JP2021081844A - Operation support device - Google Patents

Abstract

To secure traffic safety by allowing an operator oneself and the persons concerned or the like to recognize deterioration of an operation ability of the operator, so as to suppress an impossible operation by the operator.SOLUTION: An operation support device 21 includes: a camera 23 arranged in a power-assisted bicycle so as to image a front side of the bicycle; a storage circuit 42; a fall determination section 52 for determining whether the bicycle has fallen based on a captured image obtained by the camera 23; a fall frequency counting section 53 for counting a fall frequency of the bicycle based on a determination result of the fall determination section 52 and stores the total fall frequency of the bicycle in the storage circuit 42; a display control section 56 for displaying the total fall frequency or the like stored in the storage circuit 42 on a monitor 28; and a communication control section 57 for transmitting the total fall frequency or the like stored in the storage circuit 42 to an external device.SELECTED DRAWING: Figure 2

Description

The present invention relates to a driving support device that supports the driving of a two-wheeled vehicle.

Motorcycles include motorcycles equipped with an internal combustion engine as the main power source, electrically assisted bicycles equipped with an electric motor as an auxiliary power source, and bicycles that do not have an internal combustion engine or an electric motor and run only by pedaling. .. These two-wheeled vehicles are smaller than motorcycles and are easy to use as a means of transportation, but because they are two-wheeled vehicles, they may tip over when stopped or traveling at low speed.

Patent Document 1 below describes a technique for detecting a fall of a motorcycle.

Japanese Unexamined Patent Publication No. 2004-93337

In recent years, the number of elderly people who use electrically power assisted bicycles is increasing. According to the electrically power assisted bicycle, the driving force of the electric motor reduces the burden on the driver to pedal, and makes it easier to start and run uphill. In addition, a driver's license is not required to drive an electrically power assisted bicycle. Such convenience is considered to be one of the factors that increase the number of elderly people who use electrically power assisted bicycles.

On the other hand, as described above, a two-wheeled vehicle may tip over when stopped or traveling at low speed. Compared to young people, elderly people have a lower sense of balance and weaker legs, and the driving ability of motorcycles is reduced in various respects. Therefore, older people are more likely to fall while using a power-assisted bicycle than younger people.

Although it is convenient as described above, some problems have been pointed out at present regarding the use of electrically power assisted bicycles by elderly people who may fall. Specifically, since it is extremely easy to drive and move an electrically power assisted bicycle, many elderly people regularly use the electrically power assisted bicycle as a foot in their daily lives. Along with this, there is concern that the number of fall accidents while using electrically power assisted bicycles by the elderly will increase. In particular, it has been pointed out that there are elderly people who continue to use the power-assisted bicycle despite the fact that they frequently fall when the power-assisted bicycle is stopped. It can be said that such elderly people are more likely to encounter an accident due to a fall.

In addition, it has been pointed out that there are elderly people who do not stop the power-assisted bicycle even when crossing an intersection with poor visibility once they start running on the power-assisted bicycle in order to avoid falling when the power-assisted bicycle is stopped. There is. It can be said that such elderly people are more likely to cause a traffic accident at an intersection.

In order to prevent accidents, it is desirable for such elderly people to be aware of the decline in driving ability and to refrain from using electrically power assisted bicycles. However, it is not easy for the elderly to abandon the convenient use of electrically power assisted bicycles.

In addition, such a problem occurs when a person other than the elderly with reduced driving ability uses an electrically assisted bicycle, or when an elderly person or a person other than the elderly with reduced driving ability uses a two-wheeled vehicle other than the electrically assisted bicycle. It can also happen when using it.

The present invention has been made in view of the above-mentioned problems, for example, and an object of the present invention is to make the driver himself or herself aware of the decrease in the driving ability of the driver, or the like, which is impossible for the driver. The purpose is to provide a driving support device that can suppress driving and thereby improve traffic safety.

In order to solve the above problems, the present invention is a driving support device for supporting the driving of a two-wheeled vehicle, which is provided on the two-wheeled vehicle and is provided with an imaging unit, a storage unit, and the imaging unit that image the front of the two-wheeled vehicle. A fall determination unit that determines whether or not the two-wheeled vehicle has fallen based on the obtained image captured in front of the two-wheeled vehicle, and a fall determination unit that counts the number of times the two-wheeled vehicle has fallen based on the determination result by the fall determination unit. It is characterized by including a fall number counting unit that stores the number of times in the storage unit and an output control unit that outputs operation status information including the fall number stored in the storage unit to the outside.

According to the present invention, by making the driver himself or his / her related persons aware of the decrease in the driving ability of the driver of the two-wheeled vehicle, it is possible to suppress the unreasonable driving of the two-wheeled vehicle by the driver, thereby ensuring traffic safety. be able to.

It is explanatory drawing which shows the electric assist bicycle provided with the driving support device of the Example of this invention. It is a block diagram which shows the structure of the operation support device of the Example of this invention. It is explanatory drawing which shows the operation unit in the driving support device of the Example of this invention, and the handlebar of a bicycle. It is a flowchart which shows the driving support processing in the driving support device of the Example of this invention. It is the figure which looked at the intersection from above. It is explanatory drawing which shows the state which the bicycle has not fallen and the state which has fallen, respectively. It is explanatory drawing which shows the image of the front of the bicycle when the bicycle has not fallen, and the image of the front of the bicycle when the bicycle has fallen. It is explanatory drawing which shows the display example in the external device of the driving situation information and driving aptitude information transmitted from the driving support device of the Example of this invention to an external device.

The driving support device according to the embodiment of the present invention includes an imaging unit, a storage unit, a fall determination unit, a fall number counting unit, and an output control unit. The image pickup unit is provided on the two-wheeled vehicle and images the front of the two-wheeled vehicle. The storage unit stores information. The fall determination unit determines whether or not the motorcycle has fallen based on the captured image in front of the motorcycle obtained by the imaging unit. The fall count counting unit counts the number of falls of the two-wheeled vehicle based on the determination result by the fall determination unit, and stores the fall count in the storage unit. The output control unit outputs the operation status information including the number of falls stored in the storage unit to the outside.

