JP2019038495A - Vehicular display apparatus - Google Patents

Abstract

To provide a vehicular display apparatus capable of causing the driver of a vehicle provided with a lean mechanism to easily recognize a lean angle of the vehicular body, reducing a discomfort of the driver in the vehicle.SOLUTION: A display apparatus, disposed in a vehicle having a lean mechanism, includes: a display device 60, disposed at a position where a driver seated in a driver seat can recognize, for displaying travel information of the vehicle; and a display control part for causing the display device to display the travel information. The display device includes lean angle display areas 612, 613 for displaying a lean angle θL; and the display control part displays a figure D1 having a form that allows an orientation of axis specifying a vertical direction of the vehicular body to be identified by the orientation of the figure so that the orientation of the figure D1 relative to the display device 60 changes with the lean angle θL and so that, when the lean angle θL is zero, the vertical direction of the vehicular body specified by the figure D1 matches the vertical direction of the display device 60 in the lean angle display areas 612, 613 along with a numerical value representing the lean angle θL.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a display device for a vehicle that is applied to a vehicle that tilts a vehicle body in the width direction of the vehicle.

  Conventionally, vehicles that can tilt the vehicle body in the width direction (left-right direction) of the vehicle have been developed. Such a vehicle, for example, tilts the vehicle body in the rotational radial direction so that the vehicle body does not fall outward in the rotational radial direction due to centrifugal force generated while the vehicle is turning. In such a vehicle, when the vehicle body is inclined in the left-right direction with respect to the road surface, the upper ends of the suspension springs respectively corresponding to the pair of wheels spaced in the left-right direction are relatively displaced in the vertical direction of the vehicle body. It is like that. Further, the relative displacement of the upper end portions of the pair of suspension springs is configured such that when one is displaced downward, the other is displaced upward (see Patent Document 1).

JP2013-22993A (FIG. 4)

November 22, 2013, Gigazine, Internet <URL: http://gigazine.net/news/20131122-toyota-iroad-tms2013/>

  By the way, the angle at which the vehicle body is tilted in the left-right direction as described above (hereinafter referred to as “lean angle”) can be determined by the traveling speed (vehicle speed) of the vehicle, the operation amount of the steering wheel, and the like. This is because the centrifugal force acting on the vehicle tends to increase as the vehicle speed of the vehicle increases or the operation amount of the steering wheel increases. On the other hand, if the lean angle exceeds the predetermined maximum lean angle, the center of gravity of the vehicle moves greatly in the left-right direction, and the vehicle may fall. Therefore, it is important for safety that the driver of the vehicle recognizes the lean angle and causes the vehicle to travel in consideration of the lean angle.

  Therefore, an instrument panel for such a vehicle is often provided with a display for displaying a lean angle. For example, in the case of the display device 900 shown in FIG. 13, a scale 913 indicating the lean angle and a mark 914 indicating the actual lean angle on the scale 913 are displayed in the lean angle display area 912 of the display 910. (See Non-Patent Document 1). FIG. 13A shows a display when the actual lean angle is 0 °, and a mark 914 is displayed at the center position of the scale 913. FIG. 13B shows a display when the actual lean angle is 24 ° (predetermined maximum lean angle), and a mark 914 is displayed on the right side of the scale 913. In the case of such a display, there is a possibility that the driver may not recognize that the lean angle display area 912 displays the lean angle of the vehicle body. Therefore, there is a risk of giving the driver an uncomfortable feeling that the actual lean angle cannot be recognized and grasped.

  The present invention has been made to address the above problems. That is, an object of the present invention is to provide a vehicle display device that allows a vehicle driver to easily recognize the lean angle of the vehicle body and reduce the driver's uncomfortable feeling in a vehicle having a lean mechanism. It is to provide.

  The vehicle display device of the present invention (hereinafter also referred to as “the device of the present invention”) is in contact with the ground plane (RS) of a pair of wheels (81L, 81R) spaced in the left-right direction of the vehicle (10). A lean mechanism (40) that can tilt the vehicle body (20) in the left-right direction, and a lean angle acquisition unit (0L) that acquires a lean angle (θL) that is an inclination angle of the vehicle body with respect to a normal line (N) of the ground plane. 91) and a driver's seat (30) disposed on the vehicle body and seated by a driver of the vehicle.

  The device according to the present invention includes a display (60) provided at a position visible by the driver who is seated in the driver's seat and displaying travel information that is information representing a travel state of the vehicle, and the travel on the display. A display control unit (70) for displaying information.

