JP7324671B2 - Brake control device for bar-handle vehicles - Google Patents

Description

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

Patent Literature 1 discloses a technique for analyzing a road surface using a visual sensor (camera) in a bar-handle type vehicle such as a motorcycle or a tricycle. Further, Patent Document 2 discloses a motorcycle equipped with a camera capable of photographing an object in front of the vehicle.

Japanese Patent No. 5571125 JP 2017-202810 A

By the way, general brake control such as ABS (Antilock Brake System) is performed based on changes in wheel speed (slip ratio). In other words, since such brake control is performed based on the result of changes in wheel speed caused by brake fluid pressure acting on the wheel brakes, it is inevitably a passive control. Further, in a bar-handle type vehicle, it is important to detect the external environment in front of the vehicle because the vehicle may become unstable depending on the external environment such as the road surface.

On the other hand, by detecting the amount of operation of the brake operator and utilizing it for brake control, it is possible to actively execute the brake control. As a method of detecting the amount of operation of the brake operator, there is a method of detecting by a stroke sensor provided on the brake operator side, and a method of detecting as a change in master cylinder pressure by a hydraulic pressure sensor provided on the master cylinder side. However, in such a method, a sensor different from the photographing device (camera) is provided, which complicates the entire system.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a bar-handle vehicle brake control device capable of actively executing more stable brake control without complicating the overall system. do.

The present invention for solving the above-mentioned problems is a bar-handle vehicle brake comprising: a brake control unit for controlling wheel brakes provided on at least one of front and rear wheels; It is a control device. The brake control unit detects an operation amount of the brake operator based on the image captured by the imaging device, and detects the operation amount of the brake operator detected from the image captured by the imaging device. to control the wheel brakes.

In this configuration, the amount of operation of the brake operator is detected based on the image captured by the imaging device, and the wheel brakes are controlled according to the amount of operation. That is, regardless of whether or not a change in wheel speed is detected, wheel brake control is performed by detecting the amount of operation of the brake operator by the driver. Therefore, feedforward control becomes possible in controlling the wheel brakes. In addition, since the external conditions in front of the vehicle can be detected based on an image of the area in front of the vehicle, the detected external conditions can be used to control the wheel brakes. According to the present invention, it is possible to provide a bar-handle vehicle brake control device capable of actively executing more stable brake control without complicating the overall system.

In the bar-handle vehicle brake control device, it is preferable that the photographing device has a common optical member used for photographing both the brake operator and the front of the vehicle.
In this configuration, a camera having a common wide-angle lens, for example, can be used as the imaging device. Therefore, it is possible to photograph both the brake operator and the front of the vehicle using one photographing device having a common optical member, thereby reducing the number of parts and cost.

Further, the present invention provides a bar-handle vehicle comprising a brake control unit for controlling wheel brakes provided on at least one of the front and rear wheels, a photographing device for photographing the brake operator, and a front photographing device for photographing the front of the vehicle. It is a brake control device for The brake control unit detects an operation amount of the brake operator based on the image captured by the imaging device, and detects the operation amount of the brake operator detected from the image captured by the imaging device. to control the wheel brakes. According to the present invention as described above, it is possible to provide a brake control device for a bar-handle vehicle that can actively execute more stable brake control without complicating the overall system.

In the brake control device for a bar-handle vehicle, the photographing device photographs the brake operator on the front wheel side, and the brake control unit captures an image of the brake operator on the front wheel side from the image photographed by the photographing device. It is preferable to control the wheel brake on the rear wheel side based on the detected amount of operation.
This configuration enables interlocking brake control that interlocks the wheel brakes of the front and rear wheels. This enables more stable brake control.

In the brake control device for a bar-handle vehicle, it is preferable that the photographing device photographs the brake operator on the rear wheel side.
With this configuration, it is possible to control the wheel brakes according to the amount of operation of the brake operator on the rear wheel side detected based on the image captured by the imaging device.

In the bar-handle vehicle brake control device, it is preferable that the photographing device photographs the rear of the vehicle.
In this configuration, it is possible to photograph the brake operator on the rear wheel side using an imaging device that photographs the rear of the vehicle. Also, by photographing the rear of the vehicle, it becomes possible to monitor the following vehicle. For example, by displaying an image of the rear of the vehicle on the display unit, it is possible to alert the driver when the vehicle is overtaken. In addition, by saving the image of the rear of the vehicle in the drive recorder and using it, it is possible to cope with tailgating and the like.

