JP2017095089A - Driver assistant device, and driver support method when power vehicle capable of inclining sideways is steered in curve area using driver assistant device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the driver of a motorcycle or the like traveling on a curve in the state of inclining sideways to prevent collison with an oncoming vehicle.SOLUTION: This driver assistant device is configured to capture a peripheral area ahead of a power vehicle 2 capable of inclining sideways by a sensor unit, and calculate the lane boundary B1 of an own lane 5 and the future track T1 of the power vehicle 2 by evaluation means, the evaluation means being configured to evaluate the future overhang U of the upper half body of a driver F to an oncoming vehicle lane 6 on the basis of the calculated lane boundary B1 and the calculated future track T1 in a curve area nearing ahead, and when the evaluation means evaluates that there is a future overhang U, support the driver who steers the power vehicle 2 capable of inclining sideways in the curve area by outputting a signal for correcting the future track T1.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driver assistant device, a vehicle equipped with the driver assistant device, and a driver support method when maneuvering a vehicle that can tilt sideways in a curve region using the driver assistant device.

  The driver assistant system supports the driver in dangerous situations to avoid accidents or at least mitigate the consequences of the accident. In order to avoid the tire from blocking when the brake is applied frequently, the motorcycle has recently reduced the brake pressure of the brake belonging to the subject tire. Brake system (ABS) is now equipped.

  In two-wheeled vehicle operation, the rider's upper body may overhang in the opposite lane because the body is tilted in the curve when the curve is short-circuited, or at least when driving around the center line in the curve area. Collisions with other traffic participants cannot be denied and are associated with high accident risk.

  From Patent Document 1, a method of warning a rider of a motorcycle before deviating from the lane is known. Here, at least one lane boundary is determined by the video sensor, and a horizontal distance from the reference point of the vehicle from the lane boundary is determined. Next, vehicle inclination information indicating the inclination of the vehicle is determined, and whether or not the vehicle or part of the passenger's body reaches the lane boundary from at least the horizontal interval and the inclination information. Is determined.

German Patent Publication No. 102012207981

  Accordingly, an object of the present invention is to provide an improved driver assistant device, an improved driver assistant device, and an improved method of operating the driver assistant device.

  This problem is solved by a driver assistant device having the features of claim 1, a powered vehicle having the features of claim 12, and a method having the features of claim 14. Advantageous or preferred embodiments of the invention are indicated by the dependent claims, the following specification and the figures.

  In this case, a driver assistant device is proposed for supporting a driver when maneuvering a powered vehicle that can lean sideways in a curved region. A power vehicle that can tilt to the side is, in particular, a single-row or double-row power vehicle. A particularly preferable powered vehicle that can tilt to the side is a two-wheeled vehicle with a prime mover, such as a motorcycle or a scooter. However, this can also be a power vehicle having a structure that is inclined to the inside of the curve, like a two-wheeled vehicle, such as a three-wheeled motorcycle or a four-wheeled motorcycle, for example.

  The driver assistant device includes a sensor unit for capturing a peripheral area in front of a powered vehicle that can tilt sideways. The front peripheral area is a peripheral area in front of the traveling direction. The sensor unit preferably includes or is configured as an image capturing means, a laser means, and / or a radar means.

  In a preferred first configuration, the sensor unit can or can be arranged on a body part of a powered vehicle that can tilt sideways, such as a steering head, cowling, guard, and / or headlamp. ing. Alternatively, the sensor unit, in particular the image taking means, can or is arranged in the rider's helmet. In the case of an image taking means that can be placed in a helmet, this can be, for example, a driver's action cam that can be coupled with a driver assistant device to transmit the taken image.

  The driver assistant device includes an evaluation unit for determining a lane boundary with the opposite lane of the own lane of the powered vehicle that can tilt from the sensor data transmitted from the sensor unit. The own lane is a lane in which a powered vehicle that can incline to the side is traveling at that time. For example, the lane boundary is determined from an image processing algorithm, particularly a color and / or pattern algorithm, from at least one image captured by the image capturing means. The lane boundary is preferably determined by evaluating the center lane mark.