  The display includes a lean angle display area (612, 613) for displaying the lean angle, and the display control unit can specify the direction of the axis (C2) that defines the vertical direction of the vehicle body according to the direction. The vertical direction of the vehicle body specified by the graphic when the orientation of the graphic with respect to the indicator changes according to the lean angle and the lean angle is zero and the indicator Are displayed in the lean angle display area together with a numerical value representing the lean angle so that the vertical direction of the line coincides.

  The indicator is provided, for example, below the front window of the vehicle (that is, the instrument panel) and the front window (that is, the head-up display). In addition to the lean angle, the travel information includes, for example, the travel speed (vehicle speed) of the vehicle, the travel distance of the vehicle, the remaining capacity of the battery, and the like.

  “The figure having a shape that can specify the direction of the axis that defines the vertical direction of the vehicle body according to the direction” (hereinafter, also simply referred to as “figure”) is, for example, when the vehicle is viewed from behind It is the figure which designed the vehicle body in. For example, a vehicle having a lean mechanism has a shape in which the vehicle body is long in the vertical direction with respect to the lateral width. Therefore, the figure that has the characteristic of the vehicle body having a long shape in the vertical direction can specify the direction of the axis that defines the vertical direction of the vehicle body by the direction. Further, according to the device of the present invention, when the orientation of the graphic with respect to the display changes according to the lean angle and the lean angle is 0 °, the vertical direction of the vehicle body specified by the graphic matches the vertical direction of the display. Are displayed in the lean angle display area together with a numerical value representing the lean angle.

  By the way, it is easy for the driver of the vehicle to recognize that the vehicle body is tilted from the sensation, but whether the actual lean angle is how many times or the vehicle body is not tilted excessively (falling down). It ’s difficult to feel. However, according to this aspect, the driver can intuitively understand the change in the actual lean angle, and can easily recognize the actual lean angle.

  In the vehicular display device according to an aspect of the present invention, the display control unit determines that the lean angle magnitude is greater than the predetermined threshold lean angle (θabsmax) when the lean angle magnitude (θabs) exceeds a predetermined threshold lean angle (θabsmax). A display indicating that a predetermined threshold lean angle has been exceeded may be configured to be displayed on the display.

  According to this aspect, when the magnitude of the lean angle exceeds a predetermined threshold lean angle (for example, the maximum lean angle), for example, an alarm is displayed on the display, and the vehicle is alerted to the driver. Can be prevented from falling.

  In the above description, in order to help understanding of the present invention, names and / or symbols used in the embodiment are attached to the configuration of the invention corresponding to the embodiment described later in parentheses. However, each component of the present invention is not limited to the embodiment defined by the names and / or symbols.

FIG. 1 is a schematic configuration diagram of a vehicle to which the vehicle display device according to the first embodiment of the present invention is applied. FIG. 2 is a view for explaining the lean mechanism of the vehicle shown in FIG. 1, and is a front longitudinal sectional view when the vehicle is upright. FIG. 3 is a view for explaining the lean mechanism of the vehicle shown in FIG. 1, and is a front longitudinal sectional view when the vehicle is tilted leftward. FIG. 4 is a plan sectional view showing the center of gravity position of the vehicle shown in FIG. 1 and triangles connecting the ground contact points of the left front wheel, the right front wheel and the rear wheel. FIG. 5 shows a situation in which a perpendicular passing through the center of gravity of the vehicle shown in FIG. 1 passes outside the range of a triangle connecting the ground contact points of the left front wheel, the right front wheel, and the rear wheel as the vehicle body tilts to the left. It is a front longitudinal cross-sectional view. FIG. 6 is a diagram showing a display of the vehicle display device shown in FIG. FIG. 7 is a block diagram of the vehicle display device shown in FIG. FIG. 8 is a diagram for explaining the operation of the indicator of the vehicle display device shown in FIG. 1. FIG. 8A shows a state where the vehicle body is upright, and FIG. When the vehicle body is inclined by 10 °, FIG. 8C is a diagram showing a display state when the vehicle body is inclined by 24 °. FIG. 9 is a diagram showing the resultant force of the centrifugal force and gravity acting on the vehicle shown in FIG. FIG. 10 is a view showing one of display devices according to a modification of the embodiment of the present invention. FIG. 11 is a view showing one of display devices according to a modification of the embodiment of the present invention. FIG. 12 is a diagram showing one display device according to a modification of the embodiment of the present invention. FIG. 12A shows a case where the vehicle body leans to the right side, and FIG. It is the figure which showed the case where it leaned on the left side. 13A and 13B are diagrams showing one of the conventional display devices. FIG. 13A shows a case where the vehicle body is in an upright state, and FIG. 13B shows a case where the vehicle body is leaned to the right side. It is a figure.

