Patent Description:
In the related art, there have been proposed techniques for reducing the impact of shocks when the suspension device is in the most extended state (hereinafter, may be referred to as "maximum extension state").

For example, the front fork described in PTL <NUM> includes an outer tube on a wheel side, an inner tube on a vehicle body side, which enters and exits the outer tube, a suspension spring (spring element) provided inside the inner tube to elastically support the vehicle body, a cylinder provided inside the outer tube along an axial direction, a piston provided on a wheel side of the inner tube and partitions an outer peripheral chamber formed between the outer tube and the cylinder into an extension side chamber and a compression side chamber, and a guide provided on a vehicle body side of the cylinder and partitions a reservoir formed inside the inner tube protruding from the cylinder and the extension side chamber, in which the cylinder includes a throttle hole on an axial vehicle body side, which communicates an inner chamber formed inside the cylinder with an outer chamber, a valve member which is formed with an axial wheel side opening, and which opens and closes a vehicle body side opening of the cylinder and is biased in a closing direction by the spring element, and a suction passage for permitting a flow of fluid from the reservoir to the inner chamber.

PTL <NUM> describes a method that involves controlling an absorber hardness of an adjustable absorber in a wheel suspension of a vehicle. An absorber deflection is determined by a condition observer based on absorber pressure such that controlling of absorber hardness of the adjustable absorber is carried out in normal operation with respect to the absorber deflection, and the pressure of upper and lower absorber chambers is determined.

PTL <NUM> describes a suspension control device that adjusts the damping force characteristics of a damping force adjusting shock absorber interposed between a vehicle body and a wheel by an adjusting signal.

PTL <NUM> describes a suspension system for a vehicle including a suspension device having an attenuation force variable damper and a control device for controlling the suspension device. Permanent magnets and electromagnets are provided on pistons of the attenuation force variable damper. At a usual time, the damper is maintained to appropriate stiffness only by a magnetic field by the permanent magnet without making a current flow to the electromagnet of the attenuation force variable damper to attain sufficient controllability and stability. The stiffness of the damper is adjusted by making the current flow to the electromagnet only when required according to the action state of the vehicle.

PTL <NUM> describes a suspension system for a bicycle comprising a pedaling detection sensor connected to a control unit which adjusts the compression control of a front and/or rear shock absorber depending on the pedaling presence signal, a speed signal from the front fork and an acceleration signal from the lower end of the front fork.

PTL <NUM> describes a non-transitory computer readable storage medium and a method for controlling vehicle motion.

PTL <NUM> describes a suspension system for a motor vehicle and discloses a suspension device in accordance with the preamble of claim <NUM>.

When a mechanism is provided to obtain an effect (hereafter, referred to as "oil lock effect") of suppressing movement of a moving member by increasing hydraulic pressure in a partitioned chamber by an extendable spring and the moving member in order to damp an impact at the time of maximum extension (at the time of full extension), the degree of freedom in setting the damping force is reduced. In order to damp the impact in the maximum extension state, it is also possible to set the damping force so that remaining speed of the piston in the maximum extension state can be sufficiently reduced. However, when such a setting is performed, the damping force is increased even when there is no possibility of the most extended state, which may adversely affect the ride comfort.

It is an object of the present invention to provide a suspension device and the like, capable of increasing the degree of freedom in setting the damping force without deteriorating the ride comfort.

According to the present invention, there is provided a suspension device having the features of claim <NUM>. In the present invention, when the suspension is in the most extended state (fully extended state), the stroke amount can be set to <NUM>, for example. That is, the stroke amount is decreased as the suspension is extended, and the stroke amount is increased as the suspension is compressed.

According to the invention, a predetermined value setting unit is further provided, which sets the predetermined value so that the predetermined value is decreased as the stroke amount is decreased.

The damping force control unit increases the damping force as the acceleration is increased.

An alternative non-claimed example of a suspension device includes a suspension including a damping device which damps a force generated between a vehicle body and a wheel, and a first control unit that controls a damping force using a speed of change in a stroke amount, the stroke amount being an amount of displacement from a reference position of the wheel with respect to the vehicle body in an extension direction of the suspension, a determination unit that determines whether the suspension goes into the most extended state under a first damping force controlled by the first control unit, and a second control unit that controls the damping force so as to be greater than the first damping force when the determination unit determines that the suspension goes into the most extended state.

In the present example, when the acceleration of the change in the stroke amount is equal to or greater than a predetermined value determined in advance, the determination unit may determine that the suspension goes into the most extended state.

A predetermined value setting unit may be further provided, which sets the predetermined value such that the predetermined value is decreased as the stroke amount is decreased.

The second control unit may increase the damping force as the acceleration of the change in the stroke amount is increased.

There may be provided a non-claimed example of a non-transitory computer-readable recording medium recording a program that causes a computer to implement a function of, in an extension direction of a suspension including a damping device that damps a force generated between a vehicle body and a wheel, when an acceleration of change in a stroke amount, which is an amount of displacement from a reference position of the wheel with respect to the vehicle body, is equal to or greater than a predetermined value determined in advance, increasing a damping force of the damping device so as to be greater than the damping force generated when the acceleration is less than the predetermined value.

Alternatively, there may be provided a non-claimed example of a non-transitory computer-readable recording medium recording a program that causes a computer to implement a first control function of, in an extension direction of a suspension including a damping device that damps a force generated between a vehicle body and a wheel, using a speed of change in a stroke amount, which is an amount of displacement from a reference position of the wheel with respect to the vehicle body, controlling a damping force of the damping device, a function of determining whether the suspension goes into the most extended state under a first damping force controlled by the first control function, and a second control function of controlling the damping force so as to be greater than the first damping force when the determination unit determines that the suspension goes into the most extended state.

According to the present invention, it is possible to increase the degree of freedom in setting the damping force without deteriorating the ride comfort.

Hereinafter, embodiments and non-claimed examples of the present invention will be described in detail with reference to the attached drawings.

<FIG> is a diagram illustrating a schematic configuration of a motorcycle <NUM>.

<FIG> is a diagram illustrating a schematic configuration of a damping device <NUM>.

<FIG> is a diagram illustrating a schematic configuration of a control device <NUM>.

The motorcycle <NUM> includes a wheel on a front side as a front wheel <NUM>, a wheel on a rear side as a rear wheel <NUM>, and a vehicle body <NUM>. The vehicle body <NUM> includes a vehicle body frame <NUM> which forms a framework of the motorcycle <NUM>, a handle <NUM>, a brake lever <NUM>, a seat <NUM>, and the like.

The motorcycle <NUM> includes a front wheel side suspension <NUM> connecting the front wheel <NUM> and the vehicle body <NUM>. The motorcycle <NUM> includes two brackets <NUM> for holding a suspension <NUM> disposed on the left side of the front wheel <NUM> and a suspension <NUM> disposed on the right side of the front wheel <NUM>, and a shaft <NUM> disposed between the two brackets <NUM>. The shaft <NUM> is rotatably supported by the vehicle body frame <NUM>. The suspension <NUM> includes a suspension spring <NUM> that absorbs an impact applied to the front wheel <NUM> from a road surface or the like, and a damping device 21d that damps the vibration of the suspension spring <NUM>.

The motorcycle <NUM> includes a suspension <NUM> on the rear wheel side. The suspension <NUM> includes a suspension spring <NUM> that absorbs an impact applied to the rear wheel <NUM> from a road surface or the like, and a damping device 22d that damps the vibration of the suspension spring <NUM>. The damping device 22d damps the force generated between the rear wheel <NUM> and the vehicle body <NUM>.

In the following description, the damping device 21d and the damping device 22d may sometimes be collectively referred to as the "damping device <NUM>".

