WO2020230768A1

WO2020230768A1 - Leaning vehicle equipped with control device having at least one function among fcw, eba, and aeb

Info

Publication number: WO2020230768A1
Application number: PCT/JP2020/018877
Authority: WO
Inventors: 星美鳥越; 小林　寛; 知昭岸; 里沙安川
Original assignee: ヤマハ発動機株式会社
Priority date: 2019-05-10
Filing date: 2020-05-11
Publication date: 2020-11-19

Abstract

According to the present invention, a control device 1011 having at least one function among FCW, EBA, and AEB acquires a physical quantity related to the vehicle width of a leaning vehicle 1001 on the basis of a signal detected by a vehicle width detection sensor 1012 of a leaning vehicle. The control device 1011, having at least one function among FCW, EBA, and AEB, operates, on the basis of the acquired physical quantity related to the vehicle width of the leaning vehicle 1001, such that an obstacle lateral direction distance has the following relationship: the obstacle lateral direction distance is the distance between an obstacle 2001 in the lateral direction of the leaning vehicle 1001 and the ground contact points of the wheels of the leaning vehicle 1001. A minimum value DSLRmin of an obstacle lateral distance, in which the control device 1011 having at least one function among FCW, EBA, and AEB does not operate when the leaning vehicle 1001 travels in a straight line at a first vehicle speed V1, is smaller than a minimum value DCLRmin of an obstacle lateral distance in which the control device 1011 having at least one function among FCW, EBA, and AEB does not operate when the leaning vehicle 1001 turns in a circle of a first radius r1 at the first vehicle speed V1. However, the obstacle 2001 is disposed inward in the radial direction of the circle.

Description

Lean vehicle with control device having at least one function of FCW, EBA and AEB

The present invention is provided on a lean body frame that inclines to the right of the vehicle when turning right and to the left of the vehicle when turning right, and corresponds to an obstacle acquired based on the relationship between the obstacle and the own vehicle. The present invention relates to a leaning vehicle equipped with a control device having at least one function of FCW, EBA and AEB that operates based on a margin of operation. FCW is an abbreviation for Forward Collision Warning. EBA is an abbreviation for Emergency Brake Assist. AEB is an abbreviation for Autonomous Emergency Braking.

A lean vehicle having a control device having at least one of FCW, EBA and AEB functions has been proposed, which operates based on the margin corresponding to the obstacle acquired based on the relationship between the obstacle and the own vehicle. .. The lean vehicle described in Patent Document 1 is provided on a lean body frame that tilts to the right of the vehicle when turning right and tilts to the left of the vehicle when turning right, and is acquired based on the relationship between an obstacle and the own vehicle. It is equipped with a control device having an FCW function that operates based on a margin corresponding to an obstacle.
Patent Document 1 describes that the minimum lateral offset between the two-wheeled vehicle and the obstacle is taken into consideration in order to deal with the obstacle. More specifically, the minimum lateral offset is described as the lateral offset with respect to the central axis of the preceding vehicle. Further, it is stated that if the vehicle travels on the left outer contour line or the right outer contour line of the preceding vehicle, no further lateral offset is required. In other words, a technique for dealing with obstacles is shown by focusing on the distance between the central axis of the preceding vehicle and the outer contour line of the preceding vehicle. (See FIG. 1 and paragraphs 0009 and 0010 of Patent Document 1).

JP-A-2009-116882

There is a demand for a lean vehicle having a control device having at least one of FCW, EBA, and AEB that operates based on a technical concept different from the technical concept of the control device having the FCW function described in Patent Document 1. ..

The present invention is a lean vehicle that tilts to the right of the vehicle when turning right and tilts to the left of the vehicle when turning left, and is a control device having at least one of the conventionally proposed functions of FCW, EBA, and AEB. It is an object of the present invention to provide a lean vehicle equipped with a control device having at least one function of FCW, EBA and AEB that operates based on a technical idea different from the technical idea.

A lean vehicle provided with a control device having at least one of FCW, EBA and AEB according to an embodiment of the present invention has the following configuration.
The lean vehicle is mounted on a lean body frame that tilts to the right of the vehicle when turning right and to the left of the vehicle when turning left, based on the margin acquired based on the relationship between the obstacle and the vehicle. It includes a control device having at least one function of operating FCW, EBA and AEB. A lean vehicle equipped with a control device having at least one function of FCW, EBA and AEB is a physical quantity related to a vehicle width which is a left-right length of the lean vehicle that changes when the lean vehicle turns right or left. It is equipped with a lean vehicle width detection sensor for detecting. The control device having at least one function of FCW, EBA and AEB acquires the physical quantity related to the width of the lean vehicle based on the signal detected by the lean vehicle width detection sensor. The control device having at least one function of FCW, EBA and AEB is between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle based on the acquired physical quantity related to the width of the lean vehicle. It operates so that the distance in the left-right direction of the obstacle, which is the distance between the two, is the following relational expression (1).
Relational expression (1): When the lean vehicle travels on a straight line at the first vehicle speed, the control device having at least one of FCW, EBA, and AEB does not operate. The minimum value of the lateral distance between obstacles <the lean vehicle is the first. When turning on a circle with the first radius at the vehicle speed, the control device having at least one of FCW, EBA, and AEB does not operate. Obstacle The minimum value of the left-right distance. However, in the relational expression (1), the obstacle is It is placed inward in the radial direction of the circle.

A lean vehicle including a control device having at least one of FCW, EBA, and AEB according to an embodiment of the present invention may have the following configuration.
The control device having at least one function of FCW, EBA and AEB is between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle based on the acquired physical quantity related to the width of the lean vehicle. It operates so that the distance in the left-right direction of the obstacle, which is the distance of
Relational expression (2): When the lean vehicle travels on a straight line at the first vehicle speed, the control device having at least one function of FCW, EBA, and AEB does not operate. When turning on a circle with the first radius at the vehicle speed, the control device having at least one of FCW, EBA, and AEB does not operate. Obstacle The minimum value of the left-right distance. However, in the relational expression (2), the obstacle is It is placed outside the radial direction of the circle.