In the brake control device for a bar-handle vehicle, the imaging device may be provided at a position in the vicinity of a master cylinder in which the brake operator is provided and at a position where the brake operator is included in an imaging area. preferable.
In this configuration, the imaging device is installed in the vicinity of the master cylinder provided with the brake operator, for example, in front of the mirror, so that the brake operator can be better photographed.

In the brake control device for a bar-handle vehicle, it is preferable that feedforward control intervenes in the control of the wheel brake based on the operation amount of the brake operator detected from the image photographed by the photographing device .
In this configuration, it is possible to directly detect the amount of operation of the brake operator based on the image captured by the image capturing device that captures the brake operator, and reflect it in the control of the wheel brakes being executed. Therefore, feedforward control becomes possible in the control of the wheel brakes being executed.

According to the present invention, it is possible to provide a bar-handle vehicle brake control device capable of actively executing more stable brake control without complicating the overall system.

1 is a side view schematically showing a vehicle to which a bar-handle vehicle brake control device according to a first embodiment is applied; FIG. FIG. 2 is a front view schematically showing the vehicle shown in FIG. 1; 1 is a schematic block diagram showing a control configuration of a bar-handle vehicle brake control device according to a first embodiment; FIG. FIG. 7 is a side view schematically showing a vehicle to which a bar-handle vehicle brake control device according to a second embodiment is applied; FIG. 11 is a side view schematically showing a vehicle to which a bar-handle vehicle brake control device according to a third embodiment is applied; FIG. 11 is a side view schematically showing a vehicle to which a bar-handle vehicle brake control device according to a fourth embodiment is applied;

Embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
In the drawings shown below, the same members are denoted by the same reference numerals, and overlapping descriptions are omitted as appropriate.

FIG. 1 is a side view schematically showing a vehicle V to which a bar-handle vehicle brake control device 1 according to the first embodiment is applied. FIG. 2 is a front view schematically showing vehicle V shown in FIG.
An example in which the bar-handle vehicle brake control device 1 is applied to a motorcycle that is a bar-handle type vehicle V will be described below. Further, in the present embodiment, as shown in FIGS. 1 and 2, the front, rear, left, right, up, and down directions are defined as viewed from the driver of the vehicle V. FIG.

As shown in FIG. 1, a bar-handle vehicle brake control device 1 includes a brake control unit 2 for controlling wheel brakes WB provided on wheels (front and rear wheels) W of a vehicle V, a wheel speed sensor 3, and an imaging device. 4.

The wheel brake WB includes a front wheel brake FB provided on the front wheel (driven wheel) FW and a rear wheel brake RB provided on the rear wheel (drive wheel) RW. The front wheel brake FB has a front wheel side disc FD and a front wheel side caliper FC, and the rear wheel brake RB has a rear wheel side disc RD and a rear wheel side caliper RC.

A brake operator B for operating the wheel brake WB includes a brake lever BL for operating the front wheel brake FB and a brake pedal BP for operating the rear wheel brake RB. The brake lever BL is provided on the master cylinder M1 on the front wheel side, and the brake pedal BP is provided on the master cylinder M2 on the rear wheel side. The master cylinders M1 and M2 generate brake fluid pressure according to the operation of the brake operator B. As shown in FIG. The brake lever BL and brake pedal BP are each operated by the driver.

The wheel speed sensor 3 has a front wheel speed sensor 3F for obtaining the wheel speed of the front wheels FW and a rear wheel speed sensor 3R for obtaining the wheel speed of the rear wheels RW. The photographing device 4 is a camera that photographs the front of the vehicle and obtains an image of the external environment such as an object in front of the vehicle and the road surface. have.

The photographing device 4 photographs the brake lever BL, which is the brake operator B on the front wheel side, and the front of the vehicle.

As shown in FIGS. 1 and 2, the photographing device 4 is provided at a position in the vicinity of the master cylinder M1 on the front wheel side and at a position where the brake lever BL is included in the photographing area. Here, the photographing device 4 is installed in front of the mirror M attached to the right side of the handle H. As shown in FIG.

As shown in FIG. 1, in this embodiment, the photographing device 4 is used for photographing both the front of the vehicle and the brake lever BL, which is the brake operator B on the front wheel side. , one lens 41 is mounted. The photographing device 4 is installed at a position where both the brake lever BL and the front of the vehicle are captured within the angle of view θ of the lens 41 . Note that the installation position of the photographing device 4 is not limited to the front portion of the mirror M as long as it is possible to photograph both the brake lever BL and the front of the vehicle.

