WO2013175680A1 - 車両 - Google Patents
車両 Download PDFInfo
- Publication number
- WO2013175680A1 WO2013175680A1 PCT/JP2013/001241 JP2013001241W WO2013175680A1 WO 2013175680 A1 WO2013175680 A1 WO 2013175680A1 JP 2013001241 W JP2013001241 W JP 2013001241W WO 2013175680 A1 WO2013175680 A1 WO 2013175680A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- reaction force
- torque
- acceleration
- driver
- prime mover
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/14—Handlebar constructions, or arrangements of controls thereon, specially adapted thereto
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
- B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
- B62K23/04—Twist grips
Definitions
- the present invention relates to a vehicle.
- Patent Document 1 the engine torque is automatically adjusted according to the lateral acceleration, not the driver's intention. Therefore, the behavior of the vehicle may change against the driver's intention, and the driver's drivability is reduced.
- An object of the present invention is to provide a vehicle that can travel stably without deteriorating drivability.
- a vehicle includes a main body having drive wheels, a prime mover that generates torque for rotating the drive wheels, and an output adjustment that is operated by a driver to adjust the output of the prime mover.
- Device reaction force adjusting unit configured to adjust reaction force applied to driver from output adjusting device in response to operation of output adjusting device, and acceleration detector configured to detect acceleration of main body unit
- a control unit configured to control the reaction force adjustment unit based on the acceleration detected by the acceleration detector.
- the output of the prime mover is adjusted by the driver operating the output adjusting device.
- the drive wheels are rotated by torque generated by the prime mover. Thereby, the main body moves.
- the reaction force applied to the driver from the output adjustment device with respect to the operation of the output adjustment device is adjusted by the reaction force adjustment unit.
- the reaction force adjustment unit is controlled by the control unit based on the acceleration detected by the acceleration detector.
- the reaction force applied to the driver from the output adjustment device changes according to the acceleration of the main body.
- the driver can adjust the output of the prime mover with his / her own intention according to the change in the reaction force from the output adjusting device. Therefore, the driver can drive the vehicle stably without deteriorating the drivability of the driver.
- the acceleration detector is configured to detect a lateral acceleration that is substantially parallel to the road surface and intersects the front-rear direction of the main body as a lateral acceleration, and the control unit is based on the set friction circle.
- the maximum acceleration in the longitudinal direction of the main body that should be allowed corresponding to the lateral acceleration detected by the acceleration detector is obtained as the longitudinal limit acceleration, and the reaction force is obtained based on the obtained longitudinal limit acceleration. You may be comprised so that an adjustment part may be controlled.
- the longitudinal limit acceleration can be easily obtained based on the lateral acceleration detected by the acceleration detector and the set friction circle. Further, based on the acquired longitudinal limit acceleration, the driver can be made to accurately recognize whether or not the acceleration of the main body is appropriate for stable travel. Therefore, the driver can drive the vehicle stably.
- the control unit is configured to apply a reaction force of a reference value determined according to the operation amount of the output adjustment device based on the acquired longitudinal limit acceleration to the driver from the output adjustment device.
- a reaction force of a reference value determined according to the operation amount of the output adjustment device based on the acquired longitudinal limit acceleration to the driver from the output adjustment device.
- the first control operation for controlling the reaction force and the second control operation for controlling the reaction force adjustment unit so that the reaction force of the total value of 0 or more and the reference value is applied to the driver from the output adjustment device It may be configured to selectively perform one.
- the reaction force applied to the driver during the second control operation is greater than the reaction force applied to the driver during the first control operation. Therefore, by selectively performing the first control operation and the second control operation, the driver can easily recognize whether or not the acceleration of the main body is appropriate for stable travel. Further, by performing the second control operation when the acceleration of the main body is large, the operation of the output adjustment device by the driver is suppressed, and further increase in the acceleration of the main body is suppressed. Thereby, the stability of the vehicle is ensured.
- the vehicle further includes a transmission ratio acquisition unit configured to acquire a transmission ratio between the prime mover and the drive wheels, and the control unit acquires the transmission ratio acquired by the transmission ratio acquisition unit and the acquired transmission ratio.
- the control unit Based on the longitudinal limit acceleration, the maximum allowable torque for rotating the drive wheel is calculated as the limit torque, and the first torque is calculated based on the calculated limit torque and the current torque generated by the prime mover.
- One of the control operation and the second control operation may be selectively performed.
- the driver can recognize the relationship between the calculated limit torque and the current torque. Thereby, it is possible to make the driver recognize whether or not the acceleration of the main body is appropriate for stable traveling. Therefore, the driver can drive the vehicle stably.
- the prime mover includes an engine, and the vehicle is configured to detect an intake air amount corresponding value detector configured to detect an intake air amount corresponding value corresponding to the intake air amount of the engine, and to detect the rotation speed of the engine.
- a rotation speed detector, and the control unit calculates a current torque based on the intake air amount corresponding value detected by the intake air amount corresponding value detector and the rotation speed detected by the rotation speed detector.
- One of the first control operation and the second control operation may be selectively performed based on the calculated limit torque and the calculated current torque.
- the current torque generated by the engine can be accurately calculated. Thereby, it is possible to make the driver accurately recognize the relationship between the calculated limit torque and the current torque. Therefore, it is possible to make the driver accurately recognize whether or not the acceleration of the main body is appropriate for stable traveling.
- the control unit performs the first control operation when the difference between the calculated limit torque and the current torque is equal to or greater than a predetermined threshold value, and performs the first control operation when the difference is smaller than the threshold value. Two control operations may be performed.
- the reaction force applied to the driver increases when the difference between the limit torque and the current torque is small compared to the reaction force applied to the driver when the difference between the limit torque and the current torque is large.
- the control unit is configured to selectively perform one of the first control operation and the second control operation based on the amount of change in the difference between the calculated limit torque and the current torque. Also good.
- the driver can be made aware of the change in the difference between the limit torque and the current torque. Thereby, it is possible to make the driver recognize whether or not the acceleration of the main body is appropriate for stable traveling.
- the control unit may be configured to calculate the addition value based on the torque generated by the prime mover so that the addition value increases as the torque generated by the prime mover increases as the second control operation. Good.
- control unit may be configured to calculate the added value so that the added value increases as the difference between the calculated limit torque and the current torque decreases.
- the reaction force applied to the driver increases as the difference between the limit torque and the current torque decreases. This prevents the current torque from becoming larger than the limit torque. Therefore, the stability of the vehicle is ensured.
- the control unit may be configured to calculate an addition value based on the amount of change in the operation amount of the output adjustment device as the second control operation.
- the control unit may be configured to calculate an addition value based on a change amount of a difference between the calculated limit torque and the current torque as the second control operation.
- the control unit calculates the first added value based on the torque generated by the prime mover so that the added value increases as the torque generated by the prime mover increases, and outputs
- the second addition value may be calculated based on the change amount of the operation amount of the adjusting device, and the addition value may be calculated by adding the calculated first and second addition values.
- the control unit may calculate the first addition value such that the addition value increases as the difference between the calculated limit torque and the current torque decreases. Further, the control unit may calculate the second addition value based on a change amount of a difference between the calculated limit torque and the current torque.
- the vehicle may further include a setting unit operated by the driver to set the friction circle.
- the driver can arbitrarily set the friction circle according to various conditions. Thereby, the longitudinal limit acceleration can be accurately obtained. Therefore, it is possible to make the driver accurately recognize whether or not the acceleration of the main body is appropriate for stable traveling.
