Classifications

• • 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
• • 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
  • B62J45/4152—Inclination sensors for sensing longitudinal inclination of the cycle
• • 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
  • B62J45/412—Speed sensors
• • 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
  • B62J45/414—Acceleration sensors
• • 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
  • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
  • B62J50/20—Information-providing devices
  • B62J50/21—Information-providing devices intended to provide information to rider or passenger

Definitions

• a behavior control device for controlling the behavior of a lean vehicle a lean vehicle equipped with the behavior control device, and a behavior control method for controlling the behavior of a lean vehicle.
• a behavior control device for controlling the behavior of a lean vehicle has been configured to control the behavior of the lean vehicle based on the output of an inertial measurement device mounted on the lean vehicle.
• a conventional behavior control system for controlling the behavior of a lean vehicle includes: an inertial measurement device mounted on the lean vehicle; and a behavior control device for controlling the behavior of the lean vehicle based on the output of the inertial measurement device. It was configured to be ready.
• Patent Document 1 discloses a motorcycle, which is a type of lean vehicle. This motorcycle behavior control device is configured to control the behavior of the motorcycle by controlling the braking system based on the output of the inertial measurement device.
• the inertial measurement device is an acceleration sensor that detects acceleration in directions of three axes perpendicular to each other, an angular velocity sensor that detects angular velocity around each of the three axes, and It is equipped with In other words, the inertial measurement device has three acceleration sensors and three angular velocity sensors.
• Patent Document 1 Japanese Unexamined Patent Publication No. 2021-20645
• the present invention has been made against the background of the above-mentioned problems, and an object thereof is to obtain a behavior control device capable of increasing the versatility of a lean vehicle behavior control system more than before. and Another object of the present invention is to obtain a lean vehicle equipped with such a behavior control device. Another object of the present invention is to obtain a behavior control method capable of increasing the general versatility of a lean vehicle behavior control system.
• a behavior control device is a behavior control device that controls the behavior of a lean vehicle, and is based on the output of at least one acceleration sensor, in the vertical direction of the vehicle body of the lean vehicle.
• a vehicle speed information acquisition unit that acquires vehicle speed information of the lean vehicle; and a first angular velocity information acquisition unit that acquires first angular velocity information using the acceleration information and the vehicle speed information. and an information acquisition unit.
• a lean vehicle according to the present invention includes a behavior control device according to the present invention.
• a behavior control method is a behavior control method for controlling the behavior of a lean vehicle, wherein the vertical direction of the vehicle body of the lean vehicle is controlled based on the output of at least one acceleration sensor. and ⁇ 0 2023/007286 ⁇ (: 1' 2022/056372 An acceleration information acquisition step of acquiring acceleration information, a vehicle speed information acquisition step of acquiring the vehicle speed information of the lean vehicle, and the acceleration information and the vehicle speed information and an angular velocity information acquisition step of acquiring angular velocity information using
• the present invention acquires angular velocity information based on the output of an acceleration sensor. Therefore, a lean vehicle behavior control system using the present invention does not necessarily have to include all the sensors of the inertial measurement unit. Therefore, the present invention can increase the general versatility of the lean vehicle behavior control system as compared with the conventional one.
• FIG. 1 is a front view of a lean vehicle according to Embodiment 1 of the present invention.
• FIG. 3 is the block diagram which shows the behavior control system which relates to the form 1 of execution of this invention.
• FIG. 5 is the block diagram which shows the behavior control system which relates to the form 2 of execution of this invention.
• Fig. 6 is a front view of a lean vehicle according to a modification of the second embodiment of the present invention.
• FIG. 7 is the block diagram which shows the behavior control system of the lean vehicle which relates to the modification of form 2 of execution of this invention.
• a motorcycle is exemplified as a lean vehicle.
• a lean vehicle generally refers to a vehicle whose body leans in the turning direction when turning. Therefore, lean vehicles are not limited to motorcycles.
• lean vehicles include motorcycles whose bodies tilt in the turning direction when turning (motorcycles, tricycles whose bodies tilt in the turning direction when turning), and bicycles.
• motorcycles in which the vehicle body tilts in the turning direction when turning may use an engine as a propulsion source, or may use a motor as a propulsion source. Examples include motorcycles and scooters. , electric scooters, etc.
• a bicycle means any vehicle that can be propelled on a road by a rider's stepping force applied to pedals.
• Bicycles include ordinary bicycles, electrically assisted bicycles, and electric bicycles.
• Embodiment 1 a behavior control device according to Embodiment 1, a lean vehicle equipped with the control device, and a behavior control method according to Embodiment 1 will be described.
• FIGS. 1 and 2 are front views of a lean vehicle according to Embodiment 1 of the present invention.
• FIG. 1 shows a state in which the vehicle body of the lean vehicle 100 is upright.
• FIG. 2 shows a state in which the lean vehicle 100 is turning and the vehicle body of the lean vehicle 100 is tilted in the turning direction.
• 1 and 2 are vertical axes. The vertical axis shown in FIGS. 1 and 2 is a horizontal axis perpendicular to the traveling direction of the lean vehicle 100 .
• a lean vehicle 100 comprises a behavior control system 1 that controls the behavior of the lean vehicle 100.
• This behavior control system 1 includes an acceleration sensor 1 1 and a behavior control device 2 0 .
• the acceleration sensor 11 detects acceleration information of the lean vehicle 100 in the vertical direction of the vehicle body.
• the acceleration sensor 11 detects the acceleration of the lean vehicle 100 in the vertical direction of the vehicle body.
• the acceleration information in the vertical direction of the vehicle body of the lean vehicle 100 becomes the acceleration information in the axial direction.
• the acceleration information of the vehicle body of the lean vehicle 100 in the vertical direction is When viewed from the front, it is acceleration information in a direction tilted with respect to the axial direction (direction of ) shown in FIG.
• the acceleration information detected by the acceleration sensor 11 may be another physical quantity that can be substantially converted to acceleration.
• the behavior control system 1 may include sensors other than the acceleration sensor 1 1 in addition to the acceleration sensor 1 1 . In this case, these sensors may be formed separately or may be configured as a unit.
• the behavior control device 20 controls the behavior of the lean vehicle 100 based on the output of at least one acceleration sensor mounted on the lean vehicle 100.
• part or all of the behavior control device 20 is composed of a microcomputer, a microprocessor unit, or the like.
• part or all of the behavior control device 20 may be composed of something that can be updated, such as firmware. good.
• one behavior control device 20 may be provided, or a plurality of devices may be provided.
• the behavior control device 20 can be configured, for example, as follows.
• FIG. 3 is a block diagram showing a behavior control system according to Embodiment 1 of the present invention.
• the behavior control device 20 of the behavior control system 1 according to the first embodiment includes, as functional units, an acceleration information acquisition unit 21, a vehicle speed information acquisition unit 22, a first angular velocity information acquisition unit 23, and It has a control unit 24.
• the acceleration information acquisition unit 21 acquires acceleration information in the vertical direction of the vehicle body of the lean vehicle 100 based on the output of at least one acceleration sensor mounted on the lean vehicle 100. get.
• the acceleration information acquisition section 21 acquires acceleration detected by the acceleration sensor 11 .
• the acceleration information acquired by the acceleration information acquisition unit 21 may be other physical quantities that can be substantially converted into acceleration. Further, the acceleration information acquired by the acceleration information acquisition unit 21 may be the output value of the acceleration sensor 11, or may be a physical quantity converted from the output value of the acceleration sensor 11.
• the vehicle speed information acquisition unit 22 acquires vehicle speed information of the lean vehicle 100.
• the vehicle speed information of the lean vehicle 100 may be the vehicle speed of the lean vehicle 100 acquired from a speedometer or the like, or other physical quantity (wheel speed, location information at ⁇ , etc.).
• the first angular velocity information acquisition unit 23 receives the acceleration information and vehicle speed information acquired by the acceleration information acquisition unit 21. ⁇ 02023/007286 ⁇ (:1'2022/056372 Acquire the first angular velocity information of the lean vehicle 100 using the vehicle speed information acquired by the acquisition unit 22.
• 1 Angular velocity information acquisition unit 23 acquires the angular velocity of lean vehicle 100 as first angular velocity information using these acceleration information and vehicle speed information.
• the first angular velocity information acquisition unit 23 acquires at least one of the yaw rate and the pitch rate of the lean vehicle 100.
• the first angular velocity information acquired by the first angular velocity information acquisition unit 23 is Other physical quantities substantially convertible to angular velocity may be used.
• the first angular velocity information acquisition unit 23 can, for example, acquire the yaw rate and pitch rate of the lean vehicle 100 as follows.
• the velocity V and acceleration ⁇ of an object rotating around a reference axis can be expressed as follows using the angular velocity £ 0 around the reference axis and the radius of rotation (the distance between the reference axis and the object) . Therefore, by modifying the formula (2), the following formula (3) is obtained.
• the yaw rate of the lean vehicle 100 is the angular velocity of the lean vehicle 100 about the lateral axis. Therefore, when the yaw rate of the lean vehicle 100 is obtained using the equation (3), the speed V in the equation (3) becomes the vehicle speed V1 of the lean vehicle 100. Further, the acceleration that contributes to the rotation of the lean vehicle 100 around the lateral axis is the acceleration that acts in the axial direction. Therefore, the acceleration ⁇ in Equation (3) is the acceleration of the lean vehicle 100 in the vertical direction.
• the acceleration in the vertical direction of the vehicle body of the lean vehicle 100 is assumed to be acceleration 31.
• the direction of the acceleration 31 is tilted with respect to the lateral axis and the longitudinal axis. Therefore, the acceleration 311 in the longitudinal direction of the lean vehicle 100 becomes the acceleration component in the axial direction of the acceleration 31 .
• the acceleration component in the lateral direction of the acceleration 31 is the gravitational acceleration 8 . Therefore, using the Pythagorean theorem, the acceleration 311 in the longitudinal direction of the lean vehicle 100 can be obtained by the following equation (4).
• the yaw rate £0 of the vehicle 100 can be obtained by the following equation (5).
• the pitch rate of the lean vehicle 100 is an angular velocity about an axis perpendicular to the direction of travel of the lean vehicle 100 and perpendicular to the vertical direction of the body of the lean vehicle 100 . That is, in FIG. 2, the pitch rate of the lean vehicle 100 is the angular velocity around the axis perpendicular to the acceleration 31 of the lean vehicle 100 in the vertical direction of the vehicle body. Therefore, when the pitch rate of the lean vehicle 100 is obtained using Equation (3), the speed V in Equation (3) is the vehicle speed V1 of the lean vehicle 100.
• the acceleration contributing to rotation of the lean vehicle 100 around an axis perpendicular to the acceleration 31 in the vehicle body vertical direction of the lean vehicle 100 is the acceleration in the vehicle vertical direction of the lean vehicle 100. Acceleration is 3 1. Therefore, if the pitch rate of the lean vehicle 100 is represented by the pitch rate £ 0 , the pitch rate £0 of the lean vehicle 100 can be obtained by the following equation (6) from equation (3). Also, the yaw rate £07 of the lean vehicle 100 can be obtained from the following equation (7) from the equations ( 5 ) and (6).
• the pitch rate £ ⁇ of the lean vehicle 100 is also the acceleration 8 ⁇ 0 2023/007286 ⁇ (:1' 2022/056372
• the first angular velocity information acquiring section 23 can obtain the roll rate of the lean vehicle 100 using the acceleration information acquired by the acceleration information acquiring section 21 .
• the first angular velocity information acquisition unit 23 can obtain the roll rate of the lean vehicle 100 as follows. When the acceleration 31 in the vertical direction of the vehicle body of the lean vehicle 100 is the same, the lean vehicle 100 during turning increases the acceleration 31 in the longitudinal direction as the vehicle body tilts, that is, as the lean angle increases. Acceleration 311, which is the acceleration component, increases.
• the lean angle of the lean vehicle 100 can be obtained based on the magnitude of the acceleration 311 relative to the acceleration 31, in other words, based on the value obtained by dividing the acceleration 311 by the acceleration 31. can.
• the roll rate of lean vehicle 1 ⁇ ⁇ can be considered as the amount of change in the lean angle of lean vehicle 1 ⁇ ⁇ per unit time. Therefore, the roll rate of the lean vehicle 100 can be obtained based on the amount of change per unit time in the magnitude of the acceleration 311 relative to the acceleration 31.
• the first angular velocity information acquisition unit 23 may obtain the first angular velocity information based on a stored arithmetic expression.
• the first angular velocity information may be obtained using a table that associates the parameters and the first angular velocity information.
• the control unit 24 controls the lean vehicle 100 based on the acceleration information acquired by the acceleration information acquisition unit 21 and the first angular velocity information acquired by the first angular velocity information acquisition unit 23. controls the behavior of
• FIG. 4 is a diagram showing a control flow of an example of the operation of the behavior control device according to the first embodiment of the present invention.
• the control start condition is, for example, when the engine of the lean vehicle 100 is started.
• Step £2 is an acceleration information acquisition step.
• the acceleration information acquisition unit 21 of the behavior control device 20 detects the vertical direction of the vehicle body of the lean vehicle 100 based on the output of at least one acceleration sensor mounted on the lean vehicle 100. Acquire the acceleration information of In the first embodiment, the acceleration information acquisition unit 21 acquires the acceleration detected by the acceleration sensor 11.
• Step 85 after step £ is a vehicle speed information acquisition step.
• the vehicle speed information acquisition unit 22 of the behavior control device 20 acquires vehicle speed information of the lean vehicle 100 .
• Step £4 after step £ is an angular velocity information acquisition step.
• the first angular velocity information acquisition unit 23 of the behavior control device 20 uses the acceleration information acquired by the acceleration information acquisition unit 21 and the vehicle speed information acquired by the vehicle speed information acquisition unit 22 to obtain , the first angular velocity information of the lean vehicle 100 is acquired.
• Step £4 is a control step.
• the control unit 24 of the behavior control device 20 based on the acceleration information acquired by the acceleration information acquisition unit 21, the first angular velocity information acquired by the first angular velocity information acquisition unit 23, etc., It controls the behavior of the lean vehicle 100.
• Step £6 after step £5 is an end decision step.
• the behavior control device 20 determines whether or not the end condition of the control is met. The control end condition is, for example, when the engine of the lean vehicle 100 stops. If the control end condition is met, the behavior control device 20 proceeds to step 7 and ends the control shown in FIG. one ⁇ 0 2023/007286 ⁇ (: 1' 2022/056372 On the other hand, if the end condition for control is not met, the behavior control device 20 repeats steps 2 to 6.
• the behavior control device 20 is a behavior control device that controls the behavior of the lean vehicle 100 .
• the behavior control device 20 includes an acceleration information acquisition section 21 , a vehicle speed information acquisition section 22 and a first angular velocity information acquisition section 23 .
• the acceleration information acquisition unit 21 acquires acceleration information in the vehicle vertical direction of the lean vehicle 100 based on the output of at least one acceleration sensor.
• a vehicle speed information acquisition unit 22 acquires vehicle speed information of the lean vehicle 100 .
• the first angular velocity information acquisition unit 23 acquires first angular velocity information of the lean vehicle 100 using the acceleration information acquired by the acceleration information acquisition unit 21 and the vehicle speed information acquired by the vehicle speed information acquisition unit 22. get.
• a behavior control device for controlling the behavior of a lean vehicle has been configured to control the behavior of the lean vehicle based on the output of an inertial measurement device mounted on the lean vehicle.
• a conventional behavior control system that controls the behavior of a lean vehicle includes an inertial measurement device mounted on the lean vehicle, a behavior control device that controls the behavior of the lean vehicle based on the output of the inertial measurement device, It was configured with
• the inertial measurement device is provided with an acceleration sensor that detects acceleration in directions of three axes orthogonal to each other, and an angular velocity sensor that detects angular velocity around each of the above three axes. be.