FIG. 3 is a schematic block diagram showing the control configuration of the bar-handle vehicle brake control device 1 according to the first embodiment.
As shown in FIG. 3 , the brake control section 2 includes a hydraulic unit 21 and a control unit 22 . In addition, in FIG. 3, the hydraulic circuit is indicated by a thick solid line.

The hydraulic pressure unit 21 appropriately controls the brake hydraulic pressure generated by the driver's operation of the brake operator B (brake pedal BP, brake lever BL) and applies it to the wheel brakes WB (front wheel brake FB, rear wheel brake RB). . The hydraulic unit 21 has oil passages and various parts (solenoid valves, pumps, etc.) (not shown).

The control unit 22 controls the hydraulic pressure unit 21 according to the operation amount of the brake operator B, the external environment in front of the vehicle, and the wheel speed obtained from the wheel speed sensor 3 . The control unit 22 is an ECU (Electronic Control Unit) including a CPU, RAM, ROM, and an input/output circuit. The control unit 22 appropriately controls various parts provided in the hydraulic pressure unit 21 to reduce, increase, or hold the brake hydraulic pressure applied to the wheel brake WB.

Signals sent from the wheel speed sensors 3 (front wheel speed sensor 3F, rear wheel speed sensor 3R) are input to the control unit 22 . The control unit 22 acquires the wheel speed of the front wheels FW and the wheel speed of the rear wheels RW based on the signal from the wheel speed sensor 3, and calculates the vehicle body speed estimated by a known method from the acquired wheel speeds. . The control unit 22 also calculates the slip ratio based on the vehicle body speed and the wheel speeds of the front and rear wheels. Then, the control unit 22 performs antilock brake control to prevent the wheels W from locking by appropriately controlling the hydraulic pressure unit 21 based on the vehicle body speed and the slip ratio.

An image captured by the imaging device 4 is input to the image processing section 23 of the control unit 22 . The image processing unit 23 performs image processing on the acquired image to recognize the brake lever BL in addition to external conditions such as an object in front of the vehicle and the road surface. The control unit 22 detects distances from obstacles such as other vehicles, walls, and people, road surface conditions, and the amount of operation of the brake lever BL based on the recognition result of the image processing section 23 . It is also possible to save the image in front of the vehicle in the drive recorder and use it.

The imaging device 4 here is a monocular camera that acquires an image using one lens 41, and can measure the distance to an obstacle by a known method, but is not limited to this. The imaging device 4 may be a stereo camera that acquires images using a pair of lenses 41 arranged on the left and right.

The control unit 22 appropriately controls the hydraulic pressure unit 21 based on the detected distance to the obstacle, the amount of operation of the brake lever BL, and the vehicle speed to perform collision suppression brake control to suppress collisions.

Further, the control unit 22 adjusts the contents of the antilock brake control based on the operation amount of the brake lever BL and the road surface condition. For example, the slip ratio threshold at the start of antilock brake control and the amount of pressure reduction in antilock brake control are adjusted. Here, the pressure reduction amount refers to the time width of the pressure reduction pulse for opening an outlet valve (not shown) that is opened when the brake fluid in the calipers FC and RC is discharged.

Next, the operation of the bar-handle vehicle brake control device 1 will be described.
During normal brake control in which there is no possibility of the wheels W locking, the driver operates the brake lever BL and the brake pedal BP in order to apply the wheel brakes WB. Then, brake fluid having a hydraulic pressure corresponding to the operation of the brake lever BL is supplied from the front wheel side master cylinder M1 to the cylinder of the front wheel side caliper FC through the hydraulic pressure unit 21, and braking force is applied to the front wheel brake FB. Further, brake fluid having a hydraulic pressure corresponding to the operation of the brake pedal BP is supplied from the master cylinder M2 on the rear wheel side to the cylinder of the caliper RC on the rear wheel side through the hydraulic pressure unit 21, and braking force is applied to the rear wheel brake RB. be done.

When the control unit 22 determines that the slip ratio exceeds a predetermined threshold value and the wheels W are about to be locked, the control unit 22 executes antilock brake control. The antilock brake control is realized by controlling the hydraulic pressure unit 21 and appropriately selecting the state of decreasing, increasing, or maintaining the brake hydraulic pressure acting on the wheel brake WB. It should be noted that the control unit 22 determines which of pressure reduction, pressure increase, and hold is selected based on the wheel speed obtained from the wheel speed sensor 3 .