Here, "outputting the driving status information to the outside" means that a part or all of the driving status information is displayed on a display unit such as a monitor provided on a motorcycle, for example, in order to display a part or all of the driving status information to the outside. Is included in the display unit, and part or all of the driving status information is transmitted to an external device such as a motorcycle by wire or wirelessly, or both.

In the driving support device of the embodiment of the present invention, the number of falls included in the driving situation information is determined by the fall determination unit based on the image captured in front of the two-wheeled vehicle and the number of falls based on the determination result. It was obtained as a result of the counting unit counting the number of falls of the motorcycle. Therefore, the number of falls included in the driving status information is objective data indicating the frequency of falls when the driver uses the motorcycle, and is convincing to prove that the driver frequently falls when using the motorcycle, for example. Serves as high evidence of.

Therefore, when a driver frequently falls when using a two-wheeled vehicle, the driver can recognize that the frequency of his / her own fall is high by checking the driving status information as an unquestionable fact. You can be aware that your motorcycle's driving ability is declining. This allows the driver to decide to reduce the frequency of use of the motorcycle or to abandon the use of the motorcycle.

In addition, the person concerned with the driver can accurately recognize that the driving ability of the driver's motorcycle is reduced by checking the driving status information. Then, the persons concerned with the driver reduce the frequency of use of the two-wheeled vehicle or use the two-wheeled vehicle while presenting the driving situation information to the driver as an objective material indicating the deterioration of the driving ability of the driver. You can persuade the driver to give up.

In this way, it is possible to suppress unreasonable driving of a two-wheeled vehicle by a person whose driving ability has deteriorated, and it is possible to prevent a traffic accident or the like.

(Bicycle and driving support device)
FIG. 1 shows a bicycle 1 as a two-wheeled vehicle provided with a driving support device according to an embodiment of the present invention. Bicycle 1 is an electrically assisted bicycle. As shown in FIG. 1, a steering shaft 3 is rotatably provided on the front side of the vehicle body frame 2 forming the skeleton of the bicycle 1, and the front wheels 5 rotate on the lower end side of the steering shaft 3 via the front fork 4. It is provided as possible. Further, the front fork 4 is attached with a front fender 6 that covers a region from the upper portion to the rear portion on the outer peripheral side of the front wheel 5. A steering wheel 7 is provided on the upper end side of the steering shaft 3. A rear fork 8 is provided on the rear side of the vehicle body frame 2, and a rear wheel 9 is rotatably provided on the rear end side of the rear fork 8. Further, on the rear side of the vehicle body frame 2, a rear fender 10 that covers a substantially upper half region on the outer peripheral side of the rear wheel 9 is provided. Further, a saddle 11 is provided on the upper side of the central portion in the front-rear direction of the vehicle body frame 2. Further, a cargo basket 12 capable of storing luggage is provided on the front side of the handle 7 and on the upper side of the front fender 6. Further, a loading platform 13 on which luggage can be placed is provided on the rear side of the saddle 11 and on the upper side of the rear fender 10.

A crankshaft 14 is rotatably provided below the central portion of the vehicle body frame 2 in the front-rear direction, and a drive sprocket 15 and pedals 16 are attached to the crankshaft 14. Further, a chain 17 for transmitting the rotation of the crankshaft 14 to the rear wheels 9 is hung on the drive sprocket 15. Further, below the central portion in the front-rear direction of the vehicle body frame 2, an electric motor 18 is provided as an auxiliary power source for applying a rotational force to the crankshaft 14 in order to assist the driver in pedaling the pedal 16. Further, although not shown, the bicycle 1 is provided with a control circuit for controlling the operation of the electric motor 18. Further, an electric motor 18, a control circuit for controlling the operation of the electric motor 18, and a battery 19 for supplying electric power to the driving support device 21 are provided in the central portion of the vehicle body frame 2 in the front-rear direction and below the saddle 11. There is.

FIG. 2 shows the configuration of the driving support device 21. The driving support device 21 includes a control unit 22, a camera 23 as an imaging unit, a speed sensor 24 as a speed detection unit, an inclination sensor 25 as an inclination angle detection unit, and an operation unit 26.

The control unit 22 has some circuits described later for performing driving support processing, and a waterproof case for accommodating these circuits. As shown in FIG. 1, for example, the control unit 22 is provided between the front fender 6 and the cargo cage 12, and is attached to the lower surface of the cargo cage 12. By providing the control unit 22 between the front fender 6 and the cargo cage 12, the control unit 22 can be protected by the cargo cage 12 when the bicycle 1 falls.

The camera 23 is a device that images the front of the bicycle 1, and is attached to the bicycle 1 so that the lens of the camera 23 faces the front of the bicycle 1. For example, the camera 23 is attached to the front surface of the waterproof case of the control unit 22. The camera 23 may be a still camera or a video camera.

The speed sensor 24 is a device that detects the traveling speed of the bicycle 1, and is attached to the vicinity of a portion of the bicycle 1 that rotates during traveling, such as the front wheel 5, the rear wheel 9, or the crankshaft 14. For example, the speed sensor 24 is attached in the vicinity of the front wheel 5, specifically, the front fork 4. The speed sensor 24 may be, for example, a magnetic speed sensor using an electromagnetic pickup, or an optical speed sensor using, for example, a light emitting element and a light receiving element.

The inclination sensor 25 is a device that detects the inclination angle of the bicycle 1 in the left-right direction, and is attached to the lower side of the saddle 11 in the bicycle 1, for example.

The operation unit 26 is a unit in which parts for a driver or the like to operate the operation support device 21 and the electric motor 18 are integrated. The operation unit 26 is arranged on the upper side of the central portion in the left-right direction of the handle 7, for example, and is supported on the upper portion of the steering shaft 3 of the bicycle 1. FIG. 3 shows the operation unit 26 and the handle 7. As shown in FIG. 3, the operation unit 26 has a housing 27, and a monitor 28 as a display unit and a power button 29 are arranged on the front surface of the housing 27. Further, some buttons 30 for operation are arranged on the front surface of the housing 27.

