiring the position information of the bar handle vehicle and an appropriate speed at which the bar handle vehicle can travel in a traveling caution section at an appropriate speed. From the stored database, the appropriate speed acquisition means for acquiring the appropriate speed of the driving caution section in front of the current position is compared with the vehicle speed and the appropriate speed before entering the driving caution section in front of the vehicle. It has an appropriate speed determining means for determining whether or not the speed is higher than the appropriate speed. Travel information of other vehicles is stored in the database. The bar-handle vehicle brake control device further includes a travel information acquisition unit that acquires the travel information of the road ahead.
The appropriate speed determination means makes a determination using the appropriate speed after correction based on the travel information. The braking force control means executes control of applying a braking force to at least one of the front wheel brake and the rear wheel brake when the vehicle speed is higher than the appropriate speed.

In the brake control device for a bar handle vehicle according to the present invention, an appropriate speed capable of traveling at an appropriate speed is set in advance in each travel caution section, and the appropriate speed is exceeded before the travel caution section. Determine if it is not. Then, when the vehicle speed is higher than the appropriate speed, a braking force is applied to the brake to decelerate the vehicle. Therefore, it is possible to prevent the vehicle speed from exceeding the appropriate speed in the driving caution section.
Further, since the comparison target is an appropriate speed according to the traveling information, it is possible to travel at an appropriate speed even on a road requiring caution, for example.

When the vehicle speed is higher than the proper speed, it is preferable to provide a warning means for warning the driver that the proper speed is exceeded.

In this way, it is easy for the driver to control the behavior of the own vehicle because it is known in advance that the vehicle will decelerate.

It is preferable to provide an environmental information acquisition means for acquiring the environmental information of the road ahead, and the appropriate speed determination means may further determine using the appropriate speed after correction based on the environmental information.

In this way, the comparison target has an appropriate speed according to the environmental information, so that it is possible to follow changes in the environment such as when the road surface is wet.

According to the present invention, it is possible to travel in a driving caution section while suppressing overspeeding in a driving caution section such as a corner or a driving section.

It is a block diagram which shows the whole structure of the brake control device for a bar handle vehicle which concerns on embodiment of this invention. This is an example of an appropriate speed table. It is an example of the flowchart which shows the operation at the time of entering a corner of the brake control device for a bar handle vehicle which concerns on embodiment of this invention. It is a figure for demonstrating the operation at the time of entering a corner of the brake control device for a bar handle vehicle which concerns on embodiment of this invention.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings as appropriate. Each figure is only schematically shown to the extent that the present invention can be fully understood. Therefore, the present invention is not limited to the illustrated examples. In each figure, common components and similar components are designated by the same reference numerals, and duplicate description thereof will be omitted.

<About the configuration of the brake control device for the bar handle vehicle according to the embodiment>
The brake control device 1 for a bar handle vehicle according to the embodiment will be described with reference to FIG. The brake control device 1 for a bar handle vehicle (hereinafter, simply referred to as "brake control device 1") is a device that controls the brakes of a vehicle having a bar handle (for example, a motorcycle having front and rear wheels). In particular, it has a function to suppress overspeeding in driving caution sections such as corners and slow-moving sections. In the following, a corner will be described as an example of a driving caution section.

The brake control device 1 includes a front wheel brake 2 and a rear wheel brake 3 provided independently of each other, a hydraulic pressure control device 4, a front wheel brake operator 5 operated by a driver of a bar handle vehicle, and a rear wheel brake operation. It has a child 6.
Further, the brake control device 1 includes a wheel speed sensor 7, a position information acquisition means 8 for acquiring the current position information, a photographing means 9 for capturing an image (including an image) in the traveling direction, and an overspeed for the driver. It is provided with a warning means 10 for notifying the possibility of the above.
Further, the brake control device 1 includes a database 20 in which various information used for brake control is stored, and a control device 30.

The front wheel brake 2 is configured as a disc brake including a front brake disc attached to the front wheel of the bar handle vehicle and a front brake caliper that receives hydraulic pressure to sandwich the front brake disc.
The rear wheel brake 3 is configured as a disc brake including a rear brake disc attached to the rear wheel of the bar handle vehicle and a rear brake caliper that receives hydraulic pressure to sandwich the rear brake disc.