- the friction circle may include an ellipse.
- the longitudinal limit acceleration can be acquired more accurately. Therefore, it is possible to make the driver recognize whether or not the acceleration of the main body is appropriate.
- the control unit shows the first change according to the operation amount of the output adjusting device, and when the torque is transmitted from the driving wheel to the prime mover.
- the reference value may be determined so that the reference value shows a second change different from the first change according to the operation amount of the output adjustment device.
- the reaction force applied to the driver differs depending on whether the main body portion accelerates or the main body portion decelerates. Accordingly, the driver can easily recognize the acceleration and deceleration of the main body.
- a vehicle includes a main body having drive wheels, a prime mover that generates torque for rotating the drive wheels, and an output that is operated by a driver to adjust the output of the prime mover.
- a reference value determined according to an operation amount of the adjusting device, a reaction force adjusting unit configured to adjust a reaction force applied to the driver from the output adjusting device with respect to the operation of the output adjusting device, and the output adjusting device
- a control unit configured to control the reaction force adjustment unit so that a reaction force based on is applied to the driver from the output adjustment device, and the control unit outputs when torque is transmitted from the prime mover to the drive wheels.
- the reference value indicates a first change according to the operation amount of the adjustment device, and the second reference value is different from the first change according to the operation amount of the output adjustment device when torque is transmitted from the drive wheels to the prime mover. Determine the reference value to show the change in Those configured to.
- the output of the prime mover is adjusted by the driver operating the output adjusting device.
- the drive wheels are rotated by torque generated by the prime mover. Thereby, the main body moves.
- the reaction force applied to the driver from the output adjustment device with respect to the operation of the output adjustment device is adjusted by the reaction force adjustment unit.
- the reaction force adjustment unit is controlled by the control unit such that a reaction force based on a reference value determined according to the operation amount of the output adjustment device is applied to the driver from the output adjustment device.
- the reference value shows the first change according to the operation amount of the output adjustment device.
- the reference value shows a second change different from the first change according to the operation amount of the output adjusting device.
- the reaction force control device is a reaction force control device for adjusting a reaction force applied to the driver from an output adjustment device provided in the vehicle, and is an output adjustment device for an operation of the output adjustment device by the driver.
- the acceleration detector configured to detect the acceleration of the vehicle body, and the acceleration detected by the acceleration detector
- a control unit configured to control the reaction force adjustment unit.
- reaction force control device In the reaction force control device, the reaction force applied to the driver from the output adjustment device is adjusted by the reaction force adjustment unit in response to the operation of the output adjustment device by the driver.
- the reaction force adjustment unit is controlled by the control unit based on the acceleration detected by the acceleration detector.
- the reaction force applied to the driver from the output adjustment device changes according to the acceleration of the main body.
- the driver can adjust the operation amount of the output adjusting device according to his / her own intention according to the change in the reaction force from the output adjusting device. Therefore, the driver can drive the vehicle stably without deteriorating the drivability of the driver.
- the reaction force control device is a reaction force control device for adjusting a reaction force applied to the driver from an output adjustment device provided in a vehicle including a prime mover and a drive wheel, and the driver operates the output adjustment device.
- the reaction force adjustment unit configured to adjust the reaction force applied to the driver from the output adjustment device, and the reaction force based on the reference value determined according to the operation amount of the output adjustment device from the output adjustment device
- a control unit configured to control the reaction force adjustment unit so as to be applied to the driver, and the control unit is configured in accordance with the operation amount of the output adjustment device when torque is transmitted from the prime mover to the drive wheel.
- the reference value is such that the value indicates a first change and the reference value indicates a second change different from the first change according to the operation amount of the output adjusting device when torque is transmitted from the drive wheels to the prime mover. Is configured to determine
- reaction force control device In the reaction force control device, the reaction force applied to the driver from the output adjustment device in response to the operation of the output adjustment device is adjusted by the reaction force adjustment unit.
- the reaction force adjustment unit is controlled by the control unit such that a reaction force based on a reference value determined according to the operation amount of the output adjustment device is applied to the driver from the output adjustment device.
- the reference value shows the first change according to the operation amount of the output adjustment device.
- the reference value shows a second change different from the first change according to the operation amount of the output adjusting device.
- the driver can drive the vehicle stably without deteriorating the drivability of the driver.
- FIG. 1 is a schematic side view showing a motorcycle according to a first embodiment.
- FIG. 2 is a top view of the motorcycle shown in FIG.
- FIG. 3 is a cross-sectional view showing the configuration of the accelerator grip device.
- FIG. 4 is a view for explaining the arrangement of the grip sleeve and the gear.
- FIG. 5 is a block diagram for explaining a control system of the motorcycle.
- FIG. 6 is a diagram illustrating an example of a friction circle.
- FIG. 7 is a diagram showing another example of the friction circle.
- FIG. 8 is a diagram showing the relationship between the accelerator opening and the reference reaction force.
- FIG. 9 is a diagram for explaining the motor reaction force in the reaction force strengthening mode.
- FIG. 10 is a diagram for explaining the motor reaction force in the friction mode.
- FIG. 10 is a diagram for explaining the motor reaction force in the friction mode.
- FIG. 11 is a flowchart of the accelerator reaction force adjustment process.
- FIG. 12 is a flowchart of the friction circle calculation process.
- FIG. 13 is a flowchart of the reaction force calculation process.
- FIG. 14 is a flowchart of the reaction force calculation process in the second embodiment.
- FIG. 15 is a flowchart of the accelerator reaction force adjustment process in the third embodiment.
- FIG. 16 is a diagram showing the relationship between the engine torque and the motor reaction force in the third embodiment.
- FIG. 1 is a schematic side view showing a motorcycle according to a first embodiment.
- FIG. 2 is a top view of the motorcycle shown in FIG.
- a head pipe 102 is provided at the front end of the main body frame 101.
- a front fork 103 is provided on the head pipe 102 so as to be swingable in the left-right direction.
- a front wheel 104 is rotatably attached to the lower end of the front fork 103.
- a handle 105 is provided at the upper end of the head pipe 102.
- the handle 105 is provided with an accelerator grip device 106 and a setting switch 120.
- the driver adjusts the output of the engine 107 described later by operating the accelerator grip device 106.
- the driver operates the setting switch 120 to select a friction circle and a control mode, which will be described later.
- the front-rear direction is a direction substantially parallel to the ground and parallel to a vertical plane including the central axis CA (FIG. 2) of the main body frame 101.
- the left-right direction is a direction substantially parallel to the ground and perpendicular to the front-rear direction.
- an engine 107 having a carburetor or a fuel injection device is disposed at the center of the main body frame 101.
- the engine 107 is provided with a rotation speed sensor SE1.
- the rotational speed sensor SE1 detects the rotational speed of the engine 107 (hereinafter referred to as engine rotational speed).
- an intake pipe 108 and an exhaust pipe 109 are attached to the engine 107.
- the intake pipe 108 is provided with a throttle device 60 (FIG. 5) described later.
- a transmission case 110 is provided behind the engine 107.
- a transmission 6 and a gear ratio sensor SE2 are provided in the transmission case 110.
- a shift pedal 210 is provided on the side of the transmission case 110.
- a rear arm 114 is provided to extend rearward of the transmission case 110.
- a rear wheel 115 is rotatably attached to the rear end of the rear arm 114. Torque generated by the engine 107 (hereinafter referred to as engine torque) is transmitted to the rear wheel 115, whereby the rear wheel 115 is driven.
