WO2023053270A1

WO2023053270A1 - Saddle-type vehicle

Info

Publication number: WO2023053270A1
Application number: PCT/JP2021/035872
Authority: WO
Inventors: 隼也石川; 秀敏豊田
Original assignee: 本田技研工業株式会社
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2023-04-06

Abstract

Provided is a saddle-type vehicle with which it is possible for a rider to experience a more enjoyable jump.　A saddle-type vehicle (10) equipped with a power unit (12) for driving a vehicle body comprises: a slope detection unit (62) which detects a slope (M) where the vehicle body comes into a jumping state by passing the slope; and an output control unit (68) which controls, on the basis of the inclination angle (α) of the slope (M), the output of the power unit (12) during a period until the vehicle body comes into a jump state.

Description

saddle-riding vehicle

The present invention relates to a saddle-ride type vehicle.

Among saddle-riding vehicles such as motorcycles, there are known vehicles that allow riders to enjoy jumping the body. For example, off-road motorcycles are designed in consideration of jumping the vehicle body using a jumping table provided on a competition course. In addition, a technique for suppressing the number of revolutions of the engine over a period in which the vehicle body is jumping (see, for example, Patent Document 1), and a technique for controlling the attitude of the vehicle body over the period (for example, Patent Document 2, Patent Document 3) are known.

JP 2008-144685 A JP 2013-173426 A WO2020/016675

However, depending on the skill and experience of the rider, the riding condition on the jumping hill may not be appropriate, and the rider may not be able to perform the jump desired by the rider, and may not be able to fully enjoy the jump.
SUMMARY OF THE INVENTION An object of the present invention is to provide a saddle riding type vehicle that allows a rider to enjoy jumping more.

According to one aspect of the present invention, in a saddle-ride type vehicle having a power unit, a slope detection unit detects a slope on which a vehicle body jumps when it passes through, and a slope detector detects the slope of the slope until the vehicle body jumps. and an output control section that controls the output of the power unit based on the power.

According to the present invention, riders can enjoy jumping more.

FIG. 1 is a side view of a straddle-type vehicle according to an embodiment of the invention. FIG. 2 is a block diagram showing the configuration of a control system for jump control in a saddle type vehicle. FIG. 3 is a diagram schematically showing jumping of the vehicle body. FIG. 4 is a diagram showing an example of jump level setting data. FIG. 5 is a diagram schematically showing jump modes for each jump level. FIG. 6 is a flow chart of jump control. FIG. 7 is an explanatory diagram of the detection operation by the image processing unit. FIG. 8 is a block diagram showing the configuration of a control system according to a modification of the invention. FIG. 9 is an explanatory diagram of the detection operation by the image processing unit according to the modification of the present invention.

Embodiments of the present invention will be described below with reference to the drawings. In the description, directions such as front, rear, left, right, and up and down are the same as the directions with respect to the vehicle body unless otherwise specified. In each figure, FR indicates the front of the vehicle body, UP indicates the upper side of the vehicle body, and LH indicates the left side of the vehicle body.

[Embodiment]
FIG. 1 is a side view of a straddle-type vehicle 10 according to an embodiment of the invention.
A straddle-type vehicle 10 includes a body frame 11, a power unit 12 supported by the body frame 11, a front fork 14 supporting a front wheel 13 in a steerable manner, a swing arm 16 supporting a rear wheel 15, and a passenger seat. The vehicle includes a seat 17 .
The saddle-ride type vehicle 10 is a vehicle in which an occupant sits astride a seat 17 . The seat 17 is provided above the rear portion of the body frame 11 .

The body frame 11 includes a head pipe provided at the front end of the body frame 11, a front frame positioned behind the head pipe, and a rear frame positioned behind the front frame. A front end of the front frame is connected to the head pipe.
The seat 17 is supported by the rear frame.

The front fork 14 is supported by the head pipe so that it can be steered left and right. The front wheel 13 is supported by an axle 13 a provided at the lower end of the front fork 14 . A steering handle 21 gripped by a passenger is attached to the upper end of the front fork 14 .

The swing arm 16 is supported by a pivot shaft 22 supported by the vehicle body frame 11 . The pivot shaft 22 is a shaft extending horizontally in the vehicle width direction. A pivot shaft 22 is inserted through the front end of the swing arm 16 . The swing arm 16 swings up and down around the pivot shaft 22 .
The rear wheel 15 is supported by an axle 15 a provided at the rear end of the swing arm 16 .

