JP2019199231A - Information processor for saddle-riding type vehicle, and information processing method for saddle-riding type vehicle - Google Patents

Abstract

To provide an information processor for a saddle-riding type vehicle and an information processing method for the saddle-riding type vehicle, capable of acquiring properly and simply stability of a traveling attitude of the saddle-riding type vehicle.SOLUTION: An information processor 10 for a saddle-riding type vehicle includes a traveling attitude information acquisition unit 11 for acquiring, in time series, a physical quantity set constituted of at least two kinds of physical quantities, as information related to the traveling attitude of the saddle-riding type vehicle 1, and a stability acquisition unit 12 for acquiring, in time series, stability of the traveling attitude of the saddle-riding type vehicle 1, by acquiring a Mahalanobis distance to a common reference specimen group in each physical quantity set.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an information processing apparatus and an information processing method for acquiring the stability of a running posture of a saddle riding type vehicle.

  As a conventional vehicle information processing apparatus, a travel posture information acquisition unit that acquires information related to the travel posture of a vehicle, and the stability of the travel posture of the vehicle is acquired based on information acquired by the travel posture information acquisition unit. And a stability acquisition unit. For example, the traveling posture information acquisition unit acquires vehicle speed, acceleration / deceleration, and lateral acceleration generated in a traveling vehicle as information related to the traveling posture. Further, for example, the stability acquisition unit acquires the stability of the running posture of the vehicle by multiplication of the vehicle speed, acceleration / deceleration, and lateral acceleration (see, for example, Patent Document 1).

JP 2010-221995 A

  A conventional vehicle information processing apparatus targets vehicles with relatively high running stability, such as automobiles and trucks. In other words, when the stability is acquired in the saddle-type vehicle information processing device, it is required to cope with a more complicated traveling posture, so that it is difficult to divert the conventional vehicle information processing device as it is. Cases can be assumed. In addition, in the saddle riding type vehicle information processing, since there is a tendency that the mounting space is more restricted than the conventional vehicle information processing apparatus, the simplification of processing is also required.

  The present invention has been made against the background of the above-described problems, and information processing apparatus for straddle-type vehicle and information for straddle-type vehicle that can appropriately and simply acquire the stability of the running posture of the straddle-type vehicle. A processing method is obtained.

  The present invention provides a travel attitude information acquisition unit that acquires information related to the travel attitude of the saddle riding type vehicle, and the travel attitude of the saddle type vehicle based on the information acquired by the travel attitude information acquisition unit. A straddle-type vehicle information processing apparatus comprising: a stability acquisition unit configured to acquire stability; wherein the traveling posture information acquisition unit includes a physical quantity composed of at least two types of physical quantities as the information A set is acquired in time series, and the stability acquisition unit acquires the stability in time series by acquiring a Mahalanobis distance with respect to a common reference sample group for each of the physical quantity sets acquired by the running posture information acquisition unit. It is something to get in.

  The present invention provides a travel attitude information acquisition step for acquiring information related to the travel attitude of the saddle riding type vehicle, and the travel attitude of the saddle riding type vehicle based on the information acquired in the travel attitude information acquisition step. A straddle-type vehicle information processing method, comprising: a stability acquisition step for acquiring stability, wherein in the running posture information acquisition step, the physical quantity includes at least two types of physical quantities as the information Sets are acquired in time series, and in the stability acquisition step, the Mahalanobis distance with respect to a common reference sample group is acquired for each physical quantity set acquired in the running posture information acquisition step, so that the stability is It is acquired in series.

  In the saddle riding type vehicle information processing apparatus and the saddle riding type vehicle information processing method according to the present invention, as the information related to the traveling posture of the saddle riding type vehicle, a physical quantity set composed of at least two types of physical quantities is time-sequentially. By acquiring the Mahalanobis distance with respect to the common reference sample group for each physical quantity set, the stability of the traveling posture of the saddle riding type vehicle is acquired in time series. Therefore, it is possible to acquire an appropriate stability corresponding to a complicated traveling posture generated in the saddle riding type vehicle by a simple process.