The hydraulic pressure control device 4 is a device that supplies hydraulic pressure to the front wheel brake 2 and the rear wheel brake 3, and supplies hydraulic pressure corresponding to the amount of operation of the front wheel brake operator 5 and the rear wheel brake operator 6, for example. .. Further, the hydraulic pressure control device 4 has an electromagnetic valve and a motor (not shown), and in order to suppress overspeed, the electromagnetic valve and the motor are operated by a command from the braking force control means 35 described later to operate the front wheels. The hydraulic pressure is supplied to the brake 2 and the rear wheel brake 3. Further, the hydraulic pressure control device 4 can perform ABS control by reducing, increasing, or holding the hydraulic pressure of the front wheel brake 2 and the rear wheel brake 3 as needed.

The front wheel brake operator 5 is, for example, a lever 5a and a front wheel master cylinder 5b that are manually operated, and are attached to a bar handle. The force for gripping the front wheel brake operator 5 is transmitted to the front wheel brake 2 as hydraulic pressure by the front wheel master cylinder 5b. Further, a pressure sensor 11 for detecting the operation of the front wheel brake operator 5 is provided in the hydraulic path between the front wheel brake operator 5 and the hydraulic pressure control device 4, and the operation of the front wheel brake operator 5 is performed. , Is transmitted to the control device 30 as a signal.

The rear wheel brake actuator 6 is, for example, a foot-operated pedal 6a and a rear wheel master cylinder 6b, which are mounted near the step. The force of stepping on the rear wheel brake operator 6 is transmitted to the rear wheel brake 3 as hydraulic pressure by the rear wheel master cylinder 6b. Further, a pressure sensor 11 for detecting the operation of the rear wheel brake operator 6 is provided in the hydraulic path between the rear wheel brake operator 6 and the hydraulic pressure control device 4, and the rear wheel brake operator 6 is provided. The operation of is transmitted to the control device 30 as a signal. In the embodiment, the rear wheel brake operator 6 is used as a pedal, but a lever may also be used.

The wheel speed sensor 7 is a device that detects the rotational speeds of the front wheels and the rear wheels as signals. The wheel speed sensor 7 detects, for example, unevenness provided on the wheels of the front wheels and the rear wheels by an electromagnetic sensor, and outputs an intermittent pulse (electric signal).

The position information acquisition means 8 is a device that acquires the current position information of the own vehicle, and is, for example, a GPS (Global Positioning System) receiver. When a GPS receiver is assumed as the position information acquisition means 8, it receives radio waves (positioning signals) transmitted from GPS satellites and calculates its own position.

The photographing means 9 is a device that captures an image in the traveling direction, and is, for example, a camera including a CMOS (Complementary metal-oxide-semiconductor) image sensor or a CCD (Charged-coupled devices) image sensor. The photographing means 9 is installed at a place where the traveling direction of the own vehicle can be photographed (for example, the front part of the vehicle).

The warning means 10 notifies the driver of the possibility of overspeeding in a corner, and for example, displays information notifying the overspeeding on a panel provided in the bar handle vehicle.

The database 20 is a storage unit that stores various information used for brake control. For example, the map information 21 and the appropriate speed table 22 are stored in the database 20. A part or all of the information stored in the database 20 may be stored in a place other than the bar handle vehicle, and may be acquired by the control device 30 as necessary via a communication means such as wireless communication. .. Further, although the map information 21 and the appropriate speed table 22 are expressed as separate information here, the appropriate speed table 22 may be registered in the map information 21.

The map information 21 includes, for example, background information depicting the shapes of roads, rivers, houses, etc., and road network information that digitizes the connection of roads. The background information is information that is displayed on the screen together with the position of the own vehicle and is used for the driver to confirm the traveling position. Road network information does not have to be displayed on the screen, and is information used for route calculation to a destination and guidance during navigation. The road network information is composed of, for example, a node set as a road reference (for example, a center in the width direction) and a link connecting the nodes. The map information 21 may be either two-dimensional or three-dimensional. Further, in the map information 21, the driving caution section identification information for identifying the driving caution section is registered in each driving caution section, and the control device 30 (particularly, the appropriate speed acquisition means 31) is ahead of the position of the own vehicle. It is possible to recognize the driving caution section.