Power unit 12 is arranged between front wheel 13 and rear wheel 15 and supported by body frame 11 .
Power unit 12 is an internal combustion engine. The power unit 12 includes a crankcase 23 and a cylinder portion that houses reciprocating pistons. An exhaust device 25 is connected to the exhaust port of the cylinder portion.
The output of power unit 12 is transmitted to rear wheels 15 by a driving force transmission member that connects power unit 12 and rear wheels 15 .

The straddle-type vehicle 10 also includes a front fender 26 that covers the front wheels 13 from above, a rear fender 27 that covers the rear wheels 15 from above, a step 28 on which the passenger puts his or her feet, and a fuel for storing the fuel used by the power unit 12. and a tank 29 .
A front fender 26 is attached to the front fork 14 . The rear fender 27 and step 28 are provided below the seat 17 . The fuel tank 29 is supported by the vehicle body frame 11 .

The straddle-type vehicle 10 also includes a rear wheel braking device 30 that brakes the rear wheels 15 and a brake actuator 32 (see FIG. 2) that operates the rear wheel braking device 30 .

Further, the saddle-ride type vehicle 10 includes an accelerator grip rotatable with respect to the steering wheel 21 and an accelerator position sensor 42A (see FIG. 2) that detects the rotation angle of the accelerator grip. is operated to operate the accelerator, and the accelerator operation is detected by the accelerator position sensor 42A.

The straddle-type vehicle 10 of the present embodiment is a motorcycle, and is configured as an off-road off-road vehicle with high running performance. This saddle-ride type vehicle 10 is configured with specifications suitable for jumping the vehicle body by passing through a jumping slope M (see FIG. 3) such as a jumping table installed on uneven terrain. can enjoy jumping. The vehicle body of the saddle-ride type vehicle 10 is composed of a body frame 11 and components that are in a jump state together with the body frame 11 .

Further, the straddle-type vehicle 10 of the present embodiment controls the output of the power unit 12 based on the jump slope M until the vehicle body enters the jump state by passing the jump slope M, and By controlling the body posture when the body is jumping, the rider can enjoy jumping more.
Hereinafter, the output control until the vehicle body enters the jump state is referred to as pre-jump output control, and the attitude control of the vehicle body during the jump is referred to as posture control during jump. The control including is called jump control.

FIG. 2 is a block diagram showing the configuration of a control system 35 related to jump control in the saddle type vehicle 10. As shown in FIG.
As shown in the figure, the control system 35 includes a vehicle speed detection section 40, an accelerator operation detection section 42, a mode selection input section 44, an imaging section 46, an IMU 48, and a control device 50.

The vehicle speed detection unit 40 includes a vehicle speed sensor 40A that detects the vehicle speed of the vehicle body, and outputs vehicle speed detection information D1 to the control device 50 .
The accelerator operation detection unit 42 includes the accelerator position sensor 42A, detects the rider's accelerator operation, and outputs accelerator operation detection information D2 to the control device 50. FIG.

The mode selection input unit 44 includes an operation switch 44A operated by the rider, receives input for mode selection through operation of the operation switch 44A, and outputs mode selection information D3 indicating the selected mode to the control device 50. The operation switch 44A is arranged, for example, in a switch box or the like provided on the central side of the vehicle body adjacent to the accelerator grip. Modes to be selected are set for each jump skill, and in the present embodiment, three modes of beginner mode, intermediate player mode, and advanced player mode are selected in descending order of skill. The input method for mode selection is not limited to the operation of the operation switch 44A, and any other input method such as voice input may be used.

The photographing unit 46 includes a camera 46A that photographs the forward direction from the vehicle body, and outputs photographing data D4 to the control device 50 (slope detector 62).
The IMU 48 is an inertial measurement unit that detects three-dimensional inertial motion in the vehicle body. Specifically, IMU 48 detects the angular velocity and acceleration of three axes (roll axis, pitch axis, yaw axis) of the vehicle body, and outputs these detection values D5 to control device 50 (bank angle detection unit 60).

