WO2023007428A1 - 鞍乗り型車両の制御装置及び鞍乗り型車両の挙動の制御方法 - Google Patents
鞍乗り型車両の制御装置及び鞍乗り型車両の挙動の制御方法 Download PDFInfo
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- WO2023007428A1 WO2023007428A1 PCT/IB2022/056999 IB2022056999W WO2023007428A1 WO 2023007428 A1 WO2023007428 A1 WO 2023007428A1 IB 2022056999 W IB2022056999 W IB 2022056999W WO 2023007428 A1 WO2023007428 A1 WO 2023007428A1
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- Prior art keywords
- braking force
- saddle
- type vehicle
- degree
- vehicle
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 230000007423 decrease Effects 0.000 claims abstract description 23
- 230000003321 amplification Effects 0.000 claims description 67
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 67
- 239000012530 fluid Substances 0.000 claims description 16
- 238000005259 measurement Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000003247 decreasing effect Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/03—Brake assistants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
Definitions
- This disclosure relates to a control device and control method capable of appropriately improving the safety of a saddle-ride type vehicle.
- Patent Literature 1 an obstacle is inappropriately approached based on information detected by a sensor device that detects an obstacle in the direction of travel or substantially in the direction of travel.
- a driver assistance system is disclosed that alerts the driver of a motorcycle that a
- Patent Document 1 Japanese Unexamined Patent Application Publication No. 2009-116882 [Summary of the Invention]
- the present invention has been made against the background of the above problems, and provides a control device and a control method that can appropriately improve the safety of a saddle-ride type vehicle.
- a control device is a straddle-type vehicle comprising: a brake operation unit operated by a rider; and a detection unit that detects the state quantity of the brake operation unit during service braking.
- a control method includes a brake operation unit operated by a rider, and a detection unit that detects the state quantity of the brake operation unit during service braking.
- a motion control method wherein a determination unit of a control device determines whether or not the brake operation unit is being operated based on the output of the detection unit, and an execution unit of the control device is configured to: _ When the determination unit determines that the brake operation unit is being operated, a driving support mode capable of amplifying the braking force generated in the straddle-type vehicle is executed. and, in the driving assistance mode, the execution unit amplifies the braking force generated in the saddle-ride type vehicle based on ambient environment information of the saddle-ride type vehicle. The degree of reduction of the braking force generated in the straddle-type vehicle at the end of amplification of the braking force according to the degree of change in the output. ⁇ 2023/007428 ⁇ (:17132022/056999 Change the fit.
- the determination unit of the control device determines whether the operation of the brake operation unit is performed based on the output of the detection unit that detects the state quantity of the brake operation unit during service braking.
- the execution unit of the control device amplifies the braking force generated in the saddle-ride type vehicle when the determination unit determines that the brake operation unit is being operated.
- the execution unit amplifies the braking force generated in the saddle-ride type vehicle based on the surrounding environment information of the saddle-ride type vehicle.
- the degree of reduction of the braking force generated in the straddle-type vehicle at the end of amplification of the braking force is changed according to the degree of change in the output of the saddle-type vehicle.
- FIG. 1 is a schematic diagram showing a schematic configuration of a straddle-type vehicle according to an embodiment of the present invention
- FIG. 3 is the block diagram which shows one example of functional constitution of the control device which relates to the execution form of this invention.
- FIG. 4 is a schematic diagram showing an example of the relationship between the braking force during normal operation and the braking force generated in the saddle-ride type vehicle in the driving assistance mode according to the braking operation according to the embodiment of the present invention
- the vehicle to be controlled by the control device according to the present invention may be a saddle-ride type vehicle other than a two-wheeled motorcycle. It may be a vehicle.
- a saddle type vehicle means a vehicle on which a rider straddles.
- Straddle-type vehicles include, for example, motorcycles (motorcycles and tricycles), bicycles, and buggies.
- motorcycles include vehicles powered by engines, vehicles powered by electric motors, and the like.
- motorcycles include, for example, motorcycles, scooters, electric scooters, and the like.
- Bicycle means a vehicle capable of being propelled on the road by the rider's force applied to the pedals. Bicycles include ordinary bicycles, electrically assisted bicycles, and electric bicycles.
- FIG. 1 is a schematic diagram showing a schematic configuration of a straddle-type vehicle 100.
- FIG. 2 is a schematic diagram showing a schematic configuration of the brake system 10. As shown in FIG.
- a straddle-type vehicle 100 is a two-wheeled motorcycle corresponding to an example of a straddle-type vehicle according to the present invention.
- the straddle-type vehicle 100 as shown in FIGS. 1 and 2, comprises a body 1, a handle 2 rotatably held by the body 1, and a handle 2 rotatably held by the body 1.
- a rear wheel 4 rotatably held by the fuselage 1; a brake system 10; a hydraulic control unit 5 provided in the brake system 10; and a hydraulic control unit 5 0 and a control device 60.
- the saddle-ride type vehicle 100 includes, as sensors, a front wheel speed sensor 41, a rear wheel speed sensor 42, an ambient environment sensor 43, an inertia measuring device 44, and a first sensor.
- a master cylinder pressure sensor 453 (see FIG. 2) and a second master cylinder pressure sensor 45 (see FIG. 2) are provided.
- the straddle-type vehicle 100 is provided with a drive source such as an engine or an electric motor, and runs using the power output from the drive source.
