JP2022157190A - 自動二輪車の運転支援システム - Google Patents
自動二輪車の運転支援システム Download PDFInfo
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- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
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- B60—VEHICLES IN GENERAL
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60T8/17—Using electrical or electronic regulation means to control braking
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- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/20—Cycle computers as cycle accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
- B62J50/20—Information-providing devices
- B62J50/21—Information-providing devices intended to provide information to rider or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K21/00—Steering devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L3/00—Brake-actuating mechanisms; Arrangements thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
(1)運転支援システム1において、運転支援制御装置6は、自車前方の道路状態の認識結果に基づいて自車と自車前方の物体との衝突リスクの高低を判定し、この衝突リスクの判定結果に応じて自動制動を実行する。これにより、自車と物体との衝突リスクが高くなった場合には、衝突速度を下げることができるので、自車の衝突による被害を軽減することができる。また運転支援システム1は、自動制動を実行した場合における自車の自車走行車線外への逸脱リスクの高低を判定する逸脱リスク判定部64を備え、自動制動制御部61は、逸脱リスクが高いと判定された場合、自動制動の実行を停止する。これにより、自動制動を実行した場合に自車が自車走行車線外へ逸脱する可能性が高い場合、自動制動の実行を停止し、運転者による衝突回避操作や制動操作に委ねることができるので、自車が自車走行車線外へ逸脱してしまうことによる二次事故の発生を回避することができる。
2…外部センサユニット(道路状態認識手段、走行環境判定手段)
3…車両センサユニット(走行環境判定手段)
4…HMI(正立誘導手段、報知手段)
5…ナビゲーション装置(走行環境判定手段)
6…運転支援制御装置
61…自動制動制御部(自動制動制御手段)
62…衝突リスク判定部
63…走行環境判定部(走行環境判定手段)
64…逸脱リスク判定部(逸脱リスク判定手段)
65…運転者報知部(報知手段)
66…正立誘導部(正立誘導手段)
67…運転者操作検出部(衝突回避操作検出手段)
81…運転操作子(衝突回避操作検出手段)
82…走行駆動力出力装置
83…ブレーキ装置(ブレーキ装置、衝突回避操作検出手段)
85…自動正立装置(正立誘導手段)
Claims (5)
- 自車前方の道路状態を認識する道路状態認識手段と、
前記道路状態認識手段による認識結果に基づいて得られる自車と自車前方の物体との衝突リスクの高低に応じてブレーキ装置を自動で操作する自動制動を実行する自動制動制御手段と、を備える自動二輪車の運転支援システムであって、
前記自動制動を実行した場合における自車の自車走行車線外への逸脱リスクの高低を判定する逸脱リスク判定手段をさらに備え、
前記自動制動制御手段は、前記逸脱リスクが高い場合、前記自動制動の実行を停止することを特徴とする自動二輪車の運転支援システム。 - 前記逸脱リスク判定手段により前記逸脱リスクが高いと判定されたことに起因して前記自動制動の実行が停止される場合、前記衝突リスクに関する情報とともに、前記自動制動の実行が停止されている旨の情報を運転者に報知する報知手段をさらに備えることを特徴とする請求項1に記載の自動二輪車の運転支援システム。
- 自車が旋回中であること又は自車の位置がカーブ手前であることを判定する走行環境判定手段をさらに備え、
前記逸脱リスク判定手段は、自車が旋回中であると判定されている場合又は自車の位置がカーブ手前であると判定されている場合に前記逸脱リスクの高低を判定することを特徴とする請求項1又は2に記載の自動二輪車の運転支援システム。 - 前記逸脱リスク判定手段により前記逸脱リスクが低いと判定された場合に、運転者に対し自車を正立させる正立操作を促すか又は前記正立操作を自動で行う正立誘導手段をさらに備え、
前記自動制動制御手段は、前記正立誘導手段によって前記正立操作を運転者に促すか又は前記正立誘導手段によって前記正立操作を自動で行った後、前記自動制動を実行することを特徴とする請求項3に記載の自動二輪車の運転支援システム。 - 前記衝突リスクが高いと判定された後、運転者による衝突回避操作を検出する衝突回避操作検出手段をさらに備え、
前記自動制動制御手段は、前記衝突回避操作検出手段により前記衝突回避操作が検出された場合、前記自動制動の実行を停止することを特徴とする請求項4に記載の自動二輪車の運転支援システム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2021061283A JP7284209B2 (ja) | 2021-03-31 | 2021-03-31 | 自動二輪車の運転支援システム |
US17/678,028 US11975796B2 (en) | 2021-03-31 | 2022-02-23 | Driving support system for motorcycles |
CN202210167978.1A CN115214639A (zh) | 2021-03-31 | 2022-02-23 | 摩托车的驾驶辅助系统 |
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JP2021061283A JP7284209B2 (ja) | 2021-03-31 | 2021-03-31 | 自動二輪車の運転支援システム |
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JP7284209B2 JP7284209B2 (ja) | 2023-05-30 |
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JP2008197863A (ja) * | 2007-02-13 | 2008-08-28 | Hitachi Ltd | 車載用走行環境認識装置 |
WO2013146907A1 (ja) * | 2012-03-30 | 2013-10-03 | ヤマハ発動機株式会社 | ブレーキ装置及び鞍乗型車両 |
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JP3714116B2 (ja) * | 1999-08-09 | 2005-11-09 | トヨタ自動車株式会社 | 操縦安定性制御装置 |
EP3730391A1 (en) | 2019-04-25 | 2020-10-28 | Robert Bosch GmbH | Method for warning a driver of a motorcycle as well as ride assistant controller and motorcycle implementing such method |
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- 2022-02-23 US US17/678,028 patent/US11975796B2/en active Active
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WO2018185578A1 (ja) * | 2017-04-05 | 2018-10-11 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | 制御装置、制御方法及びブレーキシステム |
JP2018197070A (ja) * | 2017-05-24 | 2018-12-13 | 川崎重工業株式会社 | 車両制御装置 |
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JP7284209B2 (ja) | 2023-05-30 |
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