In this embodiment, the wheel brakes WB are controlled according to the amount of operation of the brake operator B detected based on the image captured by the imaging device 4 .
For example, when the brake lever BL is operated, the threshold value of the slip ratio at the start of antilock brake control may be made smaller as the amount of operation of the brake lever BL or the rate of change thereof increases. Alternatively, the amount of pressure reduction in antilock brake control may be increased. Such adjustment of the threshold value of the slip ratio and the amount of pressure reduction is performed before the start of the antilock brake control, and is also performed in a form in which the feedforward control intervenes during the execution of the antilock brake control. This further suppresses excessive slip.

Further, when the brake lever BL is operated, the threshold value of the slip ratio at the start of the antilock brake control may be made smaller as the road surface in front of the vehicle becomes more likely to slip, such as a puddle. Alternatively, the amount of pressure reduction in antilock brake control may be increased. Such adjustment of the threshold value of the slip ratio and the amount of pressure reduction is performed before the start of the antilock brake control, and is also performed in a form in which the feedforward control intervenes during the execution of the antilock brake control. This further suppresses excessive slip.

The control unit 22 also determines the possibility of collision with an obstacle based on the detected distance to the obstacle, the amount of operation of the brake lever BL, and the vehicle speed. When the control unit 22 determines that there is a possibility of collision with an obstacle, the control unit 22 performs collision suppression brake control by controlling the hydraulic pressure unit 21 as necessary. For example, when the amount of operation of the brake lever BL is insufficient, the control unit 22 increases the brake fluid pressure in the calipers FC and RC to an appropriate value according to the amount of operation of the brake lever BL. Control unit 21 . In this case, the collision suppressing brake control is performed in such a manner that the driver operates the brake operator B and the feedforward control intervenes during normal brake control. Note that the collision suppression brake control may be performed before the driver operates the brake operator B.

The control unit 22 also executes interlocking brake control (including pressurization) for interlocking the wheel brakes WB of the front and rear wheels. That is, the control unit 22 controls the rear wheel brake RB, which is the rear wheel brake WB, based on the operation amount of the brake lever BL, which is the front wheel brake operator B. Further, the control unit 22 controls the front wheel brake FB, which is the front wheel brake WB, based on the operation amount of the brake pedal BP, which is the rear wheel brake operator B. In this interlocking brake control, when one of the brake operating elements B on the front wheel side and the rear wheel side is operated, it is necessary to apply the braking force to the other wheel brake WB according to the magnitude of the braking force due to the operation. Executed when it is determined that The interlocking brake control is also executed in the same manner when both the front wheel side and rear wheel side brake operating elements B are operated, but the operation of the other is insufficient.

In the present embodiment described above, the bar-handle vehicle brake control device 1 includes the brake control unit 2 that controls the wheel brakes WB provided on the wheels (front and rear wheels) W, the brake operator B, and the front of the vehicle. and an imaging device 4 . The brake control unit 2 detects the amount of operation of the brake operator B based on the image captured by the imaging device 4, and controls the wheel brakes WB according to the amount of operation of the brake operator B. As shown in FIG.

According to this embodiment, the amount of operation of the brake operator B is detected based on the image captured by the imaging device 4, and the wheel brakes WB are controlled according to the amount of operation. That is, the wheel brake WB is controlled by detecting the amount of operation of the brake operator B by the driver, regardless of whether the change in wheel speed is detected. Therefore, feedforward control is possible in controlling the wheel brake WB. In addition, since the external conditions in front of the vehicle can be detected based on the image of the front of the vehicle, the detected external conditions can be used to control the wheel brakes WB. That is, according to this embodiment, it is possible to provide the bar-handle vehicle brake control device 1 that can actively execute more stable brake control without complicating the overall system.

Further, in this embodiment, the photographing device 4 has a lens 41 as a common optical member used for photographing both the front side of the vehicle and the brake lever BL, which is the brake operator B on the front wheel side. In this configuration, for example, a camera having a common wide-angle lens 41 can be used as the imaging device 4 . Therefore, using one photographing device 4 having a common lens 41, it is possible to photograph both the brake lever BL, which is the brake operator B on the front wheel side, and the front of the vehicle, thereby reducing the number of parts and cost.

Further, in this embodiment, the photographing device 4 photographs the brake lever BL, which is the brake operator B on the front wheel side. The brake control unit 2 controls the rear wheel brake RB, which is the rear wheel brake WB, based on the operation amount of the brake lever BL, which is the front wheel brake operator B. This configuration enables interlocking brake control that interlocks the wheel brakes WB of the front and rear wheels. This enables more stable brake control.