  The evaluation means is configured to determine the future trajectory of a powered vehicle that can tilt to the side in a curve area approaching forward. A future trajectory is, in particular, a moving path over which a powered vehicle that can tilt to the side will run in the future. It is particularly preferred that the future track is determined from an evaluation of the current running state of the powered vehicle. For example, the current running state is determined by the sensor unit of the powered vehicle and / or further sensors.

  The curve area approaching forward is evaluated from, for example, an image captured by at least one image capturing unit. Alternatively or optionally, the curve area approaching the front is evaluated from the position of the powered vehicle and an electronic map. The evaluation means includes, for example, an electronic map, or can be connected to or connected to an external data server, particularly a back-end server that can search the electronic map. For the determination of the approaching curve, the current position of the powered vehicle is captured, for example, by a GPS supported by a satellite.

  The evaluation means evaluates whether or not the upper body of the rider will protrude into the opposite lane in the future in a curved area approaching forward based on the determined lane boundary and the determined future track. It is configured to be able to. The protrusion of the upper body can be interpreted as an overhang of the rider's upper body that crosses the lane boundary. In other words, it can be said that the upper body is in the oncoming lane while the powered vehicle is traveling on its own lane.

  The driver assistant device includes control means configured to output a signal for correcting a future trajectory when the evaluation means evaluates that there is a future overhang.

  The output of the signal is preferably excluded if an intentional lane entry is assessed. For example, when the operation of the blinker is recognized by the evaluation means, for example, a powered vehicle that can lean to the side is evaluated as a powered vehicle that intentionally enters the lane.

  While the driver, especially the rider, is driving in the vicinity of the middle lane boundary of the curve area, there is still a powered vehicle that can tilt sideways, but the upper body of the rider already protrudes from the oncoming lane due to the large inclination. Can be. The cause of the overhang of the upper body to the oncoming lane is, for example, a sharp, unsightly curve area, overspeed, lack of experience, stable driving, or a lane that is too narrow. In particular, the driver is provided with an active and / or passive support to avoid overhangs in the curve area by means of the signal output. By doing in this way, the safety | security in the road traffic of a driver | operator, a passenger, and another traffic participant improves.

  In a preferred embodiment, the evaluation means determines the future horizontal distance of the powered vehicle relative to the determined lane boundary from the estimated future trajectory. Preferably, the future overhang is evaluated based on the determined future horizontal spacing and the determined future tilt angle of the powered vehicle capable of tilting along the estimated future trajectory. The inclination angle is an angle of inclination along the longitudinal direction of the vehicle body. In particular, the larger the inclination angle, the larger the overhang. From this relationship, the value of the overhang can be determined.

  In order to be able to evaluate the future trajectory and / or the future tilt angle, the evaluation means is preferably the course of the curve area approaching forward, the current yaw rate of the powered vehicle that can tilt sideways The inclination angle at that time and / or the speed at that time can be determined. The course of the curve is preferably evaluated by an image taken by at least one image taking means and / or an electronic map. The tilt angle at that time is determined from the captured image, for example, as a rotation ratio sensor and / or attitude sensor, as an alternative or optional capture.

  Particularly preferably, the evaluation means is configured to determine the current tire angle of a powered vehicle that can tilt sideways. The current tire angle provides vehicle condition information that is critical to an accurate assessment of future track as well as future tilt angles.