The appropriate speed table 22 is information in which a predetermined section of the road (for example, from point A to point B) is associated with an appropriate speed during traveling in this predetermined section. FIG. 2 shows a configuration example of the appropriate speed table 22. The proper speed table 22 here includes identification information, coordinates, and proper speed information. The identification information is information (here, a number) that identifies a predetermined section of the road. In the case of a road in which the upper and lower lines are separated (a road having a round-trip route), different identification information is given to each of the upper and lower lines. The coordinates are position information indicating a predetermined section of the road, and are, for example, the coordinates of a reference point of the predetermined section. The reference point may be set to any of the predetermined sections, and may be, for example, an entrance or an exit. The appropriate speed information is a speed (target speed) suitable for traveling in a predetermined section, and a speed equal to or lower than the legal speed is set. Here, the same appropriate speed is set for all drivers, but for example, a plurality of appropriate speeds may be prepared in association with the superiority or inferiority (driving history) of the driving technique, the type of vehicle to be driven, and the like. .. The appropriate speed information may be registered in advance by the administrator of the brake control device 1, or may be automatically calculated from the shape of a predetermined section (for example, the radius of curvature of a corner or the road width).

The control device 30 shown in FIG. 1 is realized by, for example, a program execution process by a CPU (Central Processing Unit), a dedicated circuit, or the like. When these functions are realized by program execution processing, a program for realizing these functions is stored in the vehicle.

The control device 30 includes information stored in the database 20, a pressure sensor 11 for detecting the operation of the front wheel brake operator 5, the rear wheel brake operator 6, a signal output from the wheel speed sensor 7, and a position information acquisition means. Based on the current position information acquired by 8 and the front image captured by the photographing means 9, various calculations described later are performed in real time.

The control device 30 includes an appropriate speed acquisition means 31, a vehicle speed calculation means 32, a road surface condition detection means 33, a vehicle speed control means 34, and a braking force control means 35. Here, only an outline of each function included in the control device 30 will be described, and a detailed description will be described in "Operation of the brake control device for a bar handle vehicle".

The appropriate speed acquisition means 31 acquires appropriate speed information of a corner in the traveling direction of the own vehicle with reference to the appropriate speed table 22 stored in the database 20.
The vehicle speed calculation means 32 receives the rotation speeds (wheel speeds) of the front wheels and the rear wheels detected by the wheel speed sensor 7 as signals, and calculates the vehicle speed of the own vehicle from the wheel speeds.

The road surface condition detecting means 33 determines the road surface condition in front of the own vehicle from the image captured by the photographing means 9. The road surface condition detecting means 33 recognizes, for example, the fallen leaves spreading on the road surface by color. Further, the road surface condition detecting means 33 recognizes a puddle formed on the road surface, for example, by a difference from the reflection of light on the road surface in a state where there is no puddle. Further, the road surface condition detecting means 33 determines the unevenness of the road surface by using, for example, an image recognition technique, and recognizes a cobblestone road (Belgian road). Further, the road surface condition detecting means 33 determines the shape of the manhole by using, for example, an image recognition technique, and recognizes that there is a manhole in front of the manhole.

The vehicle speed control means 34 gives a warning to the driver so that the own vehicle travels in a corner at an appropriate speed, and a condition for performing brake control on the braking force control means 35 (for example, the front wheel brake 2). And information on the hydraulic pressure supplied to the rear wheel brake 3). The vehicle speed control means 34 mainly includes a brake operation determination means 341 and an appropriate speed determination means 342.
The brake operation determining means 341 determines whether or not the brake operation has been performed by the driver in front of the corner when there is a possibility that the appropriate speed may be exceeded at the corner.
The appropriate speed determining means 342 determines in front of the corner whether or not the own vehicle can enter and run at the corner at an appropriate speed.

The braking force control means 35 operates the hydraulic pressure control device 4 to perform brake control for decelerating the vehicle speed when an excess speed at a corner is detected by the determination of the vehicle speed control means 34. Further, the braking force control means 35 can operate the hydraulic pressure control device 4 to perform ABS control when the wheels are likely to slip based on the wheel speed sensor 7. The braking force control means 35 controls ON / OFF of the solenoid valve and the motor included in the hydraulic pressure control device 4 based on, for example, the conditions notified from the vehicle speed control means 34. Then, the hydraulic pressure is supplied to the front wheel brake 2 and the rear wheel brake 3 separately from the operation of the front wheel brake operator 5 and the rear wheel brake operator 6 by the driver.