The suspension <NUM> on the front wheel side and the suspension <NUM> on the rear wheel side may sometimes be collectively referred to as the "suspension". The front wheel <NUM> and the rear wheel <NUM> may sometimes be collectively referred to as the "wheel". The suspension spring <NUM> and the suspension spring <NUM> may sometimes be collectively referred to as the "spring".

The motorcycle <NUM> includes a control device <NUM> that controls the damping force of the damping device 21d and the damping device 22d. The control device <NUM> receives output signals from a stroke sensor <NUM> that detects a stroke amount of the suspension <NUM> and a stroke sensor <NUM> that detects a stroke amount of the suspension <NUM>. In the following description, the stroke sensor <NUM> and the stroke sensor <NUM> may sometimes be collectively referred to as a "stroke sensor <NUM>".

The suspension device <NUM> according to the present invention is a device including suspensions (the suspension <NUM> and the suspension <NUM>) and the control device <NUM>.

The damping device <NUM> includes a cylinder <NUM> filled with hydraulic fluid, a piston <NUM> movably accommodated in the cylinder <NUM>, and a piston rod <NUM> for holding the piston <NUM>. An end 210a of one side (upper side in <FIG>) of the cylinder <NUM> is connected to the vehicle body <NUM>. The piston rod <NUM> includes one end holding the piston <NUM> and the other end 222a (the lower side in <FIG>) connected to the wheel. Note that the damping device according to the present invention is not limited to such a form. In the damping device according to the present invention, the other end of the cylinder <NUM> may be connected to the wheel, the other end of the piston rod <NUM> may hold the piston <NUM>, and the one end of the piston rod <NUM> may be connected to the vehicle body <NUM>.

In the damping device <NUM>, a compression stroke is performed, in which the piston <NUM> is moved toward the vehicle body <NUM> (upper side in <FIG>), thus decreasing the overall length of the damping device <NUM>, and an extension stroke is performed, in which the piston <NUM> is moved toward the wheel (lower side in <FIG>), thus increasing the overall length of the damping device <NUM>.

Inside of the cylinder <NUM> included is the piston <NUM> accommodated in the cylinder <NUM>, and is divided into a compression-side oil chamber <NUM> where the pressure of the hydraulic fluid is increased in the compression stroke, and an extension-side oil chamber <NUM> where the pressure of the hydraulic fluid is increased in the extension stroke.

The damping device <NUM> includes a first oil passage <NUM> connected to the oil chamber <NUM> in the cylinder <NUM> and a second oil passage <NUM> connected to the oil chamber <NUM> in the cylinder <NUM>. The damping device <NUM> includes a third oil passage <NUM> provided between the first oil passage <NUM> and the second oil passage <NUM>, and a damping force control valve <NUM> provided in the third oil passage <NUM>. The damping device <NUM> includes a first branch passage <NUM> connecting the first oil passage <NUM> and one end of the third oil passage <NUM>, and a second branch passage <NUM> connecting the first oil passage <NUM> and the other end of the third oil passage <NUM>. The damping device <NUM> includes a third branch passage <NUM> connecting the second oil passage <NUM> and one end of the third oil passage <NUM>, and a fourth branch passage <NUM> connecting the second oil passage <NUM> and the other end of the third oil passage <NUM>.

The damping device <NUM> includes a first check valve <NUM> provided in the first branch passage <NUM> to allow the movement of the hydraulic fluid from the first oil passage <NUM> to the third oil passage <NUM>, and restrict the movement of the hydraulic fluid from the third oil passage <NUM> toward the first oil passage <NUM>. The damping device <NUM> includes a second check valve <NUM> provided in the second branch passage <NUM> to allow the movement of the hydraulic fluid from the third oil passage <NUM> to the first oil passage <NUM>, and restrict the movement of the hydraulic fluid from the first oil passage <NUM> toward the third oil passage <NUM>.

The damping device <NUM> includes a third check valve <NUM> provided in the third branch passage <NUM> to allow the movement of the hydraulic fluid from the second oil passage <NUM> to the third oil passage <NUM>, and restrict the movement of the hydraulic fluid from the third oil passage <NUM> toward the second oil passage <NUM>. The damping device <NUM> includes a fourth check valve <NUM> provided in the fourth branch passage <NUM> to allow the movement of the hydraulic fluid from the third oil passage <NUM> to the second oil passage <NUM>, and restrict the movement of the hydraulic fluid from the second oil passage <NUM> toward the third oil passage <NUM>.

The damping device <NUM> includes a reservoir <NUM> having a function of storing the hydraulic fluid and supplying and discharging the hydraulic fluid, and a reservoir passage <NUM> connecting the reservoir <NUM> and the other end of third oil passage <NUM>.

The damping force control valve <NUM> includes a solenoid and may control the pressure of the hydraulic fluid passing through the valve, by controlling an amount of current energized to the solenoid. The damping force control valve <NUM> according to the present non-claimed example increases the pressure of the hydraulic fluid passing through the valve as the amount of current supplied to the solenoid is increased. The amount of current for energizing the solenoid is controlled by the control device <NUM>.

When the piston <NUM> is moved toward the oil chamber <NUM>, the hydraulic pressure in the oil chamber <NUM> is increased. Then, the hydraulic fluid in the oil chamber <NUM> flows to the damping force control valve <NUM> through the first oil passage <NUM> and the first branch passage <NUM>. The pressure of the hydraulic fluid passing through the damping force control valve <NUM> is adjusted by the valve pressure of the damping force control valve <NUM>, so that the damping force on the compression side is adjusted. The hydraulic fluid that passed the damping force control valve <NUM> flows into the oil chamber <NUM> through the fourth branch passage <NUM> and the second oil passage <NUM>.

Meanwhile, when the piston <NUM> is moved toward the oil chamber <NUM>, the hydraulic pressure in the oil chamber <NUM> is increased. Then, the hydraulic fluid in the oil chamber <NUM> flows to the damping force control valve <NUM> through the second oil passage <NUM> and the third branch passage <NUM>. The pressure of the hydraulic fluid passing through the damping force control valve <NUM> is adjusted by the valve pressure of the damping force control valve <NUM>, so that the damping force on the extension side is adjusted. The hydraulic fluid that passed the damping force control valve <NUM> flows into the oil chamber <NUM> through the second branch passage <NUM> and the first oil passage <NUM>.

The control device <NUM> is an arithmetic logic operation circuit including a CPU, a ROM, a RAM, a backup RAM, and the like.

The control device <NUM> receives a stroke signal sf of the front wheel side, which is an output signal converted from a stroke amount Rpf of the suspension <NUM> detected by the stroke sensor <NUM>. The control device <NUM> receives a stroke signal sr of the rear wheel side, which is an output signal converted from a stroke amount Rpr of the suspension <NUM> detected by the stroke sensor <NUM>.

The control device <NUM> controls the amount of current supplied to the solenoid of the damping force control valve <NUM> to control the damping force. Specifically, when increasing the damping force, the control device <NUM> increases the amount of current supplied to the solenoid of the damping force control valve <NUM>, and when reducing the damping force, the control device <NUM> reduces the amount of current supplied to the solenoid of the damping force control valve <NUM>.

The control device <NUM> includes a calculation unit <NUM> that calculates the stroke amounts Rpf, Rpr, and the like of the suspension using the stroke signals sf and sr detected from the stroke sensor <NUM>. The control device <NUM> includes a setting unit <NUM> that sets target currents Itf and Itr supplied to the solenoid of the damping force control valve <NUM>, and a drive unit <NUM> that drives the damping force control valve <NUM>.