A lean vehicle including a control device having at least one of FCW, EBA, and AEB according to an embodiment of the present invention may have the following configuration.
The control device having at least one function of FCW, EBA and AEB is between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle based on the acquired physical quantity related to the width of the lean vehicle. The obstacle is operated so that the lateral distance of the obstacle, which is the distance between the two, is at least one of the following relational expressions (3) and (4).
Relational expression (3): When the lean vehicle turns on the circle of the first radius at the first vehicle speed, the control device having at least one function of FCW, EBA and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle <lean. When the vehicle turns on a circle with a second radius smaller than the first radius at the first vehicle speed, the control device having at least one of FCW, EBA, and AEB does not operate. Obstacles Minimum value of lateral distance However, obstacles Is placed inward in the radial direction of the circle.
Relational expression (4): When the lean vehicle turns on the circle of the first radius at the first vehicle speed, the control device having at least one function of FCW, EBA and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle <lean. When the vehicle turns on the circle of the first radius at the second vehicle speed faster than the first vehicle speed, the control device having at least one function of FCW, EBA and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle. In (4), the obstacle is arranged inward in the radial direction of the circle.

A lean vehicle including a control device having at least one of FCW, EBA, and AEB according to an embodiment of the present invention may have the following configuration.
The control device having at least one function of FCW, EBA and AEB is between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle based on the acquired physical quantity related to the width of the lean vehicle. The obstacle is operated so that the left-right distance of the obstacle is at least one of the following relational expressions (5) and (6).
Relational expression (5): When the lean vehicle turns on the circle of the first radius at the first vehicle speed, the control device having at least one function of FCW, EBA and AEB does not operate. The minimum value of the lateral distance between obstacles ≧ lean When the vehicle turns on a circle with a second radius smaller than the first radius at the first vehicle speed, the control device having at least one of FCW, EBA, and AEB does not operate. The minimum value of the lateral distance in the left-right direction. In (5), the obstacle is arranged outside the radial direction of the circle.
Relational expression (6): When the lean vehicle turns on the circle of the first radius at the first vehicle speed, the control device having at least one function of FCW, EBA and AEB does not operate. The minimum value of the lateral distance between obstacles ≥ lean When the vehicle turns on the circle of the first radius at the second vehicle speed faster than the first vehicle speed, the control device having at least one function of FCW, EBA and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle. In (6), the obstacle is arranged outside the radial direction of the circle.

Conventionally proposed control devices having at least one function of FCW, EBA and AEB "focus on the lateral distance between the central axis of the preceding vehicle and the outer contour of the preceding vehicle" and "in the region to be activated". It is based on the technical idea of "focusing". A control device having at least one function of FCW, EBA, and AEB according to an embodiment of the present invention is described as "a lateral distance between a grounding point of a lean vehicle and an obstacle based on a changing vehicle width of the lean vehicle. It is based on the technical idea of "focusing on the non-operating region" and "focusing on the non-operating region", and is different from the conventionally proposed control device having at least one function of FCW, EBA and AEB.
Therefore, it is a lean vehicle that tilts to the right of the vehicle when turning right and tilts to the left of the vehicle when turning left, and is a technical concept of a control device having at least one function of FCW, EBA, and AEB that has been conventionally proposed. It is possible to provide a lean vehicle equipped with a control device having at least one function of FCW, EBA and AEB operating based on a technical concept different from that of the above.

[Lean vehicle]
The lean vehicle according to the present invention and the embodiment is a vehicle provided with a lean vehicle body frame that tilts to the right of the vehicle when turning right and tilts to the left of the vehicle when turning left. Includes at least one front wheel and at least one rear wheel. The lean vehicle may have two front wheels and one rear wheel or two rear wheels. The lean vehicle may have one front wheel and two rear wheels or two rear wheels. In a lean vehicle, the front wheels may be steering wheels or the rear wheels may be steering wheels. The lean vehicle is equipped with a drive source. The drive source may be an engine, an electrically powered motor, or a hybrid drive source having both. The lean body frame is a member that mainly receives stress in a lean vehicle. The lean body frame may be a combination of a plurality of parts, or may be integrally molded.

[Margin acquired based on the relationship between obstacles and own vehicle]
The "margin acquired based on the relationship between the obstacle and the own vehicle" in the present invention and the embodiment is the margin when dealing with the obstacle. The margin is acquired based on, for example, the relative speed between the obstacle and the own vehicle. The margin is information such as numerical values and strength of analog signals. When the margin is higher than the standard, it means that there is a margin compared to the standard. The standard may be set in advance according to various lean vehicles. Further, it may be corrected or learned based on the signals acquired by various sensors. The margin may be information that directly indicates the margin or information that indirectly indicates the margin, for example, information that correlates with the margin. Acquiring the margin means to directly acquire the information indicating the margin or indirectly to acquire the information indicating the margin.

[Lean vehicle width detection sensor]
The lean vehicle width detection sensor in the present invention and the embodiment detects a physical quantity related to the vehicle width, which is the left-right length of the lean vehicle that changes when the lean vehicle turns right or left. It is a sensor for. The width of the lean vehicle itself does not change. However, the lean vehicle tilts to the right of the vehicle when turning right and to the left of the vehicle when turning left. Therefore, the width of the lean vehicle, which is the length in the left-right direction, changes by inclining in the left-right direction. For example, the physical quantity related to the vehicle width, which is the length of the lean vehicle in the left-right direction, is the physical quantity related to the lean angle of the lean vehicle. For example, it is a physical quantity that can be acquired from a sensor such as an IMU (Inertial Measurement Unit), GPS (Global Positioning System), or a camera for acquiring from an image. For example, a lean vehicle width detection sensor is a sensor such as an IMU (Inertial Measurement Unit), a GPS (Global Positioning System), or a camera for acquiring from an image. It should be noted that the physical quantity related to the vehicle width, which is the length in the left-right direction of the lean vehicle, is indirectly the information indicating the physical quantity related to the vehicle width, which is the length in the left-right direction of the lean vehicle. Information indicating a physical quantity related to the vehicle width, which is the length in the left-right direction of the lean vehicle, for example, information correlating with the physical quantity related to the vehicle width, which is the length in the left-right direction of the lean vehicle may be used. Acquiring the physical quantity related to the width of the lean vehicle, which is the length in the left-right direction of the lean vehicle, means information indicating the physical quantity related to the width of the lean vehicle, which is the length in the left-right direction of the lean vehicle, or indirectly, the lean vehicle. It means to acquire information indicating a physical quantity related to the vehicle width, which is the length in the left-right direction. The physical quantity related to the vehicle width, which is the length of the lean vehicle in the left-right direction in the present invention and the embodiment, is, for example, the length between the grounding point of the wheel and the right end of the lean vehicle or the rider, and the grounding point of the wheel. It may be information that directly or indirectly indicates the length between the left end of the lean vehicle or the rider, or the length between the right end and the left end of the lean vehicle or the rider. As the width of the vehicle changes, so do these lengths. In a lean vehicle, by including the concept of the grounding point of the wheel in the physical quantity related to the vehicle width, it becomes easy to obtain the distance in the left-right direction of the obstacle between the obstacle and the grounding point of the wheel. The lean vehicle may or may not acquire the obstacle left-right distance. Including the concept of the wheel contact point in the physical quantity related to the vehicle width means that the information directly or indirectly indicated by the physical quantity related to the vehicle width includes the information about the contact point. Direct or indirect positional relationship of the ground contact point based on the signal of the sensor for detecting the physical quantity related to the vehicle width, which is the lateral length of the lean vehicle that changes when the lean vehicle turns right or left. Can be obtained by target or guess.