- the engine 107 is connected to the rear wheel 115 via the transmission 6.
- the gear ratio is the ratio of the rotational speed of the engine 107 to the rotational speed of the rear wheel 115.
- the gear ratio sensor SE2 detects the gear ratio from the gear position of the transmission 6, for example.
- a fuel tank 112 is provided above the engine 107, and two seats 113 are provided behind the fuel tank 112 so as to be lined up and down. Below these sheets 113, a roll angle sensor SE3 and an ECU (Electronic Control Unit) 80 are provided.
- the roll angle sensor SE3 is a gyro sensor, for example, and detects the roll angle of the motorcycle 100.
- the roll angle of the motorcycle 100 refers to the angle of inclination of the motorcycle 100 with respect to the vertical direction. For example, when the motorcycle 100 is in the upright posture, the roll angle is 0 degree, and when the motorcycle 100 turns right or left, the roll angle becomes large. Details of the ECU 80 will be described later.
- FIG. 3 is a cross-sectional view showing the configuration of the accelerator grip device 106.
- the handle 105 has a handle bar 105a having a substantially cylindrical shape.
- An accelerator grip device 106 is provided on the handle bar 105a.
- the accelerator grip device 106 includes a grip sleeve 51, an accelerator grip member 52, a friction generating member 53, a case member 54, a coil spring 55, and gears 56, 57a, 57b, and 58.
- the grip sleeve 51 has a substantially cylindrical shape and is rotatably provided on the handle bar 105a. Specifically, the grip sleeve 51 is fitted into the handle bar 105a so as to be slidable with respect to the outer peripheral surface of the handle bar 105a.
- the accelerator grip member 52 has a substantially cylindrical shape and is fixed to the outer peripheral surface of the grip sleeve 51. Thereby, the accelerator grip member 52 rotates integrally with the grip sleeve 51 about the axis P1 of the handle bar 105a as a rotation axis.
- the driver adjusts the output of the engine 107 by gripping the accelerator grip member 52 and rotating the grip sleeve 51 and the accelerator grip member 52 integrally.
- the rotational direction of the grip sleeve 51 and the accelerator grip member 52 for increasing the output of the engine 107 will be referred to as an opening direction R1
- the rotational direction of the grip sleeve 51 and the accelerator grip member 52 for decreasing the output of the engine 107 will be referred to.
- the grip sleeve 51 and the accelerator grip member 52 can be rotated to a predetermined open position in the opening direction R1, and can be rotated to a predetermined closed position in the closing direction R2.
- the case member 54 is fixed to the outer peripheral surface of the handle bar 105a.
- One end of the grip sleeve 51 protrudes from one end of the accelerator grip member 52 and is accommodated in the case member 54.
- the grip sleeve 51 is not fixed to the case member 54 and is rotatable with respect to the case member 54.
- the case member 54 includes a bearing groove 54a, a friction generating portion 54b, a gear housing portion 54c, and a motor housing portion 54d.
- An annular protrusion 51 a is provided at one end of the grip sleeve 51.
- the protrusion 51a of the grip sleeve 51 is rotatably accommodated in the bearing groove 54a via the bearing member 51b. Thereby, the movement of the grip sleeve 51 in the axial direction is stopped.
- An annular friction generating member 53 is provided in the friction generating portion 54b.
- the friction generating member 53 is made of, for example, a viscoelastic polymer material such as synthetic rubber, and contacts the outer peripheral surface of the grip sleeve 51.
- a viscoelastic polymer material such as synthetic rubber
- the coil spring 55 and the gears 56, 57a, 57b, and 58 are accommodated in the gear accommodating portion 54c.
- the motor 59 is accommodated in the motor accommodating portion 54d.
- One end of the coil spring 55 is fixed to the grip sleeve 51, and the other end is fixed to the case member 54.
- the coil spring 55 biases the grip sleeve 51 in the closing direction R2.
- FIG. 4 is a view for explaining the arrangement of the grip sleeve 51 and the gears 56, 57 a, 57 b and 58. 4 shows the side surfaces of the grip sleeve 51 and the gears 56, 57a, 57b, and 58 as seen from the direction of the arrow T in FIG.
- the gear 56 is provided integrally with the grip sleeve 51 so as to spread in a fan shape within a certain angular range with respect to the axis of the grip sleeve 51 (the axis P1 of the handle bar 105a).
- the gears 57a and 57b are provided integrally with each other.
- the diameter of the gear 57a is smaller than the diameter of the gear 57b.
- the gear 56 is meshed with the gear 57a, and the gear 58 is meshed with the gear 57b.
- the rotating shaft 59a of the motor 59 is arranged along the axial direction.
- a gear 58 is attached to the rotation shaft 59 a of the motor 59.
- the grip sleeve 51 and the motor 59 are connected via the gears 56, 57a, 57b, and 58.
- the motor 59 is controlled such that a force in the closing direction R1 is applied from the motor 59 to the grip sleeve 51.
- Accelerator opening sensor SE4 is disposed at a position facing gear 57a.
- the accelerator opening sensor SE4 detects the rotation angle of the grip sleeve 51 as the accelerator opening by detecting the rotation angle of the gear 57a (gear 57b).
- FIG. 5 is a block diagram for explaining a control system of the motorcycle 100.
- the ECU 80 includes a CPU (Central Processing Unit) 81, a ROM (Read Only Memory) 82, and a RAM (Random Access Memory) 83.
- the detection results of the rotation speed sensor SE1, the gear ratio sensor SE2, and the roll angle sensor SE3 and the operation content of the setting switch 120 by the driver are given to the CPU 81 of the ECU 80.
- the detection result of the accelerator opening sensor SE4 of the accelerator grip device 106 is given to the CPU 81 of the ECU 80.
- the CPU 81 controls the motor 59 of the accelerator grip device 106.
- the throttle device 60 includes a throttle valve 61, a throttle drive device 62, and a throttle opening sensor SE5.
- the throttle opening By adjusting the opening of the throttle valve 61 (hereinafter referred to as the throttle opening) by the throttle driving device 62, the intake amount of the engine 107 is adjusted. Thereby, the output of the engine 107 is adjusted.
- the throttle drive device 62 is, for example, a motor.
- the CPU 81 of the ECU 80 controls the throttle drive device 62 based on the detection result of the accelerator opening sensor SE4.
- the throttle opening sensor SE5 detects the throttle opening, and gives the detection result to the CPU 81 of the ECU 80.
- a control program is stored in the ROM 82 of the ECU 80.
- the CPU 81 executes an accelerator reaction force adjustment process, which will be described later, by executing a control program stored in the ROM 82 on the RAM 83.
- the ROM 82 stores a map representing the relationship between the engine speed, the engine torque and the throttle opening, and various numerical values used for accelerator reaction force adjustment processing.
- FIG. 6 is a diagram illustrating an example of a friction circle.
- the vertical axis represents the acceleration Fx in the front-rear direction
- the horizontal axis represents the acceleration Fy in the left-right direction.
- the forward acceleration (acceleration during driving) of the main body frame 101 (FIG. 1) is represented by a positive value
- the backward acceleration (acceleration during braking) of the main body frame 101 is negative. It is represented by the value of Further, the acceleration in the right direction of the main body frame 101 is represented by a positive value, and the acceleration in the left direction of the main body frame 101 is represented by a negative value.
- acceleration in the front-rear direction is referred to as longitudinal acceleration
- acceleration in the left-right direction is referred to as lateral acceleration.
