JP5008494B2 - Caution information presentation system and motorcycle - Google Patents

Description

  The present invention relates to a caution information presentation system for presenting information (hereinafter, referred to as caution information) for prompting a motorcycle driver to pay attention to a caution target, and a motorcycle including the caution information presentation system.

Conventionally, a method using voice, display on a display, vibration, or the like has been proposed to present attention information to a driver of a four-wheeled vehicle. For example, in the alarm device described in Patent Document 1, a plurality of light emitting elements are provided on the inner side of a door of a four-wheeled vehicle, a door glass or a bonnet, and the light emitting elements approach each other sequentially in the traveling direction of another vehicle. Flashes. Further, in the obstacle display device described in Patent Document 2, an image of a front obstacle, predicted collision position information, and predicted course notification information are displayed on the screen.
JP 2000-149167 A JP 2007-34684 A

  However, motorcycles are limited in space compared to four-wheeled vehicles. Therefore, it is difficult to provide the above-described alarm device or obstacle display device in the motorcycle.

  In addition, the driving posture and driving method of a motorcycle are significantly different from those of a four-wheeled vehicle. Therefore, even when the above-mentioned alarm device or obstacle display device is provided in a motorcycle, the driver of the motorcycle recognizes the attention object instantly and intuitively by the alarm device or obstacle display device while traveling. It is difficult.

  An object of the present invention is to provide a caution information presentation system and a motorcycle equipped with the caution information presentation system that allow a motorcycle driver to recognize a caution object instantaneously and intuitively and without a sense of incongruity.

(1) A caution information presentation system according to a first aspect of the present invention is a caution information presentation system that presents caution information that prompts a motorcycle driver to pay attention to an object of caution, and has an opening on the front surface. On the basis of the traveling speed detected by the speed detecting means, the speed detecting means for detecting the traveling speed of the motorcycle, The driving field of view determining means for determining the driving field of view of the driver based on the traveling direction of the motorcycle, the position detecting means attached to the motorcycle body for detecting the position of the object of attention, and detected by the position detecting means Based on the position, position determination means for determining whether there is a caution target within the driving visual field determined by the driving visual field determination means or outside the driving visual field; Control means for controlling a plurality of light emitting units based on the determination result of the position determining means, and the plurality of light emitting units are arranged at positions in the central visual field and left and right peripheral visual fields of the driver wearing the helmet, respectively. the control unit, when it is determined that there is watched in the operating field by the position determining means, and controls the light emitting unit in the central visual field on the display state, when there is a watched out operation field by the position determining means When the determination is made, the light emitting units in the corresponding left and right peripheral visual fields are controlled to be in a display state according to the right and left positions of the attention object .

In the caution information presentation system, a plurality of light emitting units are provided so as to be aligned with the lower end of the opening of the helmet. The plurality of light emitting units are respectively arranged at positions in the central visual field and the left and right peripheral visual fields of the driver wearing the helmet.

  The traveling speed of the motorcycle is detected by the speed detection means, and the driving visual field of the driver is determined by the driving visual field determination means based on the detected traveling speed. In addition, the position of the attention object is detected by the position detection means, and based on the detected position, it is determined by the position determination means whether the attention object is within the driving visual field or the attention object is outside the driving visual field.

When it is determined that there is an attention object in the driving field of view, the light emitting unit in the central field of view is controlled to the display state by the control means. When it is determined that there is a caution object outside the driving field of view, the control unit controls the corresponding light emitting units in the left and right peripheral fields of vision according to the left and right positions of the caution object .

  In this case, the driving field of view is determined based on the traveling direction of the motorcycle. Thereby, it is determined whether the attention object exists within the driving visual field or outside the driving visual field regardless of the direction of the driver's head. On the other hand, the central visual field and the peripheral visual field are set with reference to the helmet. Thereby, even when the driver moves his / her head, attention information is always presented in the driver's central visual field or the peripheral visual field. Thus, the driver can recognize the position of the attention object intuitively and without a sense of incongruity.

  Furthermore, when the motorcycle is driven, the driver's line of sight tends to face the road surface. Therefore, the driver can easily recognize the caution information by providing the plurality of light emitting units at the lower end of the opening of the helmet.