The control device 50 includes, for example, an electronic control unit (ECU: Electronic Control Unit), which is an example of one or more computers. Specifically, the ECU includes a processor such as a CPU or MPU, a memory device such as a ROM or RAM, and an interface circuit that connects each unit such as the vehicle speed detection unit 40 . At least a part of the control device 50 may be implemented by cooperation of software and hardware.

The control device 50 realizes various functional configurations used for jump control by causing the processor to execute programs stored in the memory device. As such functional configuration, the control device 50 includes a bank angle detection unit 60, a slope detection unit 62, a step detection unit 64, a level setting unit 66, an output control unit 68, a jump execution intention determination unit 70, and an attitude control unit 72 .

A bank angle detection unit 60 detects a bank angle θ (see FIG. 5) of the vehicle body based on the detection value D5 of the IMU 48 .
The slope detection unit 62 detects a jump slope M that exists in front of the vehicle body in the traveling direction, and determines the width Pa (see FIG. 5), height Pb (see FIGS. 3 and 5), and the slope of the jump slope M. A parameter (hereinafter referred to as "shape parameter") relating to shape and structure such as α (see FIG. 3) is calculated. The slope detection unit 62 of the present embodiment includes an image processing unit 62A. The image processing unit 62A detects the jump slope M shown in the image data D4 by image recognition, and determines the shape parameters of the jump slope M, The distance to the jump slope M is calculated. The image processing unit 62A also reflects the bank angle θ in image processing to improve the accuracy of shape parameter calculation, and this image processing will be described later.

The step detection unit 64 detects a step between the vehicle body and the jump slope M in front of the vehicle body in the traveling direction. In the present embodiment, the level difference detection section 64 detects a level difference by performing image recognition processing on the photographed data D4 in the same manner as the image processing section 62A. In this case, when the vehicle passes through, unevenness that causes a sudden change in vehicle speed is detected as a step.

It should be noted that the method of detecting the slope M for jumping and the step is not limited to image recognition processing, and any known or well-known method such as a detection method using LiDAR (light detection and ranging) can be used.

The level setting unit 66 sets the jump level setting value based on the mode selection information D3 of the mode selection input unit 44. The jump level set value is the target value of the flight distance and the body posture at the time of jumping. These target values are set according to the difficulty of the jump.

FIG. 3 is a diagram schematically showing jumping of the vehicle body.
In general, it is difficult to jump so that the flight distance E is within a predetermined constant distance, and when landing on the ground G, the landing timing of the rear wheels 15 precedes the landing timing of the front wheels 13. It is very difficult to land in such a posture. In the present embodiment, target values for the flight distance E and the landing posture are set in advance for each of the beginner mode, the intermediate player mode, and the advanced player mode based on the difficulty level. is stored in advance in the memory device as

FIG. 4 is a diagram showing an example of the jump level setting data 75, and FIG. 5 is a diagram schematically showing jump modes for each jump level.
As shown in FIG. 4, the flying distance E in beginner mode is set to zero. In this setting, as shown in jump mode A in FIG. 5, the output of power unit 12 is controlled so that the vehicle body is prevented from rising (so as not to jump) when the vehicle body passes the jump slope M. .
Further, as shown in FIG. 4, the flying distance E in the intermediate player mode and the advanced player mode is set to a predetermined fixed distance that does not cause excessive flying. Furthermore, the landing posture of the intermediate mode is set to the front wheel-rear wheel simultaneous landing (Fig. 5: jump mode B) in which the front wheels 13 and the rear wheels 15 touch the ground at the same time, A rear wheel landing (FIG. 5: jump mode C) is set in which the rear wheels 15 land on the ground before the front wheels 13 do.

Returning to FIG. 2, the output control unit 68 determines the target flight distance E based on the shape parameter of the jump slope M and the jump level set value until at least the vehicle body enters the jump state due to the jump slope M. The output of the power unit 12 is controlled so that the vehicle body passes the jumping slope M at a vehicle speed at which is obtained. The power unit 12 of the present embodiment is an engine, and the output control section 68 controls the throttle body provided in the saddle type vehicle 10 and adjusts the amount of intake air supplied to the power unit 12 to increase the output of the power unit 12. Control.