- the lateral acceleration is zero.
- the lateral acceleration becomes a negative value
- the lateral acceleration becomes a positive value.
- the friction circle FC represents the limit values of the longitudinal acceleration and the lateral acceleration for preventing the rear wheel 115 (FIG. 1) as the driving wheel from slipping with respect to the ground.
- the limit value means a maximum value and a minimum value.
- the maximum value of the vertical acceleration is Fx1
- the maximum value of the vertical acceleration is Fx2.
- the maximum value of the longitudinal acceleration calculated from the lateral acceleration based on the friction circle FC is referred to as a longitudinal limit acceleration.
- the radius (hereinafter referred to as the longitudinal diameter) rx of the friction circle FC in the vertical axis direction and the radius (hereinafter referred to as the lateral diameter) ry of the friction circle FC in the horizontal axis direction are equal to each other. Is a perfect circle, but the longitudinal diameter rx and the transverse diameter ry are different from each other, and the friction circle FC may be an ellipse other than the perfect circle.
- FIG. 7 is a diagram illustrating another example of the friction circle FC. In the example of FIG. 7, the vertical diameter rx is larger than the horizontal diameter ry, and the friction circle FC is a vertically long ellipse.
- the appropriate shape and size of the friction circle FC differs depending on various conditions such as the ground condition, the condition of the rear wheel 115 (FIG. 1), and the skill of the driver. For example, when the ground is wet or frozen, the friction between the ground and the rear wheel 115 is reduced. In that case, the vertical diameter rx and the horizontal diameter ry are small. Conversely, for example, when the rear wheel 115 having a high grip force is used, the friction between the ground and the rear wheel 115 increases. In that case, the longitudinal diameter rx and the lateral diameter ry are large.
- a plurality of friction circle data is stored in advance in the ROM 82 (FIG. 5) of the ECU 80.
- the plurality of friction circle data includes different vertical diameters rx and horizontal diameters ry.
- the driver operates the setting switch 120 to select one piece of friction circle data. Thereby, one vertical diameter rx and one horizontal diameter ry are determined.
- the driver may be able to individually select the longitudinal diameter rx and the lateral diameter ry.
- the accelerator reaction force includes a biasing force of the coil spring 55, a friction force generated by the friction generating member 53, and a reaction force generated by the motor 59.
- a reaction force generated by the motor 59 is generated when a predetermined condition is satisfied.
- the reaction force generated by the motor 59 is referred to as a motor reaction force
- the other reaction force reaction force due to the coil spring 55 and the friction generating member 53
- the reference reaction force is an example of a reference value reaction force
- the motor reaction force is an example of an addition value reaction force.
- FIG. 8 is a diagram showing the relationship between the accelerator opening and the reference reaction force.
- the horizontal axis represents the accelerator opening
- the vertical axis represents the reference reaction force.
- the accelerator opening when the accelerator grip member 52 is in the closed position is MIN
- the accelerator opening when the accelerator grip member 52 is in the open position is MAX.
- the accelerator opening is increased when the accelerator grip member 52 is rotated in the opening direction R1, and the accelerator opening is decreased when the accelerator grip member 52 is rotated in the closing direction R2.
- the relationship between the accelerator opening and the reference reaction force has a hysteresis characteristic.
- the reference reaction force for rotating the accelerator grip member 52 in the opening direction R1 is larger than the reference reaction force for rotating the accelerator grip member 52 in the closing direction R2. Further, in each of the case where the accelerator grip member 52 is rotated in the opening direction R1 and the case where the accelerator grip member 52 is rotated in the closing direction R2, the reference reaction force increases as the accelerator opening degree increases.
- the relationship between the accelerator opening and the reference reaction force is not limited to the example of FIG.
- the reference reaction force may change in a curve with respect to the accelerator opening, or the reference reaction force may be constant with respect to the accelerator opening.
- the reference reaction force when the accelerator grip member 52 is rotated in the opening direction R1 may be equal to the reference reaction force when the accelerator grip member 52 is rotated in the closing direction R2.
- a reaction force strengthening mode there are a reaction force strengthening mode, a friction mode, and a summing mode as control modes for controlling the motor reaction force.
- the driver operates the setting switch 120 to select any one of the control mode from the reaction force strengthening mode, the friction mode, and the summing mode according to preference or other various conditions.
- FIG. 9 is a diagram for explaining the motor reaction force in the reaction force enhancement mode.
- the horizontal axis indicates the engine torque
- the vertical axis indicates the motor reaction force.
- the control start torque D is calculated based on the friction circle FC.
- the control start torque D will be described later.
- the motor reaction force changes in a linear function with respect to the engine torque, and increases as the engine torque increases.
- the difference value Dt between the current engine torque (hereinafter referred to as the current torque) Da and the control start torque D is multiplied by the rate of change of the motor reaction force with respect to the engine torque (the slope of the straight line L in FIG. 9).
- the motor reaction force to be generated can be calculated.
- the change of the motor reaction force in the reaction force enhancement mode is not limited to the example of FIG.
- the motor reaction force may change so as to increase in a quadratic function with respect to the engine torque, or the motor reaction force may change so as to increase stepwise with respect to the engine torque.
- FIG. 10 is a diagram for explaining the motor reaction force in the friction mode.
- a horizontal axis shows time and a vertical axis
- shaft shows an accelerator opening.
- a horizontal axis shows time and a vertical axis
- shaft shows a motor reaction force.
- a motor reaction force is generated based on the amount of change in the accelerator opening per unit time. Specifically, when the accelerator grip member 52 is rotated in the opening direction R1, that is, when the time differential value of the accelerator opening is a positive value, the time differential value is multiplied by a predetermined gain. Thus, the motor reaction force to be generated is calculated. When the time differential value of the accelerator opening is 0 or less and the motor reaction force is not generated immediately before, the motor reaction force is not generated. When the time differential value of the accelerator opening is 0 or less and the motor reaction force is generated immediately before, the motor reaction force to be generated is such that the motor reaction force is attenuated with a predetermined time constant. Calculated.
- the accelerator opening changes from P1 to P2 during the period from time t1 to time t2, and the accelerator opening is maintained constant after time t2.
- the motor reaction force T10 is generated in the period from the time point t1 to the time point t2, and the motor reaction force is attenuated with a predetermined time constant after the time point t2.
- the change in the motor reaction force in the friction mode is not limited to the example of FIG.
- a predetermined constant motor reaction force may be generated when the accelerator opening changes.
- the time differential value of the accelerator opening changes from a positive value to 0 or less, the motor reaction force may be maintained for a certain time.
- a motor reaction force that varies in a linear function with respect to the engine torque is generated as in the reaction force enhancement mode, and based on the amount of change in accelerator opening per unit time, as in the friction mode. Motor reaction force is generated.
- control operation of the motor 59 by the CPU 81 when the engine torque is smaller than the control start torque D is an example of the first control operation, and the motor by the CPU 81 when the engine torque is equal to or greater than the control start torque D
- the control operation 59 is an example of the second control operation.
- FIG. 11 is a flowchart of the acceleration reaction force adjustment process.
- the accelerator reaction force adjustment process in FIG. 11 is repeatedly performed at a constant cycle by the CPU 81 of the ECU 80.
- the CPU 81 performs a friction circle calculation process using the friction circle FC (step S1).
- a margin torque that is a difference between the maximum torque to be allowed and the current torque is calculated. Details of the friction circle calculation process and the surplus torque will be described later.