  As a result, the driver of the motorcycle can instantly recognize the attention object intuitively and without a sense of incongruity.

  (2) The caution information presentation system includes a lane determining unit that determines whether or not the attention target is present in the traveling lane of the motorcycle, and a lane determining unit that is determined by the position determining unit to be out of the driving field of view. Therefore, it is possible to further include a correcting unit that corrects the operation of the control unit so that the light emitting unit in the central visual field is in the display state when it is determined that the attention object is present in the traveling lane of the motorcycle.

  In this case, it is determined by the lane determining means whether or not the attention object is present in the traveling lane of the motorcycle, it is determined that there is an attention object outside the driving field of view, and it is determined that the attention object is present in the traveling lane of the motorcycle. In this case, the operation of the control unit is corrected by the correction unit so that the light emitting unit in the central visual field is in the display state.

  The driver recognizes the front on the traveling lane of the motorcycle as the front when the lane is curved. Therefore, as described above, when the attention object is in the lane of the motorcycle, the light emitting part in the central field of view is displayed regardless of whether the attention object is in the driving field or out of the driving field. By setting the state, the driver can recognize the attention object without a sense of incongruity.

  (3) The caution information presentation system further includes storage means for storing in advance the relationship between the traveling speed of the motorcycle and the driving field of view, and the driving field of determination means stores the traveling speed detected by the speed detecting means and the storage means. The driving field of view of the driver may be determined based on the determined relationship.

  In this case, the driving field of view of the driver is determined based on the traveling speed detected by the speed detecting means and the relationship stored in the storage means. Thereby, it is possible to determine the driving field of view according to the traveling speed of the motorcycle with a simple configuration.

  (4) The angular range of the central visual field may be set within 20 degrees from the front of the helmet to the left and right with the driver's head as the center.

  As a result, the driving vision set on the helmet matches the driving vision of most people.

  (5) The attention information presentation system includes an object detection unit that detects an object, a calculation unit that calculates a relative speed and a relative distance between the object detected by the object detection unit and the motorcycle, and a relative value calculated by the calculation unit. You may further provide the attention object determination means which determines whether an object is an attention object based on speed and a relative distance.

  In this case, the object is detected by the object detection means, the relative speed and the relative distance between the detected object and the motorcycle are calculated by the calculation means, and the object is the target of attention based on the calculated relative speed and the relative distance. Is determined by the attention object determining means. Thereby, it is possible to prevent the driver from being tired by presenting unnecessary caution information.

  (6) The calculating means calculates the relative speed component in the first direction connecting the object and the motorcycle as the first speed component, and also calculates the relative speed component in the second direction orthogonal to the first direction. Is calculated as the second speed component, and the attention object determining means uses the first speed component and the relative distance calculated by the calculating means so that the relative distance between the motorcycle and the object becomes 0 in the first direction. Is calculated as the first time, and the time until the motorcycle and the object deviate from each other by a predetermined distance in the second direction using the second speed component calculated by the calculating means is set as the second time. The object may be determined to be a target of attention when the first time is smaller than a predetermined first value and the first time is smaller than the second time.

  In this case, the time until the relative distance between the motorcycle and the object in the first direction becomes 0 using the first speed component and the relative distance in the first direction connecting the object and the motorcycle is the first time. Calculated as time. In addition, the time until the motorcycle and the object deviate from each other by a predetermined distance in the second direction using the second speed component is calculated as the second time. Then, when the first time is smaller than the predetermined first value and the first time is smaller than the second time, it is determined that the object is the attention target.

  As a result, the time until the distance between the motorcycle and the object becomes zero in the direction in which the motorcycle and the object approach each other and the time when the motorcycle can be avoided from colliding with the object are taken into consideration. Thus, it is possible to accurately determine the target whose driving field of view should be careful.

(7) The caution information presentation system further includes lane change signal output means for outputting a lane change signal indicating that the driver intends to change the lane of the motorcycle, and the caution change determination means is provided by the lane change signal output means. When the lane change signal is output and the first time is smaller than the predetermined second value , the object may be determined to be a target of attention regardless of the second time and the first value. .

