阅读说明：本技术 控制装置、车体行为控制系统、摩托车以及控制方法 (Control device, vehicle body behavior control system, motorcycle, and control method ) 是由 大高顺 笃浩明 于 2018-07-11 设计创作，主要内容包括：本发明涉及能够控制车体行为而提高摩托车(100)的安全性的控制装置(60)、车体行为控制系统(10)以及控制方法。控制摩托车(100)的车体行为的控制装置(60)具有：获取部(61),其获取根据摩托车(100)的周围环境而生成的触发信息(41)；执行部(62),其根据由获取部(61)获取的触发信息(41)而开始执行摩托车(100)的自动制动动作的控制模式,使摩托车(100)产生制动力,获取部(61)进一步获取摩托车(100)的座席(1a,1b)承受的载重的信息即座席载重信息(42),优选还获取与摩托车(100)的倾斜的角度(θ)相关的信息(43),执行部(62)根据至少由获取部(61)获取的座席载重信息(42),改变在控制模式中执行的自动制动动作(例如制动的开始时机、制动力)。(The present invention relates to a control device (60), a vehicle body behavior control system (10), and a control method that can control vehicle body behavior to improve the safety of a motorcycle (100). A control device (60) for controlling the behavior of the body of a motorcycle (100) is provided with: an acquisition unit (61) that acquires trigger information (41) generated from the environment surrounding a motorcycle (100); an execution unit (62) that generates a braking force in the motorcycle (100) in accordance with a control mode in which the execution of an automatic braking operation of the motorcycle (100) is started on the basis of the trigger information (41) acquired by the acquisition unit (61), wherein the acquisition unit (61) further acquires seat load information (42) that is information on the load received by the seats (1a, 1b) of the motorcycle (100), preferably also acquires information (43) on the angle (theta) of inclination of the motorcycle (100), and the execution unit (62) changes the automatic braking operation (for example, the start timing and the braking force of braking) executed in the control mode on the basis of at least the seat load information (42) acquired by the acquisition unit (61).)

1. A control device (60) for controlling the behavior of a body of a motorcycle (100) is provided with:

an acquisition unit (61) that acquires trigger information generated from the environment surrounding the motorcycle (100);

an execution unit (62) that starts a control mode for causing the motorcycle (100) to execute an automatic braking operation based on the trigger information acquired by the acquisition unit (61) and causes the motorcycle (100) to generate a braking force,

the acquisition unit (61) further acquires seat load information, which is information on the load borne by the seats (1a, 1b) of the motorcycle (100),

the execution unit (62) changes the automatic braking operation executed in the control mode according to the seat load information acquired by the acquisition unit (61).

2. The control device according to claim 1, wherein the executing unit (62) changes a braking force to be generated by the motorcycle (100) in the automatic braking operation executed in the control mode, based on the seat load information acquired by the acquiring unit (61).

3. The control device according to claim 1 or 2, wherein the execution unit (62) changes the timing of starting the automatic braking operation executed in the control mode, based on the seat load information acquired by the acquisition unit (61).

4. The control device according to any one of claims 1 to 3, wherein the acquisition unit (61) acquires the seat load information based on a detection result of an external force detection device (42) that detects an external force acting on seats (1a, 1b) of the motorcycle (100).

5. The control device according to claim 4, wherein the external force detection device (42) includes a sensor (42a) that detects a load applied to a driver seat (la) of the motorcycle (100).

6. The control device according to claim 4 or 5, wherein the external force detection device (42) includes a sensor (42b) for detecting a load applied to a double seat (lb) of the motorcycle (100).

7. The control device according to any one of claims 1 to 6, wherein the execution unit (62) changes the automatic braking operation executed in the control mode according to a result of comparison between a value obtained as the seat load information and a threshold value.

8. The control device according to claim 7, wherein the acquisition unit (61) further acquires body posture information associated with a flip angle generated by the motorcycle (100),

the execution unit (62) changes the threshold value in accordance with the vehicle body posture information acquired by the acquisition unit (61).

9. A vehicle body behavior control system (10) for a motorcycle (100) includes:

an ambient environment detection device (41) that detects the ambient environment of the motorcycle (100);

a control device (60) for controlling the body behavior of the motorcycle (100),

further comprises an external force detection device (42) for detecting an external force acting on the seats (1a, 1b) of the motorcycle (100),

the control device (60) includes:

an acquisition unit (61) that acquires trigger information generated from the output of the surrounding environment detection device (41);

an execution unit (62) that starts a control mode for causing the motorcycle (100) to execute an automatic braking operation based on the trigger information acquired by the acquisition unit (61) and causes the motorcycle (100) to generate a braking force,

the acquisition unit (61) further acquires seat load information, which is information on the load borne by the seats (1a, 1b) of the motorcycle (100), based on the detection result of the external force detection device (42), and the execution unit (62) changes the automatic braking operation executed in the control mode, based on the seat load information acquired by the acquisition unit (61).

10. A motorcycle having the body behavior control system (10) of claim 9.

11. A control method for controlling the behavior of a body of a motorcycle (100) includes:

an acquisition step (S101, S103, S201, S203) of acquiring trigger information generated in accordance with the environment around the motorcycle (100);

executing steps (S102, S104 to S106, S202, S204 to S206) to start a control mode for causing the motorcycle (100) to perform an automatic braking operation based on the trigger information acquired in the acquiring steps (S101, S103, S201, S203) to generate a braking force in the motorcycle (100),

in the acquisition steps (S101, S103, S201, S203), seat load information, which is information on the load borne by the seats (1a, 1b) of the motorcycle (100), is further acquired,

in the execution steps (S102, S104 to S106, S202, S204 to S206), the automatic braking operation executed in the control mode is changed based on the seat load information acquired in the acquisition steps (S101, S103, S201, S203).

Technical Field

The present invention relates to a control device and a control method for controlling a vehicle body behavior of a motorcycle, a vehicle body behavior control system having the control device, and a motorcycle having the vehicle body behavior control system.

Background

As a technique related to a motorcycle (motorcycle or tricycle), there is a technique for improving safety of a rider. For example, patent document 1 discloses a driving assistance system that issues a warning to a rider of a motorcycle based on a detection result of a surrounding environment detection device that detects a surrounding environment (e.g., an obstacle, a preceding vehicle, etc.) of the motorcycle in progress.

Disclosure of Invention

Problems to be solved by the invention

However, in order to improve the safety of passengers, it is considered effective to apply a vehicle body behavior control system capable of automatic braking operation to a motorcycle to automatically control the behavior thereof in accordance with the surrounding environment. The automatic braking operation is an operation for generating a braking force in the motorcycle and automatically decelerating the motorcycle without depending on an operation performed by a rider. For example, in a vehicle having four wheels or the like, the weight of the passenger occupies a low proportion of the vehicle body weight, and therefore, it is not assumed that the weight of the passenger greatly affects the vehicle body behavior during the automatic braking operation. However, in the case of a motorcycle, since the weight of the rider accounts for a high percentage of the vehicle body weight, it may become difficult to ensure the safety, comfort, and the like of the rider if the automatic braking operation is not performed in consideration of the weight of the rider.

The present invention was made in view of the above-described problems, and an object of the present invention is to provide a control device and a control method that can improve the safety of a motorcycle. Further, the present invention obtains a vehicle body behavior control system having such a control device. Further, the present invention obtains a motorcycle having such a vehicle body behavior control system.

Means for solving the problems

The control device according to the present invention is a control device for controlling a vehicle body behavior of a motorcycle, and includes: an acquisition unit that acquires trigger information generated from the environment around the motorcycle; and an execution unit that generates a braking force in the motorcycle in accordance with a control mode in which the trigger information acquired by the acquisition unit starts an automatic braking operation of the motorcycle, wherein the acquisition unit further acquires seat load information that is information on a load borne by a seat of the motorcycle, and the execution unit changes the automatic braking operation executed in the control mode in accordance with the seat load information acquired by the acquisition unit.

A vehicle body behavior control system according to the present invention is a vehicle body behavior control system for a motorcycle, including an ambient environment detection device that detects an ambient environment of the motorcycle, a control device that controls a vehicle body behavior of the motorcycle, and an external force detection device that detects an external force acting on a seat of the motorcycle, the control device including: an acquisition unit that acquires trigger information generated based on an output of the ambient environment detection device; and an execution unit that generates a braking force in the motorcycle in accordance with a control mode in which the trigger information acquired by the acquisition unit starts an automatic braking operation in the motorcycle, wherein the acquisition unit further acquires seat load information, which is information on a load borne by a seat of the motorcycle, on the basis of a detection result of the external force detection device, and the execution unit changes the automatic braking operation performed in the control mode on the basis of the seat load information acquired by the acquisition unit.

The motorcycle according to the present invention has the vehicle body behavior control system described above.