The monitor 28 is, for example, a liquid crystal display, and the monitor 28 responds to the frequency of the bicycle 1 toppling, the degree of inclination when the bicycle 1 is stopped, the degree of wobbling when the bicycle 1 is stopped, and the driving aptitude for the driver of the bicycle 1. Message etc. is displayed. Further, the monitor 28 displays information on the operation of the electric motor 18, for example, a value indicating a ratio indicating the ratio of the driver assisting the operation of pedaling the pedal 16 by the power of the electric motor 18. Further, the monitor 28 displays the remaining battery level and the like.

The power button 29 is a button for switching the power of the bicycle 1 on and off. Specifically, when the driver or the like of the bicycle 1 presses the power button 29 once, the driving support device 21, the electric motor 18, and the control circuits of the electric motor 18 provided on the bicycle 1 are all turned on at the same time. When the driver or the like of the bicycle 1 presses the power button 29 once again, the power of the driving support device 21, the electric motor 18, and the control circuits of the electric motor 18 provided on the bicycle 1 are turned off all at once.

The operation button 30 is a button for operating the control circuit of the driving support device 21 and the electric motor 18 and inputting various set values.

Further, as shown in FIG. 2, the control unit 22 includes a CPU (Central Processing Unit) 41, a storage circuit 42 as a storage unit, a GPS (Global Positioning System) receiving circuit 43 as a position detection unit, and a communication unit. It has a wireless communication circuit 44 as a.

The storage circuit 42 is a circuit that stores information, and has, for example, a non-volatile readable and writable semiconductor memory.

The GPS receiving circuit 43 is a circuit that receives a signal from a GPS satellite and detects the current position of the bicycle 1.

The wireless communication circuit 44 is a circuit that performs wireless communication with an external device such as a smartphone, and is, for example, a circuit that performs short-range wireless communication based on NFC (Near Field Communication Standard).

By reading and executing a computer program stored in the storage circuit 42, for example, the CPU 41 reads and executes a speed determination unit 51, a fall determination unit 52, a fall count counting unit 53, a storage control unit 54, an aptitude determination unit 55, and a display control unit. It functions as 56 and the communication control unit 57. The speed determination unit 51 recognizes the traveling speed of the bicycle 1 based on the detection signal from the speed sensor 24, and determines whether or not the traveling speed of the bicycle 1 is 0 [km / h]. The fall determination unit 52 determines whether or not the bicycle 1 has fallen based on the captured image in front of the bicycle 1 obtained by the camera 23. The fall number counting unit 53 counts the number of falls of the bicycle 1 based on the determination result by the fall determination unit 52, and updates the cumulative number of falls stored in the storage circuit 42. The storage control unit 54 stores the image captured when the bicycle 1 falls, the fall position information, the fall date / time information, and the tilt angle information in the storage circuit 42. The aptitude determination unit 55 determines the driving aptitude for the driver of the bicycle 1. The display control unit 56 performs a process of outputting the cumulative number of falls and the like stored in the storage circuit 42 to the monitor 28 in order to display the cumulative number of falls and the like of the bicycle 1 on the monitor 28. The communication control unit 57 performs a process of transmitting the operation status information and the operation aptitude information, which will be described later, to the external device. Further, the CPU 41 controls the camera 23 and performs a process of recognizing that the operation of turning off the power of the bicycle 1 has been performed. The memory control unit 54 is a specific example of the "image memory control unit", the "position memory control unit", and the "tilt angle memory control unit" in the description of the claims, and the display control unit 56 and the communication control unit 57. Is a specific example of the "output control unit" in the description of the scope of claims.

The driving support device 21 having such a configuration has the following functions (a) to (f).
(A) When the bicycle 1 is stopped, it is determined whether or not the bicycle 1 has fallen based on the captured image in front of the bicycle 1. Then, the number of falls of the bicycle 1 is counted, and the cumulative number of falls, which is the cumulative value thereof, is stored.
(B) When the bicycle 1 falls, the captured image in front of the fallen bicycle 1, the fall position information indicating the fall position of the bicycle 1, and the fall date and time information indicating the fall date and time of the bicycle 1 are stored in association with each other.
(C) When the bicycle 1 is stopped, the inclination angle information indicating the inclination angle in the left-right direction of the bicycle 1 is stored.
(D) The fall frequency of the bicycle 1 is determined based on the cumulative number of falls, the degree of inclination of the bicycle 1 when the bicycle 1 is stopped is determined based on the inclination angle information, and the bicycle 1 is staggered when the bicycle 1 is stopped based on the inclination angle information. Based on these judgment results, the driving suitability judgment for the bicycle 1 driver, that is, whether or not the driving ability of the bicycle 1 driver is suitable for the bicycle 1 driving is performed. ..
(E) When the power of the bicycle 1 is turned on, the monitor 28 shows the cumulative number of falls of the bicycle 1, the frequency of falls of the bicycle 1, the degree of inclination when the bicycle 1 is stopped, the degree of wobbling when the bicycle 1 is stopped, and the operation of the bicycle 1. Display a message according to the driving aptitude of the person.
(F) The driving status information and the driving aptitude information are transmitted to an external device such as a smartphone. The driving status information includes the cumulative number of falls of the bicycle 1, the captured image in front of the fallen bicycle 1, the fall position information, the fall date / time information, and the inclination angle information. The driving aptitude information includes the frequency of falling of the bicycle 1, the degree of inclination when the bicycle 1 is stopped, the degree of wobbling when the bicycle 1 is stopped, the judgment result of the driving aptitude for the driver of the bicycle 1, and the driver of the bicycle 1. A message according to the driving aptitude of the bicycle is included.

(Driving support processing)
FIG. 4 shows the driving support process in the driving support device 21. In the driving support process shown in FIG. 4, among the functions of the driving support device 21 described above, the functions (a) to (e) are realized. The driving support process is started immediately after the driver or the like of the bicycle 1 operates the power button 29 to turn on the power of the bicycle 1. Further, the driving support process ends after the driver or the like of the bicycle 1 operates the power button 29 to turn off the power of the bicycle 1. Hereinafter, a series of actions by the driver of the bicycle 1 performed between the time when the power of the bicycle 1 is turned on and the time when the power of the bicycle 1 is turned off is referred to as a "driving action".