[Lean angle]
The lean angle in the present invention and the embodiment is the tilt angle of the lean vehicle in the left-right direction of the lean vehicle with respect to the vertical direction. The tilt angle of the lean vehicle in the left-right direction of the lean vehicle with respect to the vertical is the tilt angle of the lean vehicle body frame in the left-right direction of the lean vehicle with respect to the vertical. When the lean angle is zero, the lean vehicle is in an upright state in the left-right direction of the lean vehicle. The state in which the absolute value of the lean angle decreases is a state in which the lean vehicle transitions from a state in which the lean vehicle is tilted in the left-right direction to an upright state. The state in which the absolute value of the lean angle increases is a state in which the lean vehicle transitions from an upright state to a state in which the lean vehicle is tilted in the left-right direction. The time change rate of the lean angle at this time is the lean angular velocity. The time change rate of the lean angular velocity is the lean angular acceleration. Note that the lean angular velocity or lean angular acceleration is indirectly correlated with information indicating lean angular velocity or lean angular acceleration, for example, lean angular velocity or lean angular acceleration, even if the information directly indicates lean angular velocity or lean angular acceleration. It may be relevant information. Acquiring lean angular velocity or lean angular acceleration means directly acquiring information indicating lean angular velocity or lean angular acceleration or indirectly obtaining information indicating lean angular velocity or lean angular acceleration.

[Obstacle left-right distance between the obstacle and the grounding point of the lean vehicle wheel]
In the present invention and the embodiment, the obstacle left-right distance, which is the distance between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle, is defined as follows. When the lean vehicle is traveling on a straight line and the obstacle is to the right of the lean vehicle, the obstacle left-right distance is the left-right distance between the grounding point of the lean vehicle wheels and the left edge of the obstacle. is there. When the lean vehicle is traveling on a straight line, if the obstacle is to the left of the lean vehicle, the obstacle left-right distance is between the grounding point of the lean vehicle wheels and the right edge of the obstacle in the left-right direction of the lean vehicle. Is the distance. When the lean vehicle is turning on the circle, if the obstacle is inside the radial direction of the lean vehicle circle, the obstacle left-right distance is the contact point of the lean vehicle wheel in the left-right direction of the lean vehicle and the obstacle. The distance between the outer edges of an object (the outer edge of the circle in the radial direction). When the lean vehicle is turning on the circle, if the obstacle is outside the radial direction of the lean vehicle circle, the obstacle left-right distance is the contact point of the lean vehicle wheel in the left-right direction of the lean vehicle and the obstacle. The distance between the inner edges of an object (the inner edge of the circle in the radial direction). When the lean vehicle turns on the circle, the left-right direction of the lean vehicle may be the radial direction of the circle. When the lean vehicle turns on a circle, the obstacle left-right distance may be a radial distance passing through the lean vehicle. When the lean vehicle turns on a circle, the obstacle left-right distance may be a radial distance passing through the edge of the obstacle. For example, when a lean vehicle turns on a circle with a first radius, the lateral distance of the obstacle is the circle that is concentric with the circle on which the lean vehicle travels, passes through the edge of the obstacle, and has a radius closest to the first radius. It may be the difference between the radius and the first radius. When the lean vehicle turns on a circle with a second radius, the lateral distance of the obstacle is the radius of the circle that is concentric with the circle on which the lean vehicle travels, passes through the edge of the obstacle, and has a radius closest to the second radius. , The difference from the second radius may be used. In addition, there may be two or more ground contact points of the wheels in the left-right direction of the lean vehicle. However, any one of the grounding points for measuring the lateral distance of the obstacle may be selected. Alternatively, it may be assumed that the center of the rightmost and leftmost ends is the grounding point. The left-right direction of the lean vehicle in the present invention and the embodiment is a direction parallel to the road surface or a horizontal direction regardless of the lean angle of the lean vehicle. The left-right direction of the lean vehicle may be, for example, a direction orthogonal to the traveling direction of the lean vehicle, or may be a left-right direction of the lane in which the lean vehicle travels. The traveling direction of the lean vehicle may be acquired from, for example, the traveling locus of the lean vehicle. The direction of travel of the lean vehicle may include, for example, the future direction of travel of the lean vehicle estimated during travel. The obstacle left-right distance may be, for example, a distance in a straight line direction orthogonal to the traveling direction of the lean vehicle and passing through the lean vehicle, or a distance in the straight line direction orthogonal to the traveling direction of the lean vehicle and passing through the obstacle. There may be. The left-right distance of the obstacle may be, for example, the left-right distance of the lane passing through the lean vehicle, or the left-right distance of the lane passing through the obstacle. The distance between the two obstacles in the left-right direction at the time of turning in each of the above-mentioned relational expressions (3) to (6) is the distance in the same definition.