The jump execution intention determination unit 70 determines whether or not the rider intends to jump the vehicle body during control by the output control unit 68 . In the present embodiment, the jump execution intention determination unit 70 determines that, during the control by the output control unit 68, if the time during which the accelerator grip is not rotated exceeds a predetermined threshold time at the determination timing. Then, it is determined that the rider has no intention of jumping the vehicle body. Note that the jump execution intention determination unit 70 detects the presence or absence of the rider's operation on a predetermined switch or the like, or uses other arbitrary methods such as determination based on the rider's driving operation state to determine the rider's intention to jump the vehicle body. You may judge whether it has.

The output control unit 68 does not cause a jump when the vehicle body passes the jump slope M when the jump execution intention determination unit 70 determines that the rider does not have the intention to jump the vehicle body. In other words, the vehicle speed is controlled so as to prevent the vehicle body from floating (Fig. 5: jump mode A).

The posture control unit 72 controls the posture of the vehicle body while it is jumping so that the vehicle body lands in the landing posture set by the jump level setting value. In this embodiment, the posture control section 72 controls the power unit 12 and the rear wheel braking device 30 to increase or decrease the rotational speed of the rear wheels 15, thereby controlling the posture of the vehicle body. Specifically, when the vehicle body tends to roll backwards with respect to the target posture (a state in which the pitch angle of the vehicle body indicates a value in the backward rolling direction rather than the target value), the posture control unit 72 controls the rear wheels 15 The power unit 12 and the rear wheel braking device 30 are controlled so that the rotational speed of the When the vehicle body tends to roll forward with respect to the target posture (a state in which the pitch angle of the vehicle body indicates a value in the forward rolling direction rather than the target value), the posture control unit 72 increases the rotational speed of the rear wheels 15. The power unit 12 and the rear wheel braking device 30 are controlled so as to do so.

In the attitude control unit 72, determination as to whether or not the vehicle body is jumping is made based on the difference in rotation speed between the front wheels 13 and the rear wheels 15, based on the detection value D5 of the IMU 48, and the strokes of the front and rear suspensions. Any technique, such as determination based on quantity, can be used.

Next, the operation of jump control by the control system 35 will be described. Such jump control is performed when the saddle-ride type vehicle 10 is traveling on uneven terrain. It is assumed that mode selection by the rider has been completed in advance.

FIG. 6 is a flow chart of jump control.
While the saddle-ride type vehicle 10 is traveling on uneven ground, the slope detector 62 continuously detects the jump slope M (step S1). As described above, the slope detection unit 62 detects the jump slope M by image processing the photographed data D4 of the photographing unit 46 by the image processing unit 62A.

FIG. 7 is an explanatory diagram of the detection operation by the image processing section 62A.
The photographic data D4 of the present embodiment is moving image data in which images are captured at a predetermined frame rate. is detected, and the shape parameters (height Pa, width Pb, inclination α, etc.) of the jump slope M are specified. In the present embodiment, the image processing unit 62A performs image recognition processing on the detection range H set in the captured image D4f, and detects the jump slope M reflected in the detection range H. The detection range H is set to a range smaller than the size of the captured image D4f (that is, a size having a predetermined margin around it).

When the saddle type vehicle 10 enters cornering and the vehicle body tilts to the left or right, the scenery in front of the vehicle body tilts according to the tilt of the vehicle body (bank angle θ), as shown in detection mode A in FIG. A part of the slope M for jumping in front of the vehicle body may protrude from the detection range H. In this case, even if the jump slope M can be detected, the accuracy of the shape parameter (the width Pa in the illustrated example) of the jump slope M decreases. Therefore, when the bank angle θ becomes equal to or greater than a predetermined value, the image processing unit 62A changes the detection range H, and performs image recognition processing on the changed detection range H to detect the jump slope M. . In this embodiment, "expansion" is used as one mode of changing the detection range H. FIG. Specifically, the image processing unit 62A expands the detection range H as shown in the detection mode B in FIG. To detect. As a result, the entire jump slope M falls within the detection range H, and the shape parameter can be obtained with high accuracy. Moreover, since the detection range H is set to be smaller than the size of the captured image D4f, the computational load can be reduced compared to the case where the entire captured image D4f is subjected to image recognition processing. In addition, the expansion of the detection range H is performed only when the bank angle θ is equal to or greater than a predetermined value, that is, when the precision of the shape parameter of the jumping slope M may be lowered. Increased computational load due to expansion is limited to when necessary. This makes it possible to both reduce the computational load and maintain the accuracy of the shape parameters.