In FIG. 4, when the driving support process is started, first, the fall count counting unit 53 of the CPU 41 sets the fall count value to 0 (step S1). The fall count value is a variable used for counting the number of falls of the bicycle 1 during the current driving action, and is a value indicating the number of falls of the bicycle 1 during the current driving action. In step S1, this value is initialized.

Subsequently, the aptitude determination unit 55 of the CPU 41 determines the driving aptitude for the driver of the bicycle 1 based on the cumulative number of falls and the inclination angle information stored in the storage circuit 42 by the previous driving action, and subsequently. , The display control unit 56 of the CPU 41 displays on the monitor 28 a message according to the cumulative number of falls of the bicycle 1, the degree of inclination, the degree of wobbling, and the driving aptitude of the driver of the bicycle 1 (step S2). The details of this process will be described later.

Subsequently, the CPU 41 controls the camera 23 and starts imaging the front of the bicycle 1 by the camera 23 (step S3). For example, the camera 23 continuously captures images at predetermined intervals and outputs the captured images to the CPU 41. The captured image output from the camera 23 is stored in the temporary storage area of the storage circuit 42 one by one. The imaging interval in the camera 23 may be about 1 second, but may be shorter or longer than this. Further, a video camera may be used as the camera 23, and the captured image may be output to the CPU 41 in the form of a moving image.

Subsequently, the speed determination unit 51 of the CPU 41 determines whether or not the running speed of the bicycle 1 is 0 [km / h], that is, whether or not the bicycle 1 is stopped (step S4). While the running speed of the bicycle 1 is not 0 [km / h], that is, while the bicycle 1 is running, the speed determination unit 51 determines whether or not the running speed of the bicycle 1 is 0 [km / h]. Repeat at predetermined short intervals.

When the traveling speed of the bicycle 1 is 0 [km / h], that is, when the speed determination unit 51 determines that the bicycle 1 is stopped (step S4: YES), the CPU 41 starts from the inclination sensor 25. The inclination angle of the bicycle 1 is recognized based on the output detection signal. Then, the storage control unit 54 of the CPU 41 stores the tilt angle information indicating the recognized tilt angle in the storage circuit 42 (step S5).

Subsequently, the fall determination unit 52 of the CPU 41 determines whether or not the bicycle 1 has fallen based on the captured image in front of the bicycle 1 (step S6).

Here, a method of determining a fall of the bicycle 1 based on an image captured in front of the bicycle 1 will be described with reference to FIGS. 5 to 7. FIG. 5 shows a state in which the bicycle 1 has reached the intersection 71 and is stopped before the intersection 71 because the signal of the traffic light 72 in front of the bicycle 1 is red. In FIG. 5, the motorcycle 73 is about to pass in front of the bicycle 1 stopped at the intersection 71 from right to left. FIG. 6A shows a state in which the bicycle 1 has not fallen, and FIG. 6B shows a state in which the bicycle 1 has fallen to the right. In each of FIGS. 6A and 6B, the broken line indicates the imaging range of the camera 23. FIG. 7A shows a captured image in front of the bicycle 1 taken by the camera 23 and output from the camera 23 to the CPU 41 when the bicycle 1 is stopped before the intersection 71 and the bicycle 1 is not overturned. Shown. FIG. 7B shows the front of the bicycle 1 taken by the camera 23 and output from the camera 23 to the CPU 41 when the bicycle 1 falls to the right while the bicycle 1 is stopped before the intersection 71. The captured image is shown.

When the bicycle 1 stops before the intersection 71 as shown in FIG. 5, the captured image shown in FIG. 7A is output from the camera 23. Then, when the bicycle 1 does not tip over and maintains the state shown in FIG. 6A while the bicycle 1 is stopped before the intersection 71, the captured image output from the camera 23 is Almost unchanged.

On the other hand, when the bicycle 1 falls to the right while the bicycle 1 is stopped before the intersection 71 and changes from the state shown in FIG. 6 (A) to the state shown in FIG. 6 (B), the camera 23 is used. The output captured image changes from the image shown in FIG. 7 (A) to the image shown in FIG. 7 (B). That is, since the camera 23 is fixed to the bicycle 1, when the bicycle 1 falls to the right, the camera 23 rotates in the same direction as the bicycle 1 falls, in this case, about 90 degrees to the right. At this time, the camera 23 is rotated about 90 degrees to the right with respect to the subject (landscape in front of the bicycle 1). Considering this phenomenon with reference to the top, bottom, left, and right in the field of view of the camera 23, the subject is the camera. With respect to 23, the camera 23 is rotated in the direction opposite to the rotation direction, in this case, about 90 degrees to the left. As a result, when the camera 23 is rotated about 90 degrees to the right, the captured image captured by the camera 23 and output to the CPU 41 is rotated about 90 degrees to the left. Therefore, when the bicycle 1 falls to the right, the captured image output from the camera 23 changes from the image shown in FIG. 7 (A) to the image shown in FIG. 7 (B).

As can be seen by comparing the captured image shown in FIG. 7 (A) with the captured image shown in FIG. 7 (B), when the bicycle 1 falls to the right, the X-axis (horizontal axis) and Y-axis (vertical axis) of the subject are obtained. The axis of direction) rotates about 90 degrees to the left with respect to the camera 23, and the road surface portion 74 in the captured image moves from the lower side to the right side in the captured image. Further, as can be easily inferred from the comparison between the captured image shown in FIG. 7 (A) and the captured image shown in FIG. 7 (B), when the bicycle 1 falls to the left, the X-axis and the Y-axis of the subject are obtained. Rotates about 90 degrees to the right with respect to the camera 23, and the road surface portion 74 in the captured image moves from the lower side to the left side in the captured image. Based on such a phenomenon, the fall determination unit 52 recognizes the position of the road surface portion 74 in the captured image by the image recognition process, and the position of the road surface portion 74 is moved from the lower side in the captured image while the bicycle 1 is stopped. It is determined that the bicycle 1 has fallen when it moves to the right side or from the lower side to the left side.