  In this case, since the motorcycle is displaced from the object by changing the lane of the motorcycle, the time until the distance between the motorcycle and the object becomes zero in the direction in which the motorcycle and the object approach is taken into consideration. Therefore, it is possible to accurately determine an object whose driving field of view should be noted.

(8) A motorcycle according to a second aspect of the present invention includes a vehicle body that has front and rear wheels and travels by a driver's operation, a helmet that has an opening on the front surface, and that is worn by the driver, and an opening for the helmet. A plurality of light emitting units arranged to be arranged at the lower end of the unit, a speed detection means for detecting the traveling speed of the vehicle body, and a driver's reference based on the traveling direction of the vehicle body based on the traveling speed detected by the speed detection means Driving field of view determined by the driving field of view determining means based on the position detected by the driving field of view determining means for determining the driving field of view, the position detecting means for detecting the position of the attention object attached to the vehicle body, and the position detecting means Position determination means for determining whether there is a caution object within or outside the driving field of view, and a control means for controlling a plurality of light emitting units based on the determination result of the position determination means The plurality of light emitting units are arranged at positions in the central visual field and the left and right peripheral visual fields of the driver wearing the helmet, respectively, and the control means is determined by the position determination means to be an attention target in the driving visual field. If the controls the light emitting units of the central visual field on the display state, when it is determined that there is a watched out operation field by the position determining means, in accordance with the lateral position of the watched, the corresponding left and right around The light emitting unit in the field of view is controlled to the display state.

In this motorcycle, a plurality of light emitting portions are provided so as to line up with the lower end of the opening of the helmet. The plurality of light emitting units are respectively arranged at positions in the central visual field and the left and right peripheral visual fields of the driver wearing the helmet.

  The traveling speed of the vehicle body is detected by the speed detection means, and the driving visual field of the driver is determined by the driving visual field determination means based on the detected traveling speed. In addition, the position of the attention object is detected by the position detection means, and based on the detected position, it is determined by the position determination means whether the attention object is within the driving visual field or the attention object is outside the driving visual field.

When it is determined that there is an attention object in the driving field of view, the light emitting unit in the central field of view is controlled to the display state by the control means. When it is determined that there is a caution object outside the driving field of view, the control unit controls the corresponding light emitting units in the left and right peripheral fields of vision according to the left and right positions of the caution object .

  In this case, the driving field of view is determined based on the traveling direction of the vehicle body. Thereby, it is determined whether the attention object exists within the driving visual field or outside the driving visual field regardless of the direction of the driver's head. On the other hand, the central visual field and the peripheral visual field are set with reference to the helmet. Thereby, even when the driver moves his / her head, attention information is always presented in the driver's central visual field or the peripheral visual field. Thus, the driver can recognize the position of the attention object intuitively and without a sense of incongruity.

  Furthermore, when the motorcycle is driven, the driver's line of sight tends to face the road surface. Therefore, the driver can easily recognize the caution information by providing the plurality of light emitting units at the lower end of the opening of the helmet.

  As a result, the driver of the motorcycle can instantly recognize the attention object intuitively and without a sense of incongruity.

  According to the present invention, a motorcycle driver can instantly recognize a target of attention intuitively and without a sense of incongruity.

  Hereinafter, a caution information presentation system according to an embodiment of the present invention and a motorcycle including the same will be described in detail with reference to the drawings.

(1) Configuration of Motorcycle and Helmet FIG. 1 is a schematic diagram showing a motorcycle provided with a caution information presentation system according to an embodiment of the present invention. FIG. 2 is a diagram showing a helmet included in the caution information presentation system of FIG.

  In the motorcycle 1 of FIG. 1, a front wheel 12 is provided below the front part of the vehicle body 11, and a rear wheel 13 is provided below the rear part. A vehicle speed sensor 17 is attached to the front wheel 12. The vehicle speed sensor 17 detects the traveling speed of the motorcycle 1. At the front part of the vehicle body 11, an arithmetic processing device 19 and a wireless transmission device 20 are provided. As the arithmetic processing unit 19, for example, an ECU (electronic control unit) may be used.