[Method of confirming relational expressions (1) to (6)]
In the present invention and the embodiments, the above-mentioned relational expressions (1) to (6) can be confirmed as follows. The lean vehicle to be used and the rider to be tested are the same. As an obstacle, a non-moving dummy that imitates the rear surface of an automobile is used. Draw straight and circular lines on the paved road surface. The rider travels on the drawn line at a predetermined speed from a position where the obstacle is away from the front of the vehicle to a position where the obstacle is away from the rear of the vehicle with a lean vehicle. The obstacle left-right distance between the obstacle and the line is gradually reduced from the obstacle left-right distance where the controller having at least one function of FCW, EBA and AEB does not operate, and at least one of FCW, EBA and AEB. Check the operating status of the functional control device. The limit obstacle left-right distance that does not operate is the minimum value of the obstacle left-right distance that the control device having at least one function of FCW, EBA, and AEB does not operate. Obstacle left-right distance when the lean vehicle turns on the circle is the radius of the circle that is concentric with the circle that the lean vehicle travels and is closest to the circle that the lean vehicle travels through the edge of the obstacle and the lean vehicle. Is the difference from the radius of the circle on which. If it is found that the relational expression (1) holds by the obstacle lateral distance, the obstacle lateral distance is the radial distance passing through the lean vehicle and the straight line direction orthogonal to the traveling direction of the lean vehicle and passing through the lean vehicle. It can be seen that the relational expression (1) holds even when the distance of the above or the distance in the direction of the straight line perpendicular to the traveling direction of the lean vehicle and passing through the obstacle is used. The same applies to the above-mentioned relational expressions (2) to (6). The first vehicle speed, the second vehicle speed, the first radius, and the second radius may be determined by assuming an actual usage scene of a lean vehicle. Further, depending on the type and type of the lean vehicle, the minimum value of the obstacle left-right distance in which the control device having at least one function of FCW, EBA and AEB does not operate may be designed. In FCW, the operating state can be grasped by confirming "notify" and "not notify". In the AEB, the operating state can be grasped by confirming that "the braking force is automatically generated when there is no braking operation" and "the braking force is not automatically generated when there is no braking operation". In the EBA, "when the distance between the lean vehicle and the obstacle in the front-rear direction of the lean vehicle is the first distance and the brake operator is operated to the first operation amount, an assist braking force is generated." The operating state can be grasped by confirming that "the assist braking force is not generated when the brake operator is operated by the first operation amount at the first distance." When checking the EBA, the rider travels on the drawn line with a lean vehicle from a position where the obstacle is away from the front of the vehicle to a position where the obstacle is away from the rear of the vehicle at a predetermined speed, and the distance to the obstacle. However, it is sufficient to operate the brake operator by the first operation amount at the first distance. In addition, it is preferable to match driving conditions other than radius and vehicle speed. In the above-mentioned relational expressions (1) to (6), the control device having at least one function of FCW, EBA, and AEB acquires the obstacle left-right distance between the obstacle and the grounding point of the wheel. It doesn't matter if it is or not. The control device having at least one function of FCW, EBA and AEB of the present invention may or may not acquire the obstacle left-right distance between the obstacle and the grounding point of the wheel.

[Control device having at least one function of FCW, EBA and AEB]
The control device having at least one function of FCW, EBA and AEB in the present invention and the embodiment is, for example, a control device having an EBA function. The EBA function is a function that controls the assist braking force based on the brake operation of the rider. The assist braking force is a braking force that is increased or decreased by the control of a control device having an EBA function among the braking forces. The control device having at least one function of FCW, EBA and AEB is, for example, a control device having an AEB function. The control device having the AEB function is a function of automatically controlling the braking force without depending on the brake operation of the rider. The control device having at least one function of FCW, EBA and AEB is, for example, a control device having an FCW function for notifying the rider. Although each function is different, a control device having an EBA function and a control device having an AEB function, a control device having an EBA function and a control device having an FCW function, a control device having an AEB function and a control device having an FCW function, A control device having an EBA function, a control device having an AEB function, and a control device having an FCW function may be combined. For example, when the control device having the AEB function has a function of controlling the assist braking force, the control device having the AEB function can be regarded as the control device having the EBA function. It should be noted that the control device having at least one function of FCW, EBA and AEB "operates" means "notifies" in FCW, "generates assist braking force" in EBA, and "generates assist braking force" in AEB. It automatically generates braking force. " When a control device having at least one of FCW, EBA, and AEB functions is "operated", it means "performing a process that the rider can understand" rather than "operating the program". Therefore, when a control device having at least one function of FCW, EBA and AEB "does not operate", it means "does not notify" in FCW, "does not generate assist braking force" in EBA, and "does not generate assist braking force" in AEB. It does not automatically generate braking force. " A controller having at least one of the functions of FCW, EBA and AEB "does not work" means "does not perform any process known to the rider". When the control device having at least one function of FCW, EBA and AEB "does not operate", the program operates even if the program of the control device having at least one function of FCW, EBA and AEB is operating. It doesn't have to be. "Control device does not work" can be replaced with "Control device does not perform any process that the rider can see". "The control device is activated" can be replaced with "the control device performs a process that the rider can understand".

[Control device with EBA function]
The control device having the EBA function in the present invention and the embodiment is a control device having a function of controlling the assist braking force. The control device having the EBA function may have other functions. For example, when the control device having the function of the antilock braking system (ABS) has the function of controlling the assist braking force, the control device having the ABS function can be regarded as the control device having the EBA function. The control device having the EBA function in the present invention and the embodiment is acquired based on the brake, the sensor related to the amount of change in the traveling direction necessary for acquiring the amount of change in the traveling direction, and the relationship between the obstacle and the own vehicle. It is electrically connected to the margin-related sensor required to acquire the margin and the brake operation amount-related sensor required to acquire the operation amount of the brake operator. The traveling direction change amount related sensor is, for example, an IMU (Inertial Measurement Unit), a GPS (Global Positioning System), a camera for acquiring from an image, a handle angle sensor for detecting a handle angle, and the like. Margin-related sensors include, for example, a camera that captures the front of a lean vehicle, millimeter-wave radar, lidar, or a combination thereof. Examples of the brake operation amount related sensor include an angle sensor that detects the rotation angle of the brake operator, a hydraulic pressure sensor that detects the hydraulic pressure generated by the brake operator, and the like. The type of each sensor is not limited as long as it satisfies the above-mentioned functions. The brake has a function of receiving an electric signal from a control device having an EBA function and generating a braking force. The type of brake is not limited as long as it satisfies the above functions. The control device having the EBA function may be electrically connected to a sensor other than the above. Further, the control device having an EBA function may be controlled based on a signal acquired from a sensor other than the above. The control device having an EBA function may have an ABS function. In that case, the control device having the EBA function may be electrically connected to a sensor capable of detecting the slip state of the wheel. The control device having the EBA function may, for example, control the braking force of only the front wheels. The control device having the EBA function may, for example, control the braking force of only the rear wheels. The control device having the EBA function may, for example, control both the braking force of the front wheels and the braking force of the rear wheels. The control device having the EBA function may, for example, control the total braking force of the front wheels and the rear wheels. The control device having at least one function of EBA and AEB may control, for example, a mechanically connected brake in which a brake operator and a brake are mechanically connected. The control device having at least one function of EBA and AEB may control, for example, an electrically connected brake in which the brake operator and the brake are electrically connected without being mechanically connected. The control device having at least one function of EBA and AEB may control, for example, a brake having both a mechanical connection and an electrical connection.

[Notification device]
The notification device in the present invention and the embodiment is a device for notifying the rider. The notifying device notifies at least one of visual, auditory, tactile and olfactory sensations. The notification device may notify, for example, a combination of two or more of visual, auditory, tactile, and olfactory senses.