Further, in the present embodiment, the photographing device 4 is positioned around the master cylinder M1 on the front wheel side in which the brake lever BL, which is the brake operator B on the front wheel side, is provided, and the brake lever BL is included in the photographing area. placed in position. In this configuration, the photographing device 4 is installed in the vicinity of the master cylinder M1 provided with the brake lever BL, for example, in front of the mirror M, so that the brake lever BL can be photographed better.

Further, in this embodiment, feedforward control intervenes in the control of the wheel brakes WB based on the detected amount of operation of the brake operator B. FIG. In this configuration, it is possible to directly detect the operation amount of the brake operator B based on the image photographed by the photographing device 4 for photographing the brake operator B and reflect it in the control of the wheel brake WB being executed. can. Therefore, feedforward control becomes possible in the control of the wheel brake WB being executed.

FIG. 4 is a side view schematically showing a vehicle Va to which the bar-handle vehicle brake control device 1a according to the second embodiment is applied. In the following, the points different from the above-described first embodiment will be mainly described, and the description of the common points will be omitted as appropriate.

As shown in FIG. 4, the bar-handle vehicle brake control device 1a includes an imaging device 4a equipped with two lenses 42 and 43 each having an angle of view θ smaller than 90 degrees. The photographing device 4a is installed at a position where the brake lever BL is captured within the angle of view θ corresponding to one lens 42 and the front of the vehicle is captured within the angle of view θ corresponding to the other lens 43. . Two imaging devices (not shown) such as CCDs may be provided corresponding to the two lenses 42 and 43, or one device may be provided in common to the two lenses 42 and 43. . Such a second embodiment can also achieve the same effects as those of the first embodiment.

FIG. 5 is a side view schematically showing a vehicle Vb to which the bar-handle vehicle brake control device 1b according to the third embodiment is applied. In the following, the points different from the above-described first embodiment will be mainly described, and the description of the common points will be omitted as appropriate.

As shown in FIG. 5, the bar-handle vehicle brake control device 1b includes an imaging device 4b for imaging the brake lever BL, which is the brake operator B on the front wheel side, and a front imaging device 4c for imaging the front of the vehicle. there is The photographing device 4b is equipped with one lens 44 having an angle of view θ smaller than 90 degrees. Also, the forward photographing device 4c is equipped with one lens 45 having an angle of view θ smaller than 90 degrees. The photographing device 4b is installed at a position where the brake lever BL is reflected within the angle of view θ corresponding to the lens 44 of the photographing device 4b. Further, the front photographing device 4c is installed at a position where the front of the vehicle is reflected within the angle of view θ corresponding to the lens 45 of the front photographing device 4c. Although the forward imaging device 4c is installed in front of the mirror M attached to the right side of the steering wheel H here, it is not limited to this, and may be installed in the front part of the vehicle body of the vehicle Vb. good. An imaging device (not shown) such as a CCD is provided in each of the photographing device 4b and the front photographing device 4c. Such a third embodiment can also achieve the same effects as those of the first embodiment.

FIG. 6 is a side view schematically showing a vehicle Vc to which the bar-handle vehicle brake control device 1c according to the fourth embodiment is applied. In the following, the points different from the above-described first embodiment will be mainly described, and the description of the common points will be omitted as appropriate.

As shown in FIG. 6, the bar-handle vehicle brake control device 1c includes an imaging device 4d for imaging the brake pedal BP, which is the brake operator B on the rear wheel side, and a front imaging device 4c for imaging the front of the vehicle. ing. The photographing device 4d also photographs the rear of the vehicle. The photographing device 4d is equipped with one lens 46 having an angle of view θ smaller than 90 degrees. Also, the forward photographing device 4c is equipped with one lens 47 having an angle of view θ smaller than 90 degrees.

The photographing device 4d is provided in the vicinity of the master cylinder M2 on the rear wheel side and at a position where the brake pedal BP is included in the photographing area. Specifically, the photographing device 4d is provided at the lower side of the vehicle body of the vehicle Vc. That is, the photographing device 4d is installed at a position where both the brake pedal BP and the rear of the vehicle are reflected within the angle of view θ of the lens 46 of the photographing device 4d. Note that the photographing device 4d may be equipped with one wide-angle lens having an angle of view θ greater than 90 degrees instead of the lens 46 .

According to the fourth embodiment, it is possible to control the wheel brakes WB in accordance with the amount of operation of the brake pedal BP, which is the brake operator B on the rear wheel side, detected based on the image captured by the photographing device 4d. can.