It is a figure which shows an example of the system configuration | structure of the information processing apparatus for saddle riding type vehicles which concerns on embodiment of this invention. It is a figure which shows an example of the operation | movement flow of the information processing apparatus for saddle riding type vehicles which concerns on embodiment of this invention. It is a figure for demonstrating the effect | action in the instability determination step of the information processing apparatus for saddle riding type vehicles according to the embodiment of the present invention. It is a figure for demonstrating the effect | action in the instability determination step of the information processing apparatus for saddle riding type vehicles according to the embodiment of the present invention.

  Hereinafter, a saddle riding type vehicle information processing apparatus and a saddle riding type vehicle information processing method according to the present invention will be described with reference to the drawings.

  The configuration, operation, and the like described below are examples, and the saddle riding type vehicle information processing apparatus and the saddle riding type vehicle information processing method according to the present invention have such a configuration, operation, and the like. It is not limited. For example, in the following, based on the stability acquired by the stability acquisition unit, the instability determination unit determines whether or not the traveling posture of the saddle type vehicle has reached the stability limit, and according to the determination result Although the case where the driving support device is controlled is described, the driving support device is controlled according to the stability acquired by the stability acquisition unit, that is, without being determined by the instability determination unit. Also good.

Embodiment.
The saddle riding type vehicle information processing apparatus according to the embodiment will be described below.

<Configuration of information processing apparatus for saddle riding type vehicle>
A configuration of the saddle riding type vehicle information processing device according to the embodiment will be described.
FIG. 1 is a diagram illustrating an example of a system configuration of the saddle-ride type vehicle information processing device according to the embodiment of the present invention.

  As shown in FIG. 1, the saddle riding type vehicle information processing device 10 includes a running posture information acquisition unit 11, a stability acquisition unit 12, and an instability determination unit 13. The saddle riding type vehicle information processing apparatus 10 is mounted on the saddle riding type vehicle 1. The saddle riding type vehicle 1 means, for example, a vehicle of a type in which an occupant such as a motorcycle (motorcycle, motorcycle, etc.), buggy, bicycle, etc. is seated.

  The saddle riding type vehicle information processing apparatus 10 is connected to a traveling posture information sensor 20 mounted on the saddle riding type vehicle 1. When the output of the travel posture information sensor 20 is input to the travel posture information acquisition unit 11, the travel posture information acquisition unit 11 acquires information related to the travel posture of the saddle riding type vehicle 1. The travel attitude information acquisition unit 11 continuously acquires a physical quantity set s composed of at least two types of physical quantities at that time as information related to the travel attitude of the saddle riding type vehicle 1.

  For example, the running posture information sensor 20 is an inertial measurement device (IMU) including a three-axis gyro sensor and a three-direction acceleration sensor. In such a case, the traveling posture information acquisition unit 11 uses, as information related to the traveling posture of the straddle-type vehicle 1, the angular velocity and acceleration (that is, six types) generated in the straddle-type vehicle 1 that is traveling. A physical quantity set s composed of two or more types of physical quantities is acquired. The angular velocity itself may be input from the traveling posture information sensor 20 to the traveling posture information acquisition unit 11, or another physical quantity that can be substantially converted into the angular velocity may be input as the angular velocity. Further, the acceleration itself may be input from the traveling posture information sensor 20 to the traveling posture information acquisition unit 11, or another physical quantity that can be substantially converted to acceleration may be input as the acceleration.

  The stability acquisition unit 12 acquires the Mahalanobis distance MHD with respect to the reference sample group of the physical quantity set s acquired by the traveling posture information acquisition unit 11 as the stability of the traveling posture of the straddle-type vehicle 1. The reference sample group is reference data composed of a plurality of reference physical quantity sets S (that is, reference physical quantity sets composed of physical quantities of the same type as the physical quantity set s), and in advance (for example, at the time of shipment) It may be input and stored, or may be generated from a plurality of physical quantity sets s previously acquired by the traveling posture information acquisition unit 11. The stability acquisition unit 12 may acquire the Mahalanobis distance MHD itself, or another parameter that can be substantially converted to the Mahalanobis distance MHD may be acquired as the Mahalanobis distance MHD.