  Front radar devices 15 a and 15 b are attached to the left and right of the front end portion of the vehicle body 11, and rear radar devices 16 a and 16 b are attached to the left and right of the rear end portion of the vehicle body 11. The forward radar devices 15a and 15b mainly detect the distance to the front and side objects of the motorcycle 1 and the direction of the object. The rear radar devices 16a and 16b mainly detect the distance to the rear and side objects of the motorcycle 1 and the direction of the object.

  A handle 14 is provided at the front of the vehicle body 11. A left turn signal switch 18 a and a right turn signal switch 18 b that are operated by the driver are attached to the handle 14.

  As shown in FIG. 2, an opening 30 is provided on the front surface of the helmet 3. A light emitting element array 32 made up of a plurality of light emitting elements 31 is attached to both sides from the center of the lower end of the opening 30. The light emitting element 31 is, for example, an LED (light emitting diode). The helmet 3 is provided with a wireless reception device 33.

(2) Configuration of Caution Information Presentation System FIG. 3 is a block diagram showing the configuration of the attention information presentation system according to one embodiment of the present invention.

  The attention information presenting system includes a front radar device 15a, 15b, a rear radar device 16a, 16b, an arithmetic processing device 19, a radio transmission device 20, an interface 21, an in-vehicle battery 22, a left turn signal switch 18a, a right turn signal on the motorcycle 1 side. A switch 18b and a vehicle speed sensor 17 are provided.

  Output signals of the front radar devices 15a and 15b and the rear radar devices 16a and 16b are given to the arithmetic processing unit 19. As will be described later, the direction of the object is represented by an angle in which the right direction perpendicular to the traveling direction of the motorcycle 1 is 0 °.

  The output signal of the vehicle speed sensor 17 is given to the arithmetic processing unit 19 via the interface 21. When the left turn signal switch 18a is operated, the left turn signal blinks. An output signal indicating the state of the left turn signal switch 18 a is given to the arithmetic processing unit 19 through the interface 21. When the right turn signal switch 18b is operated, the right turn signal blinks. An output signal indicating the state of the right turn signal switch 18 b is given to the arithmetic processing unit 19 via the interface 21.

  The arithmetic processing unit 19 executes a caution information presentation process, which will be described later, and generates a light emitting element control signal. The wireless transmission device 20 transmits the light emitting element control signal generated by the arithmetic processing device 19. The in-vehicle battery 22 supplies power to the front radar devices 15a and 15b, the rear radar devices 16a and 16b, the arithmetic processing device 19, the wireless transmission device 20, and the interface 21.

  In addition, the attention information presentation system includes a light emitting element array 32 including a plurality of light emitting elements 31, a wireless receiving device 33, a light emitting element control device 34, and a battery 35 on the helmet 3 side.

  The wireless reception device 33 receives the light emitting element control signal transmitted from the wireless transmission device 20 and provides the received light emitting element control signal to the light emitting element control device 34. The light emitting element control device 34 controls the lighting state of the light emitting element row 32 based on the light emitting element control signal. The battery 35 supplies power to the wireless reception device 33 and the light emitting element control device 34.

(3) Attention Information Presentation Method Next, an attention information presentation method in the attention information presentation system will be described. 4 and 5 are schematic diagrams for explaining the attention information presentation method, in which (a) shows the driving visual field, and (b) shows the central visual field and the peripheral visual field.

  The field of view of the driver of the vehicle is called the driving field of view. The driving field of view is wider as the traveling speed of the vehicle is lower and narrower as the traveling speed of the vehicle is higher. As shown in FIG. 4A, when the motorcycle 1 is at a low speed, the driving visual field DV is widened and the driving visual angle is increased. For example, the driving viewing angle when the traveling speed is 40 km / h is about 100 °. On the other hand, as shown in FIG. 5 (a), when the motorcycle 1 is at a high speed, the driving visual field DV becomes narrow and the driving visual angle becomes small. For example, the driving view angle when the traveling speed is 100 km / h is about 40 °.