The calculation unit <NUM> includes a Rp calculation unit <NUM> that calculates the stroke amounts Rpf and Rpr. The calculation unit <NUM> includes a Vp calculation unit <NUM> that calculates an amount of change in the stroke amounts Rpf and Rpr per unit time, in other words, calculates speeds Vpf and Vpr, which are the speeds of the change in the stroke amounts Rpf and Rpr (stroke speeds). The calculation unit <NUM> includes an Ap calculation unit <NUM> that calculates an amount of change in the speeds Vpf and Vpr per unit time, in other words, calculates accelerations Apf and Apr, which are accelerations of changes in the stroke amounts Rpf and Rpr.

The Rp calculation unit <NUM> calculates the stroke amount Rpf of the suspension <NUM> using the output value from the stroke sensor <NUM>. The Rp calculation unit <NUM> calculates the stroke amount Rpr of the suspension <NUM> using the output value from the stroke sensor <NUM>. The stroke amount Rpf and the stroke amount Rpr may sometimes be collectively referred to as a "stroke amount Rp". The stroke amount Rp is an amount of displacement from a reference position of the wheel with respect to the vehicle body <NUM>. For example, when the suspension is in the most extended state, the stroke amount Rp may be set to <NUM>. That is, the stroke amount Rp is decreased as the suspension is extended, and the stroke amount Rp is increased as the suspension is compressed.

The Vp calculation unit <NUM> calculates the speed Vpf of the front wheel side by calculating the amount of change in the stroke amount Rpf calculated by the Rp calculation unit <NUM> per unit time. The Vp calculation unit <NUM> calculates the speed Vpr of the rear wheel side by calculating the amount of change in the stroke amount Rpr calculated by the Rp calculation unit <NUM> per unit time. The speed Vpf and the speed Vpr may sometimes be collectively referred to as a "speed Vp". In the following description, it is assumed that the sign is positive when the stroke amount Rp is changed in the extension direction of the suspension, and the sign is negative when the stroke amount Rp is changed in the compression direction of the suspension, and the sign of the speed Vp in the extension direction of the suspension is positive, and the sign of the speed Vp in the compression direction of the suspension is negative.

The Ap calculation unit <NUM> calculates an acceleration Apf of the front wheel side by calculating the amount of change in the speed Vpf calculated by the Vp calculation unit <NUM> per unit time. The Ap calculation unit <NUM> calculates an acceleration Apr of the rear wheel side by calculating the amount of change in the speed Vpr calculated by the Vp calculation unit <NUM> per unit time. The acceleration Apf and the acceleration Apr may sometimes be collectively referred to as an "acceleration Ap". In the following description, it is assumed that the sign of the acceleration Ap in the extension direction of the suspension is positive, and the sign of the acceleration Ap in the compression direction of the suspension is negative.

The setting unit <NUM> will be described in detail below.

For example, the driving unit <NUM> includes, as a switching element, a transistor (field effect transistor; FET) connected between the positive side line of the power supply and the coil of the solenoid of the damping force control valve <NUM>.

More specifically, the drive unit <NUM> causes the transistor to switch such that the target current supplied to the damping force control valve <NUM> of the damping device 21d is the target current Itf set by the setting unit <NUM>. The drive unit <NUM> causes the transistor to switch such that the target current supplied to the damping force control valve <NUM> of the damping device 22d is the target current Itr set by the setting unit <NUM>.

Hereinafter, the setting unit <NUM> will be described in more detail.

<FIG> is a diagram illustrating a schematic configuration of the setting unit <NUM>.

The setting unit <NUM> includes a first setting unit <NUM> that sets a target current It to be supplied to the solenoid of the damping force control valve <NUM>, using the speeds Vpf and Vpr calculated by the Vp calculation unit <NUM>.

The setting unit <NUM> includes a determination unit <NUM> that determines whether the suspension goes into the most extended state, under a first damping force of the damping device <NUM> according to the target current It set by the first setting unit <NUM>.

The setting unit <NUM> includes a second setting unit <NUM> that sets the target current It to be supplied to the solenoid of the damping force control valve <NUM> of the damping device <NUM>, when the determination unit <NUM> determines that the suspension goes into the most extended state.

The first setting unit <NUM> sets a target current Itf of the front wheel side to be supplied to the solenoid of the damping force control valve <NUM> of the damping device 21d using the speed Vpf. The first setting unit <NUM> sets a target current Itr of the rear wheel side to be supplied to the solenoid of the damping force control valve <NUM> of the damping device 22d using the speed Vpr. Note that the method of setting the target current Itf by the first setting unit <NUM> is the same as the method of setting the target current Itr by the first setting unit <NUM>. Hereinafter, the target current Itf and the target current Itr may sometimes be collectively referred to as a "target current It".

<FIG> is a schematic diagram of a control map representing an example of relationship between the target current It and the speed Vp.

The first setting unit <NUM> calculates a target current It according to the speed Vp (the speed Vpf or the speed Vpr). For example, the first setting unit <NUM> substitutes the speed Vp into the control map illustrated in <FIG> representing the relationship between the target current It and the speed Vp, which is heuristically generated in advance and recorded in the ROM to calculate the target current It.

In the control map illustrated in <FIG>, when the speed Vp is the speed in the compression direction of the suspension, and when the speed Vp is equal to or greater than a first predetermined speed V1, the target current It is set to be increased as the speed Vp is decreased. When the speed Vp is less than the first predetermined speed V1, the target current It is set to be the predetermined current It1 in the compression direction. When the speed Vp is the speed in the extension direction of the suspension, and when the speed Vp is equal to or less than a second predetermined speed V2, the target current It is set to be increased as the speed Vp is increased. When the speed Vp is greater than the second predetermined speed V2, the target current It is set to be a predetermined current It2 in the extension direction. Note that the first setting unit <NUM> may switch and use a control map representing the relationship between the target current It and the speed Vp, according to the vehicle speed which is the moving speed of the motorcycle <NUM>. The first setting unit <NUM> sets the target current It when the determination unit <NUM> determines that the suspension does not go into the most extended state. As such, the first setting unit <NUM> controls the damping force of the damping device <NUM> by setting the target current It.

The first setting unit <NUM> may determine whether the suspension goes into the most extended state, using the speed Vp calculated by the Vp calculation unit <NUM> and extracted by the low-pass filter. The low pass filter is a filter that removes frequency band components greater than a predetermined frequency (for example, <NUM>) and extracts only low frequency band components less than the predetermined frequency.

The determination unit <NUM> determines whether the suspension <NUM> on the front wheel side goes into the most extended state, under the damping force of the damping device 21d according to the target current Itf set by the first setting unit <NUM>. The determination unit <NUM> determines whether the suspension <NUM> on the rear wheel side goes into the most extended state, under the damping force of the damping device 22d according to the target current Itr set by the first setting unit <NUM>. The method of the determination unit <NUM> determining whether the suspension goes into the most extended state will be described below in detail.

When the determination unit <NUM> determines that the suspension <NUM> on the front wheel side goes into the most extended state, the second setting unit <NUM> sets a predetermined suppression current Icf of the front wheel side to the target current Itf. The suppression current Icf may be exemplified as a current greater than the target current Itf set by the first setting unit <NUM> (for example, a current greater than the predetermined current It2), and a current that can maximize the damping force of the damping device 21d. The suppression current Icf may be exemplified as the maximum current that can be supplied to the solenoid of the damping force control valve <NUM> of the damping device 21d.

When the determination unit <NUM> determines that the suspension <NUM> on the rear wheel side goes into the most extended state, the second setting unit <NUM> sets a predetermined control current Icr of the rear wheel side to the target current Itr. The suppression current Icr is a current greater than a current greater than the target current Itr set by the first setting unit <NUM> (for example, a current greater than the predetermined current It2), and a current that can maximize the damping force of the damping device 22d. The suppression current Icr may be exemplified as the maximum current that can be supplied to the solenoid of the damping force control valve <NUM> of the damping device 22d.