Returning to FIG. 6, when the jump slope M is detected (step S2: Yes), the output control section 68 acquires the level setting value from the level setting section 66 (step S3). Then, the output control unit 68 specifies target values for the flight distance E and the landing posture at the time of the jump based on the level setting values, and executes pre-jump output control so that the jump is achieved according to the target values. (step S4). Specifically, the output control unit 68 determines the target vehicle speed when passing through the jump slope M based on the slope α of the jump slope M and the target value of the flight distance E. Then, the output control unit 68 feedback-controls the vehicle speed so that the vehicle body passes the jump slope M at the target vehicle speed at least until the vehicle body enters the jump state. In feedback control, the output control section 68 controls the vehicle speed by controlling the output of the power unit 12 and the braking force of the rear wheel braking device 30 .
As a result, the vehicle body jumps at a flight distance E corresponding to the level set value (rider's selection mode).

In this step S4, if the step detector 64 detects a step ahead of the vehicle body, the output control unit 68 feedback-controls the vehicle speed after the step has passed.
As a result, even if the running condition changes abruptly due to the vehicle passing over a bump, feedback control is performed after the running condition stabilizes, so more accurate control is possible without the influence of the bump.

Further, in step S4, when the jump execution intention determination unit 70 determines that the rider does not have the intention to execute a jump while the output control unit 68 is feedback-controlling the vehicle speed, the output control unit 68 obtains a target vehicle speed that does not cause a jump when the vehicle body passes the jump slope M (the vehicle body is suppressed from rising), and performs feedback control so that the vehicle body passes the jump slope M at the target vehicle speed. .
This prevents the body from jumping unintentionally by the rider.

After that, when the vehicle body passes through the jump slope M and enters a jump state, the jump of the vehicle body is detected by the attitude control section 72 (step S5: Yes). Then, the attitude control unit 72 controls the rotational speed of the rear wheels 15 while the vehicle body is jumping, thereby controlling the attitude of the vehicle body so that the vehicle body lands in accordance with the target value of the landing attitude (step S6). ).
As a result, the vehicle body lands in a landing posture corresponding to the level set value (rider's selection mode).

As described above, according to the jump control in FIG. 6, the jump is performed with the flight distance E and the landing attitude corresponding to the rider's selection mode (level set value), so that the rider can choose the jump according to his/her skill and preference. You can enjoy jumping.

According to this embodiment, the following effects are obtained.

The saddle-ride type vehicle 10 of the present embodiment controls the output of the power unit 12 based on the slope α of the jumping slope M until the vehicle body jumps due to the jumping slope M. FIG.
As a result, the vehicle body passes through the jump slope M at a vehicle speed suitable for the jump of the vehicle body, and the rider can enjoy jumping more.

The straddle-ride type vehicle 10 of the present embodiment controls the output of the power unit 12 based on the target vehicle speed corresponding to the slope α of the jump slope M and the vehicle speed.
According to this configuration, the vehicle body passes over the jump slope M at a vehicle speed corresponding to the slope α of the jump slope M. Therefore, even if the slope α of the jump slope M changes, the rider can enjoy jumping. can.

The straddle-type vehicle 10 of the present embodiment reduces the output of the power unit so as to suppress the lifting of the vehicle body when the vehicle body passes the jump slope M when the accelerator is not operated for more than a certain period of time. Control.
According to this configuration, it is automatically determined based on the accelerator operation that the rider has no intention of jumping, and it is possible to prevent execution of output control related to a jump that the rider does not intend.

The saddle-ride type vehicle 10 of the present embodiment controls the output of the power unit 12 after the vehicle body has passed through the step and before it enters a jump state due to the jump slope M. I do.
According to this configuration, even if the running condition suddenly changes due to the vehicle passing over a bump, the feedback control is performed after the running condition stabilizes, so more accurate control is possible without the influence of the bump. becomes.

The straddle-type vehicle 10 of the present embodiment expands the detection range H preset with respect to the photographed image D4f in accordance with the bank angle θ of the vehicle body, and determines the jump slope M from the expanded detection range H. Then, the shape parameters of the jump slope M are specified.
According to this configuration, even if part of the jumping slope M protrudes from the detection range H in the photographed image D4f due to the vehicle body tilting to the left or right, the entire jumping slope M is within the detection range H. can be accommodated, and deterioration of the calculation accuracy of the shape parameter can be prevented.
Further, the expansion of the detection range H is performed only when the bank angle .theta. An increase in the computational load is limited only when necessary, and both the reduction of the computational load and the maintenance of the calculation accuracy of the shape parameters can be achieved.