- the brake system 1 brakes the front wheels 3 in conjunction with at least the first brake operation unit 11 and at least the first brake operation unit 11, as shown in FIGS.
- the brake system 10 also includes a hydraulic control unit 50, and part of the front wheel braking mechanism 12 and part of the rear wheel braking mechanism 14 are included in the hydraulic control unit 5°.
- the hydraulic pressure control unit 50 has a function of controlling the braking force generated on the front wheels 3 by the front wheel braking mechanism 12 and the braking force generated on the rear wheels 4 by the rear wheel braking mechanism 14 .
- the first brake operation unit 1 1 is provided on the handle 2 and is operated by the rider's hand.
- the first brake operation unit 11 is, for example, a brake lever.
- the second brake operation part 13 is provided in the lower part of the body 1 and is operated by the rider's foot.
- the second brake operation unit 13 is, for example, a brake pedal.
- both the first brake operation part 11 and the second brake operation part 13 may be brake levers operated by the rider's hand, like the brake operation part of a scooter or the like.
- the front wheel braking mechanism 12 includes a first master cylinder 21 & attached to the first brake operation unit 11 and a first reservoir 2 attached to the first master cylinder 21a. 23, a first brake caliper 233 held in the fuselage 1 and having a brake pad (not shown), and a first wheel cylinder provided in the first brake caliper 233. 243, a main flow path 25 & for circulating the brake fluid in the first master cylinder 213 to the first wheel cylinder 24&, and a sub-flow path 26 for releasing the brake fluid in the first wheel cylinder 243. 3 and a supply channel 273 for supplying the brake fluid of the first master cylinder 213 to the sub-channel 263.
- the main flow path 253 is provided with an inlet valve () 313.
- the secondary flow path 26 & bypasses the main flow path 253 between the first wheel cylinder 243 side of the inlet valve 313 and the first master cylinder 21& side.
- the secondary flow path 263 is provided with a release valve 32&, an accumulator 33 &, and a pump 34& in this order from the upstream side.
- a first valve (II 3 V) 3 5 3 is provided.
- the supply channel 273 communicates between the first master cylinder 21 & and the suction side of the pump 343 of the sub channel 26 &.
- a second valve ( ⁇ 13) 363 is provided in the supply channel 273. ⁇ 2023/007428 ⁇ (:17132022/056999
- the rear wheel braking mechanism 14 includes a second master cylinder 21b attached to the second brake operation unit 13 and a second reservoir 2 attached to the second master cylinder 21. 2, a second brake caliper 2313 held in the fuselage 1 and having brake pads (not shown), and a second wheel cylinder 2 mounted on the second brake caliper 2313. 413, a main flow path 2513 for circulating the brake fluid of the second master cylinder 21 to the second wheel cylinder 24, a sub-flow path 2613 for releasing the brake fluid of the second wheel cylinder 2413, and a supply channel 27b for supplying the brake fluid of the second master cylinder 2113 to the sub channel 26.
- a fill valve (£) 3113 is provided in the main flow path 2513.
- the secondary flow path 2613 bypasses the main flow path 2513 between the second wheel cylinder 2413 side of the inlet valve 31 and the second master cylinder 21 side.
- the secondary channel 2613 is provided with a release valve (8) 3213, an accumulator 3313, and a pump 3413 in this order from the upstream side.
- a first valve (11) 3513 is provided between the end of the main flow path 25 on the side of the second master cylinder 21 and the point where the downstream end of the sub-flow path 26 is connected. is provided.
- the supply channel 2713 communicates between the second master cylinder 2113 and the suction side of the pump 34 in the sub channel 2613.
- a second valve ( ⁇ 13) 3613 is provided in the supply channel 2713.
- the first wheel cylinder 243 is the wheel cylinder of the front wheel 3 .
- the second wheel cylinder 2413 is the wheel cylinder for the rear wheel 4 .
- the pressure of the brake fluid in the wheel cylinder is also called wheel cylinder pressure.
- the first brake operation unit 11 is a brake operation unit that changes the first wheel cylinder pressure, which is the pressure of the brake fluid in the first wheel cylinder 243 .
- the second brake operation part 13 is a brake operation part that changes the second wheel cylinder pressure, which is the pressure of the brake fluid in the second wheel cylinder 24 .
- the first master cylinder 213 is a master cylinder attached to the first brake operation unit 11 .
- the second master cylinder 2113 is a master cylinder attached to the second brake operating section 13 .
- the pressure of the brake fluid in the master cylinder is also called the master cylinder pressure.
- main flow path 2 5 & and the main flow path 2 5 13 are not particularly distinguished, they are simply referred to as the main flow path 2 5 .
- sub-channel 26 £1 and the sub-channel 26 are also simply referred to as the sub-channel 26.
- supply channel 273 and the supply channel 27 are not particularly distinguished, they are simply referred to as the supply channel 27.
- inlet valve 3 1 3 and the inlet valve 3 1 are not particularly distinguished, they are simply referred to as the inlet valve 3 1 .
- release valve 323 and the release valve 3213 are not particularly distinguished, they are simply referred to as the release valve 32.
- Accumulator 3 3 3 and accumulator 3 3 13 are also simply referred to as accumulator 3 3 when not specifically distinguished.
- the pump 34 and the pump 34 are not particularly distinguished, they are simply called the pump 34.
- the first valve 353 and the first valve 3513 are not particularly distinguished, they are simply referred to as the first valve 35.
- the second valve 363 and the second valve 3613 are not particularly distinguished, they are simply referred to as the second valve 36.
- the inlet valve 31 is, for example, an electrical valve that opens in a non-energized state and closes in an energized state.
- the release valve 32 is, for example, an electrovalve that closes when de-energized and opens when energized.
- the first valve 35 is, for example, an electromagnetic valve that opens in a non-energized state and closes in an energized state.
- the second valve 36 is, for example, an electrical shut-off valve that closes in a de-energized state and opens in an energized state.
- Hydraulic pressure control unit 50 controls brake fluid pressure including fill valve 31, release valve 32, accumulator 33, pump 34, first valve 35 and second valve 36. and a base 51 in which the components are provided and the flow paths for forming the main flow path 25, the sub flow path 26 and the supply flow path 27 are formed. and a controller 60.
- the base body 51 may be formed by one member, and may be formed by a plurality of members. may be made. In addition, when the base 51 is formed of a plurality of members, each component may be divided into different members.
- controller 60 The operation of the above components of hydraulic control unit 50 is controlled by controller 60 . Thereby, the braking force generated on the front wheels 3 by the front wheel braking mechanism 12 and the braking force generated on the rear wheels 4 by the rear wheel braking mechanism 14 are controlled.
- the front wheel speed sensor 4 1 detects the wheel speed of the front wheels 3 (for example, the number of revolutions per unit time [rpm] of the front wheels 3 or the distance traveled per unit time [km/h], etc.) It is a wheel speed sensor that detects and outputs the detection result.
- the front wheel speed sensor 41 may detect another physical quantity substantially convertible to the wheel speed of the front wheels 3 .
- a front wheel speed sensor 41 is provided on the front wheel 3 .
- the rear wheel speed sensor 4 2 detects the wheel speed of the rear wheel 4 (for example, the number of revolutions of the rear wheel 4 per unit time [rp m] or the distance traveled per unit time [km/h], etc. ) is a wheel speed sensor that detects and outputs the detection result.
- the rear wheel speed sensor 42 may detect another physical quantity substantially convertible to the wheel speed of the rear wheel 4 .
- a rear wheel speed sensor 42 is provided on the rear wheel 4 .
- the surrounding environment sensor 4 3 detects surrounding environment information about the surrounding environment of the saddle type vehicle 100 .
- the ambient environment sensor 43 is provided at the front of the fuselage of the saddle-ride type vehicle 100 and detects ambient environment information in front of the saddle-ride type vehicle 100 .
- Ambient environment information detected by the ambient environment sensor 43 is output to the control device 60 .
- the ambient environment information detected by the ambient environment sensor 4 3 is information related to the distance or direction to a subject positioned around the saddle-ride type vehicle 100 (for example, relative position, (relative distance, relative velocity, relative acceleration, etc.), and features of the subject located around the saddle-ride type vehicle 100 (for example, the type of the subject, the shape of the subject itself, the subject itself, the subject, etc.). mark attached to the specimen).
- the ambient environment sensor 43 is, for example, a radar, a lidar sensor, an ultrasonic sensor, a camera, or the like.
- the ambient environment information can also be detected by ambient environment sensors mounted on other vehicles or by infrastructure equipment.
- the control device 60 can also acquire ambient environment information through wireless communication with other vehicles or infrastructure equipment.
- the inertial measurement device 44 includes a 3-axis gyro sensor and a 3-direction acceleration sensor, and detects the posture of the saddle-ride type vehicle 100.
- the inertial measurement device 44 is provided, for example, on the body of the saddle type vehicle 100.
- the inertial measurement unit 44 can ⁇ 2023/007428 (: 17132022/056999) Detects the angle, pitch angle and yaw angle, and outputs the detection results.
- the inertial measurement device 44 may include only a part of the three-axis gyro sensor and the three-direction acceleration sensor.
- First master pressure sensor 453 detects the first master cylinder pressure, which is the pressure of the brake fluid in the first master cylinder 213, and outputs the detection result.
- the first master cylinder pressure sensor 45& may detect another physical quantity substantially convertible to the first master cylinder pressure.
- Second master pressure sensor 4513 detects the second master cylinder pressure, which is the pressure of the brake fluid in the second master cylinder 21, and outputs the detection result.
- the second master cylinder pressure sensor 4513 may detect another physical quantity substantially convertible to the second master cylinder pressure.
- the first master cylinder pressure sensor 453 and the second master cylinder pressure sensor 4513 are detection according to the present invention for detecting the state quantity of the brake operation unit operated by the rider during service braking. It corresponds to an example of the part.
- the state quantity of the brake operation part is an amount indicating the state such as the amount of displacement of the brake operation part.
- the first master cylinder pressure sensor 453 detects the first master cylinder pressure of the first master cylinder 213 as the state quantity of the first brake operation unit 11 during service braking.
- the second master cylinder pressure sensor 4513 detects the second master cylinder pressure of the second master cylinder 21 as the state quantity of the second brake operation unit 13 during service braking.
- the control device 6 0 controls the behavior of the saddle type vehicle 1 ⁇ 0.
- part or all of the control device 60 is composed of a microcomputer, a microprocessor unit, or the like.
- part or all of the control device 60 may be composed of something that can be updated, such as firmware, or may be a program module or the like that is executed by a command from a device or the like.
- the control device 60 may be, for example, one, or may be divided into a plurality.
- the control device 60 includes, for example, an acquisition unit 61, an execution unit 62, and a determination unit 63, as shown in FIG.
- the acquisition unit 6 1 acquires information from each device mounted on the saddle type vehicle 1 0 ⁇ and outputs the information to the execution unit 62 and the determination unit 63 .
- the acquisition unit 61 includes a front wheel speed sensor 41, a rear wheel speed sensor 42, an ambient environment sensor 43, an inertial measurement device 44, a first master cylinder pressure sensor 453, and a second master cylinder. Get information from the pressure sensor 4 5 13.
- the acquisition of information may include extraction or generation of information.
- the execution unit 62 performs braking control to control the braking force generated in the saddle-ride type vehicle 100 in order to control the behavior of the saddle-ride type vehicle 100. Specifically, the execution unit 62 controls the operation of each component of the hydraulic control unit 50 of the brake system 10 in braking control.
- the execution unit 62 controls the operation of each component of the hydraulic control unit 50 so that the braking force corresponding to the braking operation by the rider is applied to the wheels. do .
- the execution unit 62 performs braking control different from normal.
- the execution unit 62 executes antilock brake control when the wheels are locked or may be locked.
- Antilock brake control adjusts the braking force of the wheels to a braking force that can avoid locking. ⁇ 2023/007428 ⁇ (:17132022/056999
- the execution unit 62 closes the charging valve 31, opens the releasing valve 32, opens the first valve 35, and opens the second valve 3 6 is closed and the pumps 34 are driven in this state to reduce the wheel sealing pressure and reduce the braking force generated in the wheels. Then, the execution unit 62 closes both the loading valve 31 and the releasing valve 32 from the above state to maintain the wheel cylinder pressure and the braking force generated in the wheel. After that, the execution unit 62 opens the loading valve 31 and closes the releasing valve 32 to increase the wheel cylinder pressure and increase the braking force generated on the wheels.
- the execution unit 62 operates the saddle-ride type vehicle 1 under the condition that the rider of the saddle-ride type vehicle 100 is operating the brake (that is, the operation of the brake operation unit).
- a driving assistance mode capable of amplifying the braking force occurring at 00 is executed.
- Amplification of the braking force generated in the saddle-ride type vehicle 100 means increasing the braking force generated in the saddle-ride type vehicle 10 relative to the normal braking force corresponding to the brake operation.
- the driving assistance mode capable of amplifying the braking force generated in the saddle-ride type vehicle 100 is simply referred to as the driving assistance mode.
- the execution unit 62 amplifies the braking force generated in the saddle-ride type vehicle 1 0 based on the surrounding environment information of the saddle-ride type vehicle 1 0. do.
- the surrounding environment information includes information on the possibility of collision of the saddle-ride type vehicle 100.
- Information on the possibility of collision can be obtained, for example, based on the inter-vehicle distance between the saddle-riding vehicle 100 and the preceding vehicle, and the relative speed of the saddle-riding vehicle 100 to the preceding vehicle.
- the surrounding environment information includes information on the inter-vehicle distance between the saddle-ride type vehicle 100 and the target vehicle.
- the target vehicle for example, a preceding vehicle traveling in front of the saddle-ride type vehicle 100 can be set.
- the inter-vehicle distance may mean a distance in a direction along a lane (specifically, a running lane of the saddle type vehicle 100), or may mean a straight distance.
- the inter-vehicle distance information may be the inter-vehicle distance itself, or the inter-vehicle distance divided by the speed of the saddle-riding vehicle 100, that is, the passage of the saddle-riding vehicle 100 and the target vehicle. It may be a time difference, or it may be another physical quantity substantially convertible to them.
- the execution unit 62 opens the charging valve 31, closes the release valve 32, closes the first valve 35, closes the second valve 3 6 is opened and the wheel cylinder pressure is increased by driving the pump 34.
- the wheel cylinder pressure becomes greater than the normal pressure corresponding to the brake operation. That is, the wheel cylinder pressure is amplified. Therefore, the braking force generated on the wheels is greater than the normal braking force corresponding to the brake operation. Thereby, the braking force generated in the saddle-ride type vehicle 100 can be amplified.
- the execution unit 62 for example, in the driving assistance mode, amplifies only the first wheel cylinder pressure of the first wheel cylinder 243, thereby causing the saddle type vehicle 100 Amplifies the braking force.
- the execution unit 62 in the driving assistance mode, ⁇ 2023/007428 (: 17132022/056999) Both the first wheel cylinder pressure of the second wheel cylinder 243 and the second wheel cylinder pressure of the second wheel cylinder 24b may be amplified, and the second wheel cylinder 2 Only the second wheel cylinder pressure of 4b may be amplified.
- the determination unit 63 makes various determinations and outputs the determination results to the execution unit 62.
- the determination unit 63 detects the rider of the straddle-type vehicle 100 based on the output of at least one of the first master cylinder pressure sensor 453 and the second master cylinder pressure sensor 45b, which are detection units. It is determined whether or not the brake operation is being performed by the The execution unit 62 executes the driving assistance mode when the determination unit 63 determines that the brake operation is being performed.