<About the operation of the brake control device for the bar handle vehicle according to the embodiment>
The operation of the brake control device 1 according to the embodiment when entering a corner will be described with reference to FIGS. 3 and 4 (see FIGS. 1 and 2 as appropriate). Here, the brake control is performed by paying attention to the vehicle speed when entering the corner from the point A to the point B, but depending on the shape of the corner, the brake control may be performed by paying attention to the vehicle speed in the middle of the corner or at the exit of the corner. .. Moreover, it is not limited to the corner, and may be a place with poor visibility or a place where the road width is reduced.

The position information acquisition means 8 continuously receives radio waves (positioning signals) transmitted from GPS satellites and calculates the position of its own vehicle (step S1). The position information acquisition means 8 may partially calculate the current position using inertial navigation (INS), such as when it cannot receive radio waves (positioning signals) transmitted from GPS satellites. The current position calculated using inertial navigation (INS) may be corrected using radio waves (positioning signals) transmitted from GPS satellites.

As shown in FIG. 4, when the distance from the own vehicle X to the entrance M1a (point A) of the corner M1 at the point B from the own vehicle X becomes a predetermined distance La, the appropriate speed acquisition means 31 determines. With reference to the appropriate speed table 22 stored in the database 20, the appropriate speed information preset for the corner of the identification information “1” is acquired (step S2). The distance La for acquiring appropriate speed information is not particularly limited, and may be a distance sufficient for subsequent brake control.

Next, the vehicle speed calculation means 32 receives the rotation speeds (wheel speeds) of the front wheels and the rear wheels detected by the wheel speed sensor 7 as signals, and calculates the vehicle speed of the own vehicle from the wheel speeds (step S3). .. Further, the road surface condition detecting means 33 detects the road surface condition in front of the own vehicle X from the image captured by the photographing means 9 (step S3).

Next, the vehicle speed control means 34 calculates a target brake point BP (see FIG. 4) from the vehicle speed and position information of the own vehicle X, the appropriate speed of the front corner M1, the road surface condition in front of the corner, and the like. (Step S4). The brake point BP is calculated as, for example, the distance from the entrance M1a of the corner M1. The distance Lb from the entrance M1a of the corner M1 to the brake point BP is a distance that can reach an appropriate speed at the entrance M1a of the corner M1 when the brake control is started at the brake point BP.

A method of calculating the distance Lb from the entrance M1a of the corner M1 to the brake point BP will be illustrated. The vehicle speed control means 34 has in advance a table in which the road surface condition and the friction coefficient μ of the road surface are associated with each other, and acquires the friction coefficient μ of the road surface corresponding to the road surface condition detected in step S3. Further, the vehicle speed control means 34 has a map in which the friction coefficient μ of the road surface is associated with the deceleration of the vehicle in advance, and the deceleration of the vehicle (target deceleration) corresponding to the acquired friction coefficient μ is set. get. The deceleration of the vehicle (target deceleration) is, for example, such that the vehicle does not slip and does not give the driver anxiety. Next, the vehicle speed control means 34 divides the speed difference between the vehicle speed of the own vehicle X and the appropriate speed of the front corner M1 by the acquired deceleration to calculate the braking distance until the appropriate speed is reached.

Then, when the calculated braking distance is a distance that can be secured (that is, the calculated braking distance is shorter than the distance from the current position of the own vehicle X to the entrance M1a of the corner M1), the calculated braking distance is supported. The braking start position is set as the brake point BP. As a result, when the vehicle speed is high or the road surface condition is bad, the point far from the corner is calculated as the brake point BP, and when the vehicle speed is slow or the road surface condition is good, the point near the corner is calculated as the brake point BP. NS.

Next, the vehicle speed control means 34 (particularly, the appropriate speed determination means 342) determines whether or not the vehicle speed exceeds the target speed (appropriate speed) before the calculated brake point BP (step S5). ..