- the CPU 81 determines whether or not the calculated margin torque is smaller than the specified value A (step S2). When the calculated surplus torque is smaller than the specified value A, the CPU 81 performs a reaction force calculation process described later (step S3), and then ends the accelerator reaction force adjustment process. On the other hand, if the calculated margin torque is equal to or greater than the specified value A, the CPU 81 ends the accelerator reaction force adjustment process without performing the reaction force calculation process.
- FIG. 12 is a flowchart of the friction circle calculation process.
- the CPU 81 determines the vertical diameter rx and the horizontal diameter ry of the friction circle FC based on the operation content of the setting switch 120 (step S11). Thereby, the shape and size of the friction circle FC are determined.
- the CPU 81 calculates the lateral acceleration based on the detection result of the roll angle sensor SE3 (step S12). Specifically, the lateral acceleration Fy is calculated using the following formula (1).
- ⁇ is a roll angle detected by the roll angle sensor SE3.
- r c is the crown radius of the rear wheel 115.
- the crown radius is a radius of curvature of a portion (trad) of the rear wheel 115 that contacts the ground.
- H is the height of the center of gravity of the motorcycle 100.
- g is a gravitational acceleration.
- the CPU 81 calculates the longitudinal limit acceleration based on the friction circle FC determined in step S11 and the lateral acceleration Fy calculated in step S12 (step S13). Specifically, the CPU 81 calculates the longitudinal limit acceleration Fxmax using the following equation (2).
- the CPU 81 determines the maximum value of the engine torque that prevents the rear wheel 115 from slipping on the ground (hereinafter referred to as the longitudinal limit torque). Is calculated) (step S14). Specifically, the maximum torque value of the rear wheel 115 can be calculated from the vertical limit acceleration Fxmax, and the vertical limit torque can be calculated from the calculated maximum value of the torque of the rear wheel 115 and the gear ratio. it can.
- the CPU 81 calculates the current torque Da (FIG. 9) based on the detection result of the rotation speed sensor SE1, the detection result of the throttle opening sensor SE5, and the map stored in the ROM 82 (step S15).
- the CPU 81 calculates a margin torque by subtracting the current torque Da calculated in step S15 from the longitudinal limit torque calculated in step S14 (step S16). Thereby, the friction circle calculation process ends.
- the CPU 81 performs a reaction force calculation process when the margin torque becomes smaller than the specified value A.
- FIG. 13 is a flowchart of the reaction force calculation process.
- the CPU 81 calculates the control start torque D by subtracting the specified value A from the longitudinal limit torque calculated in step S14 of FIG. 12 (step S21).
- the CPU 81 calculates a difference value Dt (FIG. 9) between the calculated control start torque D and the current torque Da calculated in step S15 of FIG. 12 (step S22).
- the CPU 81 calculates a time differential value of the accelerator opening based on the detection result of the accelerator opening sensor SE4 (step S23). For example, the accelerator opening is detected every cycle of the accelerator reaction force adjustment process, and the accelerator opening detected in the previous cycle is subtracted from the accelerator opening detected in the current cycle, and the subtracted value is set in one cycle.
- the time differential value of the accelerator opening is calculated by dividing by the length of.
- the CPU 81 determines a control mode for controlling the motor reaction force based on the operation content of the setting switch 120 (step S24). Next, the CPU 81 calculates a motor reaction force to be generated in the determined control mode (step S25).
- the CPU 81 multiplies the difference value Dt calculated in step S22 by the rate of change of the motor reaction force with respect to the predetermined engine torque. Calculate the motor reaction force to be generated.
- the CPU 81 determines whether or not the time differential value calculated in step S23 is a positive value. If the control mode is a positive value, the CPU 81 determines the time differential value. The motor reaction force to be generated is calculated by multiplying a predetermined gain. Further, when the calculated time differential value is 0 or less and the motor reaction force is generated immediately before, the CPU 81 should be generated so that the motor reaction force is attenuated by a predetermined time constant. Calculate the motor reaction force.
- the CPU 81 When the control mode is determined to be the sum mode, the CPU 81 generates the sum by adding the motor reaction force calculated in the same manner as in the reaction force strengthening mode and the motor reaction force calculated in the same manner as in the friction mode. Calculate the motor reaction force to be performed.
- the CPU 81 controls the motor 59 of FIG. 4 so that the motor reaction force calculated in step S25 is generated. Thereby, the reaction force calculation process ends.
- motor 59 is controlled based on the lateral acceleration calculated from the detection result of roll angle sensor SE3.
- the accelerator reaction force applied to the driver from the accelerator grip member 52 of the accelerator grip device 106 changes according to the lateral acceleration.
- the driver can adjust the output of the engine 107 according to his / her own intention in accordance with the change in the reaction force from the accelerator grip member 52. Therefore, the driver can drive the motorcycle 100 stably without deteriorating the drivability of the driver.
- the longitudinal limit acceleration is calculated from the lateral acceleration based on the friction circle, and the motor 59 is controlled based on the calculated longitudinal limit acceleration.
- the longitudinal limit acceleration can be easily calculated.
- the driver can be made aware of whether the acceleration of the motorcycle 100 is appropriate for stable travel.
- control start torque D is calculated based on the calculated vertical limit acceleration, and when the current torque is equal to or greater than the control start torque D, a motor reaction force is generated.
- the longitudinal limit torque is calculated based on the calculated longitudinal limit acceleration and the transmission ratio detected by the transmission ratio sensor SE2, and the rotational speed detected by the rotational speed sensor SE1 and the throttle opening.
- the current torque is calculated based on the throttle opening detected by the degree sensor SE5 and the map stored in the ROM 82. Based on the calculated difference between the longitudinal limit torque and the current torque, it is determined whether or not a reaction force calculation process for generating a motor reaction force is performed. Thereby, a motor reaction force is generated at an appropriate timing. Therefore, it is possible to make the driver accurately recognize whether or not the acceleration of the motorcycle 100 is appropriate for stable travel.
- FIG. 14 is a flowchart of the reaction force calculation process in the second embodiment. The reaction force calculation process of FIG. 14 will be described while referring to differences from the reaction force calculation process of FIG.
- step S25 after the motor reaction force is calculated in step S25, the calculated motor reaction force is multiplied by a gain according to the detection result of the roll angle sensor SE3 (step S25a).
- the gain multiplied by the motor reaction force is smaller as the roll angle detected by the roll angle sensor SE3 is larger.
- the stability of the motorcycle 100 is low. Therefore, if the accelerator reaction force is increased when the roll angle is large, the drivability of the driver may be reduced. Therefore, by multiplying the motor reaction force by a gain corresponding to the roll angle, it is possible to prevent the accelerator reaction force from becoming excessively large when the roll angle is large. As a result, a decrease in the driving performance of the driver is prevented. Therefore, the driver can drive the motorcycle 100 more stably.
- FIG. 15 is a flowchart of the accelerator reaction force adjustment process in the third embodiment.
- FIG. 16 is a diagram showing the relationship between engine torque and motor reaction force in the third embodiment.
- the horizontal axis represents engine torque
- the vertical axis represents motor reaction force.
- the CPU 81 calculates the current engine torque (current torque) based on the detection result of the rotational speed sensor SE1, the detection result of the throttle opening sensor SE5, and the map stored in the ROM 82. (Step S31). Next, the CPU 81 determines whether or not the calculated current torque is 0 or more (step S32). When the motorcycle 100 accelerates, the current torque becomes greater than zero. In this case, torque is transmitted from engine 107 (FIG. 1) to rear wheel 115. When the motorcycle 100 decelerates, the current torque is less than zero. In this case, torque is transmitted from the rear wheel 115 to the engine 107.