- the detection unit that detects the state quantity of the brake operation unit operated by the rider during service braking is the first master cylinder pressure sensor 453 and the second master cylinder pressure sensor.
- An example of 4 5 1 3 will be mainly described.
- the detection unit according to the present invention is not limited to the first master cylinder pressure sensor 45 and the second master cylinder pressure sensor 45.
- a displacement amount sensor that detects the displacement amount of the brake operation unit good. In that case, the determination section 63 determines whether or not the rider of the saddle-ride type vehicle 100 is performing a braking operation based on the output of the displacement amount sensor.
- the execution unit 62 operates the saddle-ride type vehicle 100 under the condition that the rider of the saddle-ride type vehicle 100 is performing a braking operation. Executes a driving assistance mode that can amplify the braking force occurring at 0°.
- FIG. 4 is a schematic diagram showing an example of the relationship between the braking force in the normal state according to the braking operation and the braking force generated in the saddle type vehicle in the driving assistance mode.
- the horizontal axis indicates time and the vertical axis 6 indicates braking force.
- the dashed line B1 indicates the braking force during normal operation according to the brake operation
- the solid line 2 indicates the braking force generated in the saddle-ride type vehicle 100 in the driving assistance mode.
- the braking force generated in the saddle-ride type vehicle 100 indicated by the solid line B2 is larger than the normal braking force indicated by the broken line B1. , is controlled. That is, the braking force generated in the saddle-ride type vehicle 100 is amplified.
- the degree of braking force reduction can include the amount of braking force reduction and the gradient of braking force reduction.
- the execution unit 62 of the control device 60 is configured to control the braking force generated in the saddle-ride type vehicle 100 at the end of amplification of the braking force in the driving assistance mode.
- the degree of power reduction is optimized according to the rider's brake operation status. As a result, the safety of the saddle-ride type vehicle 10° can be properly improved.
- the processing related to the driving assistance mode performed by such a control device 6.degree. will be described.
- FIG. 5 is a flow chart showing an example of the overall flow of processing relating to the driving assistance mode performed by the control device 60. As shown in FIG. Step 3101 in FIG. 5 corresponds to the start of the control flow shown in FIG.
- the determination unit 63 determines whether or not the conditions for starting the driving assistance mode are satisfied.
- whether or not to start the driving assistance mode is determined based on the surrounding environment information.
- the conditions for starting the driving assistance mode differ depending on the type of ambient environment information used in the driving assistance mode.
- the rider is performing a brake operation, and the saddle-ride type vehicle 100 A condition that the probability of collision exceeds a reference value can be used as a condition for starting the driving assistance mode.
- the rider is performing a braking operation, and the saddle-riding
- a condition that the inter-vehicle distance between the model vehicle 100 and the target vehicle is shorter than a reference distance or that the transit time difference is shorter than a reference time can be used as a condition for starting the driving assistance mode.
- step MA2/N0 If it is determined that the condition for starting the driving assistance mode is not satisfied (step MI2/N0), the process of step £1 ⁇ 2 is repeated. On the other hand, if it is determined that the conditions for starting the driving assistance mode are satisfied (step ME2/23), proceed to step £3 ⁇ 2023/007428 ⁇ (:17132022/056999
- step 1 0 2 is determined to be 3
- step 3 1 0 3 the execution unit 6 2 executes the driving support mode.
- the execution unit 62 amplifies the braking force applied to the saddle-riding vehicle 100 in the driving support mode based on the surrounding environment information of the saddle-riding vehicle 100. do.
- the execution unit 62 amplifies the braking force generated in the saddle-ride type vehicle 100 so that a collision with the preceding vehicle can be avoided. based on gender information. In this case, the execution unit 62 determines a deceleration that can avoid a collision with the preceding vehicle as the target deceleration. The execution unit 62, for example, determines a larger deceleration as the target deceleration as the collision probability is higher. Then, the execution unit 62 amplifies the braking force generated in the saddle-ride type vehicle 100 so that the saddle-ride type vehicle 100 achieves the target deceleration.
- the execution unit 62 controls the saddle so that the inter-vehicle distance or transit time difference between the saddle-ride type vehicle 10° and the target vehicle is maintained at a target value in the driving assistance mode. Amplification of the braking force occurring in the ride-on vehicle 100 is performed based on the information of the vehicle-to-vehicle distance. In this case, the execution unit 62 determines the deceleration as the target deceleration such that the inter-vehicle distance or transit time difference between the straddle-type vehicle 100 and the target vehicle is maintained at the target value.
- the execution unit 62 determines a larger braking force as the target deceleration as the inter-vehicle distance or transit time difference between the saddle-ride type vehicle 100 and the target vehicle becomes shorter. Then, the execution unit 62 amplifies the braking force generated in the saddle-ride type vehicle 100 so that the saddle-ride type vehicle 100 achieves the target deceleration.
- step Microcontroller 63 determines whether or not the conditions for ending the driving assistance mode are satisfied.
- the end condition of the driving assistance mode is the condition where the start condition is no longer satisfied.
- a condition that the rider's brake operation has been released may correspond to the termination condition.
- the determination unit 63 may determine that the brake operation has been released, for example, when the master cylinder pressure is lower than the reference pressure.
- a condition that the collision probability of the saddle-ride type vehicle 100 has fallen below a reference value may correspond to the termination condition.
- a condition that the inter-vehicle distance between the saddle-riding vehicle 100 and the target vehicle exceeds the reference distance or the transit time difference exceeds the reference time may correspond to the termination condition.
- step 3 1 0 4 / N 0 If it is determined that the condition for ending the driving support mode is not satisfied (step 3 1 0 4 / N 0), return to step 3 1 0 3 . On the other hand, if it is determined that the conditions for ending the driving assistance mode are satisfied (steps 104/3), the process proceeds to step 3105, the execution unit 62 terminates the driving assistance mode, Go back to step 3 1 0 2.
- FIG. 6 is a flow chart showing an example of the flow of processing for ending the driving assistance mode performed by the control device 60.
- the control flow shown in FIG. 6 is executed at step 3105 in the control flow shown in FIG. Step £2-1 in FIG. 6 corresponds to the start of the control flow shown in FIG. Step 208 in FIG. 6 corresponds to the end of the control flow shown in FIG.
- control flow shown in Fig. 6 terminates the driving support mode because the master cylinder pressure becomes lower than the reference pressure and it is determined that the brake operation has been released. It is an example of the flow of processing executed when Hereinafter, the master cylinder pressure of the master cylinder attached to the brake operation unit whose brake operation is released is simply referred to as master cylinder pressure.
- the degree of change in the master cylinder pressure in step 3202 is, for example, a predetermined period including the point at which it is determined that the brake operation has been released, or the master cylinder pressure at any time within the predetermined period. This is the degree of change in cylinder pressure.
- the degree of change in master cylinder pressure can include the amount of change in master cylinder pressure and the gradient of change in master cylinder pressure.
- the amount of change in master cylinder pressure means, for example, the total amount of change in master cylinder pressure over a predetermined period, and the gradient of change in master cylinder pressure means, for example, the amount of change in master cylinder pressure per unit time at a certain point in time. do.
- step 3202/3 If it is determined that the degree of change in the master cylinder pressure is smaller than the reference degree (step 3202/3), proceed to step 3203. On the other hand, if it is determined that the degree of change in the master cylinder pressure is greater than the reference degree (step 2:2/1 ⁇ 0), proceed to step 3204.
- the reference degree is determined, for example, by the occurrence of lever suction or pedal suction, which is the factor for terminating the driving assistance mode, or by the intentional release of the brake operation by the rider. It is set to a value that can distinguish whether it is a factor that terminates the mode. In this case, if the degree of change in the master cylinder pressure is smaller than the reference degree, it can be determined that the occurrence of lever suction or pedal suction is the cause of terminating the driving assistance mode. On the other hand, if the degree of change in the master cylinder pressure is greater than the reference degree, it can be determined that the driver's intentional release of the brake operation is the cause of termination of the driving assistance mode.
- step £ 20 2 is judged to be £ 2 0 2
- execution unit 6 2 terminates amplification of the braking force generated in saddle-ride type vehicle 1 0 0 in step £ 2 0 3 .
- the target value of the degree of reduction of the braking force at time is set as the first target degree of reduction.
- the execution unit 62 determines the value of the braking force generated in the saddle-ride type vehicle 100 at the end of amplification. Set the target value of the degree of reduction of the braking force to the second target degree of reduction.
- the first target reduction rate is smaller than the second target reduction rate.
- a target value for the degree of reduction is determined, and then the braking force is reduced so that the degree of reduction of the braking force reaches the determined target value.
- the execution unit 62 determines that when the degree of change in the master cylinder pressure is smaller than the reference degree, the saddle-ride type vehicle 100 is more likely to experience the problem than when the degree of change in the master cylinder pressure is larger than the reference degree. set the target value of the degree of reduction of the braking force at the end of the amplification of the braking force in question to a small value.
- the execution unit 62 reduces the degree of change in the saddle-ride type vehicle 100 when the degree of change in the master cylinder pressure is smaller than the reference degree, compared to when the degree of change in the master cylinder pressure is greater than the reference degree. At the end of power amplification, the braking force is reduced by a small reduction.
- the execution unit 62 detects the state quantity of the brake operation unit during service braking in the driving support mode.
- the braking force at the end of amplification of the braking force generated in the saddle type vehicle 100 Change the degree of reduction.
- the execution unit 62 determines whether the degree of change in the master cylinder pressure is smaller than the reference degree in the driving assistance mode.
- the degree of reduction of the braking force at the end of the amplification of the braking force generated in the damper is changed in two stages.
- the execution unit 62 continuously adjusts the degree of reduction of the braking force generated in the saddle-ride type vehicle 100 at the end of amplification in accordance with the degree of change in the master cylinder pressure. You can change it on purpose. In this case, for example, the execution unit 62 decreases the braking force generated in the saddle-ride type vehicle 10° at the end of amplification as the degree of change in the master cylinder pressure decreases in the driving support mode. reduce the degree.
- step 205 the execution unit 62 performs The target value of the degree of reduction of the braking force is changed according to the vehicle speed of the saddle type vehicle 1:0.
- the vehicle speed of the straddle-type vehicle 100 can be obtained based on the detection result of the front wheel speed sensor 41 and the detection result of the rear wheel speed sensor 42.
- the execution unit 6 2 determines that, in the driving support mode, when the vehicle speed is lower than the reference vehicle speed, the saddle-riding type vehicle 1 ⁇ 0 is less affected than when the vehicle speed is higher than the reference vehicle speed.
- the degree of reduction of the braking force may be reduced at the end of amplification of the existing braking force.
- the reference vehicle speed is, for example, the vehicle speed immediately before the saddle type vehicle 100 stops. Immediately before the saddle-ride type vehicle 100 stops, the posture of the saddle-ride type vehicle 100 tends to become unstable if the braking force generated in the saddle-ride type vehicle 100 is suddenly reduced.
- the degree of decrease in the braking force generated in the saddle-ride type vehicle 100 at the end of amplification of the braking force is smaller. By doing so, it is possible to prevent the degree of decrease in the braking force from becoming excessively large immediately before the saddle-ride type vehicle 100 stops, and to prevent the posture of the saddle-ride type vehicle 100 from becoming unstable. can be suppressed to
- step £206 the execution unit 62 calculates the braking force generated in the saddle-ride type vehicle 100 at the end of amplification.
- the target value of the degree of reduction of the saddle type vehicle 100 is changed according to the information on the running attitude of the saddle-ride type vehicle 100 .
- the information on the running posture of the saddle-ride type vehicle 100 can include various information regarding the posture of the saddle-ride type vehicle 100 during running.
- Information on the running attitude may include information detected by the inertial measurement device 44, for example.
- the information on the running posture is not limited to the information detected by the inertial measurement device 44, and may include, for example, the damping force or stroke amount of the front suspension of the straddle-type vehicle 100.
- the degree of reduction of the front braking force generated in the saddle type vehicle 100 at the end of amplification is changed.
- the degree of decrease in the braking force may be reduced, thereby suppressing the instability of the attitude of the saddle-ride type vehicle 1°0.
- step 207 the execution unit 62 determines that the degree of reduction in the braking force occurring in the saddle-ride type vehicle 100 is the target The braking force is reduced to the value, and the control flow shown in FIG. 6 ends.
- the execution unit 62 opens both the first valve 35 and the second valve 36 and drives the pump 34, thereby reducing the braking force of the wheels. . Then, in this state, the execution unit 62 can control the degree of reduction of the wheel braking force by controlling the rotation speed of the pump 34, for example. Further, for example, the execution unit 62 can also control the degree of reduction of the braking force of the wheels by controlling the opening degree of the first valve 35. As a result, it is possible to change the degree of reduction of the braking force generated in the saddle-ride type vehicle 100 at the end of amplification of the braking force.
- the execution unit 62 controls the front wheels 3 of the saddle-ride type vehicle 100 at the end of amplification of the braking force generated in the saddle-ride type vehicle 100 in the driving assistance mode.
- the degree of reduction in power and the degree of reduction in braking force of the rear wheels 4 may be determined respectively.
- the execution unit 62 sets, for example, a target value for the degree of reduction in the braking force of the front wheels 3 at the end of amplification of the braking force generated in the saddle-riding vehicle 100, and the braking force of the rear wheels 4.
- the target value of the degree of reduction in the braking force of the front wheels 3 and the target value of the degree of reduction in the rear wheels 4 are set so that the total value of the target values of the degree of power reduction becomes the target value of the degree of reduction in the braking force generated in the saddle-ride type vehicle 100. determines the target value of the degree of reduction of the braking force of each. Then, the execution unit 62 determines the degree of reduction of the braking force of the front wheels 3 and the degree of reduction of the braking force of the rear wheels 4 at the end of amplification of the braking force generated in the saddle-ride type vehicle 100. The braking force of the front wheels 3 and the braking force of the rear wheels 4 are reduced so as to achieve the respective target values.
- the execution unit 62 independently controls the first wheel cylinder pressure of the first wheel cylinder 24 & and the second wheel cylinder pressure of the second wheel cylinder 24 to control the braking force of the front wheels 3 and , the braking force of the rear wheels 4 can be controlled independently.
- the execution unit 62 calculates the degree of decrease in the braking force of the rear wheels 4 at the end of the amplification of the braking force generated in the saddle-ride type vehicle 100 as the front wheels. It is preferable to increase the degree of decrease in the braking force in 3.
- the degree of decrease in the braking force in 3.
- the saddle-riding type vehicle You can suppress the unstable posture of 1 0 0.
- the execution unit 62 detects, in the operation support mode, the detection unit (for example, the first master cylinder pressure sensor 45 & and the second master cylinder pressure sensor 45 1) According to the degree of change in the output of (1)), the degree of reduction of the braking force generated in the straddle-type vehicle 100 at the end of amplification is changed. As a result, when the amplification of the braking force acting on the saddle-ride type vehicle 100 ends, the braking force acting on the saddle-ride type vehicle 100 decreases at a degree of reduction that deviates greatly from the rider's intention. can be suppressed.
- the safety of the saddle-ride type vehicle 100 can be appropriately improved.
- the braking force acting on the saddle-riding vehicle 100 It is important to prevent the power from decreasing at a rate that deviates greatly from the rider's intention.
- the execution unit 62 performs, in the driving assistance mode, in accordance with the vehicle speed of the saddle-ride type vehicle 100 in addition to the degree of change in the output of the detection unit, The degree of reduction of the braking force generated in the saddle type vehicle 100 at the end of amplification of the braking force is changed.
- the amplification of the braking force generated in the saddle-ride type vehicle 100 ends, the unstable posture of the saddle-ride type vehicle 100 can be appropriately suppressed according to the vehicle speed.
- the execution unit 62 is configured to: Decrease the degree of reduction of the braking force at the end of the amplification of the braking force occurring at 10°.
- the execution unit 62 is configured to: Decrease the degree of reduction of the braking force at the end of the amplification of the braking force occurring at 10°.
- the execution unit 62 in the driving assistance mode, detects information on the traveling posture of the saddle-ride type vehicle 100 in addition to the degree of change in the output of the detection unit. Accordingly, the degree of reduction of the braking force generated in the saddle-ride type vehicle 100 at the end of amplification of the braking force is changed. As a result, when the amplification of the braking force generated in the saddle-ride type vehicle 100 ends, the unstable posture of the saddle-ride type vehicle 100 can be appropriately suppressed according to the information on the running posture. .
- the execution unit 62 controls the saddle-ride type vehicle 1 at the end of amplification of the braking force generated in the saddle-ride type vehicle 100 in the driving assistance mode.
- the degree of reduction of the braking force of the front wheels 3 and the degree of reduction of the braking force of the rear wheels 4 of 0 0 are determined respectively. As a result, it is possible to prevent the posture of the saddle-riding vehicle 100 from becoming unstable when the amplification of the braking force generated in the saddle-riding vehicle 100 ends.
- the execution unit 62 controls the rear wheels 4 at the end of amplification of the braking force generated in the saddle type vehicle 100 in the driving assistance mode.
- the degree of power reduction is made larger than the degree of reduction of the braking force of the front wheels 3.
- the detection unit detects the As a state quantity, the master cylinder pressure, which is the pressure of the brake fluid in the master cylinder, is detected.
- the state quantity of the brake operating unit can be detected appropriately.
- the detection unit detects the master cylinder pressure
- whether or not the rider of the saddle type vehicle 100 is performing a brake operation is determined based on the master cylinder pressure. be. this ⁇
- the occurrence of lever suction or pedal suction is the cause of terminating the driving assistance mode, or the driver's intentional release of the brake operation
- the degree of decrease in the master cylinder pressure at the time of terminating the driving support mode differs depending on whether it is a factor for terminating the mode. Using the relationship, it is appropriately realized to optimize the degree of reduction of the braking force occurring in the saddle-ride type vehicle 10° at the end of the amplification of the braking force.
- the execution unit 62 is configured to: End power amplification.
- the amplification of the braking force generated in the saddle-riding type vehicle 100 is properly completed at the timing when the brake operation is released.
- the ambient environment information includes information on the possibility of collision of the saddle-riding type vehicle 100
- the execution unit 62 controls the saddle-riding type Amplification of the braking force occurring in the vehicle 10° is carried out based on the collision probability information.
- the possibility of avoiding a collision with the preceding vehicle, etc. is improved, and safety is improved.
- the ambient environment information includes information on the distance between the saddle-ride type vehicle 100 and the target vehicle
- the execution unit 62 in the driving assistance mode, Amplification of the braking force occurring in the saddle-ride type vehicle 100 is performed based on the information of the vehicle-to-vehicle distance.
- the inter-vehicle distance or transit time difference with the target vehicle such as the preceding vehicle is appropriately ensured, and safety is improved.
- first master cylinder pressure sensor 45 second master cylinder pressure sensor, 50 fluid pressure control unit, 51 substrate, 60 control device, 61 acquisition unit, 62 execution unit, 63 determination unit, 1 0 0 Saddled vehicles.
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2360075A1 (en) * | 2008-10-24 | 2011-08-24 | Bosch Corporation | Brake device for two-wheeled motor vehicle |
EP3608180A1 (en) * | 2017-04-05 | 2020-02-12 | Robert Bosch GmbH | Control device, control method, and braking system |
EP3663144A1 (en) * | 2017-08-02 | 2020-06-10 | Robert Bosch GmbH | Control device, vehicle behavior control system, motorcycle, and control method |
EP3828044A1 (en) * | 2018-07-24 | 2021-06-02 | Robert Bosch GmbH | Control device and control method |
EP3842308A1 (en) * | 2018-08-23 | 2021-06-30 | Robert Bosch GmbH | Controller and control method |
-
2022
- 2022-07-28 WO PCT/IB2022/056999 patent/WO2023007428A1/ja active Application Filing
- 2022-07-28 JP JP2023537730A patent/JPWO2023007428A1/ja active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2360075A1 (en) * | 2008-10-24 | 2011-08-24 | Bosch Corporation | Brake device for two-wheeled motor vehicle |
EP3608180A1 (en) * | 2017-04-05 | 2020-02-12 | Robert Bosch GmbH | Control device, control method, and braking system |
EP3663144A1 (en) * | 2017-08-02 | 2020-06-10 | Robert Bosch GmbH | Control device, vehicle behavior control system, motorcycle, and control method |
EP3828044A1 (en) * | 2018-07-24 | 2021-06-02 | Robert Bosch GmbH | Control device and control method |
EP3842308A1 (en) * | 2018-08-23 | 2021-06-30 | Robert Bosch GmbH | Controller and control method |
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