If "vehicle speed> target speed" is not set before the brake point BP ("No" in step S5), the own vehicle X can travel at an appropriate speed without exceeding the speed at the corner M1, and the brake control is terminated. On the other hand, when "vehicle speed> target speed" is set before the brake point BP ("Yes" in step S5), the vehicle speed control means 34 (particularly, the brake operation determination means 341) is determined by the driver at the brake point BP. It is determined whether or not the brake operation has been performed (step S6).

When the brake operation is not performed at the brake point BP (“No” in step S6), the vehicle speed control means 34 uses the warning means 10 to notify the driver of the overspeed at the corner M1 (step S7). The warning by the warning means 10 displays, for example, information notifying the panel of overspeed.

Further, the vehicle speed control means 34 notifies the braking force control means 35 of the brake control conditions, and the braking force control means 35 operates the hydraulic pressure control device 4 based on the conditions notified from the vehicle speed control means 34. Let me. For example, the vehicle speed control means 34 calculates the target hydraulic pressure according to the target deceleration calculated in step S4, and notifies the braking force control means 35 of the calculated target hydraulic pressure. Then, the braking force control means 35 operates the hydraulic pressure control device 4 to pressurize the hydraulic pressure to the notified target hydraulic pressure, and brakes the rear wheel brake 3 without the operation of the driver's rear wheel brake operator 6. It is operated by BP (step S8). As a result, the speed of the own vehicle X is reduced to an appropriate speed, and the vehicle can travel without exceeding the speed at the corner M1. The front wheel brake 2 may be operated at the brake point BP instead of the rear wheel brake 3 or together with the rear wheel brake 3.

On the other hand, when the brake operation is performed at the brake point BP (“Yes” in step S6), the vehicle speed is the target at the calculated brake point BP in the vehicle speed control means 34 (particularly, the appropriate speed determination means 342). It is determined whether or not the speed (appropriate speed) is exceeded (step S9).

If the brake point BP is not "vehicle speed> target speed" ("No" in step S9), the speed of the own vehicle X is sufficiently reduced by the driver's brake operation, and there is no overspeed at the corner M1, so brake control To finish.

On the other hand, when the brake point BP is "vehicle speed> target speed" ("Yes" in step S9), the brake operation by the driver is not sufficient, and the appropriate speed is exceeded at the entrance M1a of the corner M1 as it is. Probability is high. Therefore, the vehicle speed control means 34 notifies the braking force control means 35 of the brake control conditions, and the braking force control means 35 operates the hydraulic pressure control device 4 based on the conditions notified from the vehicle speed control means 34. Let me. For example, the vehicle speed control means 34 calculates a new target deceleration in consideration of deceleration due to a brake operation by the driver, calculates a target hydraulic pressure according to the new target deceleration, and controls the calculated target hydraulic pressure. Notify the power control means 35. Then, the braking force control means 35 operates the hydraulic pressure control device 4 to pressurize the hydraulic pressure to the notified target hydraulic pressure, and brakes the rear wheel brake 3 without the operation of the driver's rear wheel brake operator 6. It is operated by BP (step S10). As a result, the speed of the own vehicle X is reduced to an appropriate speed, and the vehicle can travel without exceeding the speed at the corner M1. The front wheel brake 2 may be operated at the brake point BP instead of the rear wheel brake 3 or together with the rear wheel brake 3. Further, the driver may be warned by using the warning means 10 before or at the timing of operating the rear wheel brake 3 at the brake point BP.

As described above, in the brake control device 1 according to the present embodiment, an appropriate speed is prepared in advance for each corner, and the vehicle speed exceeds the target speed (appropriate speed) at the brake point BP set in front of the corner. Judge whether or not. Then, the vehicle speed control means 34 operates the brake regardless of the driver's operation when the vehicle speed exceeds the target speed (appropriate speed) at the brake point BP. Therefore, it is possible to prevent the vehicle from exceeding the appropriate speed in front of the corner, so that the vehicle can turn at an appropriate speed.

[Modification example]
Although the embodiments of the present invention have been described above, the present invention is not limited to this, and can be carried out within a range that does not change the gist of the claims. A modified example of the embodiment is illustrated below.