- the CPU 81 controls the motor 59 in FIG. 4 so that a constant motor reaction force T11 (FIG. 16) is generated (step S33). Thereafter, the CPU 81 ends the accelerator reaction force adjustment process. On the other hand, when the current torque is smaller than 0, the CPU 81 ends the accelerator reaction force adjustment process without generating a motor reaction force as shown in FIG.
- the reaction force applied to the driver differs depending on whether the motorcycle 100 accelerates or decelerates. Therefore, the driver can easily recognize the acceleration and deceleration of the motorcycle 100. Furthermore, the driver can adjust the output of the engine 107 by his / her own intention according to the change in the reaction force from the accelerator grip member 52 (FIG. 3). Therefore, the driver can run the motorcycle 100 stably without deteriorating the drivability of the driver.
- the accelerator reaction force when the current torque is 0 or more and the accelerator reaction force when the current torque is less than 0 are examples of the reaction force of the reference value.
- a change in the accelerator reaction force when the current torque is greater than 0 is an example of the first change, and a change in the accelerator reaction force when the current torque is less than 0 is an example of the second change.
- the accelerator reaction force adjustment process of FIG. 15 may be performed. Specifically, when the current torque is greater than 0, the motor reaction force T11 of FIG. 16 is generated. Further, when the current torque is equal to or greater than the control start torque D (FIG. 9), the motor reaction force calculated in step S25 of FIG. 13 is generated in addition to the motor reaction force T11 of FIG.
- a constant motor reaction force T11 is generated when the current torque is 0 or more, and no motor reaction force is generated when the current torque is less than 0, but this is not restrictive.
- the motor reaction force may be generated even when the current torque is smaller than zero. In this case, the motor reaction force generated when the current torque is smaller than 0 is different from the motor reaction force generated when the current torque is 0 or more. Further, when the current torque is 0 or more, a motor reaction force that changes according to the accelerator opening or the engine torque may be generated. In addition, when the current torque is smaller than 0, a motor reaction force that changes according to the accelerator opening or the engine torque may be generated. In this case, the change in the motor reaction force generated when the current torque is smaller than 0 is different from the change in the motor reaction force generated when the current torque is 0 or more.
- reaction force calculation process is performed when the difference (margin torque) between the longitudinal limit torque and the current torque is smaller than the specified value A.
- the reaction force calculation process may be performed based on the amount of change in the difference between the longitudinal limit torque and the current torque.
- the time differential value of the difference between the longitudinal limit torque and the current torque is calculated, and the reaction force calculation process is performed when the calculated time differential value is larger than a specified value. In this case, it is possible to make the driver recognize a change in the difference between the longitudinal limit torque and the current torque.
- the motor reaction force to be generated may be calculated based on the amount of change in the difference between the longitudinal limit torque and the current torque. For example, the motor reaction force to be generated is calculated so that the motor reaction force increases as the change amount of the difference between the longitudinal limit torque and the current torque increases.
- the longitudinal diameter rx and the lateral diameter ry of the friction circle are determined by the driver's selection, but not limited to this, the longitudinal diameter rx and the lateral diameter ry of the friction circle are automatically set. May be determined automatically.
- the friction coefficient between the ground and the rear wheel 115 is estimated based on the rotation state of the front wheel 104 or the rear wheel 115, and the longitudinal diameter rx and the lateral diameter ry of the friction circle are determined based on the estimated friction coefficient. May be.
- the vertical diameter rx and the horizontal diameter ry of the friction circle may be determined using another friction coefficient estimation technique.
- the lateral acceleration is calculated based on the roll angle detected by the roll angle sensor SE3.
- the present invention is not limited to this.
- the lateral acceleration may be calculated by detecting acceleration in a direction orthogonal to the front-rear direction using an acceleration sensor and correcting the detected acceleration according to the inclination of the motorcycle 100.
- the magnitude of the accelerator reaction force is adjusted by adjusting the magnitude of the reaction force generated by the motor 59.
- the sliding member is provided so as to be slidable with respect to the grip sleeve 51 or the accelerator grip member 52, and the magnitude of the frictional resistance of the sliding member with respect to the grip sleeve 51 or the accelerator grip member 52 is adjusted.
- the magnitude of the reaction force may be adjusted.
- the gear ratio is acquired by detecting the gear ratio with the gear ratio sensor SE2, but the present invention is not limited to this.
- the gear ratio may be acquired by calculating the gear ratio from the rotational speed of the engine 107 and the moving speed (vehicle speed) of the motorcycle 100.
- the vehicle speed can be calculated from the rotational speed of the front wheel 104 or the rotational speed of the rear wheel 115.
- the rotational speed sensor SE1, the sensor for detecting the rotational speed of the front wheel 104 or the rear wheel 115, and the ECU 50 correspond to the gear ratio acquisition unit.
- the vehicle speed can also be calculated from GPS (Global Positioning System).
- the rotation speed sensor SE1, the GPS receiver, and the ECU 50 correspond to the gear ratio acquisition unit.
- the throttle opening detected by the throttle opening sensor SE5 is used as the intake air amount corresponding value, but the present invention is not limited to this.
- the accelerator opening detected by the accelerator opening sensor SE4 may be used as the intake air amount corresponding value.
- the accelerator opening sensor SE4 corresponds to an intake air amount corresponding value detector.
- an engine air flow sensor that detects the intake air amount of the engine 107 or an intake pipe pressure sensor that detects the pressure in the intake pipe 108 may be used as the intake air amount corresponding value detector.
- the intake air amount detected by the engine air flow sensor or the pressure detected by the intake pipe pressure sensor is used as the intake air amount corresponding value.
- the accelerator reaction force is controlled based on the longitudinal limit acceleration calculated using the friction circle, but the present invention is not limited to this.
- the vertical acceleration and the lateral acceleration may be detected, respectively, and the accelerator reaction force may be controlled based on a resultant force of the detected vertical acceleration and lateral acceleration.
- the accelerator reaction force may be controlled based on one of the vertical acceleration and the lateral acceleration, and the accelerator reaction force may be controlled based on an oblique acceleration that is inclined with respect to the front-rear direction.
- the rear wheel 115 is driven by the engine 107, but the present invention is not limited to this, and the front wheel 104 may be driven by the engine 107.
- the function of the control unit is realized by the CPU 81 of the ECU 80 and the control program, but at least a part of the function of the control unit may be realized by hardware such as an electronic circuit.
- the above embodiment is an example in which the present invention is applied to a motorcycle.
- the present invention is not limited to this, and the present invention is applied to other saddle riding type vehicles such as a motor tricycle or an ATV (All Terrain Vehicle).
- the present invention may be applied, or the present invention may be applied to other vehicles such as an automatic tricycle or an automatic four-wheel vehicle provided with an accelerator pedal instead of the accelerator grip.
- the accelerator pedal corresponds to an output adjustment device.
- a reaction force adjustment unit that can adjust the reaction force applied to the driver from the accelerator pedal is provided.
- the above embodiment is an example in which the present invention is applied to a vehicle including an engine as a prime mover.
- the present invention is not limited thereto, and the present invention may be applied to an electric vehicle including a motor as a prime mover.