(Constitution)
A vehicle display device (hereinafter also referred to as “implementation device”) according to an embodiment of the present invention is applied to the vehicle 10 shown in FIG. The vehicle 10 is a three-wheeled vehicle with one occupant. The vehicle 10 includes a vehicle body 20, a seat (driver's seat) 30, a steering wheel 35, a lean mechanism 40, a display device (implementing device) 50, a right front wheel 81R, a left front wheel 81L, and a rear wheel 82.

  The seat 30 is disposed at the center in the left-right direction (width direction) of the vehicle body 20. The steering wheel 35 is disposed in front of the seat 30. The driver can operate the steering wheel 35 and an accelerator pedal and a brake pedal (not shown) while sitting on the seat 30.

  The right front wheel 81R and the left front wheel 81L are spaced in front of the vehicle 10 and in the left-right direction of the vehicle 10. That is, the right front wheel 81 </ b> R is disposed on the right front side of the vehicle 10, and the left front wheel 81 </ b> L is disposed on the left front side of the vehicle 10. The rear wheel 82 is disposed behind the vehicle 10 and in the center in the left-right direction (on the center line C1 in the width direction of the vehicle 10).

  As shown in FIG. 2, the left front wheel 81L is supported by the wheel holding member 83L so as to be rotatable about an axis extending in the left-right direction of the vehicle 10. The right front wheel 81R is supported by the wheel holding member 83R so as to be rotatable about an axis extending in the left-right direction of the vehicle 10. The rear wheel 82 is steered by a steering mechanism (not shown).

  As shown in FIGS. 2 and 3, the lean mechanism 40 is disposed between the right front wheel 81 </ b> R and the left front wheel 81 </ b> L and the vehicle body 20. The lean mechanism 40 can change the inclination angle θL of the vehicle body 20 in the left-right direction. This inclination angle θL is an angle formed by the center line C2 passing through the center of the vehicle body 20 and defining the vertical direction and the normal line of the road surface RS, and is the inclination angle of the vehicle 10 in the left-right direction. Also called “corner”. The lean angle θL is 0 ° in FIG. 2 and 20 ° in FIG. The center line C2 is also referred to as “axis C2”.

  As shown in FIG. 2, the lean mechanism 40 includes a housing 41, a motor 42, a speed reducer 43, a swing member (seesaw, bar-like member) 44, a right leg portion 45 </ b> R, and a left leg portion 45 </ b> L. The housing 41 is connected (suspended) to the vehicle body 20 via a shock absorber and a damper (not shown).

  A motor (a motor for a lean mechanism) 42 is disposed and fixed inside the housing 41. The motor 42 is a direct current motor, and can be rotated clockwise or counterclockwise depending on the direction of the applied voltage. The axis of the output shaft of the motor 42 extends in the front-rear direction of the vehicle 10. The reduction gear 43 is disposed and fixed inside the housing 41. The input shaft of the speed reducer 43 is connected to the output shaft of the motor 42. The axis of the output shaft 431 of the speed reducer 43 extends in the front-rear direction of the vehicle 10.

  The swing member 44 is a rod-like member extending in the left-right direction of the vehicle 10. A central portion of the swing member 44 is fixed to the output shaft 431 of the speed reducer 43. Therefore, when the motor 42 rotates in the forward direction, the output shaft 431 rotates in the forward direction, and as a result, the swing member 44 rotates clockwise around the output shaft 431 as viewed from the front. On the other hand, when the motor 42 rotates in the reverse direction, the output shaft 431 rotates in the reverse direction. As a result, the swing member 44 rotates counterclockwise around the output shaft 431 as viewed from the front.

  The left leg 45L is a rod-like member extending in the vertical direction. The upper end portion of the left leg portion 45L is supported in the vicinity of the left end portion of the swing member 44 so as to be rotatable around a left rotation shaft 46L extending in the front-rear direction of the vehicle 10. The lower end of the left leg 45L is connected to the wheel holding member 83L.

  The right leg portion 45R is a rod-like member (a member similar to the left leg portion 45L) extending in the vertical direction. The upper end portion of the right leg portion 45R is supported in the vicinity of the right end portion of the swing member 44 so as to be rotatable around a right rotation shaft 46R extending in the front-rear direction of the vehicle 10. The lower end portion of the right leg portion 45R is connected to the wheel holding member 83R.

  The center line C2 in the left-right direction of the vehicle body 20 and the horizontal road surface RS (the ground contact surfaces of the right front wheel 81R and the left front wheel 81L) are points when the vehicle body 20 is in a neutral position (a position that is not inclined to the left or right). Intersect at P0. Point P0 coincides with the midpoint of the tread of the front wheels (right front wheel 81R and left front wheel 81L). That is, the point P0 is a midpoint between the ground contact point Pfr of the right front wheel 81R and the ground contact point Pfl of the left front wheel 81L.