In the embodiment, the case where the front of the own vehicle is photographed by using the photographing means 9, the road surface condition is detected from the captured image (including the image), and the brake point BP is calculated using the detected road surface condition is exemplified. bottom. However, the appropriate speed may be corrected by using the road surface condition before or inside the corner. As a result, an appropriate speed can be set according to the road surface condition, so that, for example, even when the road surface is wet, the vehicle can travel at an appropriate speed at an appropriate speed.

Further, in the embodiment, a case where the front of the own vehicle is photographed by using the photographing means 9 and the road surface condition is detected from the photographed image (including the image) is illustrated. Here, the road surface condition is one of the environmental information that affects the brake control, and the photographing means 9 is an example of the environmental information acquisition means. However, environmental information other than the road surface condition is acquired using, for example, various sensors (environmental information acquisition means) or an external network, and the brake point BP is calculated or the appropriate speed is corrected in place of the road surface condition or together with the road surface condition. You may. Environmental information other than the road surface condition includes, for example, weather, temperature, road width, slope, brightness / shade (visibility), presence / absence of construction, presence / absence of obstacles, and the like.

Further, in the embodiment and the above-described modification, the brake point BP is calculated and the appropriate speed is corrected by using the environmental information (for example, the road surface condition) photographed or detected while the own vehicle is traveling. However, the brake point BP may be calculated and the appropriate speed may be set or corrected by using the environmental information photographed or detected while the other vehicle (not limited to the motorcycle but also the four-wheeled vehicle, for example) is traveling. In that case, the environmental information photographed or detected by another vehicle may be stored in the database 20 (for example, the appropriate speed table 22) together with the appropriate speed of the corner. Then, environmental information is acquired from the database 20 using an environmental information acquisition means (for example, a communication means) (not shown), the brake point BP is calculated, and the appropriate speed is set or corrected.

Further, information such as sudden braking of another vehicle or accident (driving information) may be stored in the database 20 in place of the environmental information or together with the environmental information. Then, the travel information may be acquired from the database 20 by using a travel information acquisition means (for example, a communication means) (not shown) and used for calculating the brake point BP and setting or correcting the appropriate speed. Further, the average speed of a plurality of vehicles traveling in a specific corner (excluding the legal speed or higher) may be set as an appropriate speed of the corner.

1 Bar handle Vehicle brake control device 2 Front wheel brake 3 Rear wheel brake 4 Hydraulic pressure control device 5 Front wheel brake operator 6 Rear wheel brake operator 7 Wheel speed sensor 8 Position information acquisition means 9 Imaging means (environmental information acquisition means)
10 Warning means 20 Database 21 Map information 22 Appropriate speed table 30 Control device 31 Appropriate speed acquisition means 32 Vehicle speed calculation means 33 Road surface condition detection means 34 Vehicle speed control means 341 Brake operation judgment means 342 Appropriate speed judgment means 35 Braking force control means

Claims (3)

Braking force control means that can control the front wheel brake and rear wheel brake of the bar handle vehicle, respectively.
A wheel speed sensor that detects the wheel speeds of the front and rear wheels of the bar handle vehicle, and
In a bar handle vehicle brake control device including a vehicle speed calculation means for calculating a vehicle speed based on the wheel speed.
The position information acquisition means for acquiring the position information of the bar handle vehicle and
The appropriate speed acquisition means for acquiring the appropriate speed of the driving caution section in front of the current position from the database storing the appropriate speed at which the bar handle vehicle can travel in the driving caution section at an appropriate speed.
It has an appropriate speed determining means for comparing the vehicle speed with the appropriate speed before entering the driving caution section ahead and determining whether or not the vehicle speed is larger than the appropriate speed.
The database stores running information of other vehicles.
A driving information acquisition means for acquiring the driving information of the road ahead is provided.
The appropriate speed determination means determines using the appropriate speed after correction based on the travel information.
The braking force control means is
A brake control device for a bar handle vehicle, which executes control for applying a braking force to at least one of a front wheel brake and a rear wheel brake when the vehicle speed is higher than the appropriate speed. The brake control device for a bar handle vehicle according to claim 1, further comprising a warning means for warning the driver of exceeding the appropriate speed when the vehicle speed is higher than the appropriate speed. Equipped with an environmental information acquisition means to acquire environmental information on the road ahead
The brake control device for a bar handle vehicle according to claim 1, wherein the appropriate speed determination means further determines using the appropriate speed after correction based on the environmental information.

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