[How to use the acquired physical quantity related to the width of the lean vehicle]
In the present invention and the embodiment, the acquired physical quantity related to the width of the lean vehicle may be used for control as follows. For example, the physical quantity related to the width of the lean vehicle may be acquired before the margin is acquired, and the margin may be acquired based on the physical quantity. Further, for example, the control may be such that the acquired margin is corrected based on the physical quantity related to the width of the acquired lean vehicle. The control device having at least one function of FCW, EBA and AEB operates so as to have the relational expression based on the acquired physical quantity related to the width of the lean vehicle. The specific control form and method are not limited to a specific form and method.

[Application to front-rear interlocking brakes]
When the control device having at least one function of FCW, EBA and AEB in the present invention and the embodiment has at least one function of EBA and AEB, the front-rear interlocking brake may be a control target. The front-rear interlocking brake is a brake that first generates braking force with the rear wheel brake when the front wheel brake operator or rear wheel brake operator is operated, and then generates braking force with both the front wheel brake and the rear wheel brake. is there.

[Specific means]
The details of the hardware configuration of the control device having at least one function of FCW, EBA and AEB in the present invention and the embodiment or the lean vehicle provided with the control device are not described in the present specification. Since a feature of the present invention and embodiments is a technique relating to control, a lean vehicle equipped with a control device having at least one of FCW, EBA and AEB described in the present invention and embodiments is patented. Using a control device having an EBA function described in Document 1 or a control device having at least one function of FCW, EBA and AEB described in other publicly known documents, or a hardware configuration of a lean vehicle equipped therewith. Those skilled in the art can understand what can be done.

[Control braking force]
In addition, "controlling the braking force" in the present invention and the embodiment means "controlling the brake so that the braking force is obtained". For example, in the case of a type of brake in which the braking force changes depending on the hydraulic pressure, it means that the hydraulic pressure is controlled. For example, in the case of a drum type brake in which the braking force changes depending on the rotation angle of the lever, it means that the rotation angle of the lever is controlled. The target to be specifically controlled may be changed according to the type of brake.

[Control based on A]
In addition, "control based on A" in the present invention and the embodiment is not limited to A as the information used for control. "Controlling based on A" includes the case of including information other than A and controlling based on information other than A and A.

[Other]
In addition, "at least one (one) of a plurality of options" in this invention and embodiment includes all combinations considered from a plurality of options. At least one (one) of the plurality of options may be any one of the plurality of options, or may be all of the plurality of options. For example, at least one of A, B, and C may be A only, B only, C only, A, B, and A and C. It may be, B and C, or A, B and C.

The present invention may have a plurality of these components if the number of certain components is not clearly specified in the claims and is displayed in the singular when translated into English. Further, the present invention may have only one of these components.

In addition, in the present invention and the embodiment, "including, comprising, having and derivative words thereof" includes additional items in addition to the listed items and their equivalents. Is intended to be used.

Note that the terms "mounted, connected, coupled, and supported" are used in a broad sense in the present invention and embodiments. Specifically, it includes not only direct mounting, connection, connection and support, but also indirect mounting, connection, connection and support. Moreover, connected and coupled are not limited to physical or mechanical connections / couplings. They also include direct or indirect electrical connections / couplings.

Unless otherwise defined, all terms used herein and in the claims (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be construed to have meanings consistent with their meaning in the context of the relevant technology and the present disclosure, and are idealized or over-formed. It is not interpreted in a logical sense.

Note that the term "favorable" in the present invention and embodiments is non-exclusive. "Preferable" means "preferable, but not limited to". In the present specification, the configuration described as "favorable" exhibits at least the above-mentioned effect obtained by the configuration of claim 1. Further, in the present specification, the term "may" is non-exclusive. "May" means "may, but is not limited to this." In the present specification, the configuration described as "may" exerts at least the above-mentioned effect obtained by the configuration of claim 1.

It should be noted that the present invention and the embodiments do not limit the combination of the above-mentioned preferable configurations. Prior to discussing embodiments of the invention in detail, it should be understood that the invention is not limited to the details of component configuration and arrangement described in the following description or illustrated in the drawings. The present invention is also possible in embodiments other than the embodiments described later. The present invention is also possible in embodiments in which various modifications are made to the embodiments described later. In addition, the present invention can be implemented by appropriately combining embodiments and modifications described later.

It is a figure explaining the outline of the lean vehicle of 1st Embodiment of this invention. It is a figure explaining the outline of the lean vehicle of the 2nd Embodiment of this invention. It is a figure explaining the outline of the lean vehicle of the 3rd Embodiment of this invention. It is a figure explaining the outline of the lean vehicle of 4th Embodiment of this invention. It is a figure explaining the outline of the lean vehicle of the 5th Embodiment of this invention. It is a figure explaining the outline of the lean vehicle of 6th Embodiment of this invention. It is a figure explaining the outline of the lean vehicle of 7th Embodiment of this invention.

[Definition of direction]
In the figure, U is the upward direction of the lean vehicle, D is the downward direction of the lean vehicle, L is the left direction of the lean vehicle, R is the right direction of the lean vehicle, F is the front direction of the lean vehicle, and Re is the lean vehicle. Indicates the backward direction.

[First Embodiment]
Hereinafter, the lean vehicle 1001 according to the first embodiment of the present invention will be described with reference to FIG. The lean vehicle 1001 includes a control device 1011 having at least one function of FCW, EBA, and AEB mounted on a lean vehicle body frame 1002 that tilts to the right of the vehicle when turning right and tilts to the left of the vehicle when turning left. .. The control device 1011 having at least one function of FCW, EBA and AEB operates based on the margin acquired based on the relationship between the obstacle 2001 and the own vehicle 1001. The lean vehicle 1001 provided with the control device 1011 having at least one function of FCW, EBA and AEB is a vehicle width which is a left-right length of the lean vehicle 1001 which changes when the lean vehicle 1001 turns right or left. A lean vehicle width detection sensor 1012 for detecting physical quantities DCVW and DSVW related to the above is provided. The control device 1011 having at least one function of FCW, EBA, and AEB acquires physical quantities DCVW and DSVW related to the width of the lean vehicle 1001 based on the signal detected by the lean vehicle width detection sensor 1012. The control device 1011 having at least one function of FCW, EBA and AEB is an obstacle 2001 and a lean vehicle in the left-right direction of the lean vehicle 1001 based on the physical quantities DCVW and DSVW related to the acquired width of the lean vehicle 1001. It operates so that the obstacle left-right distance, which is the distance between the grounding points of the wheels of 1001, becomes the following relational expression (1).
Relational expression (1): When the lean vehicle 1001 travels on a straight line at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle DSLRmin <lean. When the vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value DCLRmin of the distance in the left-right direction of the obstacle.
However, in the relational expression (1), the obstacle 2001 is arranged inward in the radial direction of the circle.

