JP6606114B2 - バーハンドル車両用ブレーキ制御装置 - Google Patents
バーハンドル車両用ブレーキ制御装置 Download PDFInfo
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- JP6606114B2 JP6606114B2 JP2017048870A JP2017048870A JP6606114B2 JP 6606114 B2 JP6606114 B2 JP 6606114B2 JP 2017048870 A JP2017048870 A JP 2017048870A JP 2017048870 A JP2017048870 A JP 2017048870A JP 6606114 B2 JP6606114 B2 JP 6606114B2
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- Prior art keywords
- front wheel
- speed
- vehicle body
- limit value
- deceleration
- Prior art date
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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
-
- 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
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- 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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
-
- 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3225—Systems specially adapted 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
-
- 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
-
- 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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
-
- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/10—ABS control 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/30—ESP control system
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Description
12…バーハンドル車両(車両) 14…ブレーキシステム
16…車体 18F…前輪
18R…後輪 66F…前輪車輪速センサ
66R…後輪車輪速センサ 68…バンク角センサ
70…車輪速取得手段 74…バンク角取得手段
78…推定車体速度設定手段 82…スリップ率算出手段
84…弁制御手段 86…補正量設定手段
88…限界値設定手段 FV…前輪車輪速
RV…後輪車輪速 γ…変化量
δ…減速量 θ…バンク角
Claims (3)
- バーハンドル車両の車輪の速度を取得する車輪速取得手段と、
前記車輪の速度に基づき推定車体速度を設定する推定車体速度設定手段と、
前記車輪の速度及び前記推定車体速度に基づいて前記バーハンドル車両の車輪ブレーキに作用するブレーキ液圧を増圧、減圧又は保持する液圧制御を行う制御手段と、を備えるバーハンドル車両用ブレーキ制御装置であって、
前記推定車体速度設定手段は、前記バーハンドル車両の制動時に前記推定車体速度が減速する際の変化量の限界値を設定し、制動している側の前記車輪の速度の減速量が前記限界値よりも大きい場合に、前記限界値に基づき前記推定車体速度を設定する構成であり、
前記バーハンドル車両のバンク角を取得するバンク角取得手段をさらに有し、
前記推定車体速度設定手段は、取得する前記バンク角が大きくなると、前記変化量が小さくなるように前記限界値を補正する
ことを特徴とするバーハンドル車両用ブレーキ制御装置。 - 請求項1記載のバーハンドル車両用ブレーキ制御装置において、
前記推定車体速度設定手段は、前記バンク角が所定の閾値に達するまでは前記限界値を補正しない
ことを特徴とするバーハンドル車両用ブレーキ制御装置。 - 請求項1又は2記載のバーハンドル車両用ブレーキ制御装置において、
前記推定車体速度設定手段は、前記バンク角が大きくなるほど、前記限界値の補正量を大きくする
ことを特徴とするバーハンドル車両用ブレーキ制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017048870A JP6606114B2 (ja) | 2017-03-14 | 2017-03-14 | バーハンドル車両用ブレーキ制御装置 |
US15/919,663 US10569749B2 (en) | 2017-03-14 | 2018-03-13 | Brake control device for vehicles with bar handle |
EP18161719.2A EP3385134B1 (en) | 2017-03-14 | 2018-03-14 | Brake control device for vehicles with bar handle |
ES18161719T ES2751010T3 (es) | 2017-03-14 | 2018-03-14 | Dispositivo de control de freno para vehículos con manillar |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017048870A JP6606114B2 (ja) | 2017-03-14 | 2017-03-14 | バーハンドル車両用ブレーキ制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018149982A JP2018149982A (ja) | 2018-09-27 |
JP6606114B2 true JP6606114B2 (ja) | 2019-11-13 |
Family
ID=61655645
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017048870A Active JP6606114B2 (ja) | 2017-03-14 | 2017-03-14 | バーハンドル車両用ブレーキ制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10569749B2 (ja) |
EP (1) | EP3385134B1 (ja) |
JP (1) | JP6606114B2 (ja) |
ES (1) | ES2751010T3 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10723334B2 (en) * | 2017-03-28 | 2020-07-28 | Polaris Industries Inc. | Anti-lock brake system for all-terrain vehicle |
JP6830882B2 (ja) * | 2017-10-20 | 2021-02-17 | 株式会社シマノ | ブレーキ制御装置およびブレーキシステム |
US11618422B2 (en) | 2018-11-14 | 2023-04-04 | Polaris Industries Inc. | Operating modes using a braking system for an all terrain vehicle |
CN117184015A (zh) | 2018-05-02 | 2023-12-08 | 北极星工业有限公司 | 使用全地形车辆的制动***的操作模式 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0262095A (ja) | 1988-08-29 | 1990-03-01 | Matsushita Electric Ind Co Ltd | 多層プリント配線板の製造方法 |
US4989922A (en) | 1988-11-23 | 1991-02-05 | Lucas Industries Public Limited Company | Method of anti-lock brake control for motorcycle vehicle |
JP2620995B2 (ja) | 1991-08-23 | 1997-06-18 | 本田技研工業株式会社 | アンチロック制御装置 |
JP5829307B2 (ja) | 2014-05-13 | 2015-12-09 | ヤマハ発動機株式会社 | 安定制御システム、安定制御システムを備えた鞍乗り型車両、方法およびコンピュータプログラム |
JP6393600B2 (ja) * | 2014-11-25 | 2018-09-19 | 日信工業株式会社 | バーハンドル車両用ブレーキ制御装置 |
JP6636294B2 (ja) | 2015-09-30 | 2020-01-29 | 川崎重工業株式会社 | 車両の対地速度検出装置 |
-
2017
- 2017-03-14 JP JP2017048870A patent/JP6606114B2/ja active Active
-
2018
- 2018-03-13 US US15/919,663 patent/US10569749B2/en active Active
- 2018-03-14 ES ES18161719T patent/ES2751010T3/es active Active
- 2018-03-14 EP EP18161719.2A patent/EP3385134B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2018149982A (ja) | 2018-09-27 |
ES2751010T3 (es) | 2020-03-30 |
US20180265056A1 (en) | 2018-09-20 |
EP3385134A1 (en) | 2018-10-10 |
US10569749B2 (en) | 2020-02-25 |
EP3385134B1 (en) | 2019-10-02 |
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