The straddle-type vehicle 10 of the present embodiment changes the pre-jump output control of the power unit 12 according to the mode input by the rider's mode selection.
According to this configuration, the rider can select a mode according to his/her own skill and preference, and enjoy jumping corresponding to the selected mode.

When the beginner mode (first mode) is selected, the saddle-ride type vehicle 10 of the present embodiment suppresses the uplift of the vehicle body when the vehicle body passes the jump slope M (that is, does not jump). ) to control the output of the power unit 12 .
According to this configuration, a rider who does not want to jump can avoid a jump even when the vehicle body travels and passes the jump slope M by selecting the beginner mode.

It should be noted that the above-described embodiment is merely an example of one aspect of the present invention, and can be arbitrarily modified and applied without departing from the gist of the present invention.

For example, the saddle-riding vehicle 10 may determine the difficulty of the jump and notify the rider.
FIG. 8 is a diagram showing the configuration of a control system 135 according to this modification. In addition, in the same figure, the same reference numerals are assigned to the components described in the above-described embodiment, and the description thereof will be omitted.
As shown in the figure, a control system 135 according to this modification includes an environment information detection unit 149, an output unit 180, and a display unit 182 in addition to the configuration of the above-described embodiment. The device 50 functions as a road information detection section 174 and a difficulty determination section 176 .

The environment information detection unit 149 includes sensors 149A that detect environment information related to the environment around the vehicle body during running, and outputs detection information D6 to the control device 50. The environmental information is environmental factors that affect the difficulty of jumping, and is information on environmental factors other than the ground (road surface) and the slope M for jumping. , whether or not there is another vehicle running around the saddle-ride type vehicle 10 . The sensors 149A are sensors that detect information on such environmental factors, such as wind speed sensors, rainfall sensors, and peripheral vehicle detection sensors.

The travel path information detection unit 174 detects travel path information related to the travel path along which the vehicle body travels until it reaches the jumping slope M. The travel road information is information relating to factors that affect the running state of the vehicle body, and includes, for example, the presence or absence of unevenness on the travel road surface, the degree of unevenness, the coefficient of friction, and the like. The traveling road information detection unit 174, for example, identifies vibration occurring in the vehicle body based on the detection value D5 of the IMU 48, and identifies the presence or absence of unevenness and the degree of unevenness based on the vibration. Further, the road information detection unit 174 identifies the friction coefficient based on, for example, the slipping state of the rear wheels 15 that are driving wheels.

Before the vehicle body reaches the jump slope M, the difficulty determination unit 176 determines the difficulty of the jump on the forward jump slope M based on the detection information D6 of the environment information and the road surface condition. For example, when the condition of the road surface is bad (so-called bad road), when the wind and rain are strong, or when there are other traveling vehicles heading for the jump slope M in front, the difficulty determination unit 176 determines whether the jump is difficult. judged to be of high quality.
The difficulty determination unit 176 refers to the shape parameters (slope α and height Pb) of the jumping slope M in addition to the environment information and the running path information. It may be determined that the difficulty is high when the weight Pb is high.

Output unit 180 includes a signal output circuit that outputs a signal to display unit 182 , and outputs information on the difficulty determined by difficulty determination unit 176 to display unit 182 .
The display unit 182 is a display panel or an indicator provided on the vehicle body, and displays the difficulty information output from the output unit 180 .

According to this configuration, the rider can know the difficulty of the jump from the display on the display unit 182, and can determine whether or not to jump according to the difficulty.

In addition, in this modification, the output unit 180 may output a signal indicating the difficulty to the equipment worn by the rider instead of the display unit 182, and the device may provide the rider with information regarding the difficulty. . Such equipment includes, for example, a helmet and a head-up display (HUD).