  Based on the relationship between the Mahalanobis distance MHD acquired by the stability acquisition unit 12 and a preset reference value Th, the instability determination unit 13 sets the stability limit of the straddle-type vehicle 1 at each time point. It is determined whether or not the value exceeds the stability limit, and a trigger signal is output to the driving support device 30 when the stability limit is exceeded. When the trigger signal is input, the driving support device 30 executes, for example, an operation for controlling the behavior of the saddle riding type vehicle 1. In addition, when the trigger signal is input, the driving support device 30 performs an operation for notifying the passenger of the saddle riding type vehicle 1 that the stability limit is exceeded, for example. The driving support device 30 may be replaced with another device that does not aim at driving support (for example, a device that only collects data).

  The straddle-type vehicle information processing apparatus 10 may be configured such that each part is collected in one casing, or may be provided in each casing. The saddle riding type vehicle information processing device 10 may be incorporated in the driving support device 30 or may not be incorporated in the driving support device 30. Further, a part or all of the saddle riding type vehicle information processing apparatus 10 may be configured by, for example, a microcomputer, a microprocessor unit, or the like, or may be configured by an updatable device such as firmware. It may be a program module or the like executed by a command from the CPU or the like.

<Operation of saddle riding type vehicle information processing device>
The operation of the saddle riding type vehicle information processing apparatus according to the embodiment will be described.

  In the following description, a case is described in which a physical quantity set s composed of two types of physical quantities x1 and x2 is acquired in the travel attitude information acquisition step. However, in the travel attitude information acquisition step, there are three or more types of physical quantities. May be obtained, and the Mahalanobis distance MHD may be derived for the physical quantity set s.

FIG. 2 is a diagram showing an example of an operation flow of the saddle riding type vehicle information processing apparatus according to the embodiment of the present invention.
The saddle riding type vehicle information processing apparatus 10 repeatedly executes steps S101 to S105 shown in FIG. 2 when the saddle riding type vehicle 1 is traveling.

(Running posture information acquisition step)
In step S <b> 101, the traveling posture information acquisition unit 11 acquires two types of physical quantities x <b> 1 and x <b> 2 at that time as information related to the traveling posture of the saddle riding type vehicle 1. That is, the running posture information acquisition unit 11 acquires the physical quantity set s in time series. Each of the two types of physical quantities x1 and x2 may be raw data (that is, raw data) detected by the traveling posture information sensor 20, and raw data (that is, raw data) detected by the traveling posture information sensor 20 (that is, raw data). , Unprocessed data) may be data obtained by performing noise removal processing.

  In particular, the physical quantities x1 and x2 may be data obtained by performing a median filter on Raw data (that is, raw data) detected by the traveling posture information sensor 20. The median filter converts Raw data (that is, raw data) acquired at a certain point of time into the middle rank in the Raw data (that is, raw data) group acquired within a predetermined period before and after that. Is replaced with raw data (that is, raw data). Various noises can be removed by appropriately setting the length of the predetermined period before and after.

(Stability acquisition step)
Next, in step S102, the stability acquisition unit 12 acquires the Mahalanobis distance MHD for the reference sample group of the physical quantity set s acquired in step S101 as the stability at that time. The stability acquisition unit 12 may derive the Mahalanobis distance MHD by calculation, or may derive the Mahalanobis distance MHD by referring to a lookup table created in advance.

  Specifically, the Mahalanobis distance MHD is derived as a value calculated by Equation 1 below. Note that x1 and x2 in Equation 1 are the physical quantities x1 and x2 of the physical quantity set s acquired in step S101. In addition, μ1 in Formula 1 is an average of physical quantities X1 (reference values of physical quantities of the same type as the physical quantities x1) of a plurality of reference physical quantity sets S constituting the reference sample group. In addition, μ2 in Formula 1 is an average of physical quantities X2 (reference values of physical quantities of the same type as the physical quantities x2) of a plurality of reference physical quantity sets S constituting the reference sample group. Further, Σ in Equation 1 is a covariance matrix of physical quantities X1 and X2 of a plurality of reference physical quantity sets S that constitute a reference sample group.

