TWI648181B - Bicycle with brake control system and brake control method thereof - Google Patents
Bicycle with brake control system and brake control method thereof Download PDFInfo
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- TWI648181B TWI648181B TW107122608A TW107122608A TWI648181B TW I648181 B TWI648181 B TW I648181B TW 107122608 A TW107122608 A TW 107122608A TW 107122608 A TW107122608 A TW 107122608A TW I648181 B TWI648181 B TW I648181B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L3/00—Brake-actuating mechanisms; Arrangements thereof
- B62L3/08—Mechanisms specially adapted for braking more than one wheel
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Abstract
一種具有煞車控制系統的自行車及其煞車控制方法，自行車煞車控制方法包含偵測地面施加於自行車之一前輪正向力、一後輪正向力以及自行車的一當下減速度、透過前輪正向力、後輪正向力以及當下減速度，計算一最大安全減速度，以及根據最大安全減速度控制自行車的煞車系統。A bicycle with a braking control system and a braking control method thereof , The forward force of the rear wheels and the current deceleration, calculate a maximum safe deceleration, and control the bicycle brake system according to the maximum safe deceleration.
Description
本發明係關於一種具有煞車控制系統的自行車及其煞車控制方法，特別是一種能防止後輪胎鎖死而打滑或導致翻車的具有煞車控制系統的自行車及其煞車控制方法。The invention relates to a bicycle with a brake control system and a brake control method thereof, in particular to a bicycle with a brake control system and a brake control method thereof which can prevent the rear tire from locking and slipping or causing rollover.
隨著環保意識逐漸增強，越來越多人為了節能減碳，而使用自行車做為交通工具。廠商為了因應自行車的流行，推出各種形式的自行車，而使自行車除了通勤以外，更兼具有休閒以及運動等的功能。目前自行車的煞車裝置，一般是在車輪處裝設有夾式或是蝶式之煞車器，利用煞車把手帶動煞車線拉引煞車器，使煞車器對車輪制動而達到減速的目的。With the increasing awareness of environmental protection, more and more people use bicycles as means of transportation for energy saving and carbon reduction. In order to respond to the popularity of bicycles, manufacturers have introduced various forms of bicycles, so that in addition to commuting, bicycles also have leisure and sports functions. At present, the brake device of a bicycle is generally equipped with a clip-type or butterfly-type brake at the wheel. The brake handle is used to drive the brake wire to pull the brake, so that the brake brakes the wheel to achieve the purpose of deceleration.
然而煞車把手的使用時機以及力道，常會因騎乘者的反應能力、手腕力道、駕車的熟練度等因素而有所不同。而不適當的使用時機以及力道容易造成騎乘者的危險。舉例而言，當車速過快且遇到緊急狀況時，騎乘者在來不及反應的情況下，下意識全力且持續的按壓煞車把手。此時，後輪胎因於高速運轉下受到持續且過大的煞車力道，容易造成後輪胎打滑甚至導致自行車翻車。However, the timing and strength of brake levers often vary depending on factors such as the rider's reaction ability, wrist strength, and driving proficiency. Improper use of timing and strength can easily cause a rider's danger. For example, when the speed of the vehicle is too fast and an emergency situation is encountered, the rider subconsciously presses the brake lever with full force and continuity without being able to respond. At this time, the rear tire is subjected to continuous and excessive braking force under high-speed operation, which is likely to cause the rear tire to slip or even cause the bicycle to roll over.
本發明在於提供一種具有煞車控制系統的自行車及其煞車控制方法，藉由根據一最大安全減速度控制煞車系統而避免後輪胎於煞車的過程中打滑甚至導致自行車翻車的問題。The present invention is to provide a bicycle with a brake control system and a brake control method thereof. By controlling the brake system according to a maximum safety deceleration, the problem of rear tire slipping during the braking process and even causing the bicycle to roll over is avoided.