- the motorcycle 100 is an example of a vehicle
- the main body frame 101 is an example of a main body
- the engine 107 is an example of a prime mover and an engine
- the rear wheel 115 is an example of a drive wheel
- an accelerator
- the grip device 106 is an example of an output adjustment device
- the motor 59 is an example of a reaction force adjustment unit
- the roll angle sensor SE3 is an example of an acceleration detector
- the ECU 80 is an example of a control unit.
- the gear ratio sensor SE2 is an example of a gear ratio acquisition unit
- the throttle opening sensor SE5 is an example of an intake air amount corresponding value detector
- the rotational speed sensor SE1 is an example of a rotational speed detector
- a prescribed value A Is an example of a predetermined threshold value
- the setting switch 120 is an example of a setting unit.
- the present invention can be effectively used for various vehicles.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Steering Devices For Bicycles And Motorcycles (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
Abstract
Description
(1-1)自動二輪車の概略構成
図1は、第1の実施の形態に係る自動二輪車を示す概略側面図である。図2は、図1の自動二輪車の上面図である。図1の自動二輪車100においては、本体フレーム101の前端にヘッドパイプ102が設けられる。ヘッドパイプ102にフロントフォーク103が左右方向に揺動可能に設けられる。フロントフォーク103の下端に前輪104が回転可能に取り付けられる。ヘッドパイプ102の上端にはハンドル105が設けられる。図2に示すように、ハンドル105には、アクセルグリップ装置106および設定スイッチ120が設けられる。運転者は、アクセルグリップ装置106を操作することにより、後述のエンジン107の出力を調整する。また、運転者は、設定スイッチ120を操作することにより、後述の摩擦円および制御モードの選択を行う。
図3は、アクセルグリップ装置106の構成を示す断面図である。図3に示すように、ハンドル105は、略円筒形状のハンドルバー105aを有する。ハンドルバー105aにアクセルグリップ装置106が設けられる。アクセルグリップ装置106は、グリップスリーブ51、アクセルグリップ部材52、摩擦発生部材53、ケース部材54、コイルばね55、ギア56,57a,57b,58を含む。
図5は、自動二輪車100の制御系について説明するためのブロック図である。図5に示すように、ECU80は、CPU(中央演算処理装置)81、ROM(リードオンリメモリ)82およびRAM(ランダムアクセスメモリ)83を含む。回転速度センサSE1、変速比センサSE2、およびロール角センサSE3の検出結果、ならびに運転者による設定スイッチ120の操作内容がECU80のCPU81に与えられる。
アクセル反力調整処理では、摩擦円を用いた演算処理が行われる。図6は、摩擦円の一例を示す図である。図6において、縦軸は、前後方向における加速度Fxを示し、横軸は、左右方向における加速度Fyを示す。図6の例では、本体フレーム101(図1)の前方向への加速度(駆動時の加速度)が正の値で表され、本体フレーム101の後方向への加速度(制動時の加速度)が負の値で表される。また、本体フレーム101の右方向への加速度が正の値で表され、本体フレーム101の左方向への加速度が負の値で表される。
運転者が図3のアクセルグリップ部材52に開方向R1の力を加えると、アクセルグリップ部材52から運転者に閉方向R2の反力(以下、アクセル反力と呼ぶ)が加わる。アクセル反力は、コイルばね55の付勢力、摩擦発生部材53による摩擦力、およびモータ59により発生される反力を含む。本実施の形態では、予め定められた条件が満たされた場合に、モータ59による反力が発生される。以下、アクセル反力のうち、モータ59により発生される反力をモータ反力と呼び、それ以外の反力(コイルばね55および摩擦発生部材53等による反力)を基準反力と呼ぶ。本実施の形態では、基準反力が基準値の反力の例であり、モータ反力が加算値の反力の例である。
図11は、アクセル反力調整処理のフローチャートである。図11のアクセル反力調整処理は、ECU80のCPU81により一定の周期で繰り返し行われる。
本実施の形態に係る自動二輪車100においては、ロール角センサSE3の検出結果から算出される横方向加速度に基づいてモータ59が制御される。この場合、横方向加速度に応じて、アクセルグリップ装置106のアクセルグリップ部材52から運転者に加わるアクセル反力が変化する。それにより、自動二輪車100の加速度が安定な走行に適切であるか否かを運転者に認識させることができる。さらに、運転者は、アクセルグリップ部材52からの反力の変化に応じて、自らの意思でエンジン107の出力を調整することができる。したがって、運転者の運転性が低下することなく、運転者は自動二輪車100を安定に走行させることができる。
本発明の第2の実施の形態に係る自動二輪車100について、上記第1の実施の形態と異なる点を説明する。
本発明の第3の実施の形態に係る自動二輪車100について、上記第1の実施の形態と異なる点を説明する。
(4-1)
上記第1および第2の実施の形態では、縦方向限界トルクと現在トルクとの差分(余裕トルク)が規定値Aよりも小さい場合に反力演算処理が行われるが、これに限らない。例えば、縦方向限界トルクと現在トルクとの差分の変化量に基づいて、反力演算処理が行われてもよい。
上記第1および第2の実施の形態では、運転者の選択によって摩擦円の縦径rxおよび横径ryが決定されるが、これに限らず、摩擦円の縦径rxおよび横径ryが自動的に決定されてもよい。例えば、前輪104または後輪115の回転状況等に基づいて地面と後輪115との間の摩擦係数を推定し、推定された摩擦係数に基づいて摩擦円の縦径rxおよび横径ryが決定されてもよい。また、他の摩擦係数推定技術を用いて、摩擦円の縦径rxおよび横径ryが決定されてもよい。
上記第1および第2の実施の形態では、ロール角センサSE3によって検出されたロール角に基づいて横方向加速度が算出されるが、これに限らない。例えば、加速度センサを用いて前後方向に直交する方向の加速度を検出し、検出された加速度を自動二輪車100の傾きに応じて補正することにより、横方向加速度を算出してもよい。
上記第1~第3の実施の形態では、モータ59によって発生される反力の大きさが調整されることによりアクセル反力の大きさが調整されるが、これに限らない。例えば、グリップスリーブ51またはアクセルグリップ部材52に対して摺動可能に摺動部材が設けられ、グリップスリーブ51またはアクセルグリップ部材52に対する摺動部材の摩擦抵抗の大きさが調整されることにより、アクセル反力の大きさが調整されてもよい。
上記第1および第2の実施の形態では、変速比センサSE2によって変速比を検出することにより変速比を取得するが、これに限らない。例えば、エンジン107の回転速度および自動二輪車100の移動速度(車速)から変速比を算出することにより変速比を取得してもよい。車速は、前輪104の回転速度または後輪115の回転速度から算出することができる。この場合、回転速度センサSE1、前輪104または後輪115の回転速度を検出するセンサおよびECU50が変速比取得部に相当する。また、車速は、GPS(全地球測位システム)から算出することもできる。この場合、回転速度センサSE1、GPS受信機およびECU50が変速比取得部に相当する。