The control method according to the present invention is a control method for controlling a vehicle body behavior of a motorcycle, including: an acquisition step of acquiring trigger information generated according to the surrounding environment of the motorcycle; and an execution step of generating a braking force in the motorcycle in accordance with a control mode in which the acquisition unit starts to execute an automatic braking operation in the motorcycle, based on the trigger information, wherein the acquisition step further acquires seat load information that is information on a load borne by a seat of the motorcycle, and the execution step changes the automatic braking operation executed in the control mode in accordance with the seat load information acquired in the acquisition step.

Effects of the invention

In a control device, a vehicle body behavior control system, a motorcycle, and a control method according to the present invention, a control mode for causing the motorcycle to execute an automatic braking operation is started in accordance with trigger information generated based on the surrounding environment of the motorcycle. The automatic braking operation executed in the control mode is changed based on seat load information, which is information on the load received by the seat of the motorcycle. Therefore, the usefulness of the automatic braking operation can be improved and the safety of the motorcycle can be improved in response to a situation where it may be difficult to ensure the safety, comfort, and the like of the rider.

Drawings

Fig. 1 is a diagram showing a state in which a vehicle body behavior control system according to embodiment 1 of the present invention is mounted on a motorcycle.

Fig. 2 is a diagram showing a schematic configuration of a vehicle body behavior control system according to embodiment 1 of the present invention.

Fig. 3 is a diagram showing a system configuration of a vehicle body behavior control system according to embodiment 1 of the present invention.

Fig. 4 is a diagram showing an operation flow of the vehicle body behavior control system according to embodiment 1 of the present invention.

Fig. 5 is a diagram showing a system configuration of a vehicle body behavior control system according to embodiment 2 of the present invention.

Fig. 6 is a diagram showing the definition of the flip angle.

Fig. 7 is a diagram showing an operation flow of the vehicle body behavior control system according to embodiment 2 of the present invention.

Description of the reference numerals

1 main body, 1a driver seat, 1b double seat, 2 handle, 3 front wheel, 3a rotor, 4 rear wheel, 4a rotor, 10 vehicle body behavior control system, 11 first brake action part, 12 front wheel brake mechanism, 13 second brake action part, 14 rear wheel brake mechanism, 21 master cylinder, 22 reservoir, 23 brake caliper, 24 wheel cylinder, 25 main flow path, 26 sub flow path, 27 supply flow path, 31 filling valve, 32 release valve, 33 reservoir, 34 pump, 35 first valve, 36 second valve, 41 surrounding environment detection device, 42 external force detection device, 42a first sensor, 42b second sensor, 43 vehicle body posture detection device, 46 input device, 47 warning device, 50 hydraulic control unit, 51 base body, 60 control device, 61 acquisition part, 62 execution part, 62a trigger determination part, 62b seat load determination part, 62c control command setting part, 62 control command setting part, 1b control device, 1b control action part, 1 control action part, 2 pump, 2 control, 62d control unit, 100 motorcycle.

Detailed Description

Hereinafter, a control device, a vehicle body behavior control system, a motorcycle, and a control method according to the present invention will be described with reference to the drawings.

The configuration, operation, and the like described below are examples, and the control device, the vehicle body behavior control system, the motorcycle, and the control method according to the present invention are not limited to such configurations, operations, and the like.

For example, the following description will be given of a case where the motorcycle is a motorcycle, but the motorcycle may be another motorcycle (a motor tricycle). In the following description, the braking force to be generated by the wheels is controlled by the hydraulic control unit, but the braking force to be generated by the wheels may be controlled by another mechanism. In addition, the following describes a case where the control device performs the automatic braking operation by controlling the braking force generated by the wheels, but the control device may perform the automatic braking operation by controlling the braking force generated by the engine. In addition, although the case where there is one front wheel brake mechanism and one rear wheel brake mechanism is described below, at least one of the front wheel brake mechanism and the rear wheel brake mechanism may be a plurality of mechanisms. In addition, the following description will be made of a case where the automatic braking operation is performed with respect to an object (for example, an obstacle, a preceding vehicle, or the like) located in front of the motorcycle using the ambient environment detection device that detects the front of the motorcycle, but the automatic braking operation may be performed with respect to an object located in another direction (for example, a side direction or the like) of the motorcycle using the ambient environment detection device that detects the other direction (for example, a side direction or the like) of the motorcycle.

In addition, the same or similar descriptions are hereinafter appropriately simplified or omitted. In the drawings, the same or similar members or portions are denoted by the same reference numerals. In addition, the fine structure is appropriately simplified or omitted from the drawings.