  Further, the Mahalanobis distance MHD may be derived as a value calculated by Equation 2 below. Note that x1_s and x2_s are the physical quantities x1 and x2 of the physical quantity set s_s acquired when the saddle riding type vehicle 1 is stopped. Further, Σ in Expression 2 is a plurality of reference physical quantity sets S constituting a reference sample group with respect to the physical quantities X1_s and X2_s of the reference physical quantity set S_s assumed to be acquired in a state where the saddle riding type vehicle 1 is stopped. The covariance matrix of the difference between the physical quantities X1 and X2. That is, the physical quantities x1 and x2 in Formula 1 may be replaced with changes to the physical quantities x1_s and x2_s in the physical quantity set s_s acquired in a state where the saddle riding type vehicle 1 is stopped.

  The straddle-type vehicle information processing apparatus 10 stores each physical quantity set (reference physical quantity set S, reference physical quantity set S_s) of the reference sample group, and an average of each physical quantity, a covariance matrix, and the like are derived by calculation. In addition, each physical quantity itself may be stored in advance.

(Instability determination step)
Next, in step S103, the instability determination unit 13 determines whether or not the derived Mahalanobis distance MHD exceeds a preset reference value Th. If the Mahalanobis distance MHD exceeds the reference value Th, the process proceeds to step S104. If the Mahalanobis distance MHD does not exceed the reference value Th, the process proceeds to step S105. The reference value Th may be a constant value or a fluctuation value. In step S <b> 104, the instability determination unit 13 outputs a trigger signal to the driving support device 30. In step S <b> 105, the instability determination unit 13 does not output a trigger signal to the driving support device 30.

3 and 4 are diagrams for explaining the operation in the instability determination step of the saddle riding type vehicle information processing device according to the embodiment of the present invention.
3 and 4, the horizontal axis is the physical quantity x1, and the vertical axis is the physical quantity x2. Further, a large average coordinates P _S of all the reference physical quantity set S constituting 3 and 4, are plotted coordinates with a small dot of each reference physical quantity set S constituting the reference sample group, the reference sample group Plotted with dots. Further, in FIG. 3, are plotted in coordinates P _T1 is large dots of the physical quantity set s1 obtained at time T1, FIG. 4, plotted at the coordinates P _T2 physical quantity set s2 acquired at time T2 is large dots Has been.

Since in the example shown in FIG. 3, the average coordinates P physical quantity set deviation from a large _S s1 (i.e., coordinates P _T1), but has been obtained, the deviation with respect to the dispersion state of the reference sample group is not large, the Mahalanobis distance The MHD is derived to be small and it is determined that the stability is not low. On the other hand, in the example shown in FIG. 4, as compared with the example shown in FIG. 3, the average coordinates P physical quantity set small deviation from _S s2 (i.e., coordinates P _T2) but has been obtained, the reference sample Since the deviation of the group from the dispersed state is large, the Mahalanobis distance MHD is derived to be large, and it is determined that the stability is low. That is, the instability determination unit 13 can determine the stability of the running posture of the saddle riding type vehicle 1 taking into account the dispersion state of the two types of physical quantities x1 and x2.

  The traveling posture information acquisition unit 11 further acquires another physical quantity set s composed of at least two types of physical quantities that have different combinations of physical quantity sets s and types of physical quantities, and the stability acquisition unit 12 Depending on the traveling state of the riding type vehicle 1, the physical quantity set s may be switched to another physical quantity set s to derive the Mahalanobis distance MHD. That is, in the case where the traveling posture information acquisition unit 11 acquires three angular velocities and three accelerations (that is, six types of physical quantities) generated in the straddle-type vehicle 1 that is traveling from the traveling posture information sensor 20, it is stable. The degree acquisition unit 12 may switch the physical quantity selected to configure the physical quantity set s according to the speed, acceleration, tilt angle, vibration, and the like generated in the saddle riding type vehicle 1.

<Effect of saddle riding type vehicle information processing device>
The effect of the saddle riding type vehicle information processing apparatus according to the embodiment will be described.
In the straddle-type vehicle information processing device 10, the travel posture information acquisition unit 11 has a physical quantity set s configured of at least two types of physical quantities (x1, x2) as information related to the travel posture of the saddle-ride type vehicle 1. Are acquired in time series, and the stability acquisition unit 12 acquires the Mahalanobis distance MHD for the common reference sample group for each physical quantity set s, thereby acquiring the stability in time series. That is, the stability of the traveling posture of the saddle riding type vehicle 1 is acquired after taking into account the dispersion state of at least two types of physical quantities (x1, x2). Therefore, it is possible to acquire an appropriate stability corresponding to a complicated traveling posture generated in the saddle riding type vehicle 1 by a simple process.