Hereinafter, the suppression current Icf and the suppression current Icr may sometimes be collectively referred to as a "suppression current Ic".

Next, the method of the determination unit <NUM> determining whether the suspension goes into the most extended state will be described.

<FIG> is a diagram illustrating an example of changes in stroke amount, speed and acceleration, when the restraint of the vehicle body <NUM> is released after the suspension is compressed most by fixing the wheels, and when the restraint of wheels is released after the suspension is compressed most by fixing the vehicle body <NUM>.

The situation (hereinafter, may sometimes be referred to as "Situation <NUM>") in which the restraint of the vehicle body <NUM> is released after the suspension is compressed most (in the state of maximum stroke amount Rp) by fixing the wheels, may occur when the motorcycle <NUM> lands after jumping, after the suspension is compressed most, for example. On the other hand, a situation (hereinafter may be referred to as "Situation <NUM>") in which the restraint of wheels is released after the suspension is compressed most (in the state of the maximum stroke amount Rp) by fixing the vehicle body <NUM>, may occur when the wheels are lifted off from the road surface immediately after a jump of the motorcycle <NUM>, for example. Hereinafter, the stroke amount Rp, the speed Vp, and the acceleration Ap in Situation <NUM> will be referred to as a stroke amount Rp1, a speed Vp1, and an acceleration Ap1, respectively. The stroke amount Rp, the speed Vp, and the acceleration Ap in Situation <NUM> will be referred to as a stroke amount Rp2, a speed Vp2, and an acceleration Ap2, respectively.

When the suspension is compressed most, the spring is compressed most, and so the potential energy of the spring is accumulated. The vehicle body <NUM> has a greater mass than the wheels (for example, the mass of the vehicle body <NUM> is five times the mass of the wheels). The gravity acting on the vehicle body <NUM> acts in the direction of compressing the suspension, while the gravity acting on the wheels acts in the direction of extending the suspension.

For the above reasons, as illustrated in the changes in stroke amount Rp1 in <FIG>, in Situation <NUM>, the suspension does not reach the most extended state (the state of minimum stroke amount Rp1). Meanwhile, as illustrated in the changes in the stroke amount Rp2 in <FIG>, in Situation <NUM>, the suspension reaches the most extended state.

For the above reason, as illustrated in <FIG>, the acceleration Ap2 immediately after releasing the restraint of the wheels in Situation <NUM> is about <NUM> times the acceleration Ap1 immediately after releasing the restraint of the vehicle body <NUM> in Situation <NUM>. For example, while the acceleration Ap1 is <NUM>, the acceleration Ap2 is <NUM> (<NUM> = <NUM> (m/s<NUM>)). Depending on the model of the motorcycle <NUM>, the acceleration Ap1 is considered to be <NUM> at most. Meanwhile, the acceleration Ap2 is considered to be <NUM> or more in any model. Therefore, regardless of the model of the motorcycle <NUM>, the acceleration Ap2 in Situation <NUM> is considered to be twice or more as much as the acceleration Ap1 in Situation <NUM>.

As illustrated in the change in the speed Vp1 in <FIG>, immediately after releasing the restraint of the vehicle body <NUM>, the speed Vp1 is small, so the damping force of the damping device <NUM> is small. Likewise, as illustrated in the speed Vp2 in <FIG>, immediately after releasing the restraint of wheels, the speed Vp2 is small, so the damping force of the damping device <NUM> is small.

From these facts, it can be seen that when the acceleration Ap is large, there is a possibility that the suspension may reach the most extended state thereafter.

In view of the matters described above, when the acceleration Ap calculated by the Ap calculation unit <NUM> is equal to or greater than a predetermined value determined in advance, the determination unit <NUM> determines that there is a possibility that the suspension may reach the most extended state.

The predetermined value may be exemplified as a value determined in consideration of the following. As can also be seen from <FIG>, when the restraint of the wheels is released after the suspension is compressed most, the suspension reaches the most extended state thereafter. Meanwhile, when the restraint of the vehicle body <NUM> is released after the suspension is compressed most, the suspension does not reach the most extended state thereafter. The difference is due to the difference between the values of the acceleration Ap1 and the acceleration Ap2. The acceleration Ap immediately after releasing the restraint of the vehicle body <NUM> after the suspension is compressed most is considered to be <NUM> at most regardless of the model of the motorcycle <NUM>. From the above, it may be exemplified that the predetermined value is <NUM>.

The determination unit <NUM> may determine whether the suspension goes into the most extended state, using the acceleration Ap calculated by the Ap calculation unit <NUM> and extracted by the low-pass filter. The low pass filter is a filter that removes frequency band components greater than a predetermined frequency (for example, <NUM>) and extracts only low frequency band components less than the predetermined frequency.

Next, the procedure of the target current setting processing performed by the setting unit <NUM> will be described using a flowchart.

<FIG> is a flowchart illustrating a procedure of target current setting processing performed by the setting unit <NUM>.

The setting unit <NUM> repeatedly executes the target current setting processing every predetermined period (for example, <NUM> millisecond).

The setting unit <NUM> determines whether the acceleration Ap is equal to or greater than a predetermined value (step <NUM> (hereinafter, the step may sometimes be referred to as "S")). It is processing in which the determination unit <NUM> acquires the acceleration Ap calculated by the Ap calculation unit <NUM>, and determines whether the acquired acceleration Ap is equal to or greater than a predetermined value.

When the acceleration Ap is equal to or greater than the predetermined value (Yes in S701), the second setting unit <NUM> sets the suppression current Ic described above to the target current It (S702).

Meanwhile, when the acceleration Ap is less than the predetermined value (No in S701), the first setting unit <NUM> acquires the speed Vp calculated by the Vp calculation unit <NUM>, and sets the value calculated based on the acquired speed Vp and the control map illustrated in <FIG> to the target current It (S703). The suppression current Ic is greater than the target current It set by the first setting unit <NUM>. Therefore, in the above manner, when the acceleration Ap is equal to or greater than the predetermined value, the control device <NUM> increases the damping force of the damping device <NUM> to be greater than when the acceleration Ap is less than the predetermined value.

The following advantages can be obtained by the control device <NUM> controlling the damping force of the damping device <NUM> as such. For example, the damping force is increased early when the restraint of the wheels are released after the suspension is compressed, such as, when the wheel is lifted off from the road surface immediately after the motorcycle <NUM> jumps. As a result, the suspension is controlled so as not to go into the most extended state. Therefore, a spring for relieving the impact when the suspension goes into the most extended state, and a mechanism for obtaining the oil lock effect will not be necessary. As a result, the degree of freedom in setting the damping force of the suspension is increased. Meanwhile, when the restraint of the vehicle body <NUM> is released after the suspension is compressed, such as when the motorcycle <NUM> lands after jumping, the damping force corresponds to the speed Vp and is smaller than the damping force corresponding to the suppression current Ic. Therefore, the ride comport is better than when the suppression current Ic is set. As described above, according to the control device <NUM>, when there is a possibility that the suspension goes into the most extended state, the damping force is increased, so that it is possible to perform control to suppress the most extended state and at the same time, suppress the adverse influence on the ride comfort caused by performing such control.

As described above, the suspension device <NUM> includes the suspension including the damping device <NUM> that damps the force generated between the vehicle body <NUM> and the wheels. The suspension device <NUM> includes a second setting unit <NUM> as an example of the damping force control unit that, when the acceleration Ap of the suspension in the extension direction is equal to or greater than a predetermined value determined in advance, increases the damping force of the damping device <NUM> to be greater than when the acceleration Ap is less than the predetermined value. According to the suspension device <NUM>, when there is a possibility that the suspension goes into the most extended state, it is possible to suppress the most extended state by increasing the damping force. According to the suspension device <NUM>, it is possible to perform control to suppress going into the most extended state, while suppressing the adverse influence on the ride comfort caused by performing such control.

The suspension device <NUM> includes a suspension including a damping device <NUM> that damps the force generated between the vehicle body <NUM> and the wheels, and a first setting unit <NUM> as an example of the first control unit that controls the damping force using the speed Vp in the extension direction of the suspension. The suspension device <NUM> includes a determination unit <NUM> that determines whether the suspension goes into the most extended state, from the first damping force according to the control of the first setting unit <NUM> (the damping force according to the target current It set by the first setting unit <NUM>). The suspension device <NUM> includes a second setting unit <NUM> as an example of the second control unit that controls the damping force to be greater than the first damping force when the determination unit <NUM> determines that the suspension goes into the most extended state. According to the suspension device <NUM>, when there is a possibility that the suspension goes into the most extended state, the damping force is increased, so that it is possible to suppress going into the most extended state and at the same time, suppress the adverse influence on the ride comfort caused by performing the control to suppress going into the most extended state.

In the present example, when the acceleration Ap of the change in the stroke amount Rp is equal to or greater than a predetermined value determined in advance, the determination unit <NUM> may determine that the suspension goes into the most extended state. As a result, the determination unit <NUM> can determine with high accuracy that the suspension goes into the most extended state.

The processing performed by the control device <NUM> described above may be implemented by cooperation of software and hardware resources. Here, a CPU in the control computer provided in the control device <NUM> executes a program for implementing each function of the control device <NUM> to implement each of these functions. For example, a non-transitory computer readable recording medium recording a program is provided to the control device <NUM>, and the CPU in the control device <NUM> reads the program stored in the recording medium. Here, the program itself read from the recording medium implements the functions of the example described above, and the program itself and the recording medium recording the same are included in the present invention. The recording media for supplying such programs may be exemplified as flexible disks, CD-ROMs, DVD-ROMs, hard disks, optical disks, magneto-optical disks, CD-Rs, magnetic tapes, non-volatile memory cards, and ROMs.

<FIG> is a diagram illustrating a schematic configuration of a recording medium <NUM>. The recording medium <NUM> is a non-transitory computer readable recording medium storing a program P1 that causes a computer to implement the function of controlling the damping force of the damping device <NUM>.

As illustrated in <FIG>, the recording medium <NUM> stores a program P1. The program P1 has a first setting function <NUM> of setting the target current It to be supplied to the solenoid of the damping force control valve <NUM> using the speed Vp.

The program P1 has a determination function <NUM> of determining whether the suspension goes into the most extended state, under the damping force of the damping device <NUM> according to the target current It set by the first setting function <NUM>.

The program P1 has a second setting function <NUM> of setting the target current It to be supplied to the solenoid of the damping force control valve <NUM>, when the determination function <NUM> determines is the suspension goes into the most extended state.

The first setting function <NUM> is a module that implements the function of the first setting unit <NUM> illustrated in <FIG>.

The determination function <NUM> is a module that implements the function of the determination unit <NUM> illustrated in <FIG>.

The second setting function <NUM> is a module that implements the function of the second setting unit <NUM> illustrated in <FIG>.

As described above, the recording medium <NUM> is a non-transitory computer readable recording medium which records a program P1 that causes a computer to implement the function of controlling the damping force of the damping device <NUM>. When the acceleration Ap of the suspension including the damping device <NUM> in the extension direction is equal to or greater than a predetermined value, the recorded program P1 causes the computer to implement the second setting function <NUM> as an example of the function of increasing the damping force of the damping device <NUM> to be greater than when the acceleration Ap is less than the predetermined value.

The recorded program P1 causes the computer to implement the first control function <NUM> as an example of the first setting function of controlling the damping force of the damping device <NUM> using the speed Vp of the suspension including the damping device <NUM> in the extension direction. The recorded program P1 causes the computer to implement the determination function <NUM> as an example of the function of determining whether the suspension goes into the most extended state under the first damping force according to the control of the first setting function <NUM>. The recorded program P1 causes the computer to implement the second setting function <NUM> as an example of the second control function of controlling the damping force to be greater than the first damping force when it is determined to go into the most extended state. In the present example, when the acceleration Ap is equal to or greater than a predetermined value determined in advance, the determination function <NUM> may determine that the suspension goes into the most extended state.

After the program read from the recording medium <NUM> is written in the memory in the control computer provided in the control device <NUM>, the CPU or the like may perform part or all of the actual processing based on the instructions of the program, and the functions of the example described above may be implemented by the processing. The software program for implementing the functions according to the example is distributed through a network to be stored in a recording unit such as a hard disk or a ROM of the control device <NUM> or a recording medium such as a CD-RW or a CD-R. Then, the CPU of the control device <NUM> may read out and execute the program stored in the recording unit or the recording medium at the time of use.

<FIG> is a diagram illustrating a schematic configuration of a setting unit <NUM>.

The motorcycle <NUM> is different from the motorcycle <NUM> in that the setting unit <NUM> is provided instead of the setting unit <NUM>. The setting unit <NUM> is different from the setting unit <NUM> in that the setting unit <NUM> includes a threshold setting unit <NUM> that sets a threshold value TH using the stroke amount Rp. Hereinafter, differences from the motorcycle <NUM> will be described. In the motorcycle <NUM> and the motorcycle <NUM>, components having the same shape and function are denoted by the same reference numerals, and a detailed description thereof will be omitted.

As illustrated in <FIG>, the motorcycle <NUM> includes a control device <NUM> that controls the damping force of the damping devices 21d and 22d. The suspension device <NUM> according to the present invention is a device including suspensions (the suspension <NUM> and the suspension <NUM>) and the control device <NUM>.

The control device <NUM> includes a calculation unit <NUM>, a setting unit <NUM>, and a drive unit <NUM>.

As illustrated in <FIG>, the setting unit <NUM> includes a first setting unit <NUM> and a second setting unit <NUM>.

The setting unit <NUM> includes the threshold setting unit <NUM> that sets the threshold value TH. The method of setting the threshold value TH will be described in detail below.

The setting unit <NUM> includes a determination unit <NUM> that uses the threshold value TH set by the threshold value setting unit <NUM> to determine whether the suspension goes into the most extended state, under the damping force of the damping device <NUM> according to the target current It set by the first setting unit <NUM>. More specifically, the determination unit <NUM> determines that the suspension goes into the most extended state when the acceleration Ap calculated by the Ap calculation unit <NUM> is equal to or greater than the threshold value TH set by the threshold setting unit <NUM>.

<FIG> is a schematic diagram of a control map representing an example of relationship between the stroke amount Rp and the threshold value TH.

The threshold setting unit <NUM> sets the threshold value TH according to the value of the stroke amount Rp.

The smaller the stroke amount Rp is, the smaller the amount of extension is, until the suspension goes into the most extended state (with the minimum stroke amount Rp). Therefore, as the stroke amount Rp is decreased, the suspension is more likely to reach the most extended state despite the smaller acceleration Ap. Therefore, in order to suppress the suspension in the most extended state, it is desirable that the threshold value TH be decreased as the stroke amount Rp is decreased. However, when the stroke amount Rp is large, and when the threshold value TH is decreased, even in a situation (for example, Situation <NUM> described above) in which there is no possibility that the suspension goes into the most extended state, it is determined that there is a possibility to going into the most extended state as the acceleration Ap is equal to or greater than the threshold TH. Therefore, the threshold setting unit <NUM> sets a smaller threshold value TH as the stroke amount Rp is decreased, so as to prevent the ride comfort from being deteriorated while suppressing going into the most extended state with high accuracy.

For example, the threshold setting unit <NUM> substitutes the stroke amount Rp into the control map illustrated in <FIG> representing the relationship between the stroke amount Rp and the threshold value TH, which is heuristically generated and recorded in the ROM to calculate the threshold value TH.

In the control map illustrated in <FIG>, the threshold value TH when the stroke amount Rp is maximum (when the suspension is in the most compressed state) is set to be the threshold value TH0. When the stroke amount Rp is smaller than a predetermined amount Rp0, the threshold value TH is set to a predetermined value (threshold value TH1) determined in advance. Then, when the stroke amount Rp is equal to or greater than the predetermined amount Rp0, the threshold value TH is set to be decreased as the stroke amount Rp is decreased. Note that it may be illustrated that the threshold value TH0 is <NUM> and the threshold value TH1 is <NUM>.

<FIG> is a flowchart illustrating the procedure of the target current setting processing performed by the setting unit <NUM>.

The setting unit <NUM> first sets a threshold value TH (S1201). It is processing in which the threshold setting unit <NUM> sets the threshold value TH using the stroke amount Rp calculated by the Rp calculation unit <NUM>. Then, the setting unit <NUM> determines whether the acceleration Ap is equal to or greater than the threshold value TH set in S1201 (S1202). It is processing in which the determination unit <NUM> acquires the acceleration Ap calculated by the Ap calculation unit <NUM>, and determines whether the acquired acceleration Ap is equal to or greater than a threshold value TH.

When the acceleration Ap is equal to or greater than the threshold value TH (Yes in S1202), the second setting unit <NUM> sets the suppression current Ic described above to the target current It (S1203).

Meanwhile, when the acceleration Ap is less than the threshold value TH (No in S1202), the first setting unit <NUM> acquires the speed Vp calculated by the Vp calculation unit <NUM>, and sets the value calculated based on the acquired speed Vp and the control map illustrated in <FIG> to the target current It (S1204).

By controlling the damping force of the damping device <NUM> as such, the control device <NUM> may suppress with high accuracy the suspension going into the most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy.

As described above, the suspension device <NUM> includes the suspension including the damping device <NUM> that damps the force generated between the vehicle body <NUM> and the wheels. The suspension device <NUM> includes a second setting unit <NUM> as an example of the damping force control unit that, when the acceleration Ap of the suspension in the extension direction is equal to or greater than a threshold value TH as an example of the predetermined value determined in advance, increases the damping force of the damping device <NUM> to be greater than when the acceleration Ap is less than a threshold value TH. The suspension device <NUM> includes a threshold setting unit <NUM> as an example of the predetermined value setting unit that sets the threshold value TH so that the threshold value TH is decreased as the stroke amount Rp is decreased. According to the suspension device <NUM>, it is possible to suppress with high accuracy the suspension from going into most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy. When the acceleration Ap is less than the threshold value TH, the damping force of the damping device <NUM> is decreased to be smaller than when the acceleration Ap is equal to or greater than the threshold value TH, so that it is possible to suppress the deterioration of the ride comfort caused by performing control to suppress the most extended state.

The suspension device <NUM> includes a suspension including a damping device <NUM> which damps the force generated between the vehicle body <NUM> and the wheels, and a first setting unit <NUM> as an example of the first control unit that controls the damping force using the speed Vp in the extension direction of the suspension. The suspension device <NUM> includes a determination unit <NUM> that determines whether the suspension goes into the most extended state, from the first damping force according to the control of the first setting unit <NUM> (the damping force according to the target current It set by the first setting unit <NUM>). The suspension device <NUM> includes the second setting unit <NUM> as an example of the second control unit that controls the damping force to be greater than the first damping force when the determination unit <NUM> determines that the suspension goes into the most extended state. The suspension device <NUM> includes a threshold setting unit <NUM> as an example of the predetermined value setting unit that sets the threshold value TH so that the threshold value TH is decreased as the stroke amount Rp is decreased. According to the suspension device <NUM>, it is possible to suppress with high accuracy the suspension going into the most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy. When the acceleration Ap is less than the threshold value TH, the damping force of the damping device <NUM> is decreased to be smaller than when the acceleration Ap is equal to or greater than the threshold value TH, so that it is possible to suppress the deterioration of the ride comfort caused by performing the control to suppress going into the most extended state.

<FIG> is a diagram illustrating a schematic configuration of a recording medium <NUM>. The recording medium <NUM> is a non-transitory computer readable recording medium storing a program P2 that causes a computer to implement the function of controlling the damping force of the damping device <NUM>.

As illustrated in <FIG>, the recording medium <NUM> stores a program P2.

The program P2 has a first setting function <NUM>.

The program P2 further has a threshold setting function <NUM> of setting the threshold value TH and a determination function <NUM> of determining, using the threshold value TH, whether the suspension goes into the most extended state under the damping force of the damping device <NUM> according to the target current It set by the first setting function <NUM>.

The program P2 has a second setting function <NUM> of setting the target current It to be supplied to the solenoid of the damping force control valve <NUM> when the determination function <NUM> determines that goes into the most extended state.

The threshold setting function <NUM> is a module that implements the function of the threshold setting unit <NUM> illustrated in <FIG>.

As described above, the recording medium <NUM> is a non-transitory computer readable recording medium which records a program P2 that causes a computer to implement the function of controlling the damping force of the damping device <NUM>. When the acceleration Ap of the suspension including the damping device <NUM> in the extension direction is equal to or greater than the threshold value TH as an example of the predetermined value determined in advance, the recorded program P2 causes the computer to implement the second setting function <NUM> as an example of the function of increasing the damping force of the damping device <NUM> to be greater than when the acceleration Ap is less than the threshold value TH. The recorded program P2 causes the computer to implement the threshold setting function <NUM> of setting the threshold value TH so that the threshold value TH is decreased as the stroke amount Rp is decreased.

The recorded program P2 causes the computer to implement the first control function <NUM> as an example of the first setting function of controlling the damping force of the damping device <NUM> using the speed Vp of the suspension including the damping device <NUM> in the extension direction. The recorded program P2 causes the computer to implement the determination function <NUM> as an example of the function of determining whether the suspension goes into the most extended state, under the first damping force according to the control of the first setting function <NUM>. The recorded program P2 causes the computer to implement the second setting function <NUM> as an example of the second control function of controlling the damping force to be greater than the first damping force when it is determined that the suspension goes into the most extended state.

In the present example, the determination function <NUM> may determine that the suspension goes into the most extended state when the acceleration Ap is equal to or greater than the threshold value TH. Then, the recorded program P2 causes the computer to implement a threshold setting function <NUM> of setting the threshold value TH so that the threshold value TH is decreased as the stroke amount Rp is decreased.

The motorcycle <NUM> is different from the motorcycle <NUM> in that a setting unit <NUM> is provided instead of the setting unit <NUM>. More specifically, the setting unit <NUM> is different from the setting unit <NUM> in that a second setting unit <NUM> is provided instead of the second setting unit <NUM>. Hereinafter, differences from the motorcycle <NUM> will be described. In the motorcycle <NUM> and the motorcycle <NUM>, components having the same shape and function are denoted by the same reference numerals, and a detailed description thereof will be omitted.

As illustrated in <FIG>, the motorcycle <NUM> includes a control device <NUM> that controls the damping force of the damping devices 21d and 22d. A suspension device <NUM> according to the present invention is a device including suspensions (the suspension <NUM> and the suspension <NUM>) and a control device <NUM>.

As illustrated in <FIG>, the setting unit <NUM> includes a first setting unit <NUM> and a determination unit <NUM>.

The setting unit <NUM> includes a second setting unit <NUM> that sets the target current It to be supplied to the solenoid of the damping force control valve <NUM> when the determination unit <NUM> determines that goes into the most extended state.

<FIG> is a schematic diagram of a control map representing an example of the relationship between the acceleration Ap and the target current It.

The second setting unit <NUM> sets a target current It according to the acceleration Ap.

As described above, the greater the acceleration Ap, the more likely the suspension goes into the most extended state (the stroke amount Rp is the minimum). Therefore, the second setting unit <NUM> sets the target current It to be greater as the acceleration Ap is increased so as to increase the damping force to suppress the most extended state with high accuracy. Meanwhile, even when the acceleration Ap is equal to or greater than the predetermined value, the suspension is less likely to go into the most extended state as the acceleration Ap is decreased. Therefore, the second setting unit <NUM> sets the target current It to be smaller as the acceleration Ap is decreased so as to reduce the damping force when it is less likely to go into the most extended state, in order to suppress the deterioration of the ride comfort caused by performing the control for suppressing the most extended state.

For example, the second setting unit <NUM> substitutes the acceleration Ap into the control map, illustrated in <FIG> representing the relationship between the acceleration Ap and the target current It, which is heuristically generated and recorded in the ROM to calculate the target current It. In the control map illustrated in <FIG>, when the acceleration Ap is equal to or greater than a predetermined maximum value Apx, the target current It is set to be the suppression current Ic. When the acceleration Ap is equal to or less than a predetermined minimum value Apn, the target current It is set to be a predetermined minimum current In. When the acceleration Ap is greater than the minimum value Apn and smaller than the maximum value Apx, the target current It is set to increase from the minimum current In to the suppression current Ic as the acceleration Ap is increased. Note that, it may be illustrated that the minimum value Apn is <NUM> and the maximum value Apx is <NUM>. The minimum current In may be exemplified as a current greater than the target current It set by the first setting unit <NUM> (for example, a current greater than the predetermined current It2), and a current smaller than the suppression current Ic.

The setting unit <NUM> determines whether the acceleration Ap is equal to or greater than a predetermined value (S1701). It is processing in which the determination unit <NUM> acquires the acceleration Ap calculated by the Ap calculation unit <NUM>, and determines whether the acquired acceleration Ap is equal to or greater than a predetermined value.

When the acceleration Ap is equal to or greater than the predetermined value (Yes in S1701), the second setting unit <NUM> sets the target current It (S1702). It is the processing in which the second setting unit <NUM> acquires the acceleration Ap calculated by the Ap calculation unit <NUM>, and sets the target current It to the value calculated by using the acquired acceleration Ap and the control map illustrated in <FIG>, for example.

Meanwhile, when the acceleration Ap is less than the predetermined value (No in S1701), the first setting unit <NUM> sets the target current It (S1703). It is the processing in which the first setting unit <NUM> acquires the acceleration Vp calculated by the Vp calculation unit <NUM>, and sets, for example, the value calculated by using the acquired acceleration Vp and the control map illustrated in <FIG> to the target current It.

By controlling the damping force of the damping device <NUM> as such, the control device <NUM> may suppress with high accuracy the suspension in the most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy.

As described above, the control device <NUM> may increase the damping force as the acceleration Ap is increased. That is, the target current It calculated by the second setting unit <NUM> may be set to be greater as the acceleration Ap is increased, when the acceleration Ap is greater than the minimum value Apn and less than the maximum value Apx (when the acceleration Ap is greater than the first predetermined value Apn and less than the second predetermined value Apx, which is greater than the first predetermined value Apn). Thereby, according to the control device <NUM>, it is possible to suppress the deterioration of the ride comfort caused by performing the control to suppress the most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy.

As described above, the suspension device <NUM> includes the suspension including the damping device <NUM> that damps the force generated between the vehicle body <NUM> and the wheel. The suspension device <NUM> includes a second setting unit <NUM> as an example of the damping force control unit that, when the acceleration Ap of the suspension in the extension direction is equal to or greater than a predetermined value determined in advance, increases the damping force of the damping device <NUM> to be greater than when the acceleration Ap is less than a predetermined value. Then, the second setting unit <NUM> may increase the target current It as the acceleration Ap is increased. That is, the second setting unit <NUM> may increase the damping force as the acceleration Ap is greater. As a result, according to the suspension device <NUM>, it is possible to suppress with high accuracy the suspension in the most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy. According to the suspension device <NUM>, when the acceleration Ap is small, the target current It is reduced to reduce the damping force, so that it is possible to suppress the deterioration of the ride comfort caused by performing the control to suppress the most extended state.

The suspension device <NUM> includes a suspension including a damping device <NUM> which damps the force generated between the vehicle body <NUM> and the wheels, and a first setting unit <NUM> as an example of the first control unit that controls the damping force using the speed Vp in the extension direction of the suspension. The suspension device <NUM> includes a determination unit <NUM> that determines whether the suspension goes into the most extended state, under the first damping force according to the control of the first setting unit <NUM> (the damping force according to the target current It set by the first setting unit <NUM>). The suspension device <NUM> includes the second setting unit <NUM> as an example of the second control unit that controls the damping force to be greater than the first damping force when the determination unit <NUM> determines that the suspension goes into the most extended state. Then, the second setting unit <NUM> may increase the target current It as the acceleration Ap is increased. That is, the second setting unit <NUM> may increase the damping force as the acceleration Ap is greater. As a result, according to the suspension device <NUM>, it is possible to suppress with high accuracy the suspension in the most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy. According to the suspension device <NUM>, when the acceleration Ap is small, the target current It is reduced to reduce the damping force, so that it is possible to suppress the deterioration of the ride comfort caused by performing the control to suppress the most extended state.

<FIG> is a diagram illustrating a schematic configuration of a recording medium <NUM>. The recording medium <NUM> is a non-transitory computer readable recording medium storing a program P3 that causes a computer to implement the function of controlling the damping force of the damping device <NUM>.

As illustrated in <FIG>, the recording medium <NUM> stores a program P3. The program P3 has a first setting function <NUM> and a determination function <NUM>.

The program P3 has a second setting function <NUM> of setting the target current It to be supplied to the solenoid of the damping force control valve <NUM> when the determination function <NUM> determines that the suspension goes into the most extended state.

As described above, the recording medium <NUM> is a non-transitory computer readable recording medium which records a program P3 that causes a computer to implement the function of controlling the damping force of the damping device <NUM>. When the acceleration Ap of the suspension including the damping device <NUM> in the extension direction is equal to or greater than a predetermined value, the recorded program P3 causes the computer to implement the second setting function <NUM> as an example of the function of increasing the damping force of the damping device <NUM> to be greater than when the acceleration Ap is less than the predetermined value.

In the present example, the second setting function <NUM> may increase the target current It as the acceleration Ap is increased.

The recorded program P3 implements, on a computer, a first setting function <NUM> as an example of the first control function of controlling, in the extension direction of the suspension including the damping device <NUM>, a damping force of the damping device <NUM> using a speed Vp. The recorded program P3 implements, on the computer, a determination function <NUM> as an example of the function of determining whether the suspension goes into the most extended state under the first damping force according to the control of the first setting function <NUM>. When determining that the suspension goes into the most extended state, the recorded program P3 implements, on the computer, a second setting function <NUM> as an example of the second control function of controlling the damping force to be greater than the first damping force.

As illustrated in <FIG>, the setting unit <NUM> includes a first setting unit <NUM>, a threshold setting unit <NUM>, and a determination unit <NUM>.

The setting unit <NUM> includes a second setting unit <NUM> that sets the target current It to be supplied to the solenoid of the damping force control valve <NUM> when the determination unit <NUM> determines that the suspension goes into the most extended state. The second setting unit <NUM> is configured the same as the second setting unit <NUM> illustrated in <FIG>.

The setting unit <NUM> first sets a threshold value TH (S2101). It is the same processing as the S1201 described above. Then, the setting unit <NUM> determines whether the acceleration Ap is equal to or greater than the threshold value TH set in S2101 (S2102). It is the same processing as the S1202 described above.

When the acceleration Ap is equal to or greater than the threshold value TH (Yes in S2102), the second setting unit <NUM> sets the target current It (S2103). It is the processing in which the second setting unit <NUM> acquires the acceleration Ap calculated by the Ap calculation unit <NUM>, and sets the target current It to the value calculated by using the acquired acceleration Ap and the control map illustrated in <FIG>, for example.

Meanwhile, when the acceleration Ap is less than the threshold value TH (No in S2102), the first setting unit <NUM> sets the target current It (S2104). It is the same processing as the S1204 described above.

By controlling the damping force of the damping device <NUM> as such, the control device <NUM> can accurately suppress the suspension in the most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy.

Here, as in the second setting unit <NUM> of the control device <NUM>, the second setting unit <NUM> of the control device <NUM> may increase the damping force as the acceleration Ap is increased. Thereby, according to the control device <NUM>, it is possible to suppress the deterioration of the ride comfort caused by performing the control for suppressing the most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy.

As described above, the suspension device <NUM> includes a suspension including a damping device <NUM> which damps the force generated between the vehicle body <NUM> and the wheels, and a second setting unit <NUM> as an example of the damping force control unit that, when the acceleration Ap of the suspension in the extension direction is equal to or greater than a threshold value TH as an example of the predetermined value determined in advance, increases the damping force of the damping device <NUM> to be greater than when the acceleration Ap is less than a threshold value TH. Then, the second setting unit <NUM> may increase the target current It as the acceleration Ap is increased. That is, the second setting unit <NUM> may increase the damping force as the acceleration Ap is increased. As a result, according to the suspension device <NUM>, it is possible to suppress with high accuracy the suspension in the most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy. By reducing the damping force when the acceleration Ap is small, the suspension device <NUM> suppresses the deterioration of the ride comfort due to the control for suppressing the most extended state.

The suspension device <NUM> includes a suspension including a damping device <NUM> which damps the force generated between the vehicle body <NUM> and the wheels, and a first setting unit <NUM> as an example of the first control unit that controls the damping force using the speed Vp in the extension direction of the suspension. The suspension device <NUM> includes a determination unit <NUM> that determines whether the suspension goes into the most extended state, from the first damping force according to the control of the first setting unit <NUM> (the damping force according to the target current It set by the first setting unit <NUM>). The suspension device <NUM> includes the second setting unit <NUM> as an example of the second control unit that controls the damping force to be greater than the first damping force when the determination unit <NUM> determines that the suspension goes into the most extended state. Then, the second setting unit <NUM> may increase the target current It as the acceleration Ap is increased. That is, the second setting unit <NUM> may increase the damping force as the acceleration Ap is increased. As a result, according to the suspension device <NUM>, it is possible to suppress with high accuracy the suspension in the most extended state. As a result, it is possible to increase the degree of freedom in setting the damping force of the suspension with high accuracy. By reducing the damping force when the acceleration Ap is small, the suspension device <NUM> suppresses the deterioration of the ride comfort due to the control for suppressing the most extended state.

<FIG> is a diagram illustrating a schematic configuration of a recording medium <NUM>. The recording medium <NUM> is a non-transitory computer readable recording medium storing a program P4 that causes a computer to implement the function of controlling the damping force of the damping device <NUM>.

As illustrated in <FIG>, the recording medium <NUM> stores a program P4. The program P4 has a first setting function <NUM>, a threshold setting function <NUM>, a determination function <NUM>, and a second setting function <NUM>.

As described above, the recording medium <NUM> is a non-transitory computer readable recording medium which records a program P4 that causes a computer to implement the function of controlling the damping force of the damping device <NUM>. When the acceleration Ap of the suspension including the damping device <NUM> in the extension direction is equal to or greater than the threshold value TH as an example of the predetermined value determined in advance, the recorded program P4 causes the computer to implement the second setting function <NUM> as an example of the function of increasing the damping force of the damping device <NUM> to be greater than when the acceleration Ap is less than the threshold value TH. The recorded program P4 causes the computer to implement the threshold setting function <NUM> of setting the threshold value TH so that the threshold value TH is decreased as the stroke amount Rp is decreased. In the recorded program P4, the second setting function <NUM> may increase the damping force as the acceleration Ap is increased.

The recorded program P4 implements, on a computer, a first setting function <NUM> as an example of the first control function of, in the extension direction of the suspension including the damping device <NUM>, controlling the damping force of the damping device <NUM> using the speed Vp. The recorded program P4 implements, on the computer, a determination function <NUM> as an example of the function of determining whether the suspension goes into the most extended state under the first damping force according to the control of the first setting function <NUM>. When determining that the suspension goes into the most extended state, the recorded program P4 implements, on the computer, a second setting function as an example of the second control function <NUM> of controlling the damping force to be greater than the first damping force.

Claim 1:
A suspension device (<NUM>, <NUM>, <NUM>, <NUM>) comprising:
a suspension (<NUM>, <NUM>) including a damping device (21d, 22d, <NUM>) which is configured to damp a force generated between a vehicle body (<NUM>) and a wheel (<NUM>, <NUM>) of a motorcycle (<NUM>, <NUM>, <NUM>, <NUM>);
a stroke sensor (<NUM>, <NUM>,<NUM>) that is configured to detect a stroke amount (Rp, Rpf, Rpr) of the suspension (<NUM>, <NUM>), the stroke amount (Rp, Rpf, Rpr) being an amount of displacement from a reference extension state of the suspension (<NUM>, <NUM>) with respect to an extension direction of the suspension (<NUM>, <NUM>),
a control device (<NUM>, <NUM>, <NUM>, <NUM>) that is configured to receive output signals (sf, sr) from the stroke sensor (<NUM>, <NUM>, <NUM>), and comprising a damping force control unit (<NUM>, <NUM>, <NUM>, <NUM>) that is configured to, when an acceleration (Ap) of a change in the stroke amount (Rp, Rpf, Rpr) is equal to or greater than a predetermined value determined in advance, increase a damping force of the damping device (21d, 22d, <NUM>) so as to be greater than the damping force generated when the acceleration (Ap) of the change in the stroke amount (Rp, Rpf, Rpr) is less than the predetermined value; and
a predetermined value setting unit (<NUM>) that is configured to set the predetermined value such that the predetermined value is decreased as the stroke amount (Rp, Rpf, Rpr) is decreased, characterised in that
the control device (<NUM>, <NUM>, <NUM>, <NUM>) includes a calculation unit (<NUM>), and the calculation unit (<NUM>) has a Rp calculation unit (<NUM>), Vp calculation unit (<NUM>), and a Ap calculation unit (<NUM>),
the Rp calculation unit (<NUM>) is configured to calculate the stroke amount (Rp, Rpf, Rpr) using the signals (sf, sr) from the stroke sensor (<NUM>, <NUM>, <NUM>),
the Vp calculation unit (<NUM>) is configured to calculate a speed (Vp, Vpf, Vpr) by calculating an amount of change in the stroke amount (Rp, Rpf, Rpr) calculated by the Rp calculation unit (<NUM>) per unit time, and
the Ap calculation unit (<NUM>) is configured to calculate an acceleration (Ap, Apf, Apr) by calculating an amount of change in the speed (Vp, Vpf, Vpr) calculated by the Vp calculation unit (<NUM>) per unit time.