  As shown in FIG. 3, when the motor 42 rotates counterclockwise when viewed from the front, the swinging member 44 rotates counterclockwise around the output shaft 431. Therefore, the left leg 45L connected to the left rotation shaft 46L is pulled upward by the rotation of the swing member 44, and the right leg 45R connected to the right rotation shaft 46R is lowered by the rotation of the swing member 44. Pushed down.

  As a result, the vehicle body 20 is tilted leftward. At this time, the intersection of the center line C2 and the road surface RS intersects at a point P0. More specifically, when the swinging member 44 rotates counterclockwise with respect to the vehicle body 20 in the left-right direction around the output shaft 431, the right rotation shaft 46R, the left rotation shaft 46L, the left front wheel grounding point Pfl, The quadrangle formed by the contact point Pfr of the right front wheel tilts leftward of the vehicle 10. For example, when the swinging member 44 rotates relative to the vehicle body 20 counterclockwise by φ, the left leg 45L tilts clockwise by φ around the ground contact point Pfl of the left front wheel 81L, and the right leg 45R Tilt clockwise by φ around the ground contact point Pfr of the right front wheel 81R. Accordingly, the center line C2 tilts clockwise by φ around the point P0. As described above, the execution device 50 is configured such that the center line C2 intersects the road surface RS at the point P0 even when the lean angle θL of the vehicle body 20 changes. In other words, the vehicle body 20 rotates around the point P0.

  The lean angle θL is an angle formed by the normal line N passing through the point P0 and the center line C2 (see FIG. 3). Hereinafter, the lean angle θL when the vehicle body 20 leans to the right in the traveling direction (lean) is a positive value, and the lean angle θL when the vehicle body 20 leans to the left in the traveling direction is a negative value. The explanation will be continued as there is.

  On the other hand, when the motor 42 rotates clockwise in front view, the swing member 44 rotates clockwise around the output shaft 431. Therefore, the left leg 45L connected to the left rotation shaft 46L is pushed down by the rotation of the swing member 44, and the right leg 45R connected to the right rotation shaft 46R is moved upward by the rotation of the swing member 44. To be raised. As a result, the vehicle body 20 is tilted to the right.

  By the way, as shown in FIG. 4, an isosceles triangle ΔPflPfrPr formed by connecting the grounding points Pfl, Pfr, and Pr of the left front wheel 81L, the right front wheel 81R, and the rear wheel 82 of the vehicle 10 when viewed from the upper surface of the vehicle 10 is Indexed as “Triangle Tri”. The center of gravity Gm of the vehicle 10 exists on the center line C1 in the upright state. Assuming that the vehicle 10 is stopped, the position of the triangle Tri does not change from the upright state even if the vehicle body 20 is lean. On the other hand, as shown in FIGS. 2 and 3, the center of gravity Gm of the vehicle 10 is separated from the road surface RS and exists on the center line C <b> 2 of the vehicle body 20. Therefore, the center of gravity Gm of the vehicle 10 is displaced in the left-right direction according to the lean angle θL of the vehicle body 20. The greater the magnitude θabs of the lean angle θL, the greater the amount of lateral displacement of the center of gravity Gm.

  As shown in FIG. 5, if the displacement amount of the center of gravity Gm in the left-right direction is excessive, the perpendicular line L1 passing through the center of gravity Gm of the vehicle 10 is outside the line segment Tril (near the hypotenuses Lor and Lol of the triangle Tri or the triangle Tri. If the vehicle 10 stops in a state where it passes through the outer side of the vehicle 10, the vehicle 10 may fall down. Similarly, when the vehicle 10 is traveling at a relatively low speed (when the centrifugal force generated in the vehicle 10 is small), the vehicle 10 may fall over. The line segment Tril corresponds to the line segment Tril in FIG. More specifically, the line segment Tril is a line segment formed by cutting a triangle Tri by a straight line L2 that overlaps the center of gravity Gm of the vehicle 10 and is parallel to the vehicle width direction of the vehicle 10 when viewed from above. In the implementation apparatus 50, the magnitude θabs of the lean angle θL when the perpendicular line L1 passes through the oblique sides Lor and Lol of the triangle Tri by a predetermined margin is defined as the maximum lean angle θabsmax. In this example, the maximum lean angle θabsmax is set to 24 °. The predetermined margin is set in advance in consideration of manufacturing tolerances of various members. In this case, if the magnitude θabs of the lean angle θL is equal to or less than the maximum lean angle θabsmax, there is no possibility that the vehicle body 20 will fall.