  Preferably, the physical quantity set s includes acceleration or angular velocity generated in the saddle riding type vehicle 1. With such a configuration, it is possible to obtain an accurate stability.

  Preferably, the travel attitude information acquisition unit 11 further acquires another physical quantity set s composed of at least two types of physical quantities as information related to the travel attitude of the saddle riding type vehicle 1 and separates it from the physical quantity set s. The physical quantity set s differs from the physical quantity set s, and the physical quantity set s used by the stability acquisition unit 12 to acquire the stability according to the traveling state of the saddle riding type vehicle 1 is different from the physical quantity set s. Switch to set s. With such a configuration, it is possible to optimize instability determination of the traveling posture of the saddle riding type vehicle 1 according to the vehicle body behavior. In particular, in the saddle riding type vehicle 1, the change in the vehicle body behavior is severe compared to vehicles such as automobiles and trucks. Therefore, such a configuration is particularly useful in the saddle riding type vehicle 1.

  Preferably, the at least two types of physical quantities (x1, x2) acquired by the traveling posture information acquisition unit 11 are at least two types of physical quantities (x1_s, x2_s) acquired when the saddle riding type vehicle 1 is stopped. It is acquired as the amount of change for. With such a configuration, it is possible to obtain an accurate stability.

  Preferably, a median filter is applied to at least two types of physical quantities (x1, x2) acquired by the traveling posture information acquisition unit 11. In the median filter, it is possible to suppress a time delay that occurs in the data after the filter processing as compared with other filters (for example, a moving average filter, a high-pass filter, a low-pass filter, a band-pass filter, and the like). Therefore, by using the median filter, the accuracy when acquiring the stability in time series is improved.

  Preferably, the saddle riding type vehicle 1 is a motorcycle. Since motorcycles have particularly low running stability, the above features are particularly effective in motorcycles.

<Application example of operation of saddle-type vehicle information processing device>
As described above, whether or not the traveling posture of the saddle riding type vehicle 1 exceeds the stability limit based only on the relationship between the Mahalanobis distance MHD derived with respect to the physical quantity set s and the reference value Th. Judging. The travel attitude information acquisition unit 11 further includes a sub-physical quantity set ss composed of at least two types of physical quantities, which is different from the combination of the physical quantity set s and the physical quantity, as information related to the travel attitude of the saddle riding type vehicle 1. The stability acquisition unit 12 may further acquire the sub-Mahalanobis distance MHDs that is the Mahalanobis distance with respect to the sub-reference sample group of the sub-physical quantity set ss as the sub-stability. That is, based on the relationship between the Mahalanobis distance MHD derived for the physical quantity set s and the reference value Th, the instability determination unit 13 determines whether or not the traveling posture of the saddle riding type vehicle 1 exceeds the stability limit. Based on the determination and the relationship between the sub Mahalanobis distance MHDs derived for the sub physical quantity set ss and the sub reference value Ths, it is determined whether or not the traveling posture of the saddle riding type vehicle 1 exceeds the stability limit. Instability determination may be performed by performing both in parallel (that is, substantially simultaneously). With such a configuration, it is possible to improve the reaction speed by determining with high sensitivity while suppressing erroneous recognition by determining with low sensitivity.

  Although the embodiment has been described above, the present invention is not limited to the description of the embodiment. For example, only a part of the embodiment may be implemented, or each part of the embodiment may be combined.

DESCRIPTION OF SYMBOLS 1 Saddle-type vehicle, 10 Saddle-type vehicle information processing apparatus, 11 Travel attitude information acquisition part, 12 Stability acquisition part, 13 Instability determination part, 20 Travel attitude information sensor, 30 Driving support apparatus, x1, x2 Physical quantity , _{P S} mean coordinates of the reference sample _{group, P} coordinates of the physical quantity set s1 obtained at _T1 time _T1, the coordinates of _{P T2} time T2 a physical quantity set s2 obtained by.