Further, in the fourth embodiment, the photographing device 4d also photographs the rear of the vehicle. In this configuration, it is possible to photograph the brake pedal BP, which is the brake operator B on the rear wheel side, using the photographing device 4d that photographs the rear of the vehicle. Also, by photographing the rear of the vehicle, it becomes possible to monitor the following vehicle. For example, by displaying an image of the rear of the vehicle on a display unit (not shown), it is possible to call attention when the vehicle is overtaken. In addition, by saving the image of the rear of the vehicle in the drive recorder and using it, it is possible to cope with tailgating and the like.

In the fourth embodiment, the bar-handle vehicle brake control device 1c is provided with the same device as the imaging device 4 of the first embodiment or the imaging device 4a of the second embodiment instead of the forward imaging device 4c. good too. In this way, it becomes possible to control the wheel brake WB according to the operation amount of the brake lever BL, which is the brake operator B on the front wheel side.

As described above, the present invention has been described based on the embodiments, but the present invention is not limited to the configurations described in the above embodiments, and the configuration can be changed as appropriate without departing from the spirit of the present invention. It is. In addition, addition, deletion, and replacement can be made for a part of the configuration of the above embodiment.

For example, in the embodiment described above, the brake control unit 2 is configured to control the wheel brakes WB provided on the wheels (front and rear wheels) W of the vehicle V, but the present invention is not limited to this. do not have. The brake control unit 2 may be configured to control wheel brakes provided on at least one of the front and rear wheels.
In the above-described embodiment, the bar-handle vehicle brake control device 1 is applied to a motorcycle, but the present invention is not limited to this. INDUSTRIAL APPLICABILITY The present invention is applicable to various bar-handle type vehicles such as motorcycles, tricycles, all-terrain vehicles (ATVs), and the like.
The bar-handle vehicle may be a vehicle, such as a scooter, having brakes operated by levers on both the front and rear wheels. In that case, the left and right levers may have imaging devices.

Reference Signs List 1, 1a, 1b, 1c brake control device for bar-handle vehicle 2 brake control unit 21 hydraulic pressure unit 22 control unit 4, 4a, 4b, 4d imaging device 4c forward imaging device 41 to 47 lenses (optical members)
Ｂ Brake operator BL Brake lever BP Brake pedal M1, M2 Master cylinder W Wheels (front and rear wheels)
FW Front wheel RW Rear wheel WB Wheel brake FB Front wheel brake RB Rear wheel brake V, Va, Vb, Vc Vehicle

Claims (8)

a brake control unit that controls wheel brakes provided on at least one of the front and rear wheels;
A brake operator and a photographing device for photographing the front of the vehicle,
The brake control unit detects an operation amount of the brake operator based on the image captured by the imaging device, and detects the operation amount of the brake operator detected from the image captured by the imaging device. A brake control device for a bar-handle vehicle, wherein the wheel brake is controlled by a bar-handle vehicle. 2. The brake control device for a bar-handle vehicle according to claim 1, wherein said photographing device has a common optical member used for photographing both said brake operator and the front of the vehicle. a brake control unit that controls wheel brakes provided on at least one of the front and rear wheels;
a photographing device for photographing the brake operator;
A front imaging device for imaging the front of the vehicle,
The brake control unit detects an operation amount of the brake operator based on the image captured by the imaging device, and detects the operation amount of the brake operator detected from the image captured by the imaging device. A brake control device for a bar-handle vehicle, wherein the wheel brake is controlled by a bar-handle vehicle. The photographing device photographs the brake operator on the front wheel side,
The brake control unit controls the wheel brake on the rear wheel side based on the operation amount of the brake operator on the front wheel side detected from the image captured by the imaging device. The bar-handle vehicle brake control device according to any one of claims 1 to 3. 4. The bar-handle vehicle brake control device according to claim 3, wherein the photographing device photographs the brake operator on the rear wheel side. 6. The brake control device for a bar-handle vehicle according to claim 5, wherein said photographing device photographs the rear of the vehicle. 7. The photographing device is provided at a position in the vicinity of a master cylinder in which the brake operator is provided and at a position where the brake operator is included in an photographing area. The brake control device for a bar-handle vehicle according to any one of Claims 1 to 3. 8. The method according to any one of claims 1 to 7, wherein feedforward control intervenes in control of the wheel brake based on the amount of operation of the brake operator detected from the image captured by the imaging device. 1. The bar-handle vehicle brake control device according to claim 1.

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