上記第1および第2の実施の形態では、スロットル開度センサSE5により検出されるスロットル開度が吸気量対応値として用いられるが、これに限らない。例えば、スロットル開度の代わりに、アクセル開度センサSE4により検出されるアクセル開度が吸気量対応値として用いられてもよい。この場合、アクセル開度センサSE4が吸気量対応値検出器に相当する。
上記第1および第2の実施の形態では、摩擦円を用いて算出された縦方向限界加速度に基づいてアクセル反力が制御されるが、これに限らない。例えば、縦方向加速度および横方向加速度がそれぞれ検出され、検出された縦方向加速度および横方向加速度の合力に基づいてアクセル反力が制御されてもよい。あるいは、縦方向加速度および横方向加速度の一方に基づいてアクセル反力が制御されてもよく、前後方向に対して傾斜する斜め方向の加速度に基づいてアクセル反力が制御されてもよい。
上記実施の形態では、エンジン107により後輪115が駆動されるが、これに限らず、エンジン107により前輪104が駆動されてもよい。
上記実施の形態は、本発明を自動二輪車に適用した例であるが、これに限らず、自動三輪車もしくはATV(All Terrain Vehicle;不整地走行車両)等の他の鞍乗り型車両に本発明を適用してもよく、またはアクセルグリップの代わりにアクセルペダルを備えた自動三輪車もしくは自動四輪車等の他の車両に本発明を適用してもよい。
上記実施の形態は、原動機としてエンジンを備える車両に本発明を適用した例であるが、これに限らず、原動機としてモータを備える電動車両に本発明を適用してもよい。
以下、請求項の各構成要素と実施の形態の各要素との対応の例について説明するが、本発明は下記の例に限定されない。
Claims (16)
- 駆動輪を有する本体部と、
前記駆動輪を回転させるためのトルクを発生する原動機と、
前記原動機の出力を調整するために運転者により操作される出力調整装置と、
前記出力調整装置の操作に対して前記出力調整装置から運転者に加わる反力を調整するように構成された反力調整部と、
前記本体部の加速度を検出するように構成された加速度検出器と、
前記加速度検出器により検出された加速度に基づいて、前記反力調整部を制御するように構成された制御部とを備える、車両。 - 前記加速度検出器は、路面に略平行でかつ前記本体部の前後方向と交差する横方向の加速度を横方向加速度として検出するように構成され、
前記制御部は、設定された摩擦円に基づいて、前記加速度検出器により検出された横方向加速度に対応して許容されるべき前記本体部の前後方向における最大の加速度を縦方向限界加速度として取得し、取得された縦方向限界加速度に基づいて、前記反力調整部を制御するように構成された、請求項1記載の車両。 - 前記制御部は、前記取得された縦方向限界加速度に基づいて、前記出力調整装置の操作量に応じて決定される基準値の反力が前記出力調整装置から運転者に加わるように前記反力調整部を制御する第1の制御動作、および0以上の加算値と前記基準値との合計値の反力が前記出力調整装置から運転者に加わるように前記反力調整部を制御する第2の制御動作のうち一方を選択的に行うように構成された、請求項2記載の車両。
- 前記原動機と前記駆動輪との間における変速比を取得するように構成された変速比取得部をさらに備え、
前記制御部は、前記変速比取得部により取得された変速比および前記取得された縦方向限界加速度に基づいて、前記駆動輪を回転させるための許容されるべき最大のトルクを限界トルクとして算出し、算出された限界トルクおよび前記原動機により発生される現在のトルクに基づいて、前記第1の制御動作および前記第2の制御動作のうち一方を選択的に行うように構成された、請求項3記載の車両。 - 前記原動機はエンジンを含み、
前記エンジンの吸気量に対応する吸気量対応値を検出するように構成された吸気量対応値検出器と、
前記エンジンの回転速度を検出するように構成された回転速度検出器とをさらに備え、
前記制御部は、前記吸気量対応値検出器により検出された吸気量対応値および前記回転速度検出器により検出された回転速度に基づいて前記現在のトルクを算出し、前記算出された限界トルクおよび前記算出された現在のトルクに基づいて、前記第1の制御動作および第2の制御動作のうち一方を選択的に行うように構成された、請求項4記載の車両。 - 前記制御部は、前記算出された限界トルクと前記現在のトルクとの差分が予め定められたしきい値以上である場合に前記第1の制御動作を行い、前記差分が前記しきい値より小さい場合に前記第2の制御動作を行うように構成された、請求項4記載の車両。
- 前記制御部は、前記算出された限界トルクと前記現在のトルクとの差分の変化量に基づいて、前記第1の制御動作および第2の制御動作のうち一方を選択的に行うように構成された、請求項4記載の車両。
- 前記制御部は、前記第2の制御動作として、前記原動機により発生されるトルクが大きいほど前記加算値が大きくなるように前記原動機により発生されるトルクに基づいて前記加算値を算出するように構成された、請求項3に記載の車両。
- 前記制御部は、前記第2の制御動作として、前記算出された限界トルクと前記現在のトルクとの差分が小さいほど前記加算値が大きくなるように前記加算値を算出するように構成された、請求項4に記載の車両。
- 前記制御部は、前記第2の制御動作として、前記出力調整装置の操作量の変化量に基づいて前記加算値を算出するように構成された、請求項3記載の車両。
- 前記制御部は、前記第2の制御動作として、前記算出された限界トルクと前記現在のトルクとの差分の変化量に基づいて前記加算値を算出するように構成された、請求項4記載の車両。
- 前記制御部は、前記第2の制御動作として、前記原動機により発生されるトルクが大きいほど前記加算値が大きくなるように前記原動機により発生されるトルクに基づいて第1の加算値を算出するとともに、前記出力調整装置の操作量の変化量に基づいて第2の加算値を算出し、算出された第1および第2の加算値を合算することにより前記加算値を算出するように構成された、請求項3記載の車両。
- 前記摩擦円を設定するために運転者により操作される設定部をさらに備える、請求項2記載の車両。
- 前記摩擦円は楕円を含む、請求項2記載の車両。
- 前記制御部は、前記原動機から前記駆動輪にトルクが伝達される場合に前記出力調整装置の操作量に応じて前記基準値が第1の変化を示し、前記駆動輪から前記原動機にトルクが伝達される場合に前記出力調整装置の操作量に応じて前記基準値が前記第1の変化と異なる第2の変化を示すように、前記基準値を決定するように構成された、請求項1記載の車両。
- 駆動輪を有する本体部と、
前記駆動輪を回転させるためのトルクを発生する原動機と、
前記原動機の出力を調整するために運転者により操作される出力調整装置と、
前記出力調整装置の操作に対して前記出力調整装置から運転者に加わる反力を調整するように構成された反力調整部と、
前記出力調整装置の操作量に応じて決定される基準値に基づく反力が前記出力調整装置から運転者に加わるように前記反力調整部を制御するように構成された制御部とを備え、
前記制御部は、前記原動機から前記駆動輪にトルクが伝達される場合に前記出力調整装置の操作量に応じて前記基準値が第1の変化を示し、前記駆動輪から前記原動機にトルクが伝達される場合に前記出力調整装置の操作量に応じて前記基準値が前記第1の変化と異なる第2の変化を示すように、前記基準値を決定するように構成された、車両。
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JP2016203885A (ja) * | 2015-04-27 | 2016-12-08 | 本田技研工業株式会社 | ペダル反力付与装置 |
JP2017044081A (ja) * | 2015-08-24 | 2017-03-02 | スズキ株式会社 | 車両の出力制御システムおよびその出力制御方法 |
JP2019105909A (ja) * | 2017-12-11 | 2019-06-27 | 川崎重工業株式会社 | リーン型乗物の走行情報蓄積方法、走行情報処理プログラム及び走行情報蓄積装置 |
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JP2023151186A (ja) * | 2022-03-31 | 2023-10-16 | 本田技研工業株式会社 | スロットルグリップ装置及び鞍乗型車両 |
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JP2022053052A (ja) * | 2020-09-24 | 2022-04-05 | ヤマハ発動機株式会社 | 自動二輪車 |
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