PROBLEM TO BE SOLVED: To provide a tire force control device capable of reducing fluctuation in brake pressure during and ABS operation in a saddle-riding type vehicle inclined to turn.SOLUTION: A tire force control device 50 that controls the tire force of a saddle-riding type vehicle inclined to turn has: a tire force estimation unit 51 that estimates the longitudinal force of each wheel and the vertical dynamic load of each wheel; a friction coefficient calculation unit 52 that calculates the friction coefficient of a road surface with respect to each wheel on the basis of the longitudinal force and the vertical dynamic load of each wheel; a discretization processing unit 53 that calculates a discretized friction coefficient by discretizing the friction coefficient; a target longitudinal force calculation unit 54 that calculates the target longitudinal force of each wheel on the basis of the discretized friction coefficient and the vertical dynamic load of each wheel; a target torque calculation unit 56 that calculates the target torque of each wheel by adding together the target longitudinal force of each wheel and an ideal wheel inertial value corresponding to the discretized friction coefficient stored in a data storage unit 55; and a slip determination unit 57 that determines slipping of each wheel on the basis of the target torque of each wheel.SELECTED DRAWING: Figure 2
【課題】傾斜して旋回する鞍乗り型車両において、ABS作動時のブレーキ圧の変動を少なくできるタイヤ力制御装置を提供することを目的とする。【解決手段】傾斜して旋回する鞍乗り型車両のタイヤ力を制御するタイヤ力制御装置50であって、各輪の前後力と各輪の垂直動荷重とを推定するタイヤ力推定部51と、各輪の前後力と垂直動荷重とに基づいて、各輪に対する路面の摩擦係数を算出する摩擦係数算出部52と、摩擦係数を離散化し離散化摩擦係数を求める離散化処理部53と、離散化摩擦係数と、各輪の垂直動荷重とに基づいて、各輪の目標前後力を算出する目標前後力算出部54と、各輪の目標前後力と、データ保存部55に保存されている前記離散化摩擦係数に対応した理想ホイール慣性値とを加算して、各輪の目標トルクを算出する目標トルク算出部56と、各輪の目標トルクに基づいて、各輪のスリップ判定を行うスリップ判定部57とを有する。【選択図】 図2
TIRE FORCE CONTROL DEVICE AND SADDLE-RIDING TYPE VEHICLE MOUNTED WITH TIRE FORCE CONTROL DEVICE
タイヤ力制御装置およびそのタイヤ力制御装置を搭載する鞍乗り型車両
2017-06-01
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62L BRAKES SPECIALLY ADAPTED FOR CYCLES , Bremsen, besonders für Fahrräder oder Motorräder ausgebildet |
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