  Referring again to FIG. 1, the implementation apparatus 50 includes a display 60 and an electronic control unit 70 (hereinafter referred to as “ECU 70”), which will be described later.

  The indicator 60 is disposed in front of the steering wheel 35 and below the front window 33 (so-called instrument panel) as shown in FIG. Therefore, the display device 60 is disposed so that a driver sitting on the seat 30 can visually recognize the vehicle through the steering wheel 35.

  The display device 60 includes a display 61 for display and a display panel 62. The display 61 is a dot matrix type display. A dot matrix type display is a display in which pixels (dots) are evenly arranged vertically and horizontally. For example, characters and images can be obtained by a method of driving a liquid crystal cell and a method of driving an LED arranged corresponding to each pixel. Information can be displayed. The display 61 includes at least a vehicle speed display area 611, a lean angle numerical value display area 612, and a lean angle graphic display area 613.

  In the vehicle speed display area 611, a numerical value based on the vehicle speed signal V acquired by the vehicle speed sensor 92 is displayed. In the lean angle numerical value display area 612, a numerical value (a numerical value representing the lean angle θL) based on the lean angle signal θL acquired by the lean angle sensor 91 is displayed. In the lean angle graphic display area 613, a graphic D1 (hereinafter also simply referred to as “graphic D1”) in which the vehicle body 20 viewed from the back is designed is displayed.

  The figure D1 has a shape that is long in the vertical direction with respect to the lateral width that is a characteristic shape of the vehicle body 20. Therefore, the figure D1 has a shape that can specify the direction of the axis C2 (see FIG. 3) that defines the vertical direction of the vehicle body 20. The lean angle numerical value display area 612 and the lean angle graphic display area 613 are also referred to as “lean angle display area”. The lean angle numerical value display area 612 and the lean angle graphic display area 613 are adjacent to each other, and the driver can view the lean angle numerical value display area 612 and the lean angle graphic display area 613 at the same time.

  The display panel 62 is disposed around the display 61 and mainly includes various warning lights for warning and alerting the driver. The various warning lights are, for example, a lean angle warning lamp 621, a parking brake warning lamp (not shown), a low battery level warning lamp, and the like. Thus, the display device 60 displays travel information that is information representing the travel state of the vehicle 10 such as the vehicle speed, the lean angle, and the remaining battery level.

  The ECU is an abbreviation for an electronic control unit, and is an electronic control circuit having a microcomputer including a CPU, a ROM, a RAM, a backup RAM (or nonvolatile memory), an interface I / F, and the like as main components. The CPU implements various functions to be described later by executing instructions (routines) stored in a memory (ROM).

  As shown in FIG. 7, the ECU 70 is electrically connected to a battery (vehicle battery) 36, a start switch 37, a navigation system 38, a motor 42, and a display 60. The battery 36 supplies power to the motor 42, the display device 60, the ECU 70, various sensors described later, and the like. The start switch 37 is a switch operated by the driver to make the vehicle 10 ready to travel. The navigation system 38 includes a GPS receiver and a map database. The navigation system 38 specifies the position of the vehicle 10 based on the signal received by the GPS receiver, and acquires road information at the specified position from the map database. This road information includes information such as the curvature radius and gradient of the road.

  The ECU 70 is further electrically connected to the lean angle sensor 91, the vehicle speed sensor 92, and the lateral acceleration sensor 93, and receives output signals from these sensors. The lean angle sensor 91 detects the lean angle of the vehicle body 20 and generates an output signal representing the lean angle θL. More specifically, the lean angle sensor 91 is a so-called gyro sensor, and detects the angular velocity ωL per unit time in the left-right direction of the vehicle body 20. Furthermore, the lean angle sensor 91 detects (calculates) the lean angle by integrating the detected angular velocity ωL in unit time. The vehicle speed sensor 92 generates an output signal indicating the traveling speed (vehicle speed) V of the vehicle 10. The lateral acceleration sensor 93 generates an output signal representing acceleration in the lateral direction (left-right direction) of the vehicle 10 (hereinafter referred to as “lateral acceleration”) Gy.

(Operation)
Hereinafter, an example of display by the implementation apparatus 50 will be described.

  FIG. 8A shows the state of the display 60 when the vehicle 10 is traveling and the lean angle θL is 0 °, that is, when the vehicle body 20 is upright. Such a state is, for example, a state where the vehicle 10 is traveling straight. The CPU of the ECU 70 (hereinafter also simply referred to as “CPU”) causes the vehicle speed display area 611 to display a value corresponding to the output signal representing the vehicle speed V detected by the vehicle speed sensor 92. The vehicle speed V in this example is 30 km / h. Therefore, the CPU displays “30” in the vehicle speed display area 611. The CPU displays a value (in this case, “0”) corresponding to the magnitude θabs of the lean angle θL in the lean angle numerical value display area 612. The CPU causes the lean angle graphic display area 613 to display a graphic (in this case, a graphic representing the vehicle body 20 in an upright state) D1 according to the lean angle θL. In this example in which the lean angle θL is 0 °, the vertical direction of the vehicle body 20 specified by the graphic D1 matches the vertical direction of the display device 60.

  FIG. 8B shows the display 60 when the vehicle 10 is traveling and the lean angle θL is 10 °, that is, when the vehicle body 20 is inclined 10 ° to the right (lean). The state of is shown. The CPU displays a value (in this case, “30”) corresponding to the vehicle speed V in the vehicle speed display area 611. The CPU displays a value (in this case, “10”) corresponding to the magnitude θabs of the lean angle θL in the lean angle numerical value display area 612. The CPU displays in the lean angle graphic display area 613 a graphic corresponding to the lean angle θL (in this case, a graphic representing the vehicle body 20 leaned 10 ° to the right in the traveling direction).

  FIG. 8C shows the state of the display 60 when the vehicle 10 is traveling and the lean angle θL is 24 °, that is, when the vehicle body 20 is leaning 24 ° to the right. The CPU displays a value (in this case, “30”) corresponding to the vehicle speed V in the vehicle speed display area 611. The CPU displays a value (in this case, “24”) corresponding to the magnitude θabs of the lean angle θL in the lean angle numerical value display area 612. The CPU displays in the lean angle graphic display area 613 a graphic corresponding to the lean angle θL (in this case, a graphic representing the vehicle body 20 leaned 24 ° to the right in the traveling direction). In this case, the magnitude θabs of the lean angle θL is the maximum lean angle θabsmax. Therefore, the CPU lights or blinks the lean angle warning lamp 621 on the display panel 62 to alert the driver.

  As described above, the execution device 50 executes the display of FIGS. 8A to 8C at a predetermined time interval, so that the lean angle graphic display area 613 expresses a state in which the vehicle body 20 tilts like an animation. At the same time, the value θabs of the lean angle θL is displayed as a numerical value in the lean angle numerical value display area 612. Therefore, the driver can intuitively understand the change in the lean angle θL represented by the graphic displayed in the lean angle graphic display area 613, and can easily recognize the lean state of the vehicle body 20. Furthermore, even when the magnitude θabs of the lean angle θL reaches the maximum lean angle θabsmax, the driver recognizes the lighting of the lean angle warning light 621 and operates the steering wheel 35 (returns to the neutral position). Thus, the magnitude θabs of the lean angle θL of the vehicle body 20 is made smaller than the maximum lean angle θabsmax. Therefore, the lean angle warning lamp 621 is turned off by the driver's operation. Therefore, according to the implementation device 50, it is possible to avoid the perpendicular L1 passing through the center of gravity Gm of the vehicle 10 from passing outside the triangle Tri as shown in FIG. 5, and as a result, the vehicle 10 may fall over. It can be avoided.

  As described above, the display device 60 of the implementation apparatus 50 includes the lean angle display area (the lean angle numerical display area 612 and the lean angle graphic display area 613) for displaying the lean angle θL, and the display control unit (ECU 70) depends on the orientation. The figure D1 having a shape that can specify the orientation of the axis that defines the vertical direction of the vehicle body 20 is identified by the figure D1 when the orientation of the figure D1 with respect to the display device 60 changes according to the lean angle θL and the lean angle θL is zero. The vertical direction of the vehicle body 20 and the vertical direction of the display device 60 are configured to be displayed in the lean angle display areas 612 and 613 together with a numerical value representing the lean angle θL. Thereby, the implementation apparatus 50 can make the driver of the vehicle 10 easily recognize the lean angle θL of the vehicle body 20.

  When the road surface on which the vehicle is traveling is inclined in the left-right direction, the feeling of operation received by the driver is different from that when the vehicle is traveling on a horizontal road surface even at the same lean angle. However, according to the implementation device 50, even when the road surface is inclined in the left-right direction, the angle at which the vehicle body is inclined with respect to the road surface, that is, the lean angle θL is displayed on the display device 60 by a figure and a numerical value. The display allows the driver to easily recognize the actual lean angle θL.

  Furthermore, when the magnitude θabs of the lean angle θL exceeds the predetermined threshold lean angle (that is, the maximum lean angle θabsmax), the implementation apparatus 50 has exceeded the predetermined threshold lean angle θabsmax when the magnitude θabs of the lean angle θL exceeds the predetermined threshold lean angle θabsmax. A display indicating this is configured to be displayed on the display device 60. Thereby, the implementation apparatus 50 can make the driver of the vehicle 10 easily recognize that the lean angle θL of the vehicle body 20 has exceeded the predetermined threshold lean angle θabsmax, and can prevent the vehicle 10 from falling.

  In addition, when the magnitude θabs of the lean angle θL is equal to or greater than the maximum lean angle θabsmax, the execution apparatus 50 sets the display color of the graphic displayed in the lean angle graphic display area 613 to the normal display color. It may be changed to a color different from (for example, white) (for example, red, hereinafter also referred to as “warning color”). Further, the CPU may blink the graphic displayed in the lean angle graphic display area 613 when the magnitude θabs of the lean angle θL becomes equal to or larger than the maximum lean angle θabsmax. According to this, when the magnitude θabs of the lean angle θL becomes equal to or greater than the maximum lean angle θabsmax, it is possible to more caution the driver of the vehicle 10 more carefully.

<Modification>
The present invention is not limited to the above embodiment, and various modifications can be employed within the scope of the present invention.

  For example, the first modified example of the implementation device 50 may calculate an appropriate lean angle θabsapp that allows the vehicle body 20 to turn most stably using the detection signal of the lateral acceleration sensor 93 and notify the driver thereof.

  More specifically, in the first modification, the centrifugal force Fc acting on the vehicle 10 is calculated from the lateral acceleration Gy detected by the lateral acceleration sensor 93 and the weight of the vehicle 10. By the way, as shown in FIG. 9, when the direction of the resultant force Fr of the centrifugal force Fc acting on the center of gravity Gm of the vehicle 10 and the gravity Fg acting on the center of gravity Gm passes through the “point P0”, the vehicle 10 It can turn stably. Therefore, in the first modification, the magnitude θabs of the lean angle θL when the direction of the resultant force Fr of the calculated centrifugal force Fc and gravity Fg passes through the point P0 is calculated as the appropriate lean angle θabsapp.

  Further, in the first modification, when the magnitude θabs of the actual lean angle θL of the vehicle body 20 is within a predetermined range including the appropriate lean angle θabsapp, the graphic representing the vehicle body 20 displayed in the lean angle graphic display area 613 Is changed to a color (for example, green) different from the normal color (for example, white) and the warning color (for example, red).

  Thus, according to the first modification, the driver can easily recognize that the magnitude θabs of the lean angle θL of the vehicle body 20 is at the appropriate lean angle θabsapp. Furthermore, according to the first modification, by causing the driver to operate the steering wheel 35, the accelerator pedal, and the brake pedal so that the color of the figure representing the vehicle body 20 is green while the vehicle 10 is turning. The vehicle 10 can be turned in a stable manner.

  Furthermore, the second modification of the implementation device 50 estimates the centrifugal force Fc acting on the vehicle 10 based on the position information of the vehicle 10 acquired by the navigation system 38 and the road information (curvature radius of the road) at the position. May be. In the second modification, the magnitude θabs of the lean angle θL when the direction of the resultant force Fr of the estimated centrifugal force Fc and the gravity Fg passes through the point P0 may be estimated as the appropriate lean angle θabsapp.

  In the above-described embodiment, the lean angle θL displayed in the lean angle display area is acquired by the lean angle sensor 91, but the lean angle θL is the angular velocity of rotation in the left-right direction acquired by a gyro sensor (not shown). Based on the steering angle of the steering wheel 35 and the vehicle speed V acquired by the vehicle speed sensor 92, an instruction value for inclining the lean mechanism 40 calculated by the CPU may be used. May be used.

  In the above embodiment, a line segment extending in the left-right direction representing the road surface RS is displayed in the lean angle graphic display area 613, but the line segment representing the road surface RS may not be displayed.

<Other variations>
As shown in FIG. 10, a graphic D may be displayed in the lean angle graphic display area 613 instead of the graphic D1. The graphic D2 includes a graphic D2a that is fixedly displayed in the lean angle graphic display area 613 and a graphic D2b that is rotated and displayed according to the lean angle θL. According to this, the figure D2a is orthogonal to the axis C2. Therefore, the figure D2a has a shape that can specify the direction of the axis C2 that defines the vertical direction of the vehicle body 20. The orientation of the figure D2b with respect to the display device 60 changes according to the lean angle θL. That is, the driver can recognize the magnitude of the lean angle θL from the angle formed by the graphic D2a and the graphic D2b. Further, when the lean angle θL is zero, the vertical direction of the vehicle body 20 specified by the graphic D2b and the vertical direction of the display device 60 coincide with each other. Accordingly, like the figure D1, the figure D2 (the figure D2a and the figure D2b) can easily make the driver recognize how much the vehicle body 20 is inclined with respect to the road surface RS.

  As shown in FIG. 11, the lean angle displayed in the lean angle numerical value display area 612 and the lean angle graphic display area 613 is displayed on the head-up display 63 provided in the front window 33 instead of the display 61 for display. May be. According to this, the driver can recognize the lean angle θL of the vehicle without greatly diverting the line of sight during the driving.

  As shown in FIG. 12, the driver may be made to recognize the lean angle θL from the cover position of the right front wheel 81R or the left front wheel 81L that is visually recognized through the right side glass 34R or the left side glass 34L. More specifically, when the vehicle body 20 leans to the right side, as shown in FIG. 12A, the right front wheel 81R is relatively close to the right side glass 34R, and the left front wheel 81L is relatively left side glass 34L. Keep away from. Accordingly, in this case, the driver can visually recognize the cover upper end (hereinafter referred to as “right front wheel cover upper end”) 85R of the right front wheel 81R through the right side glass 34R. Conversely, when the vehicle body 20 leans to the left, as shown in FIG. 12B, the left front wheel 81L is relatively closer to the left side glass 34L, and the right front wheel 81R is relatively farther from the right side glass 34R. Therefore, in this case, the driver can visually recognize the cover upper end (hereinafter referred to as “left front wheel cover upper end”) 85L of the left front wheel 81L through the left side glass 34L.

  A scale corresponding to the lean angle θL is provided below the right side glass 34R and the left side glass 34L. When the vehicle body 20 leans to the right side at a lean angle θL, the right wheel cover upper end 85R is visually recognized by the driver so as to overlap the scale corresponding to the lean angle θL attached to the right side glass 34R. Similarly, when the vehicle body 20 leans to the left side at a lean angle θL, the left wheel cover upper end 85L is visually recognized by the driver so as to overlap with a scale corresponding to the lean angle θL attached to the left side glass 34L. According to this, the driver can recognize the lean angle θL of the vehicle without greatly diverting the line of sight during the driving.

  Further, the scale corresponding to the lean angle θL is the scale color in the range where the magnitude θabs of the lean angle θL of the vehicle body 20 exceeds the predetermined threshold lean angle θabsmax, with the color of the scale below the predetermined threshold lean angle θabsmax. It is good also as a color (for example, red) different from a color (for example, black).

  Although the value corresponding to the magnitude θabs of the lean angle θL is displayed in the lean angle numerical value display area 612, the value corresponding to the lean angle θL (a numerical value with a positive or negative sign) is displayed in the lean angle numerical value display area 612. For example, a positive value may be displayed when the vehicle body 20 leans to the right, and a negative value when the vehicle body 20 leans to the left.

  DESCRIPTION OF SYMBOLS 10 ... Vehicle, 20 ... Vehicle body, 30 ... Seat, 33 ... Front window, 40 ... Lean mechanism, 42 ... Motor, 50 ... Display device, 60 ... Display, 61 ... Display for display, 611 ... Vehicle speed display area, 612 ... Lean angle numerical display area, 613 ... Lean angle graphic display area, 62 ... Display panel, 621 ... Lean angle warning light, 70 ... ECU (electronic control unit), 81L ... Left front wheel, 81R ... Right front wheel, 82 ... Rear wheel 91 ... Lean angle sensor, 92 ... Vehicle speed sensor, C2 ... Axis, D1 ... Figure, D2 ... Figure, N ... Normal, RS ... Ground plane, [theta] L ... Lean angle.

Claims (1)

A lean mechanism capable of tilting the vehicle body in the left-right direction with respect to the ground contact surfaces of a pair of wheels spaced apart in the left-right direction of the vehicle;
A lean angle acquisition unit that acquires a lean angle that is an inclination angle of the vehicle body with respect to a normal line of the ground plane;
A driver's seat disposed on the vehicle body and seated by a driver of the vehicle;
Applied to vehicles having
A display that displays travel information that is provided at a position that is visible to the driver seated on the driver's seat and that represents the travel state of the vehicle;
A display control unit for displaying the travel information on the display;
In a vehicle display device comprising:
The indicator includes a lean angle display area for displaying the lean angle,
The display control unit changes the orientation of the figure relative to the display according to the lean angle, and changes the lean angle according to the orientation of the figure having a shape that can specify the orientation of an axis that defines the vertical direction of the vehicle body. It is configured to display the lean angle display area together with a numerical value representing the lean angle so that the vertical direction of the vehicle body specified by the graphic and the vertical direction of the indicator coincide with each other when zero is zero,
Vehicle display device.

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