As can be seen by comparing the captured image shown in FIG. 7 (A) with the captured image shown in FIG. 7 (B), when the bicycle 1 falls, an elongated object in the captured image, for example, a utility pole 75 or a traffic light 72 The extension direction of the support pole 76 changes from the vertical direction to the horizontal direction. Therefore, the extension direction of the elongated object such as the electric pole 75 in the captured image is recognized by the image recognition process, and when the extension direction of the elongated object changes from the vertical direction to the horizontal direction while the bicycle 1 is stopped, the bicycle 1 falls. It can be judged that it has been done. Such a method may be adopted as a method for determining the fall of the bicycle 1 by the fall determination unit 52.

In FIG. 4, when it is determined by the fall determination unit 52 that the bicycle 1 has fallen (step S6: YES), the fall count counting unit 53 increases the fall count value by 1 (step S7).

Subsequently, the storage control unit 54 of the CPU 41 stores the captured image in front of the bicycle 1 immediately after the bicycle falls in the storage circuit 42. Specifically, the continuous imaging by the camera 23 started in step S3 and the storage process of the captured image output from the camera 23 in the temporary storage area of the recording circuit 42 continue even after the fall. The storage control unit 54 of the CPU 41 extracts an captured image output from the camera 23 immediately after the fall and stored in the temporary storage area of the storage circuit 42, and extracts the captured image from another area of the storage circuit 42 (imaging immediately after the fall). Store in the area for storing images). Further, the storage control unit 54 acquires the fall position information indicating the position (location) of the bicycle 1 when the bicycle 1 falls from the GPS receiving circuit 43, and stores the fall position information in the storage circuit 42. Further, the storage control unit 54 stores the fall date / time information indicating the date / time when the bicycle 1 has fallen in the storage circuit 42 (step S8). The captured image immediately after the fall, the fall position information, and the fall date / time information are stored in association with each other.

After that, the fall determination unit 52 returns to the state shown in FIG. 6A from the state shown in FIG. 6B, that is, whether or not the fallen bicycle 1 has risen based on the captured image in front of the bicycle 1. It is determined whether or not the bicycle has been used (step S9). This determination can be made by the same method as the method for determining the fall of the bicycle 1 described above. When the fall determination unit 52 determines that the fallen bicycle 1 has risen (step S9: YES), the CPU 41 shifts the process to step S10.

On the other hand, in step S6, when the fall determination unit 52 determines that the bicycle 1 has not fallen (step S6: NO), the CPU 41 directly shifts the process from step S6 to step S10.

Subsequently, in step S10, the CPU 41 determines whether or not the operation of turning off the power of the bicycle 1 has been performed. Then, if the operation of turning off the power of the bicycle 1 is not performed (step S10: NO), the CPU 41 returns the process from step S10 to step S4.

The processes of steps S4 to S10 are repeatedly executed until the operation of turning off the power of the bicycle 1 is performed. As a result, each time the bicycle 1 stops and falls, the fall count value increases by 1, and every time the bicycle 1 stops and falls, the captured image in front of the bicycle 1 immediately after the fall, the fall. The position information and the fall date / time information are stored in the storage circuit 42. Further, every time the bicycle 1 is stopped, the inclination angle information of the bicycle 1 is stored in the storage circuit 42. If the bicycle 1 continues to stop without falling, the processes of steps S4, S5, S6 and S10 are repeatedly executed at short intervals. As a result, when the bicycle 1 is stopped without falling, the inclination angle information of the bicycle 1 is stored in the storage circuit 42 at short intervals.

On the other hand, when the driver or the like of the bicycle 1 presses the power button 29 to turn off the power of the bicycle 1, the CPU 41 determines that the operation of turning off the power of the bicycle 1 has been performed (step S10: YES). In this case, the CPU 41 controls the camera 23 and stops the image pickup in front of the bicycle 1 by the camera 23 (step S11). Subsequently, the fall count counting unit 53 updates the cumulative fall count stored in the storage circuit 42 (step S12). Specifically, when the driving support device 21 is used for the first time, or when the cumulative number of falls is initialized, the fall count value is stored in the storage circuit 42 as the cumulative number of falls. On the other hand, when the driving support device 21 is used for the second time or more and the cumulative number of falls has not been initialized, the fall count value is added to the cumulative number of falls already stored in the storage circuit 42. Further, in step S12, the CPU 41 updates the number of driving actions by increasing the number of driving actions stored in the storage circuit 42 by 1. The number of driving actions is a value indicating the number of driving actions. After updating the cumulative number of falls and the number of driving actions, the driving support process ends.

(Driving aptitude judgment)
When the power of the bicycle 1 is turned on, the aptitude determination unit 55 specifically, in step S2 in FIG. 4, is based on the cumulative number of falls and the inclination angle information stored in the storage circuit 42 by the previous driving action. Judgment of driving aptitude for the driver of bicycle 1. The specific method for determining driving aptitude is as follows.

The aptitude determination unit 55 determines the fall frequency based on the cumulative number of falls and the number of driving actions stored in the storage circuit 42. For example, the estimated fall frequency is calculated by dividing the cumulative number of falls by the number of driving actions, and if the estimated fall frequency is less than 1, it is determined that the estimated fall frequency is "low", and the estimated fall frequency is When it is 2 or more and less than 5, it is judged that the fall frequency is "medium", and when the fall frequency estimated value is 5 or more, it is judged that the fall frequency is "high".

Further, the aptitude determination unit 55 determines the degree of inclination based on the inclination angle information stored in the storage circuit 42. For example, the inclination angle average value, which is the average of the inclination angles indicated by the inclination angle information stored in the storage circuit 42, is calculated, and when the inclination angle average value exceeds 30 degrees, the inclination degree is “large”. If the average value of the inclination angle is 30 degrees or less, it is determined that the degree of inclination is "small".