In FIG. 1, the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1. In FIG. 1, the physical quantities DCVW and DSVW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the left end of the lean vehicle 1001. The physical quantities DCVW and DSVW related to the width of the lean vehicle 1001 of the first embodiment are not limited to this. The length DCVW between the ground contact point of the wheel when the lean vehicle 1001 turns left on the circle and the left end (the inner end in the radial direction of the circle) of the lean vehicle 1001 is when the lean vehicle 1001 runs on a straight line. The length between the grounding point of the wheels and the left edge of the lean vehicle 1001 is greater than the DSVW.

[Second Embodiment]
Hereinafter, the lean vehicle 1001 according to the second embodiment of the present invention will be described with reference to FIG. The control device 1011 having at least one function of FCW, EBA, and AEB of the second embodiment has the following configurations in addition to the configurations of the first embodiment. The control device 1011 having at least one function of FCW, EBA and AEB is an obstacle 2001 in the left-right direction of the lean vehicle 1001 based on the physical quantities DCVW, DCSVW and DSVW related to the width of the lean vehicle 1001 acquired. It operates so that the obstacle left-right distance, which is the distance between the grounding points of the wheels of the lean vehicle 1001, is the following relational expression (2).
Relational expression (2): When the lean vehicle 1001 travels on a straight line at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle DSLRmin ≧ lean When the vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value DCLRmin of the distance in the left-right direction of the obstacle.
However, in the relational expression (2), the obstacle 2001 is arranged outside in the radial direction of the circle.

In FIG. 2, when the lean vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1, the minimum value of the obstacle lateral distance in which the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The following two patterns are shown for DCLRmin.
Pattern 1: When the lean vehicle 1001 travels on a straight line at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle DSLRmin = the lean vehicle 1001 When turning on a circle with a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value DCLRmin of the distance in the left-right direction of the obstacle.
Pattern 2: When the lean vehicle 1001 travels on a straight line at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle DSLRmin> The lean vehicle 1001 When turning on a circle with a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value DCLRmin of the distance in the left-right direction of the obstacle.

In FIG. 2, the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1. In FIG. 2, the physical quantities DCVW, DCSVW, and DSVW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the right end of the lean vehicle 1001. The physical quantities DCVW, DCSVW, and DSVW related to the width of the lean vehicle 1001 of the second embodiment are not limited to this. The lean angle of the lean vehicle 1001 when the lean vehicle 1001 turns on a circle is larger than the lean angle of the lean vehicle 1001 when the lean vehicle 1001 travels on a straight line. Therefore, the length DCVW and DCSVW between the grounding point of the wheel when the lean vehicle 1001 turns left on the circle and the right end (the outer end in the radial direction of the circle) of the lean vehicle 1001 are such that the lean vehicle 1001 is on a straight line. The length between the ground contact point of the wheel and the left end of the lean vehicle 1001 when traveling is smaller than the DSVW.

[Third Embodiment]
Hereinafter, the lean vehicle 1001 according to the third embodiment of the present invention will be described with reference to FIG. The control device 1011 having at least one function of FCW, EBA, and AEB of the third embodiment has the following configurations in addition to the configurations of the first embodiment or the second embodiment. The control device 1011 having at least one function of FCW, EBA and AEB is an obstacle 2001 and a lean vehicle in the left-right direction of the lean vehicle 1001 based on the physical quantities DC1VW and DC2VW related to the acquired width of the lean vehicle 1001. It operates so that the obstacle left-right distance, which is the distance between the grounding points of the wheels of 1001, becomes the following relational expression (3).
Relational expression (3): Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at a first vehicle speed V1. Minimum value DC1LRmin <An obstacle in which the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the lean vehicle 1001 turns on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1. Minimum value of lateral distance DC2LRmin
However, in the relational expression (3), the obstacle 2001 is arranged inward in the radial direction of the circle.

In FIG. 3, the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1. In FIG. 3, the physical quantities DC1VW and DC2VW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the left end (inner end in the radial direction of the circle) of the lean vehicle 1001. The physical quantities DC1VW and DC2VW related to the width of the lean vehicle 1001 of the third embodiment are not limited to this. The lean angle of the lean vehicle 1001 when the lean vehicle 1001 turns on a circle with a second radius r2 smaller than the first radius r1 at the first vehicle speed V1 is such that the lean vehicle 1001 is on the circle with the first radius r1 at the first vehicle speed V1. Is larger than the lean angle of the lean vehicle 1001 when turning. Therefore, when the lean vehicle 1001 turns left on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1, the ground contact point of the wheels and the left end of the lean vehicle 1001 (the inner end in the radial direction of the circle). The length DC2VW between the lean vehicle 1001 is larger than the length DC1VW between the grounding point of the wheel when the lean vehicle 1001 turns left on the circle of the first radius r1 at the first vehicle speed V1 and the left end of the lean vehicle 1001.

[Fourth Embodiment]
Hereinafter, the lean vehicle 1001 according to the fourth embodiment of the present invention will be described with reference to FIG. The control device 1011 having at least one function of FCW, EBA and AEB of the fourth embodiment has the following configurations in addition to the configurations of the first embodiment, the second embodiment or the third embodiment. The control device 1011 having at least one function of FCW, EBA and AEB is an obstacle 2001 and a lean vehicle in the left-right direction of the lean vehicle 1001 based on the physical quantities DC1VW and DC2VW related to the acquired width of the lean vehicle 1001. It operates so that the obstacle left-right distance, which is the distance between the grounding points of the wheels of 1001, becomes the following relational expression (4).
Relational expression (4): Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1. Minimum value DC1LRmin <An obstacle in which the control device 1011 having at least one function of FCW, EBA, and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at a second vehicle speed V2 faster than the first vehicle speed V1. Minimum value of lateral distance DC2LRmin
However, in the relational expression (4), the obstacle 2001 is arranged inward in the radial direction of the circle.