• the inertial measurement device has three acceleration sensors and three angular velocity sensors. That is, the conventional lean vehicle behavior control device was premised on controlling the behavior of the lean vehicle based on the output of each sensor of the inertial measurement device. For this reason, the conventional lean vehicle behavior control system must be provided with three acceleration sensors and three angular velocity sensors, and thus has low usability.
• the behavior control device 20 according to the first embodiment acquires angular velocity information based on the output of the acceleration sensor. Therefore, the behavior control system 1 of the lean vehicle 100 using the behavior control device 20 according to the first embodiment does not necessarily have to include all the sensors of the inertial measurement device. Therefore, the behavior control device 20 according to the first embodiment can make the behavior control system 1 more versatile than the conventional behavior control system.
• the behavior control device 20 may be configured to control the behavior of the lean vehicle 100 without being based on the output of the angular velocity sensor. This eliminates the need to provide the behavior control system 1 with an angular velocity sensor, and the cost of the behavior control system 1 can be reduced. That is, the cost of the lean vehicle 100 can be reduced.
• the behavior control system 1 may include an angular velocity sensor as shown in this Embodiment 2.
• an example of the behavior control device 20 of the behavior control system 1 including the angular velocity sensor will be described. Items not described in the second embodiment are the same as those in the first embodiment.
• FIG. 5 is a block diagram showing a behavior control system according to Embodiment 2 of the present invention.
• the behavior control system 1 according to the second embodiment includes an angular velocity sensor 13 in addition to the configuration of the first embodiment.
• Angular velocity sensor 13 detects angular velocity information of lean vehicle 100 .
• the angular velocity sensor 13 detects the angular velocity of the lean vehicle 100 .
• the angular velocity sensor 13 detects the pitch rate of the lean vehicle 100 . That is, a pitch rate sensor that detects the pitch rate of the lean vehicle 100 is used as the angular velocity sensor 13 .
• the angular velocity sensor 13 may be an angular velocity sensor other than the pitch rate sensor, and may detect an angular velocity other than the pitch rate of the lean vehicle 100.
• the angular velocity information detected by the angular velocity sensor 13 is another physical quantity that can be substantially converted to angular velocity. ⁇ 0 2023/007286 ⁇ (: 1' 2022/056372 may be used.
• a behavior control device 20 includes, in addition to the configuration of the first embodiment, a second angular velocity information acquisition unit 25 and a comparison unit 26 as functional units. ing.
• a second angular velocity information acquisition unit 25 acquires second angular velocity information based on the output of the angular velocity sensor 13 .
• the second angular velocity information acquisition unit 25 acquires the pitch rate of the lean vehicle 100 detected by the angular velocity sensor 13 as the second angular velocity information.
• the second angular velocity information acquired by the second angular velocity information acquisition unit 25 may be an angular velocity other than the pitch rate, or may be another physical quantity that can be substantially converted into an angular velocity.
• the pitch rate of the lean vehicle 100 can be substantially converted to the yaw rate of the lean vehicle 100 as shown in Equation (7). Therefore, for example, the behavior control device 20 may acquire the yaw rate of the lean vehicle 100 as the second angular velocity information based on the output of the angular velocity sensor 13 that detects the pitch rate.
• the comparison unit 26 compares the first angular velocity information acquired by the first angular velocity information acquisition unit 23 with the second angular velocity information acquired by the second angular velocity information acquisition unit 25.
• the first angular velocity information is the first physical quantity obtained based on the detection value of the acceleration sensor 11.
• the second angular velocity information is a second physical quantity that is the same kind of physical quantity as the first physical quantity, which is obtained based on the detection value of the angular velocity sensor 13 .
• the comparison unit 26 compares the first physical quantity and the second physical quantity. Therefore, the behavior control device 20 provided with the comparison unit 26 monitors whether the acceleration sensor 11 and the angular velocity sensor 13 are operating normally based on the comparison result of the comparison unit 26. be able to.
• the comparison result of the comparison unit 26 is used, for example, as follows.
• the behavior control device 20 may use the comparison result between the first angular velocity information and the second angular velocity information in the comparison unit 26 to control the behavior of the lean vehicle 100. good. Specifically, for example, when the difference between the first angular velocity information and the second angular velocity information is large, the control unit 24 of the behavior control device 20 performs the control used to control the behavior of the lean vehicle 100. Among the operations, control operations based on the output of at least one of the acceleration sensor 11 and the angular velocity sensor 13 are not performed. This is because if the difference between the first angular velocity information and the second angular velocity information is large, at least one of the acceleration sensor 11 and the angular velocity sensor 13 may not operate normally.
• the case where the difference between the first angular velocity information and the second angular velocity information is large is, for example, the case where the difference between the first angular velocity information and the second angular velocity information is equal to or greater than a default value.
• the control unit 24 of the behavior control device 20 acquires the acceleration information acquired by the acceleration information acquisition unit 21, the acceleration information acquired by the first angular velocity information acquisition unit 23,
• the behavior of the lean vehicle 100 is controlled based on the first angular velocity information, the second angular velocity information acquired by the second angular velocity information acquiring section 25, and the like.
• the control section 24 will Angular velocity information may be used to control the behavior of the lean vehicle 100 .
• comparison result of the comparison unit 26 may be used as in the following modification.
• FIG. 6 is a front view of a lean vehicle according to a modification of Embodiment 2 of the present invention.
• FIG. 7 is a block diagram showing a lean vehicle behavior control system according to a modification of the second embodiment of the present invention.
• a lean vehicle 100 according to a modification of the second embodiment includes a display device 101, which is an example of a notification device. ⁇ 0 2023/007286 ⁇ (:1' 2022/056372
• the behavior control device 20 includes, in addition to the configuration shown in FIG. It has 2 7.
• the informing operation execution unit 27 outputs a signal for informing the informing device.
• the specific content to be notified is, for example, content that at least one of the acceleration sensor 11 and the angular velocity sensor 13 may not operate normally.
• the display device 101 is used as the notification device. Therefore, in the modified examples shown in FIGS.
• the notification operation execution unit 27 determines that when the difference between the first angular velocity information and the second angular velocity information is equal to or greater than the predetermined value in the comparison unit 26, , outputs a signal to be displayed on the display device 101.
• the display device 101 displays, for example, the acceleration sensor 11 and the angular velocity sensor 13. It will indicate that at least one of them may not be working properly.
• the notification device is not limited to the display device 101.
• a speaker or the like provided in the lean vehicle 100 is used as a notification device to notify the possibility that at least one of the acceleration sensor 11 and the angular velocity sensor 13 is not operating normally.
• the notification operation execution part 27 causes the notification device such as a speaker to emit a sound. Output a signal.
• the notification device that receives the notification signal output from the notification operation execution unit 27 is not limited to the configuration provided in the lean vehicle 100 .
• Equipment associated with the lean vehicle 100 such as a helmet and gloves worn by the driver of the lean vehicle 100, may also be used. That is, the notification operation execution unit 27 may output a notification signal to equipment associated with the lean vehicle 100, and the equipment may notify.
• the lean vehicle 100 configured as in the modified examples shown in FIGS. It is possible to recognize the possibility that at least one of 11 and angular velocity sensor 13 is not operating normally. Therefore, the lean vehicle 100 configured as in the modification shown in FIGS. 6 and 7 has improved safety. 6 and 7, the behavior control device 20 compares the result of comparison between the first angular velocity information and the second angular velocity information in the comparison unit 26 to the behavior of the lean vehicle 100. Of course, it can be used for control. The safety of lean vehicle 100 is further improved.
• the behavior control system 1 according to the second embodiment also includes, in addition to the acceleration sensor 11 and the angular velocity sensor 13, the same as the behavior control system 1 shown in the first embodiment. It may be equipped with sensors other than At this time, the acceleration sensor 11 and the angular velocity sensor 13 may be unitized together with other sensors as a measuring device.
• the behavior control system 1 according to the second embodiment provided with such a measuring device can obtain the following effects. According to the conventional idea, when a behavior control device of a behavior control system equipped with such a measurement device recognizes a failure of the measurement device, it does not perform a control action based on the outputs of all the sensors that make up the measurement device. .
• the behavior control device of the behavior control system equipped with such a measuring device recognizes a failure of the measuring device, the behavior is controlled based on the output of the normally operating sensor in the measuring device. Even if it is a control action, the control action is not performed.
• the behavior control device 20 of the behavior control system 1 according to the second embodiment the first angular velocity information and the second angular velocity information in the comparison unit 26 are not detected even when the failure of the measuring device is recognized. Based on the result of the comparison, it can be recognized that the acceleration sensor 11 and the angular velocity sensor 13 are operating normally.
• the behavior control device 20 of the behavior control system 1 even when a failure of the measuring device is recognized, the outputs of the acceleration sensor 11 and the angular velocity sensor 13 can continue with the control action taken based on Therefore, the safety of the lean vehicle 100 is improved. ⁇ 0 2023/007286 ⁇ (:1' 2022/056372
• At least one angular velocity sensor (angular velocity sensor 13) is required.
• This angular velocity sensor 13 is preferably a pitch rate sensor.
• the behavior control system 1 according to the second embodiment only needs to include at least the acceleration sensor 11 and the angular velocity sensor 13, and the number of sensors can be reduced compared to a conventional behavior control system including an inertial measurement device. can do. That is, the behavior control system 1 according to the second embodiment can reduce the cost compared to the conventional behavior control system provided with the inertial measurement device.
• the behavior control system 1 capable of realizing such a low cost is preferably used in a small lean vehicle 100 (in other words, a low-cost lean vehicle 100).
• the small lean vehicle 100 tends to have a shorter wheelbase relative to the height of the center of gravity, so the behavior in the pitch direction increases during deceleration and the like. Therefore, the safety of the small lean vehicle 100 is improved if the pitch rate can be detected directly. Therefore, the angular velocity sensor 13 is preferably a pitch rate sensor.
• the behavior control device 20 controls the behavior of the lean vehicle 100 without based on the output of an angular velocity sensor other than the pitch rate sensor. It is preferable that the configuration is such that This is because the cost of the behavior control system 1 can be reduced because an angular velocity sensor other than the pitch rate sensor is unnecessary. This is because the cost of the lean vehicle 100 can be reduced.
• Embodiment 3 the acceleration information acquisition unit 21 of the behavior control device 20 detects the lean vehicle 10 based on the output of one acceleration sensor. Acquired acceleration information in the vertical direction of the vehicle body at 0. However, as described in Embodiment 1, the acceleration information acquisition unit 21 acquires acceleration information of the lean vehicle 100 in the vehicle vertical direction based on the output of at least one acceleration sensor. Just do it. Therefore, for example, as in the third embodiment, the acceleration information acquisition unit 21 detects the vertical direction of the vehicle body of the lean vehicle 100 based on the outputs of two acceleration sensors that detect acceleration in mutually different directions. You may acquire the acceleration information in . Items not described in the third embodiment are the same as those in the first or second embodiment.
• FIG. 8 is a side view of a lean vehicle according to Embodiment 3 of the present invention.
• the left side of the paper surface is the front side of the lean vehicle 100 .
• the axis shown in FIG. 8 is the axis in the straight-ahead direction of the lean vehicle 100 .
• a behavior control system 1 includes an acceleration sensor 11 and an acceleration sensor 12.
• the direction of the acceleration information detected by the acceleration sensors 11 and 12 is the vertical direction of the vehicle body of the lean vehicle 100 when the lean vehicle 100 is viewed from the front.
• the direction of the acceleration information detected by the acceleration sensors 11 and 12 is tilted with respect to the vertical direction of the vehicle body of the lean vehicle 100 when the lean vehicle 100 is viewed from the side.
• the direction of the acceleration &1 detected by the acceleration sensor 11 is the direction shown in FIG.
• the direction of the acceleration &2 detected by the acceleration sensor 12 is the direction shown in FIG.
• the direction of the acceleration &1 detected by the acceleration sensor 11 and the direction of the acceleration 32 detected by the acceleration sensor 12 are tilted, for example, by 90°. .
• the acceleration information acquisition unit 21 of the behavior control device 20 acquires the lean vehicle 10 out of the acceleration information detected by the acceleration sensor 11. 0 and the vehicle vertical direction component of the lean vehicle 100 in the acceleration information detected by the acceleration sensor 12 are added to obtain the vehicle vertical direction of the lean vehicle 100. acceleration at ⁇ 0 2023/007286 ⁇ (:1' 2022/056372 You can get the degree information.
• the acceleration information acquisition unit 21 can acquire acceleration information of the lean vehicle 100 in the vertical direction of the vehicle body also based on the outputs of the two acceleration sensors. Therefore, even if the behavior control device 20 is configured as in the third embodiment, the versatility of the behavior control system 1 can be made higher than that of the conventional behavior control system.
• the following effects can be obtained by adopting a configuration in which acceleration information in the vertical direction of the vehicle body of the lean vehicle 100 is acquired based on the outputs of the two acceleration sensors. can also
• a component in the same direction is obtained from the acceleration information detected by the acceleration sensor 11 and the acceleration information detected by the acceleration sensor 12. For example, from the acceleration information detected by the acceleration sensor 11 and the acceleration information detected by the acceleration sensor 12, the component in the X-axis direction is obtained. 1 does. By comparing these components, it is possible to monitor whether the acceleration sensor 11 and the acceleration sensor 12 are operating normally based on the comparison result. This is because if the difference between these components is large, at least one of acceleration sensor 11 and acceleration sensor 12 may not operate normally.
• the comparison of these components is performed by the comparison unit 26, for example. Also, the results of comparison of these components can be used, for example, as follows. Here, hereinafter, the difference between these components is expressed as an acceleration component difference.
• the control unit 24 of the behavior control device 20 controls the acceleration sensor 11 and the acceleration No control action is taken based on the output of at least one of sensors 1 and 2.
• a case where the acceleration component difference is large is, for example, a case where the acceleration component difference is greater than or equal to a predetermined value.
• the notification operation execution unit 27 determines that the acceleration component difference is equal to or greater than the default value. When it becomes, you may output the signal which makes a notification device notify. As a result, the driver of the lean vehicle 100 is notified by the notification device that at least one of the acceleration sensors 11 and 12 may not be operating normally. recognizable. Therefore, the safety of the lean vehicle 100 is improved.
• the acceleration sensor 11 and the acceleration sensor 12 are assumed to be unitized as a measuring device together with other sensors.
• the behavior control device 20 can recognize that the acceleration sensor 11 and the acceleration sensor 12 are operating normally based on the acceleration component difference even when the behavior control device 20 recognizes the failure of the measuring device. . Therefore, the behavior control device 20 can continue the control operation performed based on the acceleration sensors 11 and 12 even when the failure of the measuring device is recognized. Therefore, the safety of the lean vehicle 100 is improved.
• the acceleration sensor 12 can be reduced, and the behavior control system 1 cost can be reduced, and lean vehicle 100 cost can be reduced.
• behavior control device As described above, an example of the behavior control device according to the present invention has been described in each embodiment, but the behavior control device according to the present invention is not limited to the description of each embodiment. For example, all or part of each embodiment may be combined to form a behavior control device according to the present invention.
• behavior control system 1 1 acceleration sensor 1 2 acceleration sensor 1 3 angular velocity sensor 2 0 behavior control device 2 1 acceleration information acquisition unit 2 2 vehicle speed information acquisition unit 2 3 first angular velocity information acquisition unit 24 control unit, 25 second angular velocity information acquisition unit, 26 comparison unit, 27 notification operation execution unit, 100 lean vehicle, 101 display device.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
• Motorcycle And Bicycle Frame (AREA)
• Combined Controls Of Internal Combustion Engines (AREA)

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• 2022
  • 2022-07-11 CN CN202280051691.0A patent/CN117730029A/zh active Pending
  • 2022-07-11 WO PCT/IB2022/056372 patent/WO2023007286A1/ja not_active Ceased
  • 2022-07-11 JP JP2023537727A patent/JP7719873B2/ja active Active
  • 2022-07-11 EP EP22758585.8A patent/EP4378811A1/en active Pending
  • 2022-07-11 US US18/291,319 patent/US20240326943A1/en active Pending

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