Claims (10)

A travel attitude information acquisition unit (11) that acquires information related to the travel attitude of the saddle riding type vehicle (1);
A stability acquisition unit (12) for acquiring the stability of the traveling posture of the saddle riding type vehicle (1) based on the information acquired by the traveling posture information acquisition unit (11);
A straddle-type vehicle information processing device (10) comprising:
The travel posture information acquisition unit (11) acquires, as the information, a physical quantity set (s) composed of at least two types of physical quantities (x1, x2) in time series,
The stability acquisition unit (12) acquires the Mahalanobis distance (MHD) with respect to a common reference sample group for each physical quantity set (s) acquired by the traveling posture information acquisition unit (11). Get degrees in time series,
An information processing apparatus for a saddle-ride type vehicle. The physical quantity set (s) includes acceleration generated in the saddle riding type vehicle (1).
The straddle-type vehicle information processing device according to claim 1. The physical quantity set (s) includes an angular velocity generated in the saddle riding type vehicle (1).
The information processing apparatus for straddle-type vehicles according to claim 1 or 2. Furthermore, based on the relationship between the Mahalanobis distance (MHD) acquired by the stability acquisition unit (12) and a preset reference value (Th), the running posture of the straddle-type vehicle (1) is An instability determination unit (13) for determining whether or not the stability limit is exceeded at each time point;
The straddle-type vehicle information processing apparatus according to any one of claims 1 to 3. The travel posture information acquisition unit (11) further acquires another physical quantity set (s) composed of at least two kinds of physical quantities as the information,
The physical quantity set (s) and the different physical quantity set (s) are different in the combination of physical quantity types,
The stability acquisition unit (12) switches between the physical quantity set (s) and the other physical quantity set (s) according to the traveling state of the saddle riding type vehicle (1), and uses it at each time point. Obtaining the stability,
The straddle-type vehicle information processing device according to claim 4. The travel posture information acquisition unit (11) further acquires, as the information, a sub-physical quantity set (ss) composed of at least two types of physical quantities in time series,
The physical quantity set (s) and the sub-physical quantity set (ss) have different types of physical quantity combinations,
The stability acquisition unit (12) acquires a sub Mahalanobis distance (MHDs) for a common sub reference sample group for each of the sub physical quantity sets (ss) acquired by the traveling posture information acquisition unit (11). Get sub-stability,
The instability determination unit (13) includes a relationship between the Mahalanobis distance (MHD) and the reference value (Th), and a relationship between the sub-Mahalanobis distance (MHDs) and a preset sub reference value (Ths). And determining whether or not the traveling posture of the saddle riding type vehicle (1) exceeds the stability limit at each time point,
The information processing apparatus for straddle-type vehicles according to claim 4 or 5. The at least two types of physical quantities (x1, x2) acquired by the traveling posture information acquisition unit (11) are the at least two types of physical quantities acquired while the saddle riding type vehicle (1) is stopped. Obtained as a change amount with respect to (x1_s, x2_s),
The straddle-type vehicle information processing device according to any one of claims 1 to 6. The median filter is applied to the at least two types of physical quantities (x1, x2) acquired by the travel posture information acquisition unit (11).
The straddle-type vehicle information processing device according to any one of claims 1 to 7. The saddle riding type vehicle (1) is a motorcycle.
The information processing apparatus for straddle-type vehicles according to any one of claims 1 to 8. A travel attitude information acquisition step (S101) for acquiring information related to the travel attitude of the saddle riding type vehicle (1);
A stability obtaining step (S102) for obtaining the stability of the running posture of the saddle riding type vehicle (1) based on the information obtained in the running posture information obtaining step (S101);
An information processing method for straddle-type vehicles, comprising:
In the travel posture information acquisition step (S101), as the information, a physical quantity set (s) composed of at least two types of physical quantities (x1, x2) is acquired in time series,
In the stability acquisition step (S102), a Mahalanobis distance (MHD) with respect to a common reference sample group is acquired for each of the physical quantity sets (s) acquired in the traveling posture information acquisition step (S101), Stability is acquired in time series,
Information processing method for saddle riding type vehicle.

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