In FIG. 4, the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1. In FIG. 4, the physical quantities DC1VW and DC2VW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the left end (the inner end in the radial direction of the circle) of the lean vehicle 1001. The physical quantities DC1VW and DC2VW related to the width of the lean vehicle 1001 of the fourth embodiment are not limited to this. The lean angle of the lean vehicle 1001 when the lean vehicle 1001 turns on the circle of the first radius r1 at the second vehicle speed V2, which is faster than the first vehicle speed V1, is that the lean vehicle 1001 is on the circle of the first radius r1 at the first vehicle speed V1. Is larger than the lean angle of the lean vehicle 1001 when turning. Therefore, when the lean vehicle 1001 turns left on the circle with the first radius r1 at the second vehicle speed V2 faster than the first vehicle speed V1, the ground contact point of the wheels and the left end of the lean vehicle 1001 (the inner end in the radial direction of the circle). The length DC2VW between the lean vehicle 1001 is larger than the length DC1VW between the grounding point of the wheel when the lean vehicle 1001 turns left on the circle of the first radius r1 at the first vehicle speed V1 and the left end of the lean vehicle 1001.

[Fifth Embodiment]
Hereinafter, the lean vehicle 1001 according to the fifth embodiment of the present invention will be described with reference to FIG. The control device 1011 having at least one function of FCW, EBA and AEB of the fifth embodiment has the following configurations in addition to the configurations of the first embodiment, the second embodiment, the third embodiment or the fourth embodiment. To be equipped. The control device 1011 having at least one function of FCW, EBA, and AEB is based on the acquired physical quantities DC1VW, DC2VW, and DC2SVW related to the width of the lean vehicle 1001, and the obstacle 2001 in the left-right direction of the lean vehicle 1001. It operates so that the obstacle left-right distance, which is the distance between the grounding points of the wheels of the lean vehicle 1001, is the following relational expression (5).
Relational expression (5): Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA, and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at a first vehicle speed V1. Minimum value DC1LRmin ≧ Lean Obstacle in which the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the vehicle 1001 turns on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1. Minimum value of lateral distance DC2LRmin
However, in the relational expression (5), the obstacle 2001 is arranged outside in the radial direction of the circle.

In FIG. 5, an obstacle in which the control device 1011 having at least one function of FCW, EBA, and AEB does not operate when the lean vehicle 1001 turns on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1. The following two patterns are shown for the minimum value DC2LRmin of the lateral distance.
Pattern 3: When the lean vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA and AEB does not operate. The minimum value DC1LRmin of the distance in the left-right direction of the obstacle. = Obstacle left-right distance at which the control device 1011 having at least one function of FCW, EBA, and AEB does not operate when the lean vehicle 1001 turns on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1. Minimum value of DC2LRmin
Pattern 4: When the lean vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA and AEB does not operate. The minimum value DC1LRmin of the distance in the left-right direction of the obstacle. > Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA, and AEB does not operate when the lean vehicle 1001 turns on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1. Minimum value of DC2LRmin

In FIG. 5, the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1. In FIG. 5, the physical quantities DC1VW, DC2VW, and DC2SVW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the right end (the outer end in the radial direction of the circle) of the lean vehicle 1001. The physical quantities DC1VW, DC2VW, and DC2SVW related to the width of the lean vehicle 1001 of the fifth embodiment are not limited to this. The lean angle of the lean vehicle 1001 when the lean vehicle 1001 turns on a circle with a second radius r2 smaller than the first radius r1 at the first vehicle speed V1 is such that the lean vehicle 1001 is on the circle with the first radius r1 at the first vehicle speed V1. Is larger than the lean angle of the lean vehicle 1001 when turning. Therefore, when the lean vehicle 1001 turns left on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1, the ground contact point of the wheels and the right end of the lean vehicle 1001 (the outer end in the radial direction of the circle). The lengths between DC2VW and DC2SVW are larger than the length DC1VW between the ground contact point of the wheels when the lean vehicle 1001 turns left on the circle of the first radius r1 at the first vehicle speed V1 and the left end of the lean vehicle 1001. ..

[Sixth Embodiment]
Hereinafter, the lean vehicle 1001 according to the sixth embodiment of the present invention will be described with reference to FIG. The control device 1011 having at least one function of FCW, EBA, and AEB of the sixth embodiment is provided in addition to the configurations of the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, or the fifth embodiment. It has the following configuration. The control device 1011 having at least one function of FCW, EBA and AEB is an obstacle 2001 in the left-right direction of the lean vehicle 1001 based on the physical quantities DC1VW, DC2VW and DC2SVW related to the width of the lean vehicle 1001 acquired. It operates so that the distance between the grounding points of the wheels of the lean vehicle 1001 in the left-right direction of the obstacle becomes the following relational expression (6).
Relational expression (6): Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at a first vehicle speed V1. Minimum value DC1LRmin ≧ Lean Obstacle that the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the lean vehicle 1001 turns on the circle of the first radius r1 at the second vehicle speed V2 faster than the first vehicle speed V1. Minimum value of lateral distance DC2LRmin
However, in the relational expression (6), the obstacle 2001 is arranged outside in the radial direction of the circle.

In FIG. 6, an obstacle in which the control device 1011 having at least one of FCW, EBA, and AEB functions when the lean vehicle 1001 turns on a circle having a first radius r1 at a second vehicle speed V2 faster than the first vehicle speed V1 does not operate. The following two patterns are shown for the minimum value DC2LRmin of the lateral distance.
Pattern 5: When the lean vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA and AEB does not operate. The minimum value DC1LRmin of the distance in the left-right direction of the obstacle. = Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA, and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at a second vehicle speed V2 faster than the first vehicle speed V1. Minimum value of DC2LRmin
Pattern 6: When the lean vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA and AEB does not operate. The minimum value DC1LRmin of the distance in the left-right direction of the obstacle. > Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA, and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at a second vehicle speed V2 faster than the first vehicle speed V1. Minimum value of DC2LRmin

In FIG. 6, the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1. In FIG. 6, the physical quantities DC1VW, DC2VW, and DC2SVW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the right end (the outer end in the radial direction of the circle) of the lean vehicle 1001. The physical quantities DC1VW, DC2VW, and DC2SVW related to the width of the lean vehicle 1001 of the sixth embodiment are not limited to this. The lean angle of the lean vehicle 1001 when the lean vehicle 1001 turns on the circle of the first radius r1 at the second vehicle speed V2, which is faster than the first vehicle speed V1, is that the lean vehicle 1001 is on the circle of the first radius r1 at the first vehicle speed V1. Is larger than the lean angle of the lean vehicle 1001 when turning. Therefore, when the lean vehicle 1001 turns left on the circle with the first radius r1 at the second vehicle speed V2 faster than the first vehicle speed V1, the ground contact point of the wheels and the right end of the lean vehicle 1001 (the outer end in the radial direction of the circle). The lengths between DC2VW and DC2SVW are larger than the length DC1VW between the ground contact point of the wheels when the lean vehicle 1001 turns left on the circle of the first radius r1 at the first vehicle speed V1 and the left end of the lean vehicle 1001. ..

[7th Embodiment]
Hereinafter, the lean vehicle according to the seventh embodiment of the present invention will be described with reference to FIG. 7. The control device 1011 having at least one function of FCW, EBA and AEB according to the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the fifth embodiment or the sixth embodiment has an EBA function. The control device 1011 has, and may be configured as follows. The control device 1011 having an EBA function is based on the relationship between the front braking device, the rear braking device, the lean angle-related physical quantity detecting device required for acquiring at least one of the lean angular velocity and the lean angular acceleration, the obstacle 2001, and the own vehicle 1001. It is electrically connected to the front detection device required to determine the margin to be acquired and the brake operation state detection unit required to acquire the operation amount of the brake operator. The control device 1011 having an EBA function is electrically connected to the engine unit. The control device 1011 having the EBA function may or may not be electrically connected to the yaw angle-related physical quantity detecting device required for acquiring at least one of the yaw angular velocity and the yaw angular acceleration.
The front brake device is an example of a brake. The rear braking device is an example of a brake. The lean angle-related physical quantity detector is an example of a lean angle-related sensor. The forward detection device is an example of a margin-related sensor. The brake operation state detection unit is an example of a brake operation amount related sensor.

1001 Lean vehicle (own vehicle)
1002 Lean body frame 2001 Obstacle 1011 Control device with at least one function of FCW, EBA and AEB 1012 Lean vehicle width detection sensor

Claims

FCW, which is mounted on a lean body frame that tilts to the right of the vehicle when turning right and tilts to the left of the vehicle when turning left, and operates based on the margin acquired based on the relationship between the obstacle and the vehicle. A lean vehicle equipped with a control device having at least one function of EBA and AEB.
The lean vehicle equipped with the control device having at least one function of FCW, EBA and AEB
A lean vehicle width detection sensor for detecting a physical quantity related to a vehicle width which is a left-right length of the lean vehicle that changes when the lean vehicle turns right or left is provided.
The control device having at least one function of FCW, EBA and AEB is
Based on the signal detected by the lean vehicle width detection sensor, the physical quantity related to the width of the lean vehicle is acquired.
Based on the acquired physical quantity related to the width of the lean vehicle, the obstacle left-right distance, which is the distance between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle, is as follows. A lean vehicle including a control device having at least one function of FCW, EBA, and AEB, which operates so as to have the relational expression (1).
Relational expression (1): When the lean vehicle travels on a straight line at the first vehicle speed, the control device having at least one of the FCW, EBA, and AEB functions does not operate. The minimum value of the obstacle left-right distance <the lean When the vehicle turns on the circle of the first radius at the first vehicle speed, the control device having at least one of the FCW, EBA, and AEB functions does not operate. The minimum value of the distance in the left-right direction of the obstacle. In 1), the obstacle is arranged inward in the radial direction of the circle.
The control device having at least one function of FCW, EBA and AEB is
The obstacle left-right distance, which is the distance between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheel of the lean vehicle, based on the acquired physical quantity related to the width of the lean vehicle. The lean vehicle including the control device having at least one function of FCW, EBA and AEB according to claim 1, wherein the vehicle operates so as to have the following relational expression (2).
Relational expression (2): When the lean vehicle travels on a straight line at the first vehicle speed, the control device having at least one of the FCW, EBA, and AEB functions does not operate. When the vehicle turns on the circle of the first radius at the first vehicle speed, the control device having at least one of the FCW, EBA, and AEB functions does not operate. The minimum value of the distance in the left-right direction of the obstacle. In (2), the obstacle is arranged outside the circle in the radial direction.
The control device having at least one function of FCW, EBA and AEB is
Based on the acquired physical quantity related to the width of the lean vehicle, the obstacle left-right distance, which is the distance between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheel of the lean vehicle, is The control having at least one function of FCW, EBA and AEB according to claim 1 or 2, which operates so as to be at least one of the following relational expressions (3) and (4). Lean vehicle with equipment.
Relational expression (3): The obstacle left-right distance in which the control device having at least one function of FCW, EBA and AEB does not operate when the lean vehicle turns on the circle of the first radius at the first vehicle speed. Minimum value <The obstacle in which the control device having at least one function of the FCW, EBA, and AEB does not operate when the lean vehicle turns on a circle having a second radius smaller than the first radius at the first vehicle speed. Minimum value of distance in the left-right direction However, in the relational expression (3), the obstacle is arranged inward in the radial direction of the circle.
Relational expression (4): The obstacle left-right distance in which the control device having at least one function of FCW, EBA and AEB does not operate when the lean vehicle turns on the circle of the first radius at the first vehicle speed. Minimum value <The obstacle in which the control device having at least one function of FCW, EBA and AEB does not operate when the lean vehicle turns on a circle of the first radius at a second vehicle speed faster than the first vehicle speed. Minimum value of distance in the left-right direction However, in the relational expression (4), the obstacle is arranged inward in the radial direction of the circle.
The control device having at least one function of FCW, EBA and AEB is
Based on the acquired physical quantity related to the width of the lean vehicle, the obstacle left-right distance, which is the distance between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheel of the lean vehicle, is At least one of FCW, EBA and AEB according to any one of claims 1 to 3, which operates so as to be at least one of the following relational expressions (5) and (6). A lean vehicle with a control device that has two functions.
Relational expression (5): When the lean vehicle turns on the circle of the first radius at the first vehicle speed, the control device having at least one function of FCW, EBA, and AEB does not operate. ≧ The obstacle in which the control device having at least one function of FCW, EBA and AEB does not operate when the lean vehicle turns on a circle having a second radius smaller than the first radius at the first vehicle speed. Minimum value of distance in the left-right direction However, in the relational expression (5), the obstacle is arranged outside in the radial direction of the circle.
Relational expression (6): The obstacle left-right distance in which the control device having at least one function of FCW, EBA and AEB does not operate when the lean vehicle turns on the circle of the first radius at the first vehicle speed. ≧ The obstacle in which the control device having at least one function of FCW, EBA and AEB does not operate when the lean vehicle turns on a circle of the first radius at a second vehicle speed faster than the first vehicle speed. Minimum value of distance in the left-right direction However, in the relational expression (6), the obstacle is arranged outside the radial direction of the circle.