Further, the aptitude determination unit 55 determines the degree of wobbling based on the inclination angle information stored in the storage circuit 42. For example, based on the tilt angle information stored in the storage circuit 42, a change of the tilt angle of the bicycle 1 by a predetermined amount (for example, 10 degrees) or more occurs at a predetermined short interval (for example, within 1 second) for a predetermined time (5 seconds). (Above) Investigate whether or not such changes occur continuously, and if such changes occur, determine that the degree of wobble is "large", and if such changes do not occur, Judge that the degree of wobbling is "small".

In addition, the aptitude determination unit 55 determines the driving aptitude for the driver of the bicycle 1 based on the fall frequency, the degree of inclination, and the degree of wobbling. For example, when the fall frequency is "low", the inclination degree is "small", and the wobble degree is "small", it is determined that the driving suitability is "high". In addition, when the fall frequency is not "high" and the degree of inclination is "large", or when the fall frequency is not "high" and the degree of wobbling is "large", the driving aptitude is "large". Judge as "medium". When the fall frequency is "high", it is determined that the driving aptitude is "low".

Further, a plurality of messages according to driving suitability are stored in advance in the storage circuit 42. The aptitude judgment unit 55 selects, for example, the message "Please try to drive safely" when the driving aptitude is "low", and when the driving aptitude is "medium", "saddle". Select the message "We recommend lowering", and if the driving aptitude is "High", select the message "We recommend refraining from riding a bicycle."

Further, in step S2 in FIG. 4, the aptitude determination unit 55 determines the cumulative number of falls of the bicycle 1, the frequency of falls, the degree of inclination, the degree of wobbling, and the driving aptitude of the driver of the bicycle 1, as shown in FIG. 3, for example. The message selected accordingly is displayed on the monitor 28. Further, the aptitude determination unit 55 sends a message according to the frequency of the bicycle 1 toppling, the degree of inclination, the degree of wobbling, the result of the determination of the driving aptitude for the driver of the bicycle 1, and the driving aptitude for the driver of the bicycle 1 as an external device. This information is stored in the storage circuit 42 so that it can be transmitted to.

(Transmission of driving status information, etc.)
The process for realizing the function (f) of the driving support device 21 described above will be described. The driving support device 21 has a function of transmitting driving status information and driving aptitude information to an external device such as a smartphone by NFC. When the external device has a short-range wireless communication function by NFC, the driving status information and the driving aptitude information can be obtained from the driving support device 21 by installing a predetermined computer program in the external device. It will be possible to send to. As described above, the driving status information includes the cumulative number of falls of the bicycle 1, the captured image in front of the fallen bicycle 1, the fall position information, the fall date / time information, and the inclination angle information. The driving aptitude information includes the frequency of falling of the bicycle 1, the degree of inclination when the bicycle 1 is stopped, the degree of wobbling when the bicycle 1 is stopped, the judgment result of the driving aptitude for the driver of the bicycle 1, and the driver of the bicycle 1. A message according to the driving aptitude of the bicycle is included.

When the user brings the external device close to the control unit 22 attached to the bicycle 1, the wireless communication circuit 44 of the control unit 22 and the external device are wirelessly connected to each other. After that, the communication control unit 57 of the CPU 41 outputs the driving status information and the driving aptitude information stored in the storage circuit 42 of the driving support device 21 to the wireless communication circuit 44. Then, the wireless communication circuit 44 transmits the operation status information and the operation aptitude information output by the communication control unit 57 to the external device.

Based on the predetermined computer program installed in the external device, the external device displays driving status information and driving aptitude information transmitted from the driving support device 21 in a layout as shown in FIG. 8, for example. Can be displayed on the display of. In FIG. 8, when the thumbnail image 81 is touched, the captured image corresponding to the touched thumbnail image 81 is displayed on the entire screen of the display. The thumbnail image 81 is created by the predetermined computer program installed in the external device based on the captured image included in the driving status information transmitted from the driving support device 21.

As described above, the driving support device 21 of the embodiment of the present invention counts the number of falls of the bicycle 1 and transmits the driving status information including the cumulative number of falls to the external device. With this configuration, the driver of the bicycle 1 or its related persons (for example, relatives, supervisors, caregivers) and the like can confirm the cumulative number of falls of the driver of the bicycle 1 via an external device. Since the cumulative number of falls is the data counted by the driving support device 21, it is objective and reliable information. For example, if the driver frequently falls when using the bicycle 1, the cumulative number of falls serves as a compelling proof of that fact. Therefore, when the driver frequently falls when using the bicycle 1, the driver can recognize the decrease in his / her driving ability by checking the cumulative number of falls via an external device, and the bicycle. You can decide to reduce the frequency of use of 1 or to abandon the use of bicycle 1. In addition, if the driver frequently falls when using the bicycle 1, the person concerned with the driver may check the cumulative number of falls via an external device to reduce the driving ability of the driver. You can know. Then, the person concerned with the driver can present the cumulative number of falls to the driver and persuade the driver to reduce the frequency of using the bicycle 1 or refrain from using the bicycle 1. ..

As described above, according to the driving support device 21 of the present embodiment, the frequency of use of the bicycle 1 by the driver with reduced driving ability is reduced, or the driver with reduced driving ability is made to refrain from using the bicycle 1. be able to. Therefore, for example, it is possible to prevent an elderly person who frequently falls when using the bicycle 1 due to a decrease in driving ability from forcibly continuing to drive the bicycle 1, or when the elderly person stops the bicycle 1. In order to avoid a fall, it is possible to suppress unreasonable driving such as crossing an intersection with poor visibility without stopping. By suppressing the unreasonable driving of the bicycle 1 of the person who has difficulty in driving the bicycle 1 due to the decrease in the driving ability in this way, it is possible to improve the traffic safety.

In addition, the driving support device 21 of this embodiment transmits driving status information including a captured image in front of the fallen bicycle 1 to an external device. With this configuration, the driver of the bicycle 1 or its related persons can confirm the captured image in front of the fallen bicycle 1 via an external device, and can specifically grasp the situation at the time of the fall. it can. For example, by looking at the captured image, the driver or his / her related persons can tell that the driver has fallen even though the situation is such that a person whose driving ability has not deteriorated will not fall. It is possible to grasp and recognize the decrease in the driving ability of the driver.

Further, the driving support device 21 of this embodiment transmits the driving status information including the fall position information and the fall date / time information to the external device. With this configuration, the driver of the bicycle 1 or a related person thereof can confirm the place and the date and time when the driver has fallen through an external device. As a result, the driver of the bicycle 1 or its related persons can grasp, for example, that the driver has fallen in the same place many times in a row, and recognizes the deterioration of the driving ability of the driver. be able to.

Further, the driving support device 21 of the present embodiment determines the driving aptitude of the driver of the bicycle 1, and transmits the fall frequency, the inclination degree, the wobbling degree, and the driving aptitude judgment result of the driver to the external device. With this configuration, the driver or his / her related persons can confirm the fall frequency, the degree of inclination, the degree of wobbling, and the result of the driving suitability judgment via an external device, and the driving ability of the driver is reduced. You can easily know whether or not it is.

Further, the driving support device 21 of this embodiment transmits a message according to the driving aptitude of the driver of the bicycle 1 to the external device. With this configuration, the driver or a related person thereof can confirm a message according to the driving aptitude of the driver via an external device. This message may include, for example, advice that teaches how to reduce falls, advice to refrain from using the bicycle 1, a warning that the use of the bicycle 1 may cause an accident, and the like. The driver or his / her related persons can take measures to reduce falls based on the message. In addition, the driver can decide to abandon the use of the bicycle 1 based on the message, and the persons concerned with the driver should refrain from using the bicycle 1 based on the message. You can persuade.

Further, the driving support device 21 of the present embodiment displays the cumulative number of falls on the monitor 28 provided on the bicycle 1 when the power of the bicycle 1 is turned on. With this configuration, the driver of the bicycle 1 can confirm the cumulative number of falls displayed on the monitor 28 and recognize his / her own driving ability when starting to use the bicycle 1. As a result, it is possible to refrain from using the bicycle 1 of the driver who often falls.

Further, the driving support device 21 of the present embodiment displays a message according to the fall frequency, the inclination degree, the wobbling degree, and the driving aptitude when the power of the bicycle 1 is turned on. With this configuration, when the driver of the bicycle 1 starts using the bicycle 1, he / she confirms the fall frequency, the degree of inclination or the degree of wobbling displayed on the monitor 28, and easily and concretely his / her own driving ability. Can be recognized. Further, the driver of the bicycle 1 confirms the message displayed on the monitor 28 when starting the use of the bicycle 1, and thereby measures for reducing falls before starting the driving of the bicycle 1 (for example,). The height of the saddle 11 can be lowered, etc.).

Further, the driving support device 21 of the present embodiment determines whether or not the bicycle 1 has fallen based on the captured image in front of the bicycle 1. With this configuration, it is possible to easily determine whether the bicycle 1 has fallen. Specifically, by simply adding a camera 23, a CPU 41 that performs image recognition and fall determination processing, and a storage circuit 42 that stores captured images to an existing electrically power assisted bicycle provided with a speed sensor 24 in advance, the bicycle can be used. You can make a fall judgment. That is, the fall judgment of the bicycle can be made, for example, by providing the bicycle with an acceleration sensor or a gyro sensor. In that case, in order to accurately detect the fall of the bicycle, the acceleration sensor or the bicycle may be used. It is necessary to consider the position to install the gyro sensor, and specialized knowledge and experimentation are required for the examination. Therefore, it is difficult for a non-expert ordinary person to add an acceleration sensor or a gyro sensor to an existing electrically power assisted bicycle to realize a fall judgment. On the other hand, when determining the fall of the bicycle based on the captured image in front of the bicycle, the camera 23 is attached to the bicycle so that the lens faces forward, and the control unit 22 in which the CPU 41 and the storage circuit 42 are housed is accommodated. The case can be easily determined to fall by simply attaching the case under the bicycle cage and connecting the camera 23 and the control unit 22 with, for example, a cable. Alternatively, when the camera 23 is integrated with the control unit 22, the fall determination can be easily realized simply by attaching the control unit 22 to the bicycle 1 so that the lens of the camera 23 faces forward. According to the driving support device 21 of the present embodiment, the driving support device can be provided as an option that can be retrofitted to the existing electrically power assisted bicycle.

In the above embodiment, from the driving support device 21 to the external device, as driving status information, the cumulative number of falls of the bicycle 1, the captured image in front of the fallen bicycle 1, the fall position information, the fall date / time information, and the inclination angle information. However, only the cumulative number of times the bicycle 1 has fallen may be transmitted from the driving support device to the external device as driving status information, the cumulative number of times the bicycle 1 has fallen, the captured image in front of the bicycle 1 that has fallen, Only the fall position information and the fall date / time information may be transmitted. Further, in the above embodiment, the driving aptitude information is transmitted from the driving support device 21 to the driving aptitude, such as the fall frequency, the inclination degree, the wobbling degree, the judgment result of the driving aptitude, and the message according to the driving aptitude. , Some of these (for example, only the judgment result of driving aptitude) may be transmitted as driving aptitude information.

Further, only the driving status information may be transmitted from the driving support device 21 to the external device. In this case, the computer program installed in the external device may determine the driving suitability of the driver of the bicycle 1 based on the driving status information transmitted from the driving support device 21.

Further, in the above embodiment, a message according to the cumulative number of falls, the frequency of falls, the degree of inclination, the degree of wobbling, and the driving aptitude of the bicycle 1 is displayed on the monitor 28 provided on the bicycle 1, but the bicycle 1 is displayed on the monitor 28. It may be possible to display only the cumulative number of falls of. The fall frequency is information that can be equated with the cumulative number of falls. Therefore, the monitor 28 may display only the fall frequency instead of the cumulative number of falls. Further, in the driving support device, the configuration in which the cumulative number of falls and the like is displayed on the monitor 28 may be removed, and in this case, it is not necessary to provide the monitor 28 on the bicycle 1.

Further, in the above embodiment, the fall when the bicycle 1 is stopped is determined and the number of falls when the bicycle 1 is stopped is counted. However, not only the fall when the bicycle 1 is stopped but also the fall when the bicycle 1 is running is determined, and the bicycle 1 is determined. The number of falls may be counted when the bicycle is stopped and when the bicycle is running.

Further, in the above embodiment, the fall determination of the bicycle 1 is performed based on the captured image obtained from the camera 23, but the fall determination of the bicycle 1 is obtained from the captured image obtained from the camera 23 and the tilt sensor 25. It may be performed based on both the inclination angle of the bicycle 1 and the inclination angle of the bicycle 1. Further, in the above embodiment, the inclination sensor 25 is used to detect the inclination angle when the bicycle 1 is stopped, but the inclination angle when the bicycle 1 is stopped may be detected based on the captured image.

Further, in the above embodiment, the case where the driving status information and the driving aptitude information are transmitted from the driving support device 21 to the external device by short-range wireless communication by NFC is taken as an example, but the driving status information and the driving aptitude information are provided as driving support. The communication method when transmitting from the device 21 to the external device may be a method using wireless communication of another standard such as Bluetooth (registered trademark), or the operation support device 21 and the external device are connected by a cable for communication. It may be a method of doing.

Further, in the above embodiment, the control unit 22 is attached under the cargo cage 12, but the position where the control unit 22 is attached on the bicycle 1 is not limited. For example, the control unit 22 may be arranged between the loading platform 13 and the rear fender 10, and the control unit 22 may be mounted under the loading platform 13. By providing the control unit 22 between the rear fender 10 and the loading platform 13, the loading platform 13 can protect the control unit 22 when the bicycle 1 falls. Further, the position where the camera 23 is attached to the bicycle 1 is not limited. For example, the camera 23 may be attached to the handle 7. Further, a control unit in which the CPU 41 and the storage circuit 42 of the driving support device 21 and the control circuit for controlling the operation of the electric motor 18 are integrated may be formed, and such a control unit may be provided on the bicycle 1.

Further, in the above embodiment, the driving support device of the present invention is applied to the electrically power assisted bicycle 1, but the present invention is not limited to this. The driving support device of the present invention can also be applied to a motorcycle or a bicycle that does not have an internal combustion engine or an electric motor and travels only by pedaling. In addition, a tricycle that runs with its vehicle body tilted at a corner or the like can be equated with a two-wheeled vehicle in that it is a vehicle that may fall over. Therefore, such a tricycle can also be considered to be included in the "motorcycle" and is included in the subject of the application of the present invention.

Further, the present invention can be appropriately modified within a range not contrary to the gist or idea of the invention that can be read from the claims and the entire specification, and the driving support device accompanied by such a modification is also a technical idea of the present invention. include.

1 Bicycle (motorcycle)
21 Driving support device 22 Control unit 23 Camera (imaging unit)
24 Speed sensor (speed detector)
25 Tilt sensor (tilt angle detector)
41 CPU
42 Storage circuit (storage unit)
43 GPS receiving circuit (position detector)
44 Wireless communication circuit 51 Speed judgment unit 52 Fall judgment unit 53 Fall count counting unit 54 Memory control unit (image storage control unit, position memory control unit, tilt angle memory control unit)
55 Suitability judgment unit 56 Display control unit (output control unit)
57 Communication control unit (output control unit)

Claims (8)

It is a driving support device that supports the driving of two-wheeled vehicles.
An imaging unit provided on the motorcycle and capturing an image of the front of the motorcycle,
Memory and
A fall determination unit that determines whether or not the motorcycle has fallen based on an image captured in front of the motorcycle obtained by the image pickup unit.
A fall count counting unit that counts the number of falls of the two-wheeled vehicle based on the determination result by the fall determination unit and stores the fall count in the storage unit.
A driving support device including an output control unit that outputs operating status information including the number of falls stored in the storage unit to the outside. The fall determination unit is characterized in that it determines that the two-wheeled vehicle has fallen when the road surface portion in the captured image moves from the lower side to the left side or from the lower side to the right side in the captured image. The driving support device according to 1. An image storage control unit for storing an image captured in front of the two-wheeled vehicle obtained by the imaging unit when the fall determination unit determines that the two-wheeled vehicle has fallen is provided in the storage unit.
The driving support device according to claim 1 or 2, wherein the output control unit outputs the driving status information including the captured image stored in the storage unit to the outside. A position detection unit that detects the position of the motorcycle and
A position storage control unit that stores position information indicating the position of the two-wheeled vehicle detected by the position detection unit when the fall determination unit determines that the two-wheeled vehicle has fallen is provided in the storage unit.
The driving support device according to any one of claims 1 to 3, wherein the output control unit outputs the driving status information including the position information stored in the storage unit to the outside. A speed detection unit that detects the traveling speed of the two-wheeled vehicle, and
An inclination angle detection unit that detects the inclination angle of the two-wheeled vehicle in the left-right direction,
It is provided with an inclination angle storage control unit that stores the inclination angle detected by the inclination angle detection unit in the storage unit when the traveling speed of the two-wheeled vehicle is detected by the speed detection unit. The driving support device according to any one of claims 1 to 4, wherein the driving support device is characterized. It is equipped with a display unit provided on the two-wheeled vehicle.
The driving support device according to any one of claims 1 to 5, wherein the output control unit displays the number of falls stored in the storage unit on the display unit when the motorcycle is started. Equipped with a communication unit
The driving support device according to any one of claims 1 to 6, wherein the output control unit transmits the driving status information to an external device via the communication unit. It is provided with an aptitude determination unit for determining the driving suitability of the driver of the motorcycle based on the number of falls counted by the fall count unit.
The output control unit is characterized in that it outputs information indicating the driving aptitude determined by the aptitude determination unit or a message according to the driving aptitude determined by the aptitude determination unit to the outside. The driving support device according to any one of 7.

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