本發明之一實施例所揭露之一種自行車煞車控制方法，包含偵測地面施加於自行車之一前輪正向力、一後輪正向力以及自行車的一當下減速度、透過前輪正向力、後輪正向力以及當下減速度，計算一最大安全減速度，以及根據最大安全減速度控制自行車的煞車系統。A bicycle brake control method disclosed in an embodiment of the present invention includes detecting the forward force applied to the front wheel of the bicycle, a forward force of the rear wheel, and a current deceleration of the bicycle, through the forward force of the front wheel, the rear The forward force of the wheel and the current deceleration calculate a maximum safe deceleration and control the brake system of the bicycle according to the maximum safe deceleration.
本發明之一實施例所揭露之一種具有煞車控制系統的自行車包含一車身組件、一控制單元、一煞車系統、二力感測器及一感測器。控制單元設置於車身組件。煞車系統電性連接控制單元。二力感測器設置於車身組件，且電性連接控制單元。二力感測器可分別偵測自行車所受之前輪正向力以及後輪正向力。感測器設置於車身組件，且電性連接控制單元。感測器可測得自行車的當下減速度。其中控制單元可根據二力感測器以及感測器測得之前輪正向力、後輪正向力以及當下減速度控制煞車系統。A bicycle with a brake control system disclosed in an embodiment of the present invention includes a body component, a control unit, a brake system, two force sensors, and a sensor. The control unit is installed in the body component. The brake system is electrically connected to the control unit. The two force sensors are arranged on the body components and are electrically connected to the control unit. The two-force sensor can detect the forward force of the front wheel and the forward force of the rear wheel, respectively. The sensor is disposed on the body component and electrically connected to the control unit. The sensor can measure the current deceleration of the bicycle. The control unit can control the braking system according to the two-force sensor and the sensor to measure the forward force of the front wheel, the forward force of the rear wheel and the current deceleration.
根據上述實施例所揭露的具有煞車控制系統的自行車及其煞車控制方法，因根據最大安全減速度控制自行車的煞車，使煞車系統於煞車的過程中，能根據輪胎受力情形以及減速度狀況，調整煞車系統給予自行車的減速度，而避免後輪胎打滑，進而避免自行車翻車。According to the bicycle with the brake control system and the brake control method disclosed in the above embodiment, the brake of the bicycle is controlled according to the maximum safe deceleration, so that the brake system can be based on the force of the tire and the deceleration status during the braking process. Adjust the deceleration given to the bicycle by the braking system to avoid the rear tires from slipping, thereby preventing the bicycle from overturning.
以上關於本發明內容的說明及以下實施方式的說明係用以示範與解釋本發明的原理，並且提供本發明的專利申請範圍更進一步的解釋。The above description of the content of the present invention and the description of the following embodiments are used to demonstrate and explain the principles of the present invention, and provide a further explanation of the scope of the patent application of the present invention.
請參閱圖1。圖1為本發明第一實施例之具有煞車控制系統的自行車之平面示意圖。See Figure 1. FIG. 1 is a schematic plan view of a bicycle with a brake control system according to a first embodiment of the invention.
本實施例之具有煞車控制系統的自行車20包含一車身組件200、一控制單元250、一煞車系統201、二力感測器204a、204b及一感測器207。控制單元250設置於車身組件200。煞車系統201電性連接控制單元250。The bicycle 20 with a brake control system in this embodiment includes a body assembly 200, a control unit 250, a brake system 201, two force sensors 204a, 204b, and a sensor 207. The control unit 250 is provided in the body assembly 200. The brake system 201 is electrically connected to the control unit 250.
二力感測器204a、204b設置於車身組件200，且電性連接控制單元250。詳細來說，車身組件200包含一車架206、一前叉202、一後叉203、一前輪208、一後輪209、一前輪氣嘴210以及一後輪氣嘴211。前叉202以及後叉203連結於車架206。前輪208連結於前叉202，而後輪209連接於後叉203。前輪氣嘴210設置於前輪208，而後輪氣嘴211設置於後輪209。二力感測器204a、204b例如為應變規，且分別設置於前叉202以及後叉203，並分別偵測前輪208所受之前輪正向力 以及後輪209所受之後輪正向力 。 The two force sensors 204a and 204b are disposed on the body assembly 200 and electrically connected to the control unit 250. In detail, the body assembly 200 includes a frame 206, a front fork 202, a rear fork 203, a front wheel 208, a rear wheel 209, a front wheel nozzle 210 and a rear wheel nozzle 211. The front fork 202 and the rear fork 203 are connected to the frame 206. The front wheel 208 is connected to the front fork 202, and the rear wheel 209 is connected to the rear fork 203. The front wheel air nozzle 210 is disposed on the front wheel 208, and the rear wheel air nozzle 211 is disposed on the rear wheel 209. The two force sensors 204a and 204b are, for example, strain gauges, and are respectively disposed on the front fork 202 and the rear fork 203, and respectively detect the forward force of the front wheel received by the front wheel 208. And the forward force on the rear wheel 209 .
感測器207設置於車身組件200，且電性連接控制單元250。詳細來說，感測器207例如為重力感應器(G-sensor)，且設置於前叉202，並可測得自行車20的當下減速度a。本實施例之煞車系統201為針對自行車20的前輪208所設計，因此感測器207設置於鄰近前叉202的位置，以縮短電路連接，但不以此為限，於其他實施例中，煞車系統亦可針對自行車的後輪所設計，而將感測器設置於鄰近後叉的位置。The sensor 207 is disposed on the body assembly 200 and electrically connected to the control unit 250. In detail, the sensor 207 is, for example, a gravity sensor (G-sensor), which is disposed on the front fork 202 and can measure the current deceleration a of the bicycle 20. The braking system 201 of this embodiment is designed for the front wheel 208 of the bicycle 20, so the sensor 207 is disposed adjacent to the front fork 202 to shorten the circuit connection, but not limited to this. In other embodiments, the braking The system can also be designed for the rear wheel of the bicycle, and the sensor is placed adjacent to the rear fork.
控制單元250可根據二力感測器204a、204b以及感測器207測得之前輪正向力 、後輪正向力 以及當下減速度a控制煞車系統201，自行車煞車控制方法的詳細描述請見下方說明。 The control unit 250 can measure the forward force of the front wheel according to the two force sensors 204a, 204b and the sensor 207 , Rear wheel forward force And the current deceleration a controls the brake system 201. For a detailed description of the bicycle brake control method, please see the description below.
請參閱圖2。圖2為本發明第二實施例之具有煞車控制系統的自行車之平面示意圖。於第一實施例中，感測器207設置於前叉202，但並不以此為限，於本實施例中，感測器207設置於坐墊205下方之車架206。Please refer to Figure 2. 2 is a schematic plan view of a bicycle with a brake control system according to a second embodiment of the invention. In the first embodiment, the sensor 207 is disposed on the front fork 202, but not limited to this. In this embodiment, the sensor 207 is disposed on the frame 206 under the seat cushion 205.
請參閱圖3。圖3為本發明第三實施例之具有煞車控制系統的自行車之平面示意圖。於第一實施例中，二力感測器204a、204b為應變規，且分別設置於前叉202以及後叉203，但並不以此為限，於本實施例中，二力感測器204a、204b為胎壓偵測器，且分別設置於前輪氣嘴210以及後輪氣嘴211。See Figure 3. 3 is a schematic plan view of a bicycle with a brake control system according to a third embodiment of the invention. In the first embodiment, the two force sensors 204a and 204b are strain gauges, and are respectively disposed on the front fork 202 and the rear fork 203, but not limited to this. In this embodiment, the two force sensors 204a and 204b are tire pressure detectors, and are respectively disposed on the front wheel air valve 210 and the rear wheel air valve 211.
請參閱圖4以及圖5。圖4以及圖5為本發明一實施例之自行車煞車控制方法之流程圖。本實施例之自行車煞車控制方法適用於上述任一實施例之具有煞車控制系統的自行車。Please refer to Figure 4 and Figure 5. 4 and 5 are flowcharts of a bicycle brake control method according to an embodiment of the invention. The bicycle brake control method of this embodiment is applicable to the bicycle with a brake control system of any of the above embodiments.
本實施例之自行車煞車控制方法，包含步驟s101：偵測地面30施加於自行車20之一前輪正向力 、一後輪正向力 以及自行車20的一當下減速度a、步驟s102：透過前輪正向力 、後輪正向力 以及當下減速度a，計算一最大安全減速度 ，以及步驟s103：根據最大安全減速度 控制自行車20的煞車系統201。 The bicycle brake control method of this embodiment includes step s101: detecting the forward force exerted by the ground 30 on one front wheel of the bicycle 20 , A positive force of the rear wheel And the current deceleration a of the bicycle 20, step s102: through the forward force of the front wheel , Rear wheel forward force And the current deceleration a, calculate a maximum safe deceleration , And step s103: according to the maximum safe deceleration The brake system 201 of the bicycle 20 is controlled.
在步驟s101中，以二力感測器204a、204b分別偵測前輪正向力 以及後輪正向力 ，並以感測器207偵測當下減速度a。 In step s101, the forward force of the front wheel is detected by the two force sensors 204a and 204b, respectively And the positive force of the rear wheels And use the sensor 207 to detect the current deceleration a.
在步驟s102中，首先進入步驟s102a：藉由步驟s101中所測得的前輪正向力 、後輪正向力 以及當下減速度a，計算地面摩擦係數µ、前質心水平距離 、以及質心垂直距離h。計算地面摩擦係數µ的方式為利用牛頓第二運動定律以及摩擦力公式，得地面摩擦係數µ與當下減速度a以及重力加速度g的關係式： 計算前質心水平距離 的方式請參閱圖6。圖6為本發明一實施例之自行車煞車控制方法之前質心水平距離之推導示意圖。此推導所運用的符號包含：前輪正向力 、後輪正向力 、質心C為自行車20與載體40的質心、前輪軸心 、後輪軸心 、輪心水平距離L為前輪軸心 與後輪軸心 水平於地面30的距離、前質心水平距離 為質心C至前輪軸心 水平於地面30的距離、後質心水平距離 為質心C至後輪軸心 水平於地面30的距離以及重力W。根據力矩平衡方程式可推得前質心水平距離 ： 又輪心水平距離L為自行車20的尺寸資料，可從自行車20的儲存單元(未繪示)取得，且重力W可由步驟s101所測得之前輪正向力 以及後輪正向力 計算，因此可由式2中之前輪正向力 、輪心水平距離L以及重力W得前質心水平距離 。此外，前質心水平距離 以及後質心水平距離 之和為輪心水平距離L，因此推得前質心水平距離 後可一併推得後質心水平距離 。接著，計算質心垂直距離h的方式請參考圖7。圖7為本發明一實施例之自行車煞車控制方法之質心垂直距離之推導示意圖。此推導所運用的符號包含：地面30a、前輪正向力 、後輪正向力 、質心C、前輪軸心 、後輪軸心 、輪心水平距離L、前質心水平距離 、後質心水平距離 、重力W、坡度θ、車輪半徑R以及質心垂直距離h為質心C與地面30a的垂直距離。根據前輪之力矩平衡方程式，可推得質心垂直距離h： 又車輪半徑R為自行車20的尺寸資料，可從自行車20的儲存單元(未繪示)取得。坡度θ則可由感測器207測得。因此可藉由式3中之前輪正向力 、輪心水平距離L、後質心水平距離 、重力W、坡度θ以及車輪半徑R得質心垂直距離h。 In step s102, first go to step s102a: by the forward force of the front wheel measured in step s101 , Rear wheel forward force And the current deceleration a, calculate the ground friction coefficient µ, the horizontal distance of the front centroid , And the vertical distance h of the centroid. The way to calculate the ground friction coefficient µ is to use Newton's second law of motion and friction formula to obtain the relationship between the ground friction coefficient µ and the current deceleration a and gravity acceleration g: Calculate the horizontal distance of the center of mass before Please refer to Figure 6. 6 is a schematic diagram of the derivation of the horizontal distance of the center of mass before the bicycle brake control method according to an embodiment of the invention. The symbols used in this derivation include: front wheel forward force , Rear wheel forward force , The center of mass C is the center of mass of the bicycle 20 and the carrier 40, and the center axis of the front wheel , Rear axle , The horizontal distance L of the wheel center is the front wheel axis With rear axle Distance from ground level 30, horizontal distance from front centroid Is the center of mass C to the front wheel axis Horizontal distance from ground 30, horizontal distance from rear centroid Is the center of mass C to the center of the rear wheel Distance to ground 30 and gravity W. According to the moment balance equation, the horizontal distance of the front centroid can be derived : The horizontal distance L of the wheel center is the size data of the bicycle 20, which can be obtained from the storage unit (not shown) of the bicycle 20, and the gravity W can be measured by the forward force of the previous wheel measured in step s101 And the positive force of the rear wheels It can be calculated from the forward force of the front wheel in Equation 2 , The horizontal distance L of the center of the wheel, and the horizontal distance of the center of mass before the gravity W . In addition, the front centroid horizontal distance And the horizontal distance of the center of mass The sum is the horizontal distance L of the wheel center, so the horizontal distance of the front centroid is derived The horizontal distance of the center of mass can be pushed back together . Next, please refer to Figure 7 for the method of calculating the vertical distance h of the centroid. 7 is a schematic diagram of the derivation of the vertical distance of the center of mass of the bicycle brake control method according to an embodiment of the invention. The symbols used in this derivation include: ground 30a, front wheel forward force , Rear wheel forward force , Center of mass C, front wheel axis , Rear axle , Horizontal distance of wheel center L, Horizontal distance of front centroid , Horizontal distance of center of mass , Gravity W, slope θ, wheel radius R, and centroid vertical distance h are the vertical distances of the centroid C and the ground 30a. According to the torque balance equation of the front wheel, the vertical distance h of the centroid can be derived: The wheel radius R is the size information of the bicycle 20, which can be obtained from the storage unit (not shown) of the bicycle 20. The gradient θ can be measured by the sensor 207. Therefore, the forward force of the front wheel in Equation 3 can be used , Horizontal distance of wheel center L, Horizontal distance of rear centroid , The gravity W, the slope θ and the wheel radius R have the centroid vertical distance h.
接著進入步驟s102b：計算最大安全減速度 。請參閱圖8以及圖9。圖8以及圖9為本發明一實施例之自行車煞車控制方法之最大安全減速度之推導示意圖。此推導所運用的符號包含：前輪正向力 、後輪正向力 、慣性力 、摩擦力 、質心C、前質心水平距離 、後質心水平距離 、質心垂直距離h、地面摩擦係數µ、質量m為自行車20以及載體40的質量、重力加速度g以及最大安全減速度 。根據牛頓第二運動定律可得： 根據摩擦力公式可得： 根據水平於地面30之方向自行車20之力平衡方程式可得： 根據垂直於地面30之方向自行車20之力平衡方程式可得： 根據以質心C為支點的力矩平衡方程式可得： 由式4、式5、式6、式7以及式8解聯立可求得： 將上述藉由前輪正向力 、後輪正向力 以及當下減速度a求得的地面摩擦係數µ、前質心水平距離 、後質心水平距離 、以及質心垂直距離h代入式9可得最大安全減速度 。此外，在執行完步驟s102b時進入步驟s102c：當下減速度a檢測。由於當下減速度a隨著煞車系統201做動以及行駛狀況而不斷改變，因此煞車系統201於煞車過程中不斷偵測當下減速度a以根據當下的減速度狀況控制煞車系統201。 Then go to step s102b: calculate the maximum safe deceleration . Please refer to FIG. 8 and FIG. 9. 8 and 9 are schematic diagrams for deriving the maximum safe deceleration of the bicycle brake control method according to an embodiment of the invention. The symbols used in this derivation include: front wheel forward force , Rear wheel forward force , Inertial force , Friction , Centroid C, horizontal distance of front centroid , Horizontal distance of center of mass , Vertical distance of center of mass h, ground friction coefficient µ, mass m is the mass of bicycle 20 and carrier 40, acceleration of gravity g and maximum safe deceleration . According to Newton's second law of motion: According to the friction formula: According to the force balance equation of the bicycle 20 level in the direction of the ground 30, we can get: According to the force balance equation of the bicycle 20 in a direction perpendicular to the ground 30: According to the moment balance equation with the centroid C as the fulcrum, we can obtain: From equation 4, equation 5, equation 7, equation 7, and equation 8, the solution can be obtained: Forward force through the front wheel , Rear wheel forward force And the ground friction coefficient µ obtained by the current deceleration a, the horizontal distance of the front centroid , Horizontal distance of center of mass , And the centroid vertical distance h is substituted into type 9 to obtain the maximum safe deceleration . In addition, when step s102b is executed, step s102c is entered: the current deceleration a is detected. Since the current deceleration a continuously changes according to the actuation of the brake system 201 and the driving situation, the brake system 201 continuously detects the current deceleration a during the braking process to control the brake system 201 according to the current deceleration situation.
在步驟s103中，於步驟s103a中判斷當下減速度a的數值是否小於最大安全減速度 乘以一安全係數k後的數值，若當下減速度a的數值小於最大安全減速度 乘以安全係數k後的數值，代表自行車20以更高的減速度執行煞車也不會造成後輪209離開地面30，因此進入步驟s103b：增加自行車20的煞車力道，進而使自行車20的減速度增加。若當下減速度a的數值不小於最大安全減速度 乘以安全係數k後的數值，則進入步驟s103c：判斷當下減速度a的數值是否大於最大安全減速度 乘以安全係數k後的數值，若當下減速度a的數值大於最大安全減速度 乘以安全係數k後的數值，代表自行車20在此減速度下容易造成後輪209離開地面30，因此進入步驟s103d：降低自行車20的煞車力道，進而避免後輪209離開地面30。 In step s103, determine in step s103a whether the value of the current deceleration a is less than the maximum safe deceleration The value after multiplying by a safety factor k, if the value of the current deceleration a is less than the maximum safe deceleration Multiplied by the value of the safety factor k, it means that the bicycle 20 performing braking at a higher deceleration will not cause the rear wheel 209 to leave the ground 30, so proceed to step s103b: increase the braking force of the bicycle 20, thereby decelerating the bicycle 20 increase. If the value of the current deceleration a is not less than the maximum safe deceleration Multiply the value after the safety factor k, then go to step s103c: determine whether the value of the current deceleration a is greater than the maximum safe deceleration Multiplied by the value of the safety factor k, if the value of the current deceleration a is greater than the maximum safe deceleration The value multiplied by the safety factor k indicates that the bicycle 20 is likely to cause the rear wheel 209 to leave the ground 30 at this deceleration, so step s103d is entered: the braking force of the bicycle 20 is reduced to prevent the rear wheel 209 from leaving the ground 30.
若當下減速度a的數值不大於最大安全減速度 乘以安全係數k後的數值，因已經判斷當下減速度a的數值不小於最大安全減速度 乘以安全係數k後的數值，所以表示當下減速度a的數值等於最大安全減速度 乘以安全係數k後的數值。此時若增加自行車20的減速度容易造成後輪209離開地面30，若減少自行車20的減速度則會拉長煞車距離，因此進入步驟s103e：維持自行車20的煞車力道。 If the value of the current deceleration a is not greater than the maximum safe deceleration Multiplied by the value of the safety factor k, because it has been determined that the value of the current deceleration a is not less than the maximum safe deceleration Multiplied by the value of the safety factor k, so that the value of the current deceleration a is equal to the maximum safety deceleration The value multiplied by the safety factor k. At this time, if the deceleration of the bicycle 20 is increased, the rear wheel 209 is likely to leave the ground 30, and if the deceleration of the bicycle 20 is decreased, the braking distance is increased, so step s103e is entered: maintaining the braking force of the bicycle 20.
具體而言，安全係數k例如介於0.85至0.95之間。藉由比較當下減速度a的數值以及最大安全減速度 乘以安全係數k後的數值，使得當下減速度a超過最大安全減速度 時，仍可保持自行車20的穩定而不至於翻車。 Specifically, the safety factor k is between 0.85 and 0.95, for example. By comparing the value of the current deceleration a with the maximum safe deceleration Multiplied by the value of the safety factor k, so that the current deceleration a exceeds the maximum safe deceleration At this time, the stability of the bicycle 20 can be maintained without overturning.
此外，當步驟s103完成時，再次執行自行車煞車控制方法，直到煞車做動結束，具體而言，自行車煞車控制方法在步驟s103b、步驟s103d以及步驟s103e結束後繼續執行步驟s101。因此自行車20於煞車的過程中不斷根據當下輪胎的受力狀況以及自行車20的減速度狀況調整煞車，以防止後輪209打滑甚至離開地面30。In addition, when step s103 is completed, the bicycle brake control method is executed again until the brake actuation ends. Specifically, the bicycle brake control method continues to execute step s101 after the steps s103b, s103d, and s103e are completed. Therefore, during the braking process, the bicycle 20 continuously adjusts the braking according to the current stress condition of the tire and the deceleration status of the bicycle 20 to prevent the rear wheel 209 from slipping or even leaving the ground 30.
根據上述實施例之具有煞車控制系統的自行車及其煞車控制方法，因根據最大安全減速度控制自行車的煞車，使煞車系統於煞車的過程中，能根據輪胎受力情形以及減速度狀況，調整煞車系統給予自行車的減速度，而避免後輪胎打滑，進而避免自行車翻車。此外，不斷循環做動的煞車控制方法，使煞車能於騎乘時瞬息萬變的路況下隨時改變做動而避免後輪胎打滑甚至導致自行車翻車。According to the bicycle with the brake control system and the brake control method thereof according to the above embodiment, the brake of the bicycle is controlled according to the maximum safe deceleration, so that the brake system can adjust the brake according to the force of the tire and the deceleration status during the braking The system gives the bicycle a deceleration rate, which prevents the rear tires from slipping, thereby preventing the bicycle from overturning. In addition, the continuous braking control method allows the brake to be changed at any time under the ever-changing road conditions during riding to prevent the rear tires from slipping and even causing the bicycle to roll over.
雖然本發明以前述之諸項實施例揭露如上，然其並非用以限定本發明，任何熟習相像技藝者，在不脫離本發明之精神和範圍內，當可作些許之更動與潤飾，因此本發明之專利保護範圍須視本說明書所附之申請專利範圍所界定者為準。Although the present invention is disclosed as the foregoing embodiments, it is not intended to limit the present invention. Any person familiar with similar arts can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of patent protection for inventions shall be determined by the scope of the patent application attached to this specification.
20‧‧‧自行車20‧‧‧bicycle
200‧‧‧車身組件 200‧‧‧Body components
201‧‧‧煞車系統 201‧‧‧Brake system
202‧‧‧前叉 202‧‧‧Fork
203‧‧‧後叉 203‧‧‧fork
204a、204b‧‧‧力感測器 204a, 204b‧‧‧force sensor
205‧‧‧坐墊 205‧‧‧Cushion
206‧‧‧車架 206‧‧‧frame
207‧‧‧感測器 207‧‧‧Sensor
208‧‧‧前輪 208‧‧‧Front wheel
209‧‧‧後輪 209‧‧‧rear wheel
210‧‧‧前輪氣嘴 210‧‧‧Front wheel nozzle
211‧‧‧後輪氣嘴 211‧‧‧Rear wheel valve
250‧‧‧控制單元 250‧‧‧Control unit
30、30a‧‧‧地面 30, 30a‧‧‧ground
40‧‧‧載體 40‧‧‧Carrier
‧‧‧前輪正向力 ‧‧‧Front wheel forward force
‧‧‧後輪正向力 ‧‧‧Rear wheel forward force
‧‧‧慣性力 ‧‧‧Inertial force
‧‧‧摩擦力 ‧‧‧ Friction
W‧‧‧重力 W‧‧‧Gravity
C‧‧‧質心 C‧‧‧Centroid
‧‧‧前質心水平距離 ‧‧‧Horizontal distance of front centroid
‧‧‧後質心水平距離 ‧‧‧Horizontal distance of centroid
h‧‧‧質心垂直距離 h‧‧‧Vertical distance of centroid
µ‧‧‧地面摩擦係數 µ‧‧‧Coefficient of ground friction
m‧‧‧質量 m‧‧‧Quality
g‧‧‧重力加速度 g‧‧‧gravity acceleration
‧‧‧最大安全減速度 ‧‧‧Maximum safe deceleration
L‧‧‧輪心水平距離 L‧‧‧Horizontal distance of wheel center
θ‧‧‧坡度 θ‧‧‧Slope
R‧‧‧車輪半徑 R‧‧‧wheel radius
‧‧‧前輪軸心 ‧‧‧Front axle
‧‧‧後輪軸心 ‧‧‧Rear wheel axle
a‧‧‧當下減速度 a‧‧‧current deceleration
k‧‧‧安全係數 k‧‧‧Safety factor
s101、s102、s102a、s102b、s102c、s103、s103a、s103b、s103c、s103d、s103e‧‧‧步驟 s101, s102, s102a, s102b, s102c, s103, s103a, s103b, s103c, s103d, s103e
圖1為本發明第一實施例之具有煞車控制系統的自行車之平面示意圖。 圖2為本發明第二實施例之具有煞車控制系統的自行車之平面示意圖。 圖3為本發明第三實施例之具有煞車控制系統的自行車之平面示意圖。 圖4以及圖5為本發明一實施例之自行車煞車控制方法之流程圖。 圖6為本發明一實施例之自行車煞車控制方法之前質心水平距離之推導示意圖。 圖7為本發明一實施例之自行車煞車控制方法之質心垂直距離之推導示意圖。 圖8以及圖9為本發明一實施例之自行車煞車控制方法之最大安全減速度之推導示意圖。FIG. 1 is a schematic plan view of a bicycle with a brake control system according to a first embodiment of the invention. 2 is a schematic plan view of a bicycle with a brake control system according to a second embodiment of the invention. 3 is a schematic plan view of a bicycle with a brake control system according to a third embodiment of the invention. 4 and 5 are flowcharts of a bicycle brake control method according to an embodiment of the invention. 6 is a schematic diagram of the derivation of the horizontal distance of the center of mass before the bicycle brake control method according to an embodiment of the invention. 7 is a schematic diagram of the derivation of the vertical distance of the center of mass of the bicycle brake control method according to an embodiment of the invention. 8 and 9 are schematic diagrams for deriving the maximum safe deceleration of the bicycle brake control method according to an embodiment of the invention.
Claims (15)
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| TW107122608A TWI648181B (en) | 2018-06-29 | 2018-06-29 | Bicycle with brake control system and brake control method thereof |
| CN201910242413.3A CN110654486B (en) | 2018-06-29 | 2019-03-28 | Bicycle with brake control system and brake control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM466863U (en) * | 2013-06-13 | 2013-12-01 | Sheng-Xin Ye | Automatic brake system of bicycle |
| TWM509158U (en) * | 2015-04-30 | 2015-09-21 | Univ Chung Chou Sci & Tech | Bicycle saddle weight measuring device |
| CN105197167A (en) * | 2015-10-27 | 2015-12-30 | 张天泽 | Bicycle and braking system thereof |
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| WO2010113308A1 (en) * | 2009-04-02 | 2010-10-07 | ボッシュ株式会社 | Brake control device |
| TWI400175B (en) * | 2009-09-22 | 2013-07-01 | Conceptualized Engineering Ltd | Brake system and method and two-wheeled vehicle using the same |
| JP6051620B2 (en) * | 2012-06-29 | 2016-12-27 | 株式会社アドヴィックス | Vehicle stability control device |
| DE102012222079A1 (en) * | 2012-12-03 | 2014-06-05 | Robert Bosch Gmbh | Anti-lock braking arrangement for a vehicle, vehicle and method for braking a vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM466863U (en) * | 2013-06-13 | 2013-12-01 | Sheng-Xin Ye | Automatic brake system of bicycle |
| TWM509158U (en) * | 2015-04-30 | 2015-09-21 | Univ Chung Chou Sci & Tech | Bicycle saddle weight measuring device |
| CN105197167A (en) * | 2015-10-27 | 2015-12-30 | 张天泽 | Bicycle and braking system thereof |
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