Brake control device for motorcycle
In this brake control device for a motorcycle, a deceleration threshold value calculation unit limits target wheel deceleration to a threshold value or less on the basis of a bank angle estimated by a bank angle calculation unit. Thus, the behavior of the vehicle body during turning of the motorcycle can be made more stable so as not to cause discomfort to a driver.
1. A brake control device for a motorcycle, including a deceleration estimating unit configured to estimate deceleration of a vehicle, a bank angle estimating unit configured to estimate a bank angle of the vehicle, and a slip preventing unit configured to detect slip of a wheel and to control a brake of the vehicle to limit the slip to a predetermined range, further comprising:
a deceleration limiting unit configured to control the brake to limit the deceleration of the vehicle to a predetermined range based on the estimated bank angle,
wherein:
with a map in which the bank angle and a threshold of the deceleration are related to each other for each speed of the wheel, the deceleration limiting unit acquires, for the estimated bank angle, the target deceleration that is less than or equal to a threshold and the deceleration limiting unit controls the brake, setting the acquired target deceleration as a target wheel deceleration,
when the slip exceeds the predetermined range while the deceleration limiting unit controls the brake, the control of the brake by the deceleration limiting unit is switched to the control of the brake by the slip preventing unit, and
the control of the brake by the deceleration limiting unit starts from a time point at which the deceleration of the vehicle is lower than a target slip deceleration corresponding to a target slip obtained by the slip preventing unit.
2. The brake control device for the motorcycle according to claim 1 , wherein:
the deceleration limiting unit limits the deceleration to a smaller value as an absolute value of the estimated bank angle increases.
3. The brake control device for the motorcycle according to claim 2 , wherein:
the deceleration limiting unit limits the deceleration according to the estimated bank angle.
4. The brake control device for the motorcycle according to claim 3 , wherein:
the deceleration limiting unit does not perform a process of limiting the deceleration when the absolute value of the estimated bank angle is less than or equal to a first predetermined value.
5. The brake control device for the motorcycle according to claim 3 , wherein:
the deceleration limiting unit limits the deceleration to a certain value or less when the absolute value of the estimated bank angle is greater than or equal to a second predetermined value.
6. The brake control device for the motorcycle according to claim 1 , wherein:
in the map, the bank angle and the threshold of the deceleration are related to each other for each speed of a front wheel of the motorcycle.
7. A brake control device for a motorcycle, including a deceleration estimating unit configured to estimate deceleration of a vehicle, a bank angle estimating unit configured to estimate a bank angle of the vehicle, and a slip preventing unit configured to detect slip of a front wheel and to control a brake of the vehicle to limit the slip to a predetermined range, further comprising:
a deceleration limiting unit configured to control the brake to limit the deceleration of the vehicle to a predetermined range based on the estimated bank angle,
wherein:
with a map in which the bank angle and a threshold of the deceleration are related to each other for each speed of the front wheel of the motorcycle, the deceleration limiting unit acquires, for the estimated bank angle, the target deceleration that is less than or equal to the threshold and the deceleration limiting unit controls the brake, setting the acquired target deceleration as a target wheel deceleration, and
the control of the brake by the deceleration limiting unit starts from a time point at which the deceleration of the vehicle is lower than a target slip deceleration corresponding to a target slip obtained by the slip preventing unit.