For example, in the saddle-ride type vehicle 10, the image processing section 62A of the slope detection section 62 changes the detection range H by expanding the detection range H when the bank angle θ is equal to or greater than a predetermined value. However, not limited to this, when the bank angle θ is equal to or greater than a predetermined value, the image processing unit 62A does not change the size of the detection range H, but adjusts the detection range H to match the position of the jump slope M. You may move in D4f.
For example, as in detection mode C in FIG. 9, when the bank angle θ is equal to or greater than a predetermined value and jump slope M protrudes from detection range H, the image processing unit 62A performs detection mode D in FIG. Next, the detection range H is moved in the photographed image D4f in the direction in which the jumping slope M protrudes (lower right direction in FIG. 9) so that the entire jumping slope M falls within the detection range H.
According to this modification, even if part of the jump slope M in the photographed image D4f protrudes from the detection range H due to the body tilting to the left or right, the entire jump slope M is detected within the detection range H. , and a decrease in the calculation accuracy of the shape parameter can be prevented.

The saddle-ride type vehicle 10 is provided with a rotation device for mechanically rotating the camera 46A around the photographing direction of the camera 46A. By rotating the image D4f, the effect of the bank angle θ may be removed from the photographed image D4f.

Unless otherwise specified, the horizontal and vertical directions, various numerical values, shapes, and materials in the above-described embodiments and modifications are within the range that produces the same effects as those directions, numerical values, shapes, and materials ( so-called equal range).

[Configuration supported by the above embodiment]
The above embodiment is a specific example of the following configuration.

(Arrangement 1) In a saddle-riding vehicle having a power unit for driving a vehicle body, a slope detection unit for detecting a slope on which the vehicle body jumps when it passes through, and a slope detector for detecting the slope until the vehicle body jumps. and an output control section that controls the output of the power unit based on the gradient.
According to Configuration 1, the rider can enjoy jumping more.

(Configuration 2) A configuration characterized by comprising a vehicle speed detection section that detects a vehicle speed, wherein the output control section controls the output of the power unit based on the target vehicle speed corresponding to the gradient and the vehicle speed. 2. The straddle-type vehicle according to 1.
According to Configuration 2, the rider can enjoy jumping even if the slope changes.

(Arrangement 3) An operation detection unit that detects an accelerator operation by a rider is provided, and the output control unit detects when the vehicle body passes the slope when the accelerator is not operated for a predetermined time. A saddle-ride type vehicle according to configuration 1 or 2, wherein the output of the power unit is controlled so as to suppress the lifting of the vehicle body.
According to configuration 3, it is possible to prevent execution of output control related to a jump unintended by the rider.

(Arrangement 4) A step detection unit that detects a step before the vehicle body reaches the slope, and the output control unit detects that the vehicle body jumps after the vehicle body has passed the step. The straddle-type vehicle according to any one of configurations 1 to 3, wherein the output of the power unit is controlled until the state is reached.
According to Configuration 4, more accurate control is possible without being affected by steps.

(Configuration 5) A photographing unit for photographing the traveling direction of the vehicle body, and a bank angle detection unit for detecting a bank angle of the vehicle body, wherein the slope detection unit is set in advance with respect to the image photographed by the photographing unit. an image processing means for detecting the slope from the detected range and specifying the shape of the slope, wherein the image processing means changes the detection range according to the size of the bank angle, The straddle-type vehicle according to any one of configurations 1 to 4, wherein the slope is detected from the detection range and the shape of the slope is specified.
According to configuration 5, even when the vehicle body is tilted, it is possible to prevent a decrease in the calculation accuracy of the shape of the slope.

(Arrangement 6) The image processing means expands the detection range according to the size of the bank angle, detects the slope from the expanded detection range, and specifies the shape of the slope. A straddle-type vehicle according to configuration 5.
According to configuration 6, the expansion of the detection range H is performed when the bank angle .theta. It is possible to maintain the calculation accuracy of the shape.

(Arrangement 7) A mode selection input section for receiving an input of mode selection is provided, and the output control section changes the output control of the power unit according to the mode input to the mode selection input section. A straddle-type vehicle according to any one of configurations 1 to 6.
According to Configuration 7, the rider can select a mode according to his/her own skill and preference, and enjoy jumping corresponding to the selected mode.

(Arrangement 8) When the first mode is input to the mode selection input section, the output control section controls the output of the power unit so as to suppress the lifting of the vehicle body when the vehicle body passes the slope. The straddle-type vehicle according to configuration 7, characterized in that
According to configuration 8, a rider who does not want to jump can avoid jumping even when the vehicle body travels over a slope by selecting the first mode.

(Arrangement 9) Travel path information detection means for detecting travel path information relating to the travel path on which the vehicle body travels while passing through the slope; and environment information detection means for detecting environment information relating to the surrounding environment of the vehicle body. and a difficulty determination unit that determines the difficulty of jumping due to passing through the slope based on the traveling path information and the environment information, and a display unit provided on the vehicle body or equipment worn by the rider, and an output section that outputs the difficulty determined by the difficulty determination section.
According to configuration 9, the rider can know the difficulty of the jump and decide in advance whether to jump according to the difficulty.

REFERENCE SIGNS LIST 10 saddle type vehicle 11 body frame 12 power unit 15 rear wheel 30 rear wheel braking device 32

brake actuator

35, 135 control system 40 vehicle speed detector 42 accelerator operation detector 44 mode selection input unit 46 photographing unit 48 IMU
50 control device 60 bank angle detection unit 62 slope detection unit 64 step detection unit 68 output control unit 70 jump execution intention determination unit 149 environment information detection unit 174 running path information detection unit 176 difficulty determination unit 180 output unit D4f photographed image H detection Range M Jump Slope (Slope)
α Inclination θ Bank angle

Claims

In a straddle-type vehicle (10) having a power unit (12) for driving a vehicle body,
a slope detection unit (62) for detecting a slope (M) on which the vehicle body jumps when passing;
an output control section (68) for controlling the output of the power unit (12) based on the slope (α) of the slope (M) until the vehicle body enters a jump state;
A straddle-type vehicle comprising:
A vehicle speed detection unit (40) for detecting vehicle speed,
The output control section (68)
The straddle-type vehicle according to claim 1, wherein the output of the power unit (12) is controlled based on a target vehicle speed corresponding to the gradient (α) and the vehicle speed.
An operation detection unit (42) that detects a rider's accelerator operation,
The output control section (68)
controlling the output of the power unit (12) so as to suppress the lifting of the vehicle body when the vehicle body passes the slope (M) when the accelerator has not been operated for a certain period of time; A straddle-type vehicle according to claim 1 or 2.
a step detection unit (64) for detecting a step between the vehicle body and the slope (M);
The output control section (68)
Any one of claims 1 to 3, wherein the output of the power unit (12) is controlled after the vehicle body has passed through the step and before the vehicle body enters a jump state. A saddle-riding vehicle as described.
a photographing unit (46) for photographing the traveling direction of the vehicle body;
a bank angle detection unit (60) for detecting the bank angle (θ) of the vehicle body,
The slope detector (62)
Image processing means (62A) for detecting the slope (M) from a detection range (H) set in advance for the photographed image (D4f) of the photographing unit (46) and specifying the shape of the slope (M). with
The image processing means (62A) changes the detection range (H) according to the size of the bank angle (θ), detects the slope (M) from the changed detection range (H), The straddle-type vehicle according to any one of claims 1 to 4, characterized in that the shape of said slope (M) is specified.
The image processing means (62A) expands the detection range (H) according to the size of the bank angle (θ), detects the slope (M) from the expanded detection range (H), The straddle-type vehicle according to claim 5, characterized in that the shape of said slope (M) is specified.
A mode selection input unit (44) for accepting input of mode selection,
The output control section (68)
The straddle-type vehicle according to any one of claims 1 to 6, wherein the output control of the power unit (12) is changed according to the mode input to the mode selection input section (44).
The output control section (68)
When the first mode is input to the mode selection input section (44), the output of the power unit (12) is controlled so as to suppress the lifting of the vehicle body when the vehicle body passes the slope (M). The straddle-type vehicle according to claim 7, characterized in that:
a travel path information detection means (174) for detecting travel path information relating to a travel path on which the vehicle body travels while passing through the slope (M);
environment information detection means (149) for detecting environment information relating to the environment around the vehicle body;
a difficulty determination unit (176) that determines the difficulty of a jump due to passing through the slope based on the travel path information and the environment information;
an output unit (180) that outputs the difficulty determined by the difficulty determining unit (176) to a display unit (182) provided on the vehicle body or equipment worn by a rider;
A straddle-type vehicle according to any one of claims 1 to 8, characterized by comprising: