CN104229005B - Driver characteristics judgment means and include the Straddle type vehicle of described driver characteristics judgment means - Google Patents

Abstract

The present invention provides the driver characteristics judgment means that can judge the characteristic of the driver handling Straddle type vehicle and the Straddle type vehicle including described driver characteristics judgment means.The characteristic of driver is judged by the turning motion of Straddle type vehicle according to the result performance handled Straddle type vehicle as driver, no matter therefore, it is possible to individual other manipulation of driver, operation and carry out stable characteristic judgement.In addition, based in the vehicle state quantity on the incline direction that the corner of Straddle type vehicle is exerted one's influence, vehicle state quantity in pitch orientation, back rake angle at least any one etc. vehicle state quantity the curving score of vehicle is calculated, therefore, it is possible to assess the turning performance of Straddle type vehicle suitably.

Description

Driver characteristics judgment means and include the Straddle type vehicle of described driver characteristics judgment means

The application is based on Application No. 201080059425.X, filing date November 22 in 2010 Day, apply for artificial Yamaha Engine Co., Ltd, invention entitled " driver characteristics judgment means And include the Straddle type vehicle of described driver characteristics judgment means " invention propose division Shen Please.

Technical field

The driver characteristics that the present invention relates to judge the characteristic of pilot control Straddle type vehicle is sentenced Disconnected device and include the Straddle type vehicle of described driver characteristics judgment means.

Background technology

In the past, handling the characteristic judgment means of operator of vehicle is with the driver of carriage as object Device.As with the driver of carriage for Properties of Objects judgment technology, exist based on steering angle The characteristic carrying out along with the change of time scoring of degree judges.In the case of carriage, corner It is subject to arranging of the steering operation amount determined by driver, the most only uses steering angle to drive The characteristic of member judges.

(1) technology of patent documentation 1

In the characteristic judgment means that patent documentation 1 is recorded, disclose following vehicle steering and support Device: described driving assist apparatuses and methods detects the steering operation amount of driver, thus from curve In the prediction turned to turn to component detect three kinds of steering states, i.e. turn right, turn left, Keep a kind of state in steering angle, then, according to the quantity of the steering state detected, it is judged that drive The steering characteristic turned to of the person of sailing, according to the control of this characteristic changing vehicle.

(2) technology of patent documentation 2

In the characteristic judgment means that patent documentation 2 is recorded, disclose driving performance detection device and car Motion control device, described driving performance detection device and vehicle motion control device detect and turn to Operation and speed, the yaw-rate of vehicle, it is judged that according to the speed discrepancy of front and back wheel and with counter steering phase When counter steering angle between the vehicle attitude obtained of dependency relation adjust characteristic, according to yaw-rate and The detour that the dependency relation between steering locking angle during turning is obtained is by characteristic, according to speed With the corresponding characteristic of running at high speed that the dependency relation between steering locking angle is obtained, and according to these through sentencing The control of disconnected characteristic changing vehicle.

(3) technology of patent documentation 3

In the characteristic judgment means that patent documentation 3 is recorded, disclose following skill estimation unit: Described skill estimation unit detects steering angle, speed, yaw-rate, throttle operation and braking Operation, obtains target trajectory and the actual path of vehicle according to these detected values, and according to their difference Skill is judged.

Patent documentation 1: Japanese Patent Laid-Open 2006-232172 publication；

Patent documentation 2: Japanese documentation patent the 3269296th；

Patent documentation 3: Japanese documentation patent the 3516986th.

Summary of the invention

But, in the technology that patent documentation 1,2 and 3 is recorded, it is assumed that the corner of vehicle is only subject to To the impact of steering operation, therefore, at corner in addition to steering operation, the most significantly by other Corner direction on impact Straddle type vehicle in, patent documentation 1,2 and 3 record technology Handling characteristic can not be assessed suitably.

So, the technology that patent documentation 1～3 is recorded only is affected by steering angle with the corner of vehicle Premise.This is because: above-mentioned patent documentation mainly using the driver of carriage as object, and In carriage, it is believed that the corner of vehicle is almost arranged by the steering operation of driver completely.

The present invention completes the most in view of the above problems, its object is to, it is provided that a kind of driver characteristics Judgment means and the Straddle type vehicle including described driver characteristics judgment means, wherein, described driving The handling characteristic of the driver handling Straddle type vehicle can be carried out by member's characteristic judgment means accurately Judge.

In order to achieve the above object, the present invention uses following composition.

That is, the driver characteristics judgment means that the invention described in first aspect present invention relates to is a kind of right The handling characteristic of the driver handling Straddle type vehicle carries out the driver characteristics judgment means judged, its Including:

First vehicle-state detector, described first vehicle-state detector detects Straddle type vehicle At least one in yaw-rate and yaw angle；

Turning motion detection unit, described turning motion detection unit judges that Straddle type vehicle has carried out fortune of turning Dynamic interval；

Second vehicle-state detector, the inclination to Straddle type vehicle of the described second vehicle-state detector At least one in rate, side tilt angle, pitch rate, luffing angle and hypsokinesis angle detects；

Component separated part, interval at the turning motion determined by described turning motion detection unit, described Component separated part will be examined by described first vehicle-state detector and described second vehicle-state detector The detected value measured is divided into correction component and anticipation component, and wherein, described correction component is that frequency is higher than The high fdrequency component of pre-determined threshold frequency, described anticipation component is that frequency is less than described threshold frequency Low frequency component；

Vehicle stabilization characteristic judging part, the described vehicle stabilization characteristic judging part vehicle to Straddle type vehicle Stability characteristic (quality) judges；And

Turning performance judging part, the turning performance of Straddle type vehicle is carried out by described turning performance judging part Judge,

Described vehicle stabilization characteristic judging part has intact stability score calculating part, described vehicle stabilization Property score calculating part is based on by the detection to described first vehicle-state detector of the described component separated part Value carries out separating the obtained ratio revising component and anticipation component, calculates the car of Straddle type vehicle Stability score,

Described turning performance judging part has curving score calculating part, described curving score calculating part Carry out separating institute to the detected value of described second vehicle-state detector based on by described component separated part The anticipation component obtained, calculates the curving score of Straddle type vehicle.

According to the driver characteristics judgment means that the present invention relates to, described driver characteristics judgment means bag Include the first vehicle that at least one in the yaw-rate to Straddle type vehicle or yaw angle detects State detector, therefore, it is possible to detect the angle of the yaw direction of Straddle type vehicle or angular velocity Data.It addition, turning motion detection unit has carried out the turning motion district of turning motion to Straddle type vehicle Between judge.Driver characteristics judgment means includes the roll rate to Straddle type vehicle, angle of heel At least one in degree, pitch rate, luffing angle and hypsokinesis angle carries out the second vehicle detected State detector, therefore, it is possible to the vehicle state quantity detected on the incline direction of Straddle type vehicle, bow Face upward the vehicle state quantity on direction or hypsokinesis angle is waited for bus a quantity of state.

In component separated part, examined by the first vehicle-state detector and the second vehicle-state detector The data measured are divided into correction component and anticipation component, and wherein, described correction component is that frequency is higher than The high fdrequency component of pre-determined threshold frequency, described anticipation component is that frequency is less than the low of threshold frequency Frequency component.The vehicle stabilization characteristic of Straddle type vehicle is judged by vehicle stabilization characteristic judging part.This Outward, vehicle stabilization characteristic judging part has intact stability score calculating part, and described intact stability obtains The detected value of the first vehicle-state detector is carried out point by point calculating part based on by described component separated part Ratiometer from the correction component obtained with anticipation component calculates the intact stability of Straddle type vehicle and obtains Point.It addition, the turning performance of Straddle type vehicle is judged by turning performance judging part.Additionally, turn Curved characteristic judging part has curving score calculating part, and described curving score calculating part is based on passing through State component separated part the detected value of the second vehicle-state detector is separated obtained prediction to divide Amount, calculates the curving score of Straddle type vehicle.

So, according to the saddle ride type car of result performance Straddle type vehicle handled as driver Turning motion the handling characteristic of driver is judged, therefore can to any driver Carry out stable characteristic to judge.It addition, the yaw of change based on the corner showing Straddle type vehicle The stability of vehicle is calculated by the vehicle state quantity in direction, therefore, it is possible to suitably to saddle ride type Intact stability in the turning motion of vehicle is estimated.

It addition, the vehicle-state that the first vehicle-state detector will be utilized to detect with threshold frequency for boundary Amount is divided into correction component and anticipation component, and ratiometer based on them calculates intact stability score, Therefore, it is possible to the assessment of the unrelated stability of the size that carries out the turning with vehicle.

Additionally, based on the vehicle-state on the incline direction that the corner of Straddle type vehicle is exerted one's influence In amount, vehicle state quantity in pitch orientation, back rake angle at least any one etc. vehicle state quantity come right The curving score of vehicle calculates, therefore, it is possible to the turning assessing Straddle type vehicle suitably is special Property.It addition, the vehicle-state that the second vehicle-state detector will be utilized to detect with threshold frequency for boundary Amount is divided into correction component and anticipation component, and calculates the curving of turning vehicle based on anticipation component Point, therefore, it is possible to be suitably carried out the curving assessment of vehicle.

So, by calculating intact stability score and curving score, it is possible to quantitatively to driver Handling characteristic judge.It addition, by intact stability and curving both on the basis of to driving The handling characteristic of the person of sailing judges, therefore, it is possible to prevent the erroneous judgement of characteristic, it is possible to the most right The characteristic of driver judges.

In above-mentioned invention preferably:

Described turning motion detection unit based on yaw-rate, yaw angle, roll rate, side tilt angle, turn At least one in angle and GPS track has carried out the interval of turning motion to Straddle type vehicle Judge.Thereby, it is possible to correctly the interval carrying out turning motion is judged.

In above-mentioned invention preferably:

Described vehicle stabilization characteristic judging part has intact stability score comparing section, described vehicle stabilization Property score comparing section is by the judgment standard to described intact stability score Yu described vehicle stabilization characteristic Value is compared to judge described vehicle stabilization characteristic,

Described turning performance judging part has curving score comparing section, described curving score comparing section By the determining reference value of described curving score Yu described turning performance is compared to described turn Curved characteristic judges.

Thus, vehicle stabilization characteristic judging part has intact stability score comparing section.Intact stability Score comparing section is by comparing the determining reference value of intact stability score with vehicle stabilization characteristic The stability characteristic (quality) of Straddle type vehicle is judged.It addition, turning performance judging part has curving Score comparing section.Curving score comparing section is by the judgment standard to curving score Yu turning performance Value is compared to judge the turning performance of Straddle type vehicle.Thus, by vehicle stabilization Property score and curving score compare with respective determining reference value, it is possible to for intact stability Handling characteristic divided rank with curving relevant driver.

In above-mentioned invention preferably:

Described intact stability score calculating part calculates institute based on revising the component ratiometer with anticipation component Stating intact stability score, wherein, described correction component and described anticipation component are by utilizing described point Amount separated part is to described first vehicle-state detector and the detected value of described second vehicle-state detector Carry out separating and obtain.

Thus, described intact stability score calculating part is based on the ratiometer revising component and anticipation component Calculate the intact stability score of Straddle type vehicle, wherein, described correction component and described anticipation component By utilizing component separated part that described first vehicle-state detector and described second vehicle-state are detected The detected value of device carries out separating acquisition.Except showing the vehicle-state of the yaw direction of the change of corner Outside amount, by the vehicle state quantity on incline direction, the vehicle state quantity in pitch orientation, Yi Jihou At least any one vehicle state quantity such as grade in inclination angle is also divided into revising component and anticipation component, and based on institute The ratiometer stating correction component and described anticipation component calculates intact stability score, and therefore precision enters one Step improves.

Thus, in the judgement of stability characteristic (quality), except the horizontal stroke that the corner of Straddle type vehicle is exerted one's influence Outside the vehicle state quantity in pendulum direction, by the vehicle state quantity on incline direction, the car in pitch orientation In quantity of state and back rake angle at least any one etc. vehicle state quantity be also divided into revising component and pre- Survey component, and ratio based on described correction component with described anticipation component judges, therefore can Enough with higher precision, the characteristic of the intact stability of Straddle type vehicle is judged.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes steering angle sensor, described steering angle sensor Steering angle is detected, and

In the turning motion interval determined by described turning motion detection unit, described component separated part The detected value utilizing described steering angle sensor to detect is divided into correction component and anticipation component,

Described curving score calculating part calculates described curving score based on anticipation component, wherein, Described anticipation component is by utilizing described component separated part to described second vehicle-state detector and described The detected value of steering angle sensor carries out separating acquisition.

Thus, driver characteristics judgment means includes steering angle sensor, therefore, it is possible to detect and turn To angle.By component separated part, the steering angle detected is divided into correction component and prediction point Amount.Curving score calculating part is based on utilizing the second vehicle-state detector and steering angle sensor inspection The anticipation component of the detected value measured calculates the curving score of turning vehicle, therefore, it is possible to higher Precision turning performance is judged.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes vehicle speed sensor, and described vehicle speed sensor is to saddle ride type The speed of vehicle detects, and

Described curving score calculating part calculates described curving score based on anticipation component and speed meter, Wherein, described anticipation component is by utilizing described component separated part to described second vehicle-state detector Detected value carry out separate obtain, described speed obtains by utilizing described vehicle speed sensor to carry out detection ?.

Thus, driver characteristics judgment means includes vehicle speed sensor, therefore, it is possible to detect saddle ride type The speed of vehicle.Curving score calculating part is based on the inspection utilizing the second vehicle-state detector to detect The anticipation component of measured value and the speed meter utilizing vehicle speed sensor to detect calculate the curving of turning vehicle Score.By using speed as the key element that turning performance is judged, it is possible to make speed be reflected in In the judgement of turning performance, it is possible to higher precision, turning performance is judged.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes curve size estimator, described curve size estimator The size of the bent curvature of a curve running over Straddle type vehicle is estimated, and

Described vehicle stabilization characteristic judging part has the first curve size correction unit, described first spline Described intact stability score is corrected by very little correction unit according to the size of described bent curvature of a curve,

Described turning performance judging part has the second curve size correction unit, described second curve dimension correcting Described curving score is corrected by positive portion according to the size of described bent curvature of a curve.

Thus, the size of the bent curvature of a curve that Straddle type vehicle is travelled by curve size estimator is carried out Estimate.The first curve size correction unit that vehicle stabilization characteristic judging part is had is according to the song estimated Intact stability score is corrected by the size of curvature of a curve.Turning performance judging part had Two curve size correction units carry out school according to the size of the bent curvature of a curve estimated to curving score Just.By according to the size of bent curvature of a curve estimated to intact stability score and curving score It is corrected, it is possible to the characteristic carrying out the driver that the impact that the size of curvature causes obtains reducing is sentenced Disconnected.The intact stability score calculated even with the curve that curvature is different and curving score, It also is able to the score to utilizing each curve to calculate compare.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes pavement state estimator, described pavement state estimator The pavement state being travelled Straddle type vehicle is estimated, and

Described vehicle stabilization characteristic judging part has first via surface state correction unit, described first via planar Described intact stability score is corrected by state correction unit according to the described pavement state estimated,

Described turning performance judging part has the second pavement state correction unit, described second pavement state school Described curving score is corrected by positive portion according to the described pavement state estimated.

Thus, the pavement state that Straddle type vehicle is travelled by pavement state estimator is estimated.Car First via surface state correction unit は that stability characteristic (quality) judging part is had is according to the described road surface estimated Intact stability score is corrected by state.The second pavement state that turning performance judging part is had Curving score is corrected by correction unit according to the pavement state estimated.Intact stability score and Curving score is corrected according to pavement state, therefore, it is possible to carry out the impact that pavement state causes Obtain the characteristic judgement of the driver reduced.The vehicle calculated even with different pavement states Stability score and curving score, it is also possible to the score utilizing each pavement state to calculate is compared Relatively.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes overall characteristic judging part, described overall characteristic judging part Based on described intact stability score and described turn inside diameter score, comprehensive comprehensive to driver Characteristic judges.

Thus, overall characteristic judging part is based on intact stability score, turn inside diameter score both The comprehensive overall characteristic of driver is judged by the different score of benchmark.Multiple benchmark is utilized to judge The characteristic of driver be concentrated to a benchmark and be estimated, therefore, it is possible to easily carry out different The comparison of the characteristic between people or same person.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes:

Data base, described data base is to past and present described intact stability score and described turn Curved property score stores；And

Characteristic passage calculating part, described characteristic passage calculating part uses the information of described data base to obtain and drives The passage of the handling characteristic of the person of sailing.

Thus, in data base storage have in the past and the intact stability score of present driver, Curving score.Characteristic passage calculating part uses the information being stored in data base to obtain the behaviour of driver The passage of vertical characteristic.Obtained the passage of the characteristic of driver by the information using the past, be not only able to Understand present characteristic information, additionally it is possible to understand the change of characteristic from past driver till now.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes property sort portion, and described property sort portion is based on described The handling characteristic of driver is referred to pre-determined by intact stability score and described curving score In multiple classifications one.

Thus, property sort portion is based on intact stability score and curving score, by the behaviour of driver Vertical characteristic is referred in pre-determined multiple classification, and therefore driver will appreciate that the manipulation of self is special The tendency of property.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes:

Driver's motion detecting section, described driver's motion detecting section detects head or the eye of driver At least one in the pitch rate of ball, luffing angle, yaw-rate and yaw angle；And

Head steady characteristic judging part, the described head steady characteristic judging part head steady to driver Characteristic judges,

In the turning motion interval determined by described turning motion detection unit, described component separated part The detected value utilizing described driver's motion detecting section to detect is divided into correction component and anticipation component,

Described head steady characteristic judging part has head steady score calculating part, and described head steady obtains Calculating part is divided based on by described component separated part, the detected value of described driver's motion detecting section to be carried out Separating the ratio revising component and anticipation component obtained, the head steady calculating driver obtains Point.

Thus, driver characteristics judgment means includes driver's motion detecting section, therefore, it is possible to detect In the head of driver or the pitch rate of eyeball, luffing angle, yaw-rate and yaw angle At least one.In the turning motion interval determined by turning motion detection unit, component separated part will The detected value utilizing driver's motion detecting section to detect is divided into correction component and anticipation component.Head is steady Determine characteristic judging part the stability characteristic (quality) of the head of driver is judged.Additionally, head steady characteristic Judging part has head steady score calculating part, and described head steady score calculating part is based on revising component With the head steady score that the ratiometer of anticipation component calculates driver, wherein, described correction component and The detected value of driver's motion detecting section is separated by described correction component by utilizing component separated part Obtain.

By the head steady characteristic of driver is judged, it is possible to whether the head of driver is located In steady statue it is thus possible to the situation of surrounding is held and also serves as the benchmark that characteristic judges.Pass through Also head stability characteristic (quality) is judged outside vehicle stabilization characteristic with turning performance, it is possible to prevent by mistake Judge, judge the handling characteristic of driver accurately.So, by intact stability score and Head steady score is also calculated, it is possible to quantitatively, more precisely to driving outside curving score The handling characteristic of the person of sailing judges.

In above-mentioned invention preferably:

Described head steady characteristic judging part has head steady score comparing section, described head steady Property score comparing section is by the judgment standard to described head steady score Yu described head steady characteristic Value is compared to judge the described head steady characteristic of driver.

Thus, head steady characteristic judging part has head steady score comparing section.Head steady Score comparing section is by comparing the determining reference value of head stability score with head steady characteristic The head steady characteristic of driver is judged.Thus by head stability score and head The determining reference value of stability characteristic compares, it is possible to for the driver's relevant to head steady Handling characteristic divided rank.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes overall characteristic judging part, described overall characteristic judging part Obtain based on described intact stability score, described turn inside diameter score and described head steady In Fen at least the comprehensive overall characteristic of driver is judged by the two.

Thus, overall characteristic judging part based on intact stability score, turn inside diameter score and The comprehensive overall characteristic of driver is sentenced by the different score of head steady score these three benchmark Disconnected.The characteristic utilizing the driver that multiple benchmark judges is concentrated to a benchmark and is estimated, therefore Can easily carry out the comparison of between different people or in same person characteristic.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes:

Data base, described data base to past and present described intact stability score, described turn Curved property score and described head steady score store；And

Characteristic passage calculating part, described characteristic passage calculating part uses the information of described data base to obtain and drives The passage of the handling characteristic of the person of sailing.

Thus, in data base storage have in the past and the intact stability score of present driver, Curving score and head steady score.Characteristic passage calculating part uses and is stored in data base Information obtain the passage of handling characteristic of driver.By using information in the past to obtain driver's The passage of characteristic, be not only able to understand present characteristic information, additionally it is possible to understands from the past till now The change of the characteristic of driver.

In above-mentioned invention preferably:

Described driver characteristics judgment means includes property sort portion, and described property sort portion is based on described In intact stability score, described curving score and described head steady score at least two The handling characteristic of driver is referred to one in pre-determined multiple classification by person.

Thus, property sort portion is based on intact stability score, curving score and head steady Property score at least both, the handling characteristic of driver is referred to pre-determined multiple classification In, therefore driver will appreciate that the tendency of handling characteristic of self.

Moreover, it relates to either side institute in including in terms of first aspect present invention is to the 16th The Straddle type vehicle of the driver characteristics judgment means stated.According to the Straddle type vehicle that the present invention relates to, Easily the handling characteristic of driver can be judged.

It addition, the present invention is not limited in above-mentioned embodiment, but can also be configured to also to have with Under element.

In above-mentioned invention, preferably:

Described driver characteristics judgment means includes proficiency level's division, described proficiency level's division Result of calculation based on described characteristic passage calculating part, returns the proficiency level of the handling characteristic of driver Class to one of pre-determined multiple classifications.

In above-mentioned invention, preferably:

Described driver characteristics judgment means includes characteristic prompting apparatus, and described characteristic prompting apparatus is to driver Vision, audition, the sensory organ of at least one in sense of touch point out described vehicle stabilization characteristic to judge At least one in the judged result of portion and described turning performance judging part.

Thus, the sensation of characteristic prompting apparatus at least one in the vision of driver, audition, sense of touch Organ is pointed out in the judged result of described vehicle stabilization characteristic judging part and described turning performance judging part At least one.Can point out each judged result to driver, therefore the handling characteristic of driver becomes bright Really, it is possible to provide the information relevant with the raising handling technical ability to driver.

In above-mentioned invention, preferably:

Described driver characteristics judgment means includes characteristic prompting apparatus, and described characteristic prompting apparatus is to driver Vision, audition, the sensory organ of at least one in sense of touch point out described vehicle stabilization characteristic to judge In the judged result of portion, described turning performance judging part and described head steady characteristic judging part At least one.

In above-mentioned invention, preferably: described driver characteristics judgment means includes characteristic prompting apparatus, The sensory organ of described characteristic prompting apparatus at least one in the vision of driver, audition, sense of touch carries Show that described vehicle stabilization characteristic judging part, described turning performance judging part and described overall characteristic are sentenced At least one in the judged result in disconnected portion.Additionally, it is preferred that: described driver characteristics judgment means bag Include characteristic prompting apparatus, described characteristic prompting apparatus in the vision of driver, audition, sense of touch at least one The sensory organ of person points out described vehicle stabilization characteristic judging part, described turning performance judging part, described In the judged result of head steady characteristic judging part and described overall characteristic judging part at least one Person.

In above-mentioned invention, preferably: described driver characteristics judgment means includes characteristic prompting apparatus, The sensory organ of described characteristic prompting apparatus at least one in the vision of driver, audition, sense of touch carries Show described vehicle stabilization characteristic judging part, described turning performance judging part and described property sort portion Judged result or classification results at least one.Additionally, it is preferred that: described driver characteristics judges Device includes characteristic prompting apparatus, and described characteristic prompting apparatus is in the vision of driver, audition, sense of touch The sensory organ of at least one points out described vehicle stabilization characteristic judging part, described turning performance to judge Portion, described head steady characteristic judging part and the judged result in described property sort portion or classification knot At least one in Guo.

In above-mentioned invention, preferably: described driver characteristics judgment means includes characteristic prompting apparatus, The sensory organ of described characteristic prompting apparatus at least one in the vision of driver, audition, sense of touch carries Show that described vehicle stabilization characteristic judging part, described turning performance judging part and described proficiency level divide At least one in the judged result in class portion or classification results.Additionally, it is preferred that: described driver characteristics Judgment means includes characteristic prompting apparatus, and described characteristic prompting apparatus is to the vision of driver, audition, sense of touch In the sensory organ of at least one point out described vehicle stabilization characteristic judging part, described turning performance to sentence Disconnected portion, described head steady characteristic judging part and the judged result of described proficiency level's division or At least one in classification results.

In above-mentioned invention, preferably:

Described head steady characteristic judging part has the 3rd curve size correction unit, described 3rd spline Described head steady score is corrected by very little correction unit according to the size of described bent curvature of a curve.

In above-mentioned invention, preferably:

Described head steady characteristic judging part has the 3rd pavement state correction unit, described 3rd road surface shape Described curving score is corrected by state correction unit according to the described pavement state estimated.

Here, except operator can on the device riding over saddle carry out vehicle by bus Outside, " Straddle type vehicle " also comprises operator can bipod carry out Scooter-type by bus together Vehicle.

Invention effect

According to the driver characteristics judgment means that the present invention relates to, according to as driver to saddle ride type car The characteristic of driver is sentenced by the turning motion of the Straddle type vehicle of result performance carrying out handling Disconnected, no matter therefore, it is possible to individual other manipulation of driver, operation and carry out stable characteristic judgement.Separately Outward, the vehicle state quantity of the yaw direction of change based on the corner showing Straddle type vehicle calculates Intact stability score, therefore, it is possible to the vehicle assessed suitably in the turning action of Straddle type vehicle is steady Qualitative.It addition, the vehicle shape that the first vehicle-state detector will be utilized to detect with threshold frequency for boundary State amount is divided into correction component and anticipation component, and ratiometer based on them calculates intact stability and obtains Point, therefore, it is possible to the assessment of the unrelated stability of the size that carries out the turning with vehicle.

Additionally, based on the vehicle-state on the incline direction that the corner of Straddle type vehicle is exerted one's influence In amount, vehicle state quantity in pitch orientation, back rake angle at least any one etc. vehicle state quantity come right The curving score of vehicle calculates, therefore, it is possible to the turning assessing Straddle type vehicle suitably is special Property.It addition, the vehicle-state that the second vehicle-state detector will be utilized to detect with threshold frequency for boundary Amount is divided into correction component and anticipation component, and calculates the curving of turning vehicle based on anticipation component Point, therefore, it is possible to be suitably carried out the curving assessment of vehicle.

Accompanying drawing explanation

Fig. 1 shows the automotive bicycle of the driver characteristics judgment means including that embodiment relates to The side view generally comprised；

Fig. 2 shows the functional block diagram of the composition of the driver characteristics judgment means that embodiment relates to；

Fig. 3 is the curve chart that the turning motion relating to embodiment judges to illustrate；

Fig. 4 is that the component of the detected value relating to embodiment separates the curve chart illustrated；

Fig. 5 shows the merit of the composition of vehicle stabilization characteristic judging part that embodiment relates to and periphery thereof Can block diagram；

Fig. 6 shows the curve chart of the low frequency component that embodiment relates to；

Fig. 7 shows the curve chart of the high fdrequency component that embodiment relates to；

Fig. 8 shows the functional block of the composition of turning performance judging part that embodiment relates to and periphery thereof Figure；

Fig. 9 shows the curve chart of the low frequency component that embodiment relates to；

Figure 10 shows the bent curvature of a curve before the curve dimension correction that embodiment relates to and obtains with curving The curve chart of the relation divided；

Figure 11 shows the bent curvature of a curve through curve dimension correction that embodiment relates to curving The curve chart of the relation divided；

Figure 12 shows the pass of the surface friction coefficient before the correction that embodiment relates to and curving score The curve chart of system；

Figure 13 shows the pass of the surface friction coefficient after the correction that embodiment relates to and curving score The curve chart of system；

Figure 14 shows the merit of the composition of head steady characteristic judging part that embodiment relates to and periphery thereof Can block diagram；

Figure 15 shows the curve chart of the low frequency component of the head pitch rate that embodiment relates to；

Figure 16 shows the curve chart of the high fdrequency component of the head pitch rate that embodiment relates to；

Figure 17 shows the figure of the overall characteristic score of each driver that embodiment relates to；

Figure 18 shows the figure of the property sort table classified according to various scores that embodiment relates to；

Figure 19 is the curve chart calculating characteristic passage that embodiment relates to；

Figure 20 shows the explanatory diagram of the proficiency level of the driver that embodiment relates to；

Figure 21 is the flow chart that the characteristic that embodiment relates to judges；

Figure 22 is the flow chart that the characteristic that embodiment relates to judges；

Figure 23 is the flow chart that the characteristic that embodiment relates to judges；

Figure 24 is the flow chart that the characteristic that embodiment relates to judges；

Figure 25 is the curve chart that the turning motion relating to variation judges to illustrate；

Figure 26 is that the turning motion utilizing GPS track to carry out relating to variation judges to illustrate Explanatory diagram；

Figure 27 is that the turning motion utilizing GPS track to carry out relating to variation judges to illustrate Explanatory diagram；

Figure 28 shows the scattergram of the characteristic passage that variation relates to；

Figure 29 shows the scattergram of the characteristic passage that variation relates to；

Figure 30 shows the scattergram of the characteristic passage that variation relates to.

Symbol description:

1: automotive bicycle；

31: driver characteristics judgment means；

32: judge control portion；

33: gyroscope；

34: steering angle sensor；

35: stroke sensor；

36: wheel speed sensor；

38: gyroscope；

41: monitor；

43: curve size estimator；

47: pavement state estimator；

52: turning motion detection unit；

53: component separated part；

54: intact stability characteristic judging part；

55: curving characteristic judging part；

56: head steady characteristic judging part；

57: overall characteristic judging part；

58: property sort portion；

59: data base portion；

60: characteristic passage calculating part；

75: intact stability score calculating part；

76,82: curve size correction unit；

77,83: pavement state correction unit；

78: intact stability score comparing section；

84: curving score comparing section；

90: head steady score comparing section.

Detailed description of the invention

Hereinafter, referring to the drawings embodiments of the invention are illustrated.

Here, as including the Straddle type vehicle of driver characteristics judgment means that embodiment relates to, lift Illustrate as a example by going out automotive bicycle.Additionally, in the following description, with left and right be front and back with On the basis of the travel direction of automotive bicycle.

1. the generally comprising of automotive bicycle

Fig. 1 shows the automotive bicycle of the driver characteristics judgment means including that embodiment relates to The side view generally comprised.Automotive bicycle 1 includes vehicle frame 2.Upper front end at vehicle frame 2 is arranged Turn to standpipe 3.Steering spindle 4 runs through insertion and turns to standpipe 3.Handle 5 and the upper end of steering spindle 4 Link.Brake bar (omitting diagram) it is configured with on the right side of handle 5.

The bottom of a pair telescopic front fork 7 and steering spindle 4 links.Thus, front fork 7 passes through hands The rotation process shake of handle 5.Front-wheel 8 is rotatably mounted to the bottom of front fork 7.Logical Crossing the flexible of front fork 7, the vibrations of front-wheel 8 are absorbed.It addition, brake 10 is arranged on front fork 7 Bottom, and by the operation of brake bar, the rotation of front-wheel 8 is braked.Upper at front-wheel 8 Portion, front wheel housing 11 is fixed on front fork 7.

Fuel tank 15 and thin slice 16 are maintained at the top of vehicle frame 2 in tandem mode.In combustion The position of the lower section of batch can 15, engine 17 and variator 18 are maintained on vehicle frame 2.Variator 18 include the drive shaft 19 exporting the power utilizing engine 17 to produce.Drive sprocket 20 and drive shaft 19 link.

Swing arm 21 can be joltily supported on the lower rearward side of vehicle frame 2.Driven sprocket 22 and trailing wheel 23 It is rotatably supported on the rearward end of swing arm 21.Chain 24 is suspended at drive sprocket 20 with driven Between sprocket wheel 22.Utilize power that engine 17 produces via variator 18, drive shaft 19, actively Sprocket wheel 20, chain 24 and driven sprocket 22 are passed to trailing wheel 23.It addition, to automatic two-wheeled ECU (Electronic Control Unit, the Electronic Control list that the action in each portion of car 1 is controlled Unit) 25 it is arranged on the bottom of thin slice 16.

2. the composition of driver characteristics judgment means

It follows that see figures.1.and.2, the composition to driver characteristics judgment means 31 illustrates. Fig. 2 shows the functional block diagram of the composition of driver characteristics judgment means.Driver characteristics judges dress Put 31 to have and judge control portion 32, gyroscope 33, steering angle sensor 34, stroke sensor 35, the wheel speed sensor 36 being arranged on front-wheel 8, the gyroscope being arranged on safety helmet 37 38, radio signal senders 39, wireless signal receiver 40, monitor 41, curve size estimation Portion 43 and pavement state estimator 47.

Judge that control portion 32 judges the handling characteristic of driver.Details is aftermentioned.Gyroscope 33 is joined Put in fuel tank 15.Gyroscope 33 to automotive bicycle 1 in yaw, inclination and pitching etc. Angular velocity and angle on three direction of principal axis detect.That is, the yaw of automotive bicycle 1 is detected Rate, yaw angle, roll rate, side tilt angle, pitch rate and luffing angle.Above three axle Angular velocity and angle detected value by from gyroscope 33 to judging that control portion 32 carries.Gyroscope 33 Be equivalent to the first vehicle-state detector in the present invention and the second vehicle-state detector.

Steering angle sensor 34 is arranged on the upper end of front fork 7, and to the corner as steering spindle 4 Steering angle detect.The detected value of steering angle passes through steering angle sensor 34 by sentencing Disconnected control portion 32 carries.

Stroke sensor 35 is arranged on front fork 7, and detects the stroke of front fork 7.This Outward, the back rake angle of front fork 7 is calculated based on described stroke.The back rake angle calculated is passed by stroke Sensor 35 is by judging that control portion 32 exports.When front fork 7 is by the suspension retraction of hydraulic type, OK Journey sensor 7 can also calculate back rake angle by the oil pressure of detection suspension.Stroke sensor 7 is suitable The second vehicle-state detector in the present invention.

The rotary speed of front-wheel 8 is detected by wheel speed sensor 36.Additionally, based on described Rotary speed calculates the speed of automotive bicycle 1.The speed calculated passes through wheel speed sensor 36 by judging that control portion 32 exports.

When turning, if the handle 5 that driver makes automotive bicycle 1 turns to, the most automatic two Yaw angle, yaw-rate and the steering angle of wheel car 1 change.If it addition, driver The car body making automotive bicycle 1 tilts to the center position of curve, then the angle of heel of automotive bicycle 1 Degree and roll rate change.If it addition, before arrival curve travels or curve driving During, operator brake bar thus automotive bicycle 1 slow down, then front fork 7 shrinks. By the contraction of this front fork 7, the luffing angle of automotive bicycle 1, pitch rate and hypsokinesis angle Change.

These yaw angle, yaw-rate, side tilt angle, roll rate, angles of pitch of automotive bicycle 1 Degree, pitch rate, hypsokinesis angle, steering angle and speed are referred to as vehicle state quantity.

The pitch rate of safety helmet 37 is detected by gyroscope 38.It is to say, by driver The pitch rate of head detect, it is possible to detect driver handle during head position The variation put.The detected value of the pitch rate of the head of driver is delivered to wireless communication from gyroscope 38 Number transmitter 39, and it is sent to automotive bicycle 1 by radio signal senders 39.Through sending out The detected value of the pitch rate of the head of the driver sent wireless is subject to by be arranged on automotive bicycle 1 Letter device 40 received, and by from wireless trusted device 40 to judging that control portion 32 carries.In this enforcement In example, the pitch rate of the head of driver is detected, but it is also possible to the detection angle of pitch Degree, yaw-rate or yaw angle.These pitch rates of the head of driver, luffing angle, horizontal stroke Slew Rate and yaw angle are referred to as head movement amount.

Monitor 41 is provided in the leading section of vehicle frame 2 and shows that utilization judges control to driver The device of the handling characteristic of the driver that portion 32 processed judges.Monitor 41 except handling characteristic it Outward, also road information, relevant automotive bicycle 1 various from ECU25 are provided to driver Information.Monitor 41 is equivalent to the characteristic prompting apparatus in the present invention.

The spline little progress row of the curve that automotive bicycle 1 runs over is estimated by curve size estimator 44 Meter.Curve size estimator 44 has the GPS that the position to automotive bicycle 1 measures (Global Positioning System, global positioning system) 44, traveling to automotive bicycle 1 The record of position carries out the memorizer 45 of keeping and based on keeping traveling note in memorizer 45 Record calculates the track thus the trajectory calculation portion 46 of estimation curve size that automotive bicycle 1 runs over.

GPS44 is arranged in the front of fuel tank 15.Memorizer 45 and trajectory calculation portion 46 can with sentence Disconnected control portion 32 is provided separately, it is also possible to be assembled into the inside judging control portion 32.Trajectory calculation portion 46 tracks based on the GPS during the turning driving taken care of in memorizer 45, calculate this rail The radius of polygonal circumscribed circle that mark is described.Thus, automotive bicycle 1 can calculate traveling The bent curvature of a curve of the curve crossed, and can estimation curve size.The bent curvature of a curve quilt calculated To judging that control portion 32 carries.The computational methods of above-mentioned bent curvature of a curve are an example, therefore Estimation curve size can also be utilized other methods to.

Pavement state estimator 47 has the phase photographed in the road surface in the front to automotive bicycle 1 Machine 48 and according to the pavement image road pavement state utilizing camera 48 to be photographed carry out image recognition, And estimate the image processing part 49 of the coefficientoffrictionμ on road surface.Camera 48 is arranged in front wheel housing 11 Leading section.Image processing part 49 can with judge that control portion 32 is provided separately, it is also possible to be assembled into and sentence The inside in disconnected control portion 32.

The pavement image that camera 48 is photographed by image processing part 49 is identified, it is judged that road conditions are Moisten or be dried, whether just on snowfall, Shi highway, be in cross-country status.With through figure Each pavement state that picture identifies accordingly, sets pre-determined coefficient of friction for each pavement state μ.The coefficientoffrictionμ being set is by judging that control portion 32 carries.So, the friction system of road pavement The estimation of number μ can also use additive method to estimate.For example, it is also possible to by the shake of tire Move and measure the coefficientoffrictionμ estimating road surface.

3. judge the composition in control portion

It follows that the composition judging control portion 32 is described in detail.

As in figure 2 it is shown, gyroscope 38, curve size estimator 43 and pavement state estimator 47 via gyroscope 33, steering angle sensor 34, stroke sensor 35, wheel speed sensor 36, radio signal senders 39 and wireless signal receiver 40 and the input judging control portion 32 Connect.Monitor 41 is connected with the output judging control portion 32.

Judge control portion 32 have memorizer 51, turning motion detection unit 52, component separated part 53, Vehicle stabilization characteristic judging part 54, turning performance judging part 55, head steady characteristic judging part 56, Overall characteristic judging part 57, property sort portion 58, data base portion 59, characteristic passage calculating part 60, And proficiency level's division 61.

It is input to judge the pitch rate detected value of the head of the vehicle state quantity in control portion 32 and driver Taken care of the most respectively in memorizer 51.

3.1 turning motions judge

In turning motion detection unit 52, it is judged that whether automotive bicycle 1 implements as driver The turning motion of object that judges of characteristic.Here, turning motion refers to the yaw of automotive bicycle 1 Rate is more than or equal to certain certain value and continues a certain regular time more than.When being unsatisfactory for above-mentioned condition Time, turning motion detection unit 52 does not judge that automotive bicycle 1 implements turning motion.

With reference to Fig. 3.Fig. 3 is the explanatory diagram that turning motion is judged by turning motion detection unit 52. Turning motion detection unit 52 is sentenced according to the absolute value of the detected value of the yaw-rate inputted by gyroscope 33 Determine turning motion interval Y.That is, if there is a detected value from the yaw-rate of automotive bicycle 1 Absolute value exceeded the time point of threshold X start to this value again less than the time point of threshold X Interval, and the persistent period in this interval is more than or equal to minimum persistent period Y_min, then turning motion Detection unit 52 judges that this interval is as turning motion interval Y.

The time point having exceeded threshold value at a detected value from the yaw-rate of automotive bicycle 1 start to This value does not continue minimum persistent period Y again less than the interval till the time point of threshold X_minSituation Under, turning motion detection unit 52 does not judge that this interval is interval as turning motion.The value of threshold X is permissible Kind according to automotive bicycle 1 sets suitably.It addition, said method is to use yaw-rate to sentence The method determining turning motion interval Y, but it is also possible to use yaw angle to judge turning motion district Between Y.When using yaw angle to judge turning motion interval Y, it is possible to utilizing time diffusion etc. After angle-data is changed into yaw-rate data, judge turning motion interval Y as described above.

With reference to Fig. 5.Fig. 5 shows the function of the composition of vehicle stabilization characteristic judging part and periphery thereof Block diagram.When turning motion detection unit 52 determined turning motion interval Y, turning motion interval Y In the detected value of the keeping each vehicle state quantity in memorizer 51 by defeated to component separated part 53 Send.Component separated part 53 is made up of low pass filter 65 and band filter 66.Pass through low-pass filtering Device 65 and band filter 66, each detected value being delivered to component separated part 53 is carried out at filtering Reason.

With reference to Fig. 4, the component separation of each detected value is illustrated.Fig. 4 is that the component to detected value divides From the curve chart illustrated.As the vehicle shape that can carry out component separation in component separated part 53 State amount, has enumerated yaw-rate, yaw angle, roll rate, side tilt angle, pitch rate, the angle of pitch Degree, steering angle, hypsokinesis angle.It addition, divide as component can be carried out in component separated part 53 From head movement amount, enumerated head pitch rate, head luffing angle, head yaw-rate, head Yaw angle.Say here, the component carried out by Filtering Processing is separated as a example by roll rate Bright.

The data 71 of the whole frequency range being input to the roll rate of component separated part 53 pass through low pass filter 65 and band filter 66 be carried out Filtering Processing.In low pass filter 65, frequency is higher than having The high fdrequency component of the threshold frequency Fc1 of pre-determined value is removed.Thus, low frequency component 72 leads to Cross low pass filter 65 to be output.

In band filter 66, the low frequency component less than or equal to threshold frequency Fc1 be removed and Noise component(s) more than or equal to threshold frequency Fc2 is removed.Thus, high fdrequency component 73 is logical by band Wave filter 66 is output.Frequency component more than or equal to threshold frequency Fc2 is noise component(s), therefore Judge unrelated with the characteristic of driver.

The data being sequentially arranged of the keeping each detected value in memorizer 51 pass through low pass filtered Ripple device 65 and band filter 66 are carried out Filtering Processing, and thus, each detected value is separated into low frequency Component and high fdrequency component.The threshold frequency Fc1 preferably separated low frequency component and high fdrequency component is Value between 0.2 (Hz)～5 (Hz).Threshold value frequency can also be set according to wanting the characteristic judged Rate Fc1.Such as, when judging the characteristic of driver, can be so that the difference of abecedarian and practician Become the mode of maximum to set threshold frequency Fc1.Preferably threshold frequency Fc2 is 2 (Hz)～is more than Value equal to 10 (Hz).But, threshold frequency Fc2 must be greater than the value of threshold frequency Fc1.

3.2 vehicle stabilization characteristics judge

Vehicle stabilization characteristic judging part 54 has intact stability score calculating part 75, curve dimension correcting Positive portion 76, pavement state correction unit 77 and intact stability score comparing section 78.

In intact stability score calculating part 75, input has by the logical filter of low pass filter 65 and band Ripple device 66 has carried out each detection in the turning motion interval Y of the automotive bicycle 1 of Filtering Processing Value.Here, enumerate input have yaw-rate, roll rate, pitch rate situation as an example.

With reference to Fig. 6.Fig. 6 is using low-frequency range g (t) of the yaw-rate in interval Y of turning as one The curve chart that example is shown.The each ratio so separated with threshold frequency Fc1 for boundary Low-frequency range g (t) is construed to the anticipation component that driver carries out turning.It addition, it is as it is shown in fig. 7, high Frequency range f (t) is construed to the correction component being corrected when driver turns.Fig. 7 be with The curve that high band f (t) of the yaw-rate in interval Y of turning is shown as an example Figure.

Each in yaw-rate, roll rate, pitch rate, utilizes following (1) formula, calculates The integrated value of the anticipation component going out each ratio turned in interval Y and the time per unit revising component Meansigma methods.Use obtain each with revise value corresponding to component remove with obtain each divide with prediction The value that amount is corresponding, using the value obtained as yaw-rate turned in interval Y, roll rate, with And the stability indicator (Syaw, Sroll, Spitch) of pitch rate.

Formula 1:

$S=\frac{\frac{1}{Y}\∫\left|g\left(t\right)\right|dt}{\frac{1}{Y}\∫\left|f\left(t\right)\right|dt}\mathrm{...}\left(1\right)$

For curve driving, when driver has carried out agile operation, low-frequency range g (t) absolute The integrated value of value is big, and the integrated value of the absolute value of high band f (t) is little.When the process at curve driving In when carrying out small and correction operation drastically, the integrated value of the absolute value of high band f (t) increases, The integrated value of the absolute value of low-frequency range g (t) correspondingly reduces.So, exhausted with low-frequency range g (t) Ratio to the integrated value of value with the integrated value of the absolute value of high band f (t) is index, it is possible to song The characteristic of the driver in line driving process is scored.

By calculate automotive bicycle 1 turning motion in yaw-rate, roll rate, pitch rate low The ratio of the integrated value of the absolute value of frequency range g (t) and high band f (t), it is possible to calculate automatic two The intact stability index of wheel car 1.Additionally, according to following (2) formula, be calculated as above-mentioned The intact stability score of the weighted linear sum of three stability indicators (Syaw, Sroll, Spitch) S_v.In (2) formula, k₁、k₂、k₃It it is weight coefficient.It addition, except weighted linear and in addition to, Can also utilize long-pending, long-pending and or conditional probability etc. calculate intact stability score S_v。

Formula 2:

S_v=k₁·S_yaw+k₂·S_roll+k₃·S_pitch…(2)

Curve size correction unit 76 is according to the curve size pair estimated by curve size estimator 43 Intact stability score S calculated_vIt is corrected.Estimated by curve size estimator 43 Curve size is taken care of in memorizer 51.When turning motion detection unit 52 judges automotive bicycle 1 When having carried out turning motion, the curve size in the Y of turning motion interval by from memorizer 51 to curve Dimension correction portion 76 carries.

Generally, bent curvature of a curve is the biggest, and the degree of crook of curve is the biggest, therefore driver Manipulation becomes difficulty.Therefore, for the curve driving turned every time, from memorizer 51 Read curve size, according to the curve size estimated to intact stability score S_vIt is corrected.By This, though intact stability score S obtained when turning over different curve sizes_vBetween, because bent The impact that linear dimension is caused reduces, it is possible to compare.

Pavement state correction unit 77 is relative with the pavement state utilizing pavement state estimator 47 to estimate Answer ground to intact stability score S that have passed through curvature correction_vIt is corrected.Estimated by pavement state The pavement state that portion 47 estimates is taken care of in memorizer 51.When turning motion detection unit 52 judges When automotive bicycle 1 has carried out turning motion, the pavement state in turning motion interval is by from memorizer 51 carry to pavement state correction unit 77.

Generally, surface friction coefficient μ is the biggest, rubbing between front-wheel 8 and trailing wheel 23 and road surface The effect of wiping power is the biggest, and therefore the manipulation for automotive bicycle 1 of driver becomes easy.Work as road Face coefficientoffrictionμ hour, front-wheel 8 and trailing wheel 23 easily slide during turning, and therefore grasp Indulge and become difficulty.So, in intact stability score S_vAnd there is certain between surface friction coefficient μ Relation.Therefore, at turning motion interval Y, intact stability is obtained by the pavement state according to estimating Divide S_vIt is corrected.Thus, the intact stability score of the impact reducing pavement state is calculated S_v。

Intact stability score S corrected by pavement state correction unit 77_vBy to comprehensive special Property judging part 57, property sort portion 58, data base portion 59, monitor 41 and intact stability Score comparing section 78 exports.

Intact stability score comparing section 78 has carried out correction to according to curve size and pavement state Intact stability score S_vCompare with the reference value of pre-determined vehicle stabilization characteristic.Thus, Can hierarchically judge the vehicle stabilization characteristic of driver.The result judged is output to monitor 41, and it is shown to driver.Driver is special by understanding the vehicle stabilization hierarchically judged Property, it is possible to confirm self to carry out vehicle stabilization characteristic during turning motion intuitively.

3.3 turning performances judge

With reference to Fig. 8.Fig. 8 shows the functional block of the composition of turning performance judging part and periphery thereof Figure.Turning performance judging part 55 have curving score calculating part 81, curve size correction unit 82, Pavement state correction unit 83 and curving score comparing section 84.

Curving score calculating part 81 inputs to have and has carried out Filtering Processing by low pass filter 65 Automotive bicycle 1 turning motion interval Y in each detected value.Turn to here, enumerate input The situation of angle, side tilt angle, luffing angle or hypsokinesis angle is as an example.It addition, automatic two The speed of the turning motion interval Y of wheel car 1 is input to curving score calculating part from memorizer 51 81。

With reference to Fig. 9.Fig. 9 shows the curve chart of the low frequency component of detection angles.Each angle low Frequency range g (t) is construed to driver and carries out the anticipation component of curve driving.For curve driving, when driving When the person of sailing has carried out agile handle operation, the amount of the absolute value of low-frequency range g (t) is big.Additionally, use Different values can be used for various angles in the threshold frequency fc1 of the frequency separation of each ratio.

Formula 3:

$T=\frac{1}{Y}\∫\left|f\left(t\right)\right|dt...\left(3\right)$

For each angle in steering angle, side tilt angle, luffing angle or hypsokinesis angle, utilize Above-mentioned (3) formula, calculates the integrated value of the time per unit of the anticipation component turned in interval Y Meansigma methods.Using the value that calculates as steering angle, side tilt angle, luffing angle or back rake angle Curving index T of degree_steer, T_roll, T_{pitch(caster)}。

It addition, calculate, according to the speed meter of the interval Y that turns of input, the average speed turned in interval Y T_speed.Utilize following (4) formula, calculate the curving index of these three and the weighting of average speed Linear and as curving score T_v.In (4) formula, k₄、k₅、k₆、k₇It it is weight coefficient.Separately Outward, except weighted linear and in addition to, it is also possible to utilize long-pending, long-pending and or conditional probability etc. calculate Curving score T_v。

Formula 4:

T_v=k₄·T_steer+k₅·T_roll+k₆·T_{pitch(caster)}+k₇·T_speed…(4)

Curve size correction unit 82 is according to the curve size pair estimated by curve size estimator 43 Curving score T calculated_vIt is corrected.When turning motion detection unit 52 judges automotive bicycle 1 when having carried out turning motion, the curve size in the Y of turning motion interval by from memorizer 51 to curve Dimension correction portion 82 carries.It addition, when determining turning motion interval Y every time, from memorizer 51 read curve size, according to the curve size estimated to curving score T_vIt is corrected.By This, though curving score T obtained when turning over different curve sizes_vBetween, because spline Very little caused impact reduces, it is possible to compare.

With reference to Figure 10 to curving score T according to spline little progress row_vCorrection illustrate.Figure 10 curve charts showing the bent curvature of a curve before correction and the relation of curving score.In advance, by Test driver is turned with various curvature under conditions of only curvature difference, thus to calculating What kind of curving score T_vSample.

It follows that calculate sampled bent curvature of a curve and curving score T_vBetween relation.Figure The slope of the straight line P shown in 10 shows bent curvature of a curve and curving score T_vRelation.Pass through Implement the translational correction making this slope be zero, as shown in figure 11, it is possible to obtain and reduce curve Curving score T of the impact of curvature_v.Figure 11 shows the song of the curve through curve dimension correction Rate and curving score T_vThe curve chart of relation.Sampled bent curvature of a curve and curving score T_vBetween relation be stored in curve size correction unit 82.Carried out by curve size correction unit 76 Intact stability score S_vCorrection also similarly carried out.

Pavement state correction unit 83 is relative with the pavement state estimated by pavement state estimator 47 Answer ground to curving score T through curvature correction_vIt is corrected.Estimated by pavement state estimator 47 The pavement state counted out is taken care of in memorizer 51.When turning motion detection unit 52 judges automatic two Wheel car 1 has been when having carried out turning motion, the pavement state in turning motion interval by from memorizer 51 to Pavement state correction unit 83 carries.

Generally, curving score T_vWith surface friction coefficient μ, there is certain relation.Therefore, For the curve driving turned every time, according to the pavement state estimated to curving score T_v It is corrected.With reference to the Figure 12 curving score T to carrying out according to pavement state_vCorrection say Bright.Figure 12 shows the curve of the surface friction coefficient before correction and the relation of curving score Figure.In advance, test driver turn under conditions of only pavement state difference, thus right Calculate what kind of curving score T_vSample.

It follows that calculate sampled surface friction coefficient μ and curving score T_vBetween pass System.The slope of the straight line Q shown in Figure 12 shows surface friction coefficient μ and curving score T_vIt Between relation.The translational correction making this slope be zero by enforcement, as shown in figure 11, it is possible to obtain Curving score T of the impact of surface friction coefficient μ must be reduced_v.Figure 13 shows through road surface The surface friction coefficient μ of state correction and curving score T_vThe curve chart of relation.Sampled road Face coefficientoffrictionμ and curving score T_vBetween relation be stored in pavement state correction unit 83 In.Intact stability score S carried out by pavement state correction unit 77_vCorrection also similarly entered OK

Curving score T corrected by pavement state correction unit 83_vSentenced to overall characteristic Disconnected portion 57.Property sort portion 58.Data base portion 59.Monitor 41.And curving score compares Portion 84 exports.

The turning to being corrected according to curve size and pavement state of the curving score comparing section 84 Property score T_vCompare with the reference value of pre-determined turning performance.Thereby, it is possible to hierarchically Judge the turning performance of driver.The result judged is output to monitor 41, and is shown to drive Member.Driver is by understanding the turning performance hierarchically judged, it is possible to confirm certainly intuitively Body carries out turning performance during turning motion.

3.4 head steady scores calculate

With reference to Figure 14.Figure 14 shows the merit of the composition of head steady characteristic judging part and periphery thereof Can block diagram.Head steady characteristic judging part 56 has head steady score calculating part 87, spline Very little correction unit 88, pavement state correction unit 89 and head steady score comparing section 90.

In head steady score calculating part 87, input has by the logical filter of low pass filter 65 and band Ripple device 66 has carried out each detection in the turning motion interval Y of the automotive bicycle 1 of Filtering Processing Value.Here, enumerate the situation of the pitch rate inputting the head having driver as an example.

When two wheeler is turned, two wheeler self tilts to the center position of curve, therefore drives The head shake of member.When carriage is turned, driver inclines to the center position of curve hardly Tiltedly, therefore the shake of the head of driver is little.The shake of the head of the driver in two wheeler is according to driving The manipulation of the person of sailing self and different.Generally, along with driver becomes practician, driver's Small shake in the pitch orientation of head is little.

Even if carrying out identical turning, if driver is practician, then driver self can be to appearance The variation of gesture absorbs, thus suppresses the small shake of head.On the other hand, if driver is Abecedarian, then can not absorb the variation of the posture of self, thus head shakes minutely.

So, frequency characteristic is utilized the data being sequentially arranged of the pitch rate of head to be carried out point From.As shown in figure 15, low frequency component g (t) is construed to anticipation component, as shown in figure 16, and high frequency Component f (t) is construed to revise component.Figure 15 shows the song of the low frequency component of the pitch rate of head Line chart, Figure 16 shows the curve chart of the high fdrequency component of the pitch rate of head.Calculate turning area Between the meansigma methods of integrated value of time per unit of each component in Y.(5) formula institute described as follows Show, the value of the anticipation component gained obtained will be removed as an interval of turning with the component of revising obtained In head steady score H.

Formula 5:

$H=\frac{\frac{1}{Y}\∫\left|g\left(t\right)\right|dt}{\frac{1}{Y}\∫\left|f\left(t\right)\right|dt}\mathrm{...}\left(5\right)$

For curve driving, when driver agile change the posture of driver self time, the work of head Move and also become smooth and easy, thus the integrated value of the absolute value of low-frequency range g (t) is big, high band f (t) The integrated value of absolute value is little.During curve driving, when the posture of driver self becomes minutely During change, the activity of the head of driver also becomes small, and therefore the absolute value of high band f (t) is long-pending Score value increases, and the integrated value of the absolute value of low-frequency range g (t) correspondingly reduces.So, by with low The integrated value of the absolute value of frequency range g (t) with the ratio of the integrated value of the absolute value of high band f (t) is Index, it is possible to the head steady characteristic of the driver during curve driving is scored.

It follows that curve size correction unit 88 is according to the song estimated by curve size estimator 43 Head steady score H calculated is corrected by linear dimension.By curve size estimator 43 The curve size estimated is taken care of in memorizer 51.When turning motion detection unit 52 judges automatically When two wheeler 1 has carried out turning motion, the curve size in the Y of turning motion interval is by from memorizer 51 Carry to curve size correction unit 88.

For being judged to the curve driving of turning motion every time, from memorizer 51, read spline Very little, curve size enemy portion stability score H according to estimating is corrected.Even if turning over not With curve size time head steady score H that obtains between because the shadow that curve size is caused Ring and reduce, it is possible to compare.The method being corrected according to spline cun and curving score T_vThe correction of curve size identical.

Pavement state correction unit 89 is relative with the pavement state estimated by pavement state estimator 47 Head steady score H through curvature correction should be corrected ground.By pavement state estimator 47 pavement states estimated are taken care of in memorizer 51.When turning motion detection unit 52 judges certainly When dynamic two wheeler 1 has carried out turning motion, the pavement state in turning motion interval is by from memorizer 51 Carry to pavement state correction unit 89.

Head steady score H and surface friction coefficient μ have certain relation.Therefore, in fortune of turning In dynamic interval Y, according to the pavement state estimated, head stability score H is corrected.By This, calculate head steady score H of the impact reducing pavement state.Enter according to pavement state The method of row correction and curving score T_vThe correction of pavement state identical.

Head steady score H corrected by pavement state correction unit 89 is by comprehensive special Property judging part 57, property sort portion 58, data base portion 59, monitor 41 and head steady Score comparing section 90 exports.

Head steady score comparing section 90 is corrected according to curve size and pavement state The reference value of head steady score H and pre-determined head steady characteristic compare.By This, it is possible to hierarchically judge the head steady characteristic of driver.The result judged is output to monitor Device 41, and it is shown to driver.Driver is by understanding the head steady hierarchically judged Characteristic, it is possible to confirm self to carry out head steady characteristic during turning motion intuitively.

3.5 characteristics judge

Based on intact stability score S corrected through curve dimension correction and pavement state_v, curving Divide T_v, and head steady score H implement various characteristic judge.

According to the calculation process of following (6) formula, overall characteristic judging part 57 uses through curve size Correction and intact stability score S of pavement state correction_v, curving score T_v, and head steady Property score H calculate overall characteristic score G of the driver turned in interval Y.Following (6) in formula, k₈、k₉、k₁₀It it is weight coefficient.It addition, except weighted linear and in addition to, it is possible to With utilize long-pending, long-pending and or conditional probability etc. calculate overall characteristic score G.

Formula 6:

G=k₈·S_v+k₉·T_v+k₁₀·H…(6)

Overall characteristic score G is continuous print value, therefore uses this overall characteristic score G can not classification The overall characteristic of driver is judged by ground.Overall characteristic score G is that vehicle based on driver is steady Determine at least two in characteristic, turning performance, head steady characteristic and synthetically judge the spy of driver The value of property.Alternatively, it is also possible to as shown in Figure 17, threshold is set in overall characteristic score G Value, thus hierarchically overall characteristic is judged.Figure 17 is hierarchically comprehensive to each driver The figure that characteristic score is judged.

Property sort portion 58 is based on utilizing vehicle stabilization characteristic judging part 54, turning performance judging part 55 and the result of judgement that carries out of head steady characteristic judging part 56 at least two to driving The characteristic of member is classified.As an example of property sort, with reference to Figure 18.Figure 18 is by car Stability score S_v, curving score T_v, and head steady score H be each separated into three The property sort table of level.Categorized characteristic is being shown in monitor 41, and driver can be true Recognize the characteristic being referred to of self.

For being judged as the curve driving of turning motion every time, data base portion 59 is to utilizing vehicle stabilization Characteristic judging part 54, turning performance judging part 55, head steady characteristic judging part 56 and comprehensive Characteristic judging part 57 carries out judging obtained judged result and intact stability score S_v, turn Property score T_v, head steady score H, overall characteristic score G successively carry out keeping.That is, counting Have in the past according to storage in storehouse portion 59 and each characterization result of present driver.The characteristic of this storage Result is carried to characteristic passage calculating part 60.

Characteristic passage calculating part 60 calculates intact stability score S_v, curving score T_v, and Head steady score H and the respective passage of overall characteristic score G.Here, to comprehensive special The passage of property score G illustrates.As shown in figure 19, to take care of in data base portion 59, bag Overall characteristic score G being contained within certain time till now in past is dependent variable, with the unit interval T is independent variable, calculate shown in following (7) formula, utilize that young waiter in a wineshop or an inn's method derives linear Regression equation.Figure 19 is that characteristic is elapsed the curve chart calculated.Thus, when calculating with unit Between corresponding for t regression coefficient k.The size of described regression coefficient k shows the skilled journey of driver Degree.But, by the variance analysis (ANOVA) implementing to return for regression equation come with 5% aobvious The significance returned is verified by work property level.When recurrence does not has significance, if the value of k is 0。

Formula 7:

G=k t+a ... (7)

As shown in figure 20, the value of regression coefficient k is classified by pre-determined threshold value, by This, the proficiency level of the characteristic of driver is judged by proficiency level's division 61.Namely Say, by the value of regression coefficient k is compared with threshold value, it is possible to judge the handling characteristic of driver Improve, stagnate or have dropped.Figure 20 shows the proficiency level's of driver Explanatory diagram.The judgement of proficiency level can also be carried out for each driver.Similarly, about vehicle Stability score S_v, curving score T_v, and head steady score H, it is also possible to according to each Score the proficiency level of the characteristic of driver is judged.Proficiency level through judging each is shown Showing on monitor 41, therefore driver for turning every time, can understand the pushing away of characteristic of self Move.

4. characteristic judges control action

It follows that the control action judging control portion 32 is illustrated with reference to Figure 21.Figure 21 is special Property judge flow chart.

By being connected by driver, turning motion detection unit 52 obtains gyroscope 33 and detects The yaw-rate (S01) of automotive bicycle 1.It follows that turning motion detection unit 52 judges automatically Whether two wheeler 1 has carried out turning motion (S02).When not judging that automotive bicycle 1 is carried out During turning motion, continue to be taken into the detected value of yaw-rate.When judging that automotive bicycle 1 is turned During motion, export vehicle state quantity (S03) from memorizer 51 to component separated part 53.It addition, About head movement amount too, when judging that automotive bicycle 1 has carried out turning motion, to component Separated part 53 exports described head movement amount (S04).It follows that respectively to vehicle state quantity and head Portion's quantity of motion is implemented Filtering Processing thus is separated frequency characteristic (S05).That is, will enter into The frequency characteristic of the vehicle state quantity of component separated part 53 passes through low pass filter 65 and band filter 66 are divided into low frequency component and high fdrequency component (S05a).It addition, will enter into component separated part 53 Head movement amount is divided into low frequency component and high frequency division also by low pass filter 65 and band filter 66 Amount (S05b).

Intact stability score calculating part 75 vehicle state quantity based on filtered process calculates vehicle Stability score S_v(S06).It addition, curving score calculating part 81 car based on filtered process Quantity of state calculates curving score T_v(S07).It addition, head steady score calculating part 87 Head movement gauge based on filtered process calculates head steady score H (S08).

It addition, perform ground with step S03～S08 simultaneously, when turning motion detection unit 52 judges automatically When two wheeler 1 has carried out turning motion, enter through song to curve size correction unit 76,82,88 Curve size (S09) that linear dimension estimator 43 estimates, that keeping is in memorizer 51.

It follows that respectively each score is corrected (S10) based on the curve size estimated. That is, curve size correction unit 76 based on the curve size estimated to intact stability score S_vImplement Correction (S10a).Curve size correction unit 82 based on the curve size estimated to curving score T_vImplement correction (S10b).Curve size correction unit 88 is based on the curve size enemy portion estimated Stability score H implements correction (S10c).

It addition, perform ground with step S03～S10 simultaneously, when turning motion detection unit 52 judges automatically When two wheeler 1 has carried out turning motion, enter through road to pavement state correction unit 77,83,89 Interval pavement state of turning that surface state estimator 47 estimates, that keeping is in memorizer 51 (S11).It follows that respectively each score is corrected based on the pavement state estimated (S12).That is, pavement state correction unit 77 based on the pavement state estimated to through curve dimension correcting Positive intact stability score S_vImplement correction (S12a).Pavement state correction unit 83 is based on estimation The pavement state gone out is to curving score T through curve dimension correction_vImplement correction (S12b).Road surface Head steady through curve dimension correction is obtained by state correction portion 89 based on the pavement state estimated H is divided to implement correction (S12c).

Intact stability score comparing section 78 is corrected based on according to curve size and pavement state Intact stability score S_vVehicle stabilization characteristic is judged (S13).Curving score compares Portion 84 is based on curving score T corrected according to curve size and pavement state_vTo the spy that turns Property carries out judging (S14).Head steady score comparing section 90 is based on according to curve size and road surface Head steady score H that state is corrected judges (S15) to head stability characteristic (quality).

Overall characteristic judging part 57 is based on the vehicle corrected according to curve size and pavement state Stability score S_v, curving score T_v, and head steady score H at least the two meter Calculate score G, thus overall characteristic is judged (S16).It addition, with step S16 simultaneously Performing ground, characteristic passage calculating part 60 is based on comprehensive score G or according to curve size and road surface shape Intact stability score S that state is corrected_v, curving score T_v, head steady score H Respective score passage calculate each characteristic passage (S17).Proficiency level's division 67 is based on respectively The proficiency level of driver is classified (S18) by characteristic passage.It addition, with step S16～step S18 performs ground simultaneously, and property sort portion 58 is corrected based on according to curve size and pavement state Intact stability score S_v, curving score T_v, and head steady score H drive The property sort (S19) of member.Vehicle stabilization characteristic, turning performance, head steady characteristic, comprehensive Characteristic, proficiency level's classification and property sort are prompted to driver each via monitor 41 (S20)。

As it appears from the above, according to embodiments of the invention, it is possible in automotive bicycle, for each by Turning motion detection unit 52 is judged to the curve driving of turning motion, carries out the handling characteristic of driver Judgement.It addition, can judge all sidedly, accurately to the handling characteristic of driver.This Outward, driver self can carry out reference to the result of this judgement, and therefore driver can be with numerical value The characteristic of self is held by mode.Thus, driver can be expressly understood that the manipulation of self is special The shortcoming of property.It addition, for the driver of lack of experience, it is possible to make it improve the manipulation of automotive bicycle The power of characteristic improves.

It addition, can be in automotive bicycle 1, all sidedly, special to the manipulation of driver accurately Property judges, therefore, it is possible to be applied to the education of the skill for improving driver.Now, it is possible to Quantitatively the effect of education is held.Thereby, it is possible to effectively advance the education of driver.

The present invention is not limited in above-described embodiment, but can as shown below as, by becoming Shape is implemented.

(1) eye movement sensor can also be used to replace the gyroscope being arranged on safety helmet 37 38.Eye movement sensor can detect driving by detecting the ocular movement of driver Activity in the pitch orientation of the head of member.As eye movement sensor, exist and be arranged on safety helmet Type on 37 and the type being arranged on protective eye lens.

(2) gyroscope 23 may not be the sensor of three axles, and in this case, needs arrange many The sensor of individual single shaft.That is, it is also possible to for yaw direction, incline direction, pitch orientation On ratio and angle, use single gyroscope each to detect respectively.

(3) in the above-described embodiment, it is judged that control portion 32 is provided separately with ECU25, but It is, it is also possible to will determine that control portion 32 is assembled into the inside of ECU25.

(4) each stability of yaw-rate, roll rate, pitch rate in the above-described embodiment, is utilized The weighted linear of index and calculate intact stability score S_v, but it is also possible to by only to yaw The stability indicator of rate is weighted calculating intact stability score S_v.It is not merely based on yaw-rate, Calculate intact stability obtain also based on roll rate, pitch rate or the stability indicator both this of holding concurrently Divide S_vCan preferably reflect the ride characteristic of Straddle type vehicle.

(5) in the above-described embodiment, in monitor 41 display characteristic result thus to driver Point out, but, it is not limited to that, it is possible to use driver is carried by additive method Show.For example, it is also possible to make the inside of safety helmet 37 include speaker, thus by sound to driving The person of sailing passes on characterization result.Alternatively, it is also possible to include vibrator in making thin slice 16, thus by shake Trend driver point out characterization result.So, it is not limited in vision, it is also possible to audition, sense of touch In the sensory organ of at least one point out.

(6) the spline little progress row in the above-described embodiment, travelled automotive bicycle 1 is estimated Meter, and according to the curve size estimated, various scores are corrected, but it is also possible in thing The situation that situation about travelling on the road first determined etc. travel on curve size the most clearly road Under, curve size is taken care of in memorizer 51 in advance.

(7) pavement state in the above-described embodiment, travelled automotive bicycle 1 is estimated Meter, and according to the pavement state estimated, various scores are corrected, will but it is also possible to use The surface friction coefficient μ of reflection pavement state takes care of direct by driver in memorizer 51 in advance Select the composition of pavement state.

(8) in the above-described embodiment, to the intact stability score calculated, curving Divide and head steady score implements curve dimension correction and pavement state correction, but, as Shown in Figure 22, it is also possible to omit curve dimension correction and pavement state correction.Situation at Figure 22 Under, intact stability score comparing section 78 is based on intact stability score S_vVehicle stabilization characteristic is entered Row judges (S13b).Curving score comparing section 84 is based on curving score T_vTurning performance is entered Row judges (S14b).Head stability characteristic (quality) is judged by head steady score comparing section 90 (S15b)。

Overall characteristic judging part 57 is based on intact stability score S_v, curving score T_v, Yi Jitou In portion's stability score H at least both calculate comprehensive score G, thus overall characteristic is sentenced Disconnected (S16b).It addition, characteristic passage calculating part 60 is based on comprehensive score G or intact stability Score S_v, curving score T_v, the respective score passage of head steady score H calculate each Characteristic passage (S17b).It addition, property sort portion 58 is based on intact stability score S_v, turn Property score T_v, and head steady score H carry out the property sort of driver.

It addition, as other variation, can as shown in Figure 23, for the car calculated Stability score S_v, curving score T_v, and head steady score H in each, only Implement curve dimension correction, it is also possible to as shown in Figure 24, only implement pavement state correction.

According to Figure 23, intact stability score comparing section 78 is based on the correction according to spline little progress row Intact stability score S_vVehicle stabilization characteristic is judged (S13c).Curving score compares Portion 84 is based on curving score T of correction according to spline little progress row_vTurning performance is judged (S14c).Head steady score comparing section 90 is based on the head of correction according to spline little progress row Portion's stability score H judges (S15d) to head stability characteristic (quality).

Overall characteristic judging part 57 is based on the intact stability score of correction according to spline little progress row S_v, curving score T_v, and head steady score H at least both overall characteristic is carried out Judge (S16c).It addition, characteristic passage calculating part 60 is based on comprehensive score or through curvature correction Intact stability score S_v, curving score T_v, the respective score of head steady score H Passage calculates each characteristic passage (S17c).It addition, property sort portion 58 is based on according to spline Intact stability score S of little progress row correction_v, curving score T_v, and head steady score H carries out the property sort (S19c) of driver.

It addition, according to Figure 24, perform ground with step S03～S04, when turning motion detection unit simultaneously 52 judge, when automotive bicycle 1 has carried out turning motion, to enter through to pavement state correction unit 59 Interval pavement state of turning that pavement state estimator 47 estimates, that keeping is in memorizer 51 (S11).It follows that respectively each score is corrected based on the pavement state estimated (S12′).That is, intact stability is obtained by pavement state correction unit 77 based on the pavement state estimated Divide S_vImplement correction (S12a ').Pavement state correction unit 83 based on the pavement state estimated to turn Curved property score T_vImplement correction (S12b ').Pavement state correction unit 89 is based on the road surface shape estimated Head stability score H is implemented correction (S12c ') by state.

Intact stability score comparing section 78 is based on the vehicle stabilization corrected according to pavement state Property score S_vVehicle stabilization characteristic is judged (S13d).Curving score comparing section 84 based on Curving score T corrected according to pavement state_vTurning performance is judged (S14d). Head steady score comparing section 90 obtains based on the head steady corrected according to pavement state Divide H that head stability characteristic (quality) is judged (S15d).

Overall characteristic judging part 57 is based on the intact stability score corrected according to pavement state S_v, curving score T_v, and head steady score H at least the two calculate score G, Thus overall characteristic is judged (S16d).It addition, characteristic passage calculating part 60 is based on comprehensively Score G or intact stability score S corrected according to pavement state_v, curving score T_v, head steady score H respective score passage calculate each characteristic passage (S17b).Ripe Practice degree division 67 based on the passage of each characteristic, the proficiency level of driver to be classified (S18d).It addition, property sort portion 58 is steady based on the vehicle corrected according to pavement state Qualitative score S_v, curving score T_v, and head steady score H carry out the characteristic of driver Classification.

(9) in the above-described embodiment, in the judgement turning interval Y, use yaw-rate or Yaw angle judges, but, it is not limited to that, it is possible to use roll rate, angle of heel Degree, steering angle, GPS track.When using side tilt angle, as shown in figure 25, turning motion Detection unit 52 judges turning motion interval Y according to the variable quantity of side tilt angle.That is, if there is one The time point that the individual absolute value from the side tilt angle of automotive bicycle 1 has exceeded threshold X ' starts to this value Again less than the interval till the time point of threshold X ', and the persistent period in this interval is more than or equal to Low persistent period Y '_min, then turning motion detection unit 52 judges that this interval is as turning motion interval Y. Start to this value when the absolute value of the side tilt angle from automotive bicycle 1 has exceeded the time point of threshold X ' Again less than the interval persistent period till the time point of threshold X ' less than minimum persistent period Y '_min Time, turning motion detection unit 52 does not judge that this interval is interval as turning motion.The value of threshold X ' is permissible Kind according to automotive bicycle 1 sets suitably.

When using steering angle, it is possible to judge that turning motion is interval identically with side tilt angle.When making When using roll rate, it is possible to by time integral etc. ratio data is changed into side tilt angle data it After, turning motion interval Y is judged.

Judgement with reference to Fig. 2,26 and the 27 turning motion interval Y to using GPS to carry out is entered Row explanation.Figure 26 shows the explanation of GPS track when automotive bicycle 1 carries out turning motion Figure, Figure 27 shows direct of travel and the curve of change in travel direction amount of automotive bicycle 1 Figure.When the driving trace of the automotive bicycle 1 that use is obtained by GPS, use point sometime Gps data and the gps data obtained before this time point calculate the row of automotive bicycle 1 Enter direction.Then, it is possible to the variable quantity using this direct of travel is identically with during use yaw-rate right Turning motion interval judges.

As shown in figure 26, the traveling interval of the automotive bicycle 1 in pre-determined time interval In, determine according to the angle between driving trace and the parallel of each automotive bicycle 1 travelled in interval The direct of travel of justice automotive bicycle 1.In fig. 26, if the upper direction in figure is north orientation.At figure In 26, pre-determined time interval is 1 second.Described time interval can at random set.Illustrate There is gps data G₁～G₁₃, described gps data G₁～G₁₃Show that automotive bicycle 1 is in each thing The position of the time interval first determined.Link each gps data G_nWith G_n+1Line and parallel with parallel Line segment formed angle X_nIt is defined as the direct of travel of automotive bicycle 1.Gps data G₁～G₁₃Meet such as X₁～X₃=90 °, X₄=75 °, X₅=50 °, X₆=30 °, X₇=20 °, X₈～X₁₂=0 °, X₁₃=30 °.

Closing when using GPS to judge turning motion interval, traveling change calculations portion 62 is based on passing through The gps data G of GPS44 input_nCalculate change in travel direction amount absolute of automotive bicycle 1 Value Ch_n=| X_n-X_n-1|.Turning motion detection unit 52 is according to change in travel direction amount Ch_nTo turning motion Interval Y judges.That is, if there is an absolute value from the side tilt angle of automotive bicycle 1 Exceed the district the time point of threshold X " time point start to this value again less than threshold X " Between, and the persistent period in this interval is more than or equal to minimum persistent period Y "_min, then turning motion is sentenced Determine portion 52 and judge that this interval is as turning motion interval Y.When the change in travel direction from automotive bicycle 1 Amount Ch_nHaving exceeded the time point of threshold X " time point start to this value again less than threshold X " The interval persistent period less than minimum persistent period Y "_minTime, turning motion detection unit 52 does not judges This interval is that turning motion is interval.Threshold X " value can close according to the kind of automotive bicycle 1 Set suitablely.

(10) in the above-described embodiment, for the passage of each score, characteristic passage calculating part 60 Use utilize young waiter in a wineshop or an inn's method is derived linear regression formula to calculate regression coefficient k, described recurrence system Number k shows the proficiency level of driver, but, it is not limited to that, it is also possible to by vehicle stabilization Property score, curving score and head steady score distribute to the x of three-dimensional cartesian coordinate system Axle, y-axis, z-axis, thus visually point out each score.Such as, intact stability score is distributed To x-axis, curving score is distributed to y-axis, with reference to Figure 28,29 show on its coordinate space The coordinate system of each score of driver illustrates.Figure 28,29 it is on each comfortable two-dimensional coordinate system Show each turn interval intact stability score and the distribution of curving score of same driver Figure.

Such as Figure 28, shown in 29, when display such as eight is turned each turning areas in interval Cu1～Cu8 Between each get timesharing, even if each average Ave turned is identical, by viewing coordinates spatially The deviation marked and drawed, it is possible to judge that this driver is to be the same from mode to turn every time, or Deviation is there is every time thus is in unsure state in its characteristic in turning.At Figure 28 and Figure 29 In, either intact stability score or curving score, it is at eight interval Cu1～Cu8 that turn Average mark Ave identical.But, the plotting in the departure ratio Figure 29 of the point marked and drawn in Figure 28 The deviation of the point gone out is big.At Figure 28, in 29, inclined as utilize circle Rc1, Rc2 to be marked and drawed The benchmark of difference, it is shown that average mark Ave, wherein, described round Rc1, Rc2 are through distance center Remote interval plotting of turning, but, it is not limited to that, it is possible to use each interval mark of turning Paint a little standard deviation with average mark Ave to show.

Pointed out by passage to each score as described above, though average turn every time Divide in the case of being the same from, it is also possible to by the deviation situation of the plotting on coordinate space is seen Examine, it is judged that this driver is to be the same from mode to turn every time, or its characteristic is for often Secondary appearance of turning is at random thus is in unsure state.

It addition, in addition, it is possible to use automotive bicycle 1 characteristic to multiple drivers Point out.Figure 30 is to fasten at two-dimensional coordinate to show the intact stability score of multiple driver Scattergram with each average of curving score.When each score of multiple drivers is empty at coordinate When being referred to several classification between, it is possible to the relative location of the manipulation skill of the most each driver, from And the place of improvement can be clearly required and instruct main points.In fig. 30, as an example, will Coordinate space is divided into " positive control ", " passive control ", " has exceeded the behaviour of skill Vertical " and " skill is not enough " four kinds, and marked and drawn each getting of eight driver R1～R8 Point.

Here, the vehicle stabilization of the driver R1 being included in " manipulation having exceeded skill " classification Property score is relatively low, and curving score is relatively high.May determine that: such driver is in order to play Vehicle curving and carry out positive manipulation action, but, on the contrary, can not be safely to car It is controlled.Thus, it is possible to teach such driver for improving the wagon control side of stability Method.

It addition, the intact stability score of the driver R2 being included in " passive control " classification Relatively high, and curving score is relatively low.May determine that: the vehicle action of such driver is steady Fixed, but, owing to the side tilt angle of vehicle suppressing, making turning speed reduction etc., curving It is sacrificed.Such driver can be taught for playing curving control method for vehicle.

So, by marking and drawing intact stability score, curving on two-dimensional space or three dimensions Score and head steady score, and utilize monitor 41 to be prompted to driver, traveling Drillmaster, it is possible to make intuitively driver to handle the location of skill, characteristic carries out assurance and becomes to hold Easily, thereby, it is possible to clearly need the place improved on handling and instruct main points.

Claims (21)

1. a driver characteristics determination methods, the handling characteristic to the driver handling Straddle type vehicle Judging, described driver characteristics determination methods includes:

Turning motion determination step, described turning motion determination step judges that Straddle type vehicle has been carried out turn The interval of curved motion；

Vehicle state quantity detecting step, the inclination to Straddle type vehicle of the described vehicle state quantity detecting step At least one in rate, side tilt angle, pitch rate, luffing angle and hypsokinesis angle carries out detection and comes As vehicle state quantity；

Component separating step, in the described interval having carried out turning motion, described component separating step from Isolating anticipation component in described vehicle state quantity, wherein, described anticipation component is that frequency is less than in advance The low frequency component of the first threshold frequency determined；

Turning performance judges that step, described turning performance judge the step turning performance to Straddle type vehicle Judge,

Described turning performance judges step described anticipation component based on described vehicle state quantity, calculates The curving score of Straddle type vehicle.

2. driver characteristics determination methods as claimed in claim 1, wherein, including:

Vehicle stabilization characteristic judges that step, described vehicle stabilization characteristic judge that step is to Straddle type vehicle Vehicle stabilization characteristic judges,

Described vehicle state quantity is divided into correction point by described component separating step in described turning motion interval Amount and described anticipation component, wherein, described correction component is that frequency is higher than pre-determined first threshold Frequency and the high fdrequency component less than Second Threshold frequency, described Second Threshold frequency ratio is predetermined Described first threshold frequency is big,

Described vehicle stabilization characteristic judges step described correction component based on described vehicle state quantity and institute State the ratio of anticipation component, calculate the intact stability score of Straddle type vehicle.

3. driver characteristics determination methods as claimed in claim 2, wherein,

Described vehicle state quantity detecting step also detects in yaw-rate and the yaw angle of Straddle type vehicle At least one is used as described vehicle state quantity.

4. driver characteristics determination methods as claimed in claim 3, wherein,

Described turning motion determination step based on yaw-rate, yaw angle, roll rate, side tilt angle, At least one in steering angle and GPS track judges that Straddle type vehicle has carried out turning motion Interval.

5. driver characteristics determination methods as claimed in claim 2, wherein,

Described vehicle stabilization characteristic judges that step is by steady with described vehicle to described intact stability score The determining reference value determining characteristic is compared to judge described vehicle stabilization characteristic,

Described turning performance judges that step is by the judgement to described curving score Yu described turning performance Reference value is compared to judge described turning performance.

6. driver characteristics determination methods as claimed in claim 1, wherein,

Including steering angle detecting step, steering angle is examined by described steering angle detecting step Survey,

Described component separating step separates the prediction of the interval described steering angle of described turning motion and divides Amount,

Described turning performance judges step anticipation component based on described vehicle state quantity and described steering angle The anticipation component of degree, calculates described curving score.

7. driver characteristics determination methods as claimed in claim 1, wherein,

Including Bus-Speed Monitoring step, the speed of Straddle type vehicle is examined by described Bus-Speed Monitoring step Survey,

Described turning performance judges step anticipation component based on described vehicle state quantity and described speed meter Calculate described curving score.

8. driver characteristics determination methods as claimed in claim 2, wherein,

Including curve size estimating step, Straddle type vehicle is run over by described curve size estimating step The size of bent curvature of a curve estimate,

Described vehicle stabilization characteristic judges that step is steady to described vehicle according to the size of described bent curvature of a curve Qualitative score is corrected,

Described turning performance judges that the step size according to described bent curvature of a curve is to described curving score It is corrected.

9. driver characteristics determination methods as claimed in claim 2, wherein,

Including pavement state estimating step, Straddle type vehicle is travelled by described pavement state estimating step Pavement state estimate,

Described vehicle stabilization characteristic judges that step is steady to described vehicle according to the described pavement state estimated Qualitative score is corrected,

Described turning performance judge step according to the described pavement state estimated to described curving score It is corrected.

10. driver characteristics determination methods as claimed in claim 2, wherein,

Judge that step, described overall characteristic judge that step is based on described intact stability including overall characteristic Score and described curving score, judge the overall characteristic that driver is comprehensive.

11. driver characteristics determination methods as claimed in claim 2, including:

Past and present described intact stability score and described curving score are stored in data The step in storehouse；And

Characteristic passage calculation procedure, described characteristic passage calculation procedure uses the information of described data base to ask Go out the passage of the handling characteristic of driver.

12. driver characteristics determination methods as claimed in claim 2, including:

Property sort step, described property sort step is based on described intact stability score and described turn The handling characteristic of driver is referred to one in pre-determined multiple classification by curved property score.

13. driver characteristics determination methods as claimed in claim 2, including:

Driver's quantity of motion detecting step, described driver's quantity of motion detecting step detects driver's At least one in head or the pitch rate of eyeball, luffing angle, yaw-rate and yaw angle is made For driver's quantity of motion；And

Head steady characteristic judges that step, described head steady characteristic judge the step head to driver Stability characteristic (quality) judges,

In described turning motion interval, described driver's quantity of motion is divided into by described component separating step Revise component and anticipation component,

Described head steady characteristic judges that step is based on described driver momental correction component and prediction The ratio of component, calculates the head steady score of driver.

14. driver characteristics determination methods as claimed in claim 13, wherein,

Described head steady characteristic judges that step is by steady with described head to described head steady score The determining reference value determining characteristic is compared to judge the described head steady characteristic of driver.

15. driver characteristics determination methods as claimed in claim 13, including:

Overall characteristic judges that step, described overall characteristic judge that step obtains based on described intact stability Point, in described curving score and described head steady score at least driver is combined by the two The overall characteristic closed judges.

16. driver characteristics determination methods as claimed in claim 13, including:

By past and present described intact stability score, described curving score and described Head steady score is stored in the step of data base；And

Characteristic passage calculation procedure, described characteristic passage calculation procedure uses the information of described storage to obtain The passage of the handling characteristic of driver.

17. driver characteristics determination methods as claimed in claim 13, including:

Property sort step, described property sort step based on described intact stability score, described turn In curved property score and described head steady score at least the two the handling characteristic of driver is returned Class is in pre-determined multiple classifications.

18. driver characteristics determination methods as claimed in claim 1, wherein, including:

Vehicle stabilization characteristic judges that step, described vehicle stabilization characteristic judge that step is to Straddle type vehicle Vehicle stabilization characteristic judges；And

The step of at least one in the yaw-rate of detection Straddle type vehicle and yaw angle,

Described component separating step is at the interval yaw-rate by Straddle type vehicle of described turning motion and yaw At least one in angle is divided into correction component and described anticipation component, and wherein, described correction component is Frequency is higher than pre-determined first threshold frequency and the high fdrequency component less than Second Threshold frequency, institute State the predetermined described first threshold frequency of Second Threshold frequency ratio big,

Described vehicle stabilization characteristic judges step institute based at least one in yaw-rate and yaw angle Stating the ratio revising component with described anticipation component, the intact stability calculating Straddle type vehicle obtains Point.

19. 1 kinds of driver characteristics judgment means, the manipulation to the driver handling Straddle type vehicle is special Property judges, described driver characteristics judgment means includes:

Turning motion detection unit, described turning motion detection unit judges that Straddle type vehicle has carried out fortune of turning Dynamic interval；

Vehicle-state detector, described vehicle-state detector is to the roll rate of Straddle type vehicle, inclination At least one in angle, pitch rate, luffing angle and hypsokinesis angle detects；

Component separated part, interval at the turning motion determined by described turning motion detection unit, described Component separated part isolates anticipation component from the detected value detected by described vehicle-state detector, Wherein, described anticipation component is the low frequency component that frequency is less than pre-determined first threshold frequency；

Turning performance judging part, the turning performance of Straddle type vehicle is carried out by described turning performance judging part Judge,

Described turning performance judging part includes curving score calculating part, described curving score calculating part Detected value based on described vehicle-state detector by the described isolated anticipation component of component separated part, Calculate the curving score of Straddle type vehicle.

20. driver characteristics judgment means as claimed in claim 19, wherein, including:

Vehicle stabilization characteristic judging part, the described vehicle stabilization characteristic judging part vehicle to Straddle type vehicle Stability characteristic (quality) judges,

Described component separated part will be by the turning motion interval determined by described turning motion detection unit The detected value that described vehicle-state detector detects is divided into correction component and described anticipation component, its In, described correction component is that frequency is higher than pre-determined first threshold frequency and less than Second Threshold The high fdrequency component of frequency, the predetermined described first threshold frequency of described Second Threshold frequency ratio is big,

Described vehicle stabilization characteristic judging part detected value based on described vehicle-state detector is by described point The described correction component that amount separated part is divided into and the ratio of described anticipation component, calculate Straddle type vehicle Intact stability score.

21. driver characteristics judgment means as claimed in claim 19, wherein, including:

Other vehicle-state detector, described other vehicle-state detector detection Straddle type vehicle Yaw-rate and yaw angle at least one；And

Vehicle stabilization characteristic judging part, the described vehicle stabilization characteristic judging part vehicle to Straddle type vehicle Stability characteristic (quality) judges；

Interval at the turning motion determined by described turning motion detection unit, described component separated part will Detected by least one in described vehicle-state detector and described other vehicle-state detector Detected value be divided into correction component and anticipation component, wherein, described correction component is that frequency is higher than in advance The first threshold frequency determined and the high fdrequency component being less than Second Threshold frequency, described anticipation component is Frequency is less than the low frequency component of described first threshold frequency, and described Second Threshold frequency ratio is predetermined Described first threshold frequency is big,

Described vehicle stabilization characteristic judging part is based on by described vehicle-state detector and described other car The correction that at least one detected value detected in state detector is divided into by described component separated part Component and the ratio of anticipation component, calculate the intact stability score of Straddle type vehicle.