  In the present embodiment, the driving field of view is set to the same angle range on the left and right with reference to the traveling direction of the motorcycle 1. For example, the driving viewing angle when the traveling speed is 40 km / h is set to a range of about 50 ° to the left and a range of about 50 ° to the right with the traveling direction of the motorcycle 1 as the center. Further, the driving viewing angle when the traveling speed is 100 km / h is set to a range of about 20 ° to the left and a range of about 20 ° to the right with the traveling direction of the motorcycle 1 as the center. Therefore, even if the driver moves his / her head, the driving field of view does not change.

  Further, the human visual field is divided into a central visual field and a peripheral visual field. The central visual field is in the range of 20 ° up and down and 20 ° left and right centering on the line of sight. In the central field of view, it is possible to discriminate the shape of the object in detail and recognize the color. The peripheral visual field is a range of 130 ° up and down and 180 ° left and right outside the central visual field. Although the object is visible in the peripheral visual field, the shape and color of the object cannot be clearly recognized. However, the peripheral visual field has better recognition than the central visual field for objects that change over time, such as moving objects and blinking light.

  In the caution information presentation system of the present embodiment, the caution information is presented to the driver's central view when the caution target is present within the driving field of view, and the caution information is provided to the driver when the caution target is outside the driving field of view. Present in the peripheral vision.

  The attention information is presented by turning on or blinking the plurality of light emitting elements 31 in the light emitting element row 32 of the helmet 3.

  As shown in FIG. 4A, when the attention object OB exists in the driving visual field DV, as shown in FIG. 4B, the light emitting element 31 in the central visual field is turned on or blinked. On the other hand, as shown in FIG. 5A, when the attention object OB exists outside the driving visual field DV, as shown in FIG. 5B, the light emitting element 31 in the peripheral visual field is turned on or blinked.

  The central visual field is set in a range of 20 ° in the left direction and 20 ° in the right direction from the front direction of the helmet 3 with the center point of the head of the driver wearing the helmet 3 as the center. That is, the driver's central visual field is set with reference to the helmet 3. Thereby, the driver's driving field of view moves with the movement of the driver's head.

  The light emitting elements 31 in the central visual field and the light emitting elements 31 in the peripheral visual field are set in advance. Therefore, the light emitting element 31 in the driver's central visual field and the light emitting element 31 in the peripheral visual field do not change even when the driver moves the head.

(4) Relationship between the traveling speed of the motorcycle and the driving viewing angle FIG. 6 is a diagram showing the relationship between the traveling speed of the motorcycle and the driving viewing angle. The vertical axis in FIG. 6 indicates the driving viewing angle, and the horizontal axis indicates the traveling speed of the motorcycle.

As shown in FIG. 6, the driving view angle θ _d is represented by a function f (v) of the traveling speed v of the motorcycle 1.

θ _d = f (v) = log _0.933 v + 0.004v ² −1.373v + 201.36 (1)
However, when v = 0, log _0.933 v = 0.

From Figure 6 or above equation (1), the operating angle of view of about 200 ° at the time of stopping the motorcycle 1, the driver viewing angle theta _d when the running speed of the motorcycle 1 is 40 km / h is about 100 °, the motorcycle 1 When the traveling speed is 70 km / h, the driving viewing angle θ _d is about 65 °, and when the traveling speed of the motorcycle 1 is 100 km / h, the driving viewing angle θ _d is about 40 °.

The relationship between the traveling speed v and the driving viewing angle θ _d is stored in a storage unit built in the arithmetic processing unit 19. The above expression (1) may be stored in the storage unit of the arithmetic processing unit 19. In this case, the arithmetic processing unit 19 can determine the driving viewing angle θ _d by substituting the traveling speed v detected by the vehicle speed sensor 17 into the above equation (1). Alternatively, a correspondence relationship between a plurality of values of the traveling speed v and a plurality of values of the driving view angle θ _d may be stored in the storage unit of the arithmetic processing device 19. In this case, the arithmetic processing unit 19 can determine the driving view angle θ _d corresponding to the traveling speed v detected by the vehicle speed sensor 17 based on the correspondence relationship.

(5) Method for calculating position of other vehicle and method for presenting attention information In the following description, a case where the attention object OB is another vehicle will be described. Further, when the relationship between the motorcycle 1 according to the present embodiment and another vehicle is described, the motorcycle 1 is referred to as the own vehicle 1.

  7 and 8 are diagrams for explaining the relationship between the position of the attention object OB and the lighting position of the light emitting element array 32. FIG.

  FIG. 7A shows the positional relationship between the attention object OB and the driving field of view when the host vehicle 1 is at a low speed, and FIG. 7B shows the lighting of the light emitting element row 32 corresponding to the positional relationship of FIG. Indicates the position. FIG. 8A shows the positional relationship between the attention object OB and the driving field of view when the host vehicle 1 is at high speed, and FIG. 8B shows the light emitting element array 32 corresponding to the positional relationship of FIG. Indicates the lighting position.

7A and 8A, the right direction (reference direction) orthogonal to the traveling direction of the host vehicle 1 is set to 0 °. In this case, the direction of the attention object OB is represented by an angle θ ₀ from the reference direction with the host vehicle 1 as the center. The angle θ ₀ of the attention object OB is obtained from the output signals of the front radar devices 15a and 15b and the rear radar devices 16a and 16b.

The driving visual field angle is θ _d , the driving visual field start angle is θ _ds , and the driving visual field end angle is θ _de .

The driving view angle θ _d is obtained from the output signal of the vehicle speed sensor 17 and the relationship stored in the storage unit of the arithmetic processing unit 19.

The driving visual field start angle θ _ds is calculated from the following equation.

θ _ds = 90−θ _d / 2 (2)
Operation viewing end angle theta _de is calculated from the following equation.

θ _de = 90 + θ _d / 2 (3)
As shown in FIG. 7A, when the angle θ ₀ of the attention object OB satisfies the following relationship, it is determined that the attention object OB is located in the driving visual field.

θ _ds ≦ θ ₀ ≦ θ _de (4)
In this case, as shown in FIG. 7B, the light emitting element 31 in the central visual field in the light emitting element row 32 of the helmet 3 is turned on or blinked.

As shown in FIG. 8A, when the angle θ ₀ of the attention object OB satisfies the following relationship, it is determined that the attention object OB is located outside the right driving visual field.

θ ₀ <θ _ds or θ ₀ > 270 ° (5)
In this case, as shown in FIG. 8B, the light emitting element 31 in the right peripheral visual field in the light emitting element row 32 of the helmet 3 is turned on or blinked.

When the angle θ ₀ of the attention object OB satisfies the following relationship, it is determined that the attention object OB is located outside the left driving visual field.

θ _de <θ ₀ <270 ° (6)
In this case, the light emitting element 31 in the left peripheral visual field in the light emitting element row 32 of the helmet 3 is turned on or blinked.

  FIG. 9 is a diagram illustrating an example of a lighting state of the light emitting element row 32 depending on the position of the attention object OB.

  FIG. 9A shows a driving field of view when the traveling speed of the host vehicle 1 is 40 km / h, a driving field of view when the traveling speed of the host vehicle 1 is 100 km / h, and the attention object OB. FIG. 9B shows a lighting state of the light emitting element array 32 when the traveling speed of the host vehicle 1 is 40 km / h, and FIG. 9C shows a traveling speed of the host vehicle 1 of 100 km. The lighting state of the light emitting element row 32 at / h is shown. 9B and 9C, the light emitting elements 31 that are lit or blinking are hatched.

  As shown in FIG. 9A, even if the position of the attention object OB is the same, the attention object OB is located within the driving field of view and outside the driving field of view due to the traveling speed of the host vehicle 1. Further, as shown in FIGS. 9B and 9C, even when the position of the attention object OB is the same, when the attention object OB is located in the driving field of view, the light emitting element 31 in the center field of view is displayed. When the attention object OB is positioned outside the driving visual field, the light emitting element 31 in the peripheral visual field is lit or blinked.

(6) Correction of method of presenting caution information by travel lane FIG. 10 is a diagram showing a lighting state of a light emitting element when the host vehicle travels on a road with two opposite lanes.