  In a preferred embodiment, the control means is configured to provide information for causing the driver to correct the trajectory by outputting a signal and outputting additional information. For example, the additional information to be output is a travel instruction and / or a speed recommendation. In order to output a travel instruction, the evaluation means is particularly preferably configured to be able to evaluate the target trajectory and / or the target speed according to the course of the curve. As an alternative or optional capture, the additional information is output as a tactile, audible and / or visual warning signal. That is, the handle of the powered vehicle vibrates, a voice message is output, and / or a visual warning signal such as a blinking lamp in the cockpit can be displayed. Furthermore, it is possible to couple the control means with communication means built into the rider's helmet in order to audibly output driving instructions, speed recommendations and / or warning signals.

  According to a further preferred embodiment, the control means actively intervenes in the driving dynamics of the powered vehicle by the output of a signal. That is, for example, the speed is reduced by stopping the fuel supply and / or operating the brake. Decreasing the speed also reduces the tilt angle required to maintain the lane and, as a result, the corresponding overhang.

  The present invention further relates to a power vehicle that can be tilted sideways equipped with a driver assistant device for supporting the driver when maneuvering a power vehicle that can tilt in a curve region as described above. It is particularly preferred that the powered vehicle capable of leaning sideways includes communication means for outputting additional information to the rider in order to correct the track. “Communication means” here refers to, for example, display means, particularly preferably a display that can be arranged in the cockpit of a powered vehicle. As an alternative or supplementary option, the communication means may be a communication means for audibly outputting additional information supported, for example, by radio located in the rider's helmet.

  Furthermore, the present invention also relates to a method for supporting a driver of a powered vehicle capable of leaning sideways in a curve region using a driver assistant device as described above. In the first step, the surrounding area in front of the powered vehicle that can tilt sideways is captured. The lane boundary of the powered vehicle that can tilt to the side with respect to the opposite lane of the vehicle lane, and the future track of the powered vehicle that can tilt to the side in a curve area approaching the front are determined. From the determined lane boundaries and future trajectories, future overhangs of the rider's upper body on the opposite lane are evaluated. If it is estimated that there will be an overhang in the future, a signal will be output to correct the future trajectory. In this case, additional information for the rider to intervene in the vehicle dynamics by output and / or to correct the track is output.

  Further features, advantages and actions of the present invention are illustrated by the following description of preferred embodiments.

Schematic block diagram of a driver assistant device built into a powered vehicle that can tilt sideways Bird's-eye view showing the future trajectory of the rider of the powered vehicle of FIG. 1 in the curve area Fig. 2 shows the rider in Fig. 2 leaning on the opposite lane

  Parts corresponding to each other are given the same reference numerals in all the drawings.

  FIG. 1 shows a schematic block diagram of a driver assistant device 1 built in a powered vehicle 2 that can tilt sideways. The power vehicle 2 that can tilt to the side can be interpreted as a power vehicle 2 that can tilt with respect to the longitudinal direction of the vehicle body, and a motorcycle as a special example. The driver assistant device 1 is configured so that the driver can support when driving the powered vehicle 2 in a curve region.

  The driver assistant device 1 includes a sensor unit 3 configured to capture a peripheral region in front of the powered vehicle 2. The sensor unit 3 includes, for example, an image capturing unit, a laser unit, and radar units 3a, 3b, and 3c in order to capture a front peripheral region.

  The driver assistant device 1 includes an evaluation unit 4, to which the sensor unit 3 is connected for transmitting sensor data including the captured peripheral region. Based on the sensor data transmitted from the sensor unit 4, the evaluation unit 4 evaluates the lane boundary B 1 with respect to the opposite lane 6 of the own lane 5. In this embodiment, the lane boundary B1 is indicated by the center traveling lane mark. However, when there is no center lane mark, it is preferable that the lane boundary B1 for the opposite lane 6 can be determined by evaluating the side lane boundary B2. The side lane boundary B2 can be, for example, a side road boundary mark or an object that divides the lane, such as a guardrail or a curb. Preferably, the distance X between the side lane boundaries B2 is determined and the lane boundary B1 is determined by dividing the determined distance A in half.

  As shown in FIG. 2, the evaluation means 4 is configured to be able to evaluate the future overhang U of the upper body of the driver F to the opposite lane 6. The future overhang U of the upper body of the driver F is shown by way of example in FIG. 2 as a future trajectory U1 of the upper body as it passes through the curve region. At this time, although the power vehicle 2 is still in the own lane 5, the upper body is inclined to the opposite lane 6, which may cause the driver F to collide with an opposite traffic participant. is there.

  In order to evaluate the future overhang U, the evaluation means 4 is configured to be able to determine the future inclination angle α in the curve area approaching the future trajectory T1 of the power vehicle 2 and the front. The future trajectory T1 can be interpreted as, in particular, a travel transition at a certain future time point, in particular, a travel transition of the powered vehicle 2 starting in the curve region.

  The driver assistant device 1 includes control means 7 configured to output a signal for correcting the future trajectory T1 when the evaluation means 4 evaluates that there is a future overhang U. Is included. The signal output is performed, for example, at the start of a curve area along the future trajectory T1 and / or during the passage of the curve area. The signal can be output to the communication means of the powered vehicle 2, for example. For example, when a signal is transmitted from the control means 7, the communication means outputs additional information to the driver. With the output of additional information, the driver is suggested early enough on the potential risk of a collision, i.e. he is provided with passive support to correct the trajectory. The communication means may be, for example, a display means for visual reproduction of warning messages, speed recommendations, and / or travel recommendations.

  In a further possible embodiment, the control means 7 is configured to be able to control the braking of the powered vehicle 2 by means of an output signal. in this case. A signal is output with respect to the brake means of the power vehicle 2, for example. The reduction in speed makes it easier for the driver to correct driving errors, in particular to enter and pass through the curve area. As a result, improved safety for drivers and other traffic participants is achieved.

  In order to evaluate the future trajectory T1 and the future inclination angle α, the evaluation means 4 is configured to be able to determine, for example, curve transition, the current speed of the power vehicle 2 and the steering angle at that time. . The curve transition is determined by evaluating the side lane boundaries B1 and B2 from an image photographed by at least one image photographing means 3a. As an alternative or supplementary option, the evaluation means 4 may be configured to be able to evaluate the position of the powered vehicle 2 and an electronic map. Speed and / or steering angle can be determined by sensors.

  FIG. 3 shows, as an example, an overhang U of the driver of the powered vehicle 2 to the oncoming lane 2 passing through the curve region.

  In the curve area approaching forward, the evaluation means 4 uses the determined lane boundary B1 and the future track T1 between the power vehicle 2, in particular, between the ground point P of the power vehicle 2 and the lane boundary B1. The future horizontal interval A can be determined. In order to determine the future horizontal distance A by the sensor unit 3, in particular, the relative position of the sensor unit 3 in the powered vehicle 2 must be known.

  The value of the overhang U depends on the length of the upper body of the driver F. For the evaluation of the overhang U, for example, it can be assumed that the average height of the driver F is assumed. As an alternative example, the height of the driver can be input via the input means of the powered vehicle 2 arranged in the cockpit and can be taken into account by the driver assistant device 1.

DESCRIPTION OF SYMBOLS 1 Driver assistant apparatus 2 Power vehicle which can incline to the side 3 Sensor unit 4 Evaluation means 5 Own lane 6 Opposite lane 7 Control means 3a Image taking means 3b Laser means 3c Radar means B1 Lane boundary B2 with respect to opposite lane Side lane boundary F Driver / rider P Ground point U Driver overhang on opposite lane A Horizontal spacing X Side lane boundary U1 Upper body track T1 Future track α Inclination angle

Claims (14)

A sensor unit (3) for capturing a peripheral area in front of a powered vehicle (2) that can tilt sideways;
The lane boundary (B1) of the own lane (5) of the powered vehicle (2) that can be tilted sideways with respect to the oncoming lane (6) can be determined based on the sensor data transmitted from the sensor unit (3). Configured evaluation means (4),
However, the evaluation means (4) is configured to determine the future trajectory (T1) of the tiltable powered vehicle (2) in the curve area approaching forward, and
The evaluation means (4) is for the driver (F) to the opposite lane (6) based on the determined lane boundary (B1) and the future track (T1) in the curve area approaching forward. Configured to assess the future overhang (U) of the upper body,
In addition, when the evaluation means (4) evaluates that there is a future overhang (U), control means configured to output a signal for correcting the future trajectory (T1) ( 7) A driver assistant device (1) that supports the driver (F) when maneuvering a powered vehicle (2) that can be tilted sideways in a curve region characterized by including 7).   2. Driver assistance device (1) according to claim 1, characterized in that the sinser unit (3) includes image taking means, laser means and / or radar means (3a, 3b, 3c). ).   3. Driver assistant according to claim 2, characterized in that the image taking means (3a) are arranged on a powered vehicle (2) and / or a helmet of the driver (F) which can tilt sideways. Device (1).   Based on the estimated future activation (T1), the evaluation means (4) determines the future horizontal interval (A) of the powered vehicle (2) that can be tilted laterally with respect to the determined lane boundary (B1). Indexing and determining the future overhang (U) along the estimated future trajectory (T1), the horizontal spacing (A), and the powered vehicle (2) capable of tilting sideways The driver assistant device (1) according to any one of the preceding claims, wherein the driver assistant device (1) is configured to be able to evaluate from the determined future inclination angle (α).   A power vehicle in which the evaluation means (4) for evaluating the future trajectory (T1) and / or the future inclination angle (α) can incline to the side of the curve region approaching the front and incline sideways. 5. The driver assistant device (1) according to claim 4, wherein the driver assistant device (1) is configured to be able to determine the current yaw rate and / or the current speed in (2).   The evaluation means (4) is configured to be able to determine the course of the curve from at least one image taken by the image photographing means (3a). The driver assistant device (1) according to claim 1.   The evaluation means (4) for evaluating the future trajectory (T1) and / or the future inclination angle (α) is configured to be able to evaluate the steering angle at that time. The driver assistant device (1) according to any one of claims 4 to 6.   The control means (7) is configured to be able to control the output of additional information to the driver (F) for correcting the future trajectory (T1) by the output signal. Driver assistant device (1) according to any one of the preceding claims.   9. Driver assistance device (1) according to claim 8, characterized in that the additional information is a driving instruction and / or a speed recommendation.   10. Driver assistance device (1) according to claim 8 or 9, characterized in that the additional information is a tactile, auditory and / or visual warning signal.   The control means (7) is coupled with communication means built in the helmet of the driver (F) for driving instructions, speed recommendations and / or audible output of warning signals. 11. Driving assistant device (1) according to claim 9 or 10, characterized in that   A powered vehicle (2) capable of leaning sideways equipped with a driver assistant device (1) for supporting the driver (F) in the curve region according to any one of the preceding claims.   The powered vehicle (2) capable of leaning sideways includes communication means for outputting additional information to the driver (F) for correcting the track (T1). Item 13. A powered vehicle (2) that can tilt sideways. Support for the driver (F) when maneuvering a powered vehicle (2) that can tilt sideways in a curve region using the driver assistant device (1) according to any one of claims 1 to 11. A method characterized in that it comprises the following steps:
a) capturing a peripheral region in front of a powered vehicle (2) that can tilt sideways;
b) determining the lane boundary (B1) for the opposite lane (6) of the own lane (5) of the powered vehicle (2) that can tilt sideways;
c) determining the future trajectory of the powered vehicle (2) which can lean sideways in the curve area approaching forward;
d) evaluating a future overhang on the driver's (F) upper body lane (6) based on the determined lane boundary (B1) and future track (T1);
e) outputting a signal for performing a future trajectory (T1) correction if it is evaluated that there is a future overhang (U);

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