  A straight road 80 shown in FIG. 10A is divided into two lanes 8a and 8b by a center line CL. The host vehicle 1 travels in the lane 8a, and the caution object OB travels in the opposite lane 8b.

  When the attention object OB exists in the driving visual field of the host vehicle 1, the light emitting element 31 in the central visual field of the helmet 3 is turned on or blinked as shown in FIG. When the attention object OB exists outside the driving field of view of the host vehicle 1, the light emitting element 31 in the peripheral field of view of the helmet 3 is turned on or blinked as shown in FIG.

  FIG. 11 is a diagram showing a lighting state of the light emitting element 31 when the host vehicle 1 travels on a curved road.

  A curve road 81 shown in FIG. 11A is divided into a left lane 8L and a right lane 8R by a center line CL. Assume a situation in which when the host vehicle 1 is traveling in the left lane 8L, there is a target object OB such as a broken vehicle in the same left lane 8L. In the example of FIG. 11A, it is determined that the attention object OB is out of the driving field of view.

  When the attention object OB is located in the same lane as the host vehicle 1 as in this example, even if the attention object OB is outside the driving field of view, as shown in FIG. The light emitting element 31 is turned on or blinked.

(7) Calculation Method of Relative Position and Relative Speed of Other Vehicle Next, a calculation method of the relative position and relative speed of the other vehicle 5 with respect to the host vehicle 1 will be described. 12A and 12B are diagrams for explaining a method of calculating the relative position and relative speed of the other vehicle with respect to the own vehicle. FIG. 12A shows the positional relationship between the own vehicle and the other vehicle, and FIG. Indicates speed.

As shown in FIG. 12, the position O of the host vehicle 1 is represented by coordinates (0, 0). The position P ₀ of the other vehicle 5 at a certain point in time is represented by coordinates (X ₀ , Y ₀ ), the distance between the host vehicle 1 and the other vehicle 5 is d _0, and the angle of the other vehicle 5 is θ ₀ . The position P ₁ of the other vehicle 5 at the time point after t seconds is represented by coordinates (X ₁ , Y ₁ ), the distance between the own vehicle 1 and the other vehicle 5 is d _1, and the angle of the other vehicle 5 is θ ₁ . To do. t seconds is, for example, 10 ms. In this case, the following equation holds.

X ₀ = d ₀ · cos θ ₀ (7)
Y ₀ = d ₀ · sin θ ₀ (8)
X ₁ = d ₁ · cos θ ₁ (9)
Y ₁ = d ₁ · sin θ ₁ (10)
Moreover, the magnitude | size of the relative speed V of the other vehicle 5 with respect to the own vehicle 1 is represented by following Formula.

| V | = [√ {(X ₀ −X ₁ ) ² + (Y ₀ −Y ₁ ) ² }] / t (11)
When the relative speed V of the other vehicle 5 is decomposed into a component V _x in the direction toward the host vehicle 1 and a component V _y in a direction orthogonal to the direction toward the host vehicle 1, the following equation is established.

V _y = d ₁ · sin (θ ₁ −θ ₀ ) (12)
V _x = √ (V ² −V _y ² ) = √ [V ² − {d ₁ · sin (θ ₁ −θ ₀ )} ² ]
... (13)
Hereinafter, the components V _x in the relative velocity V of another vehicle 5 in the direction towards the vehicle 1 is referred to as a vehicle direction component. Further, the component V _y of the relative speed V of the other vehicle 5 in the direction perpendicular to the direction toward the host vehicle 1 is referred to as an offset direction component.

The distances d ₀ and d ₁ and the angles θ ₀ and θ ₁ are obtained from the output signals of the front radar devices 15a and 15b and the rear radar devices 16a and 16b. The distance and angle obtained from the output signals of the front radar devices 15a and 15b and the rear radar devices 16a and 16b are referred to as other vehicle information. The relative position of the other vehicle 5 is calculated from the above equations (7) to (10), and the relative speed of the other vehicle 5 is calculated from the above equations (11) to (13).

(8) Determination method of attention object Next, the determination method of attention object OB is demonstrated. Figure 13 is a schematic view for explaining a method of determining the possibility of a collision based on the own vehicle direction component V _x and offset direction component V _y.

As shown in FIG. 13A, in a general rear-end collision, the time TTC (Time to collision) until the host vehicle 1 collides with the other vehicle 5 is the distance between the host vehicle 1 and the other vehicle 5. with d ₀ and the vehicle direction component V _x is calculated from the following equation.

TTC = d ₀ / V _x (14)
The distance _{d 0} is the front radar device 15a, 15b and rear radar device 16a, is obtained from the output signal of 16b. Further, the vehicle direction component _{V x} has a front radar device 15a, 15b and rear radar device 16a, is calculated from the above equation (13) using the output signal of 16b.

  If α is a predetermined reference value, the host vehicle 1 may collide with another vehicle 5 when TTC <α.

As shown in FIG. 13B, consider a case where the other vehicle 5 is shifted (offset) in a direction perpendicular to the traveling direction of the host vehicle 1. Let R be the radius of a circle circumscribing the host vehicle 1. R corresponds to the length of the motorcycle 1. A time TTP (Time to Pass) until the other vehicle 5 shifts R in a direction perpendicular to the traveling direction of the host vehicle 1 is calculated using R and the offset direction component V _y . TTP is as follows.

TTP = R / V _y (15)
The offset direction component V _y is calculated from the above equation (12) using the output signals of the front radar devices 15a and 15b and the rear radar devices 16a and 16b.

  The host vehicle 1 may collide with the other vehicle 5 when TTP> TTC.

  From the above consideration, when the following condition is satisfied, the other vehicle 5 is determined as the attention object OB.

TTC <α and TTP> TTC (16)
Further, when the left turn signal or the right turn signal of the host vehicle 1 is blinking due to the lane change, the other vehicle 5 is determined as the attention object OB when the following condition is satisfied. β is a predetermined reference value.

TTC <β (17)
(9) Functional Configuration of Arithmetic Processing Device 19 FIG. 14 is a block diagram showing a functional configuration of the arithmetic processing device 19 of FIG.

  As shown in FIG. 14, the arithmetic processing device 19 includes a host vehicle travel lane recognition unit 101, another vehicle travel lane recognition unit 102, another vehicle travel lane determination unit 103, a display position correction unit 104, a host vehicle speed acquisition unit 105, Driving visual field determination unit 106, storage unit 107, display position determination unit 108, other vehicle information detection unit 109, other vehicle relative speed calculation unit 110, attention level calculation unit 111, attention target determination unit 112, and light emission control signal generation unit 113 Constitute.

  The host vehicle travel lane recognition unit 101 recognizes the travel lane of the host vehicle 1 using map information of the navigation system and position information obtained from GPS (Global Positioning System). The host vehicle travel lane recognition unit 101 may recognize the travel lane of the host vehicle 1 by an imaging device that captures an image of the road and image recognition processing.

  The other vehicle travel lane recognition unit 102 acquires information such as the traveling direction, position, and speed of the other vehicle 5 through communication processing such as inter-vehicle communication or road-to-vehicle communication, and determines the travel lane of the other vehicle 5 based on the information. recognize.

  The other vehicle travel lane determination unit 103 determines whether the other vehicle travel lane is recognized based on the travel lane of the host vehicle 1 recognized by the host vehicle travel lane recognition unit 101 and the travel lane of the other vehicle 5 recognized by the other vehicle travel lane recognition unit 102. It is determined whether or not 5 exists in the same lane as the own vehicle 1.

  The display position correction unit 104 corrects the display position of the caution information by the display position determination unit 108 described later based on the determination result of the other vehicle travel lane determination unit 103. Here, the caution information is displayed by turning on or blinking the light emitting element 31 of the light emitting element row 32 of the helmet 3. Specifically, the display position correction unit 104 changes the display position of the caution information within the central visual field when the other vehicle 5 is in the same lane as the host vehicle 1 and the other vehicle 5 is out of the driving visual field. .

  The own vehicle speed acquisition unit 105 acquires the traveling speed of the own vehicle 1 based on the output signal of the vehicle speed sensor 17 of FIGS. 1 and 3.

  The storage unit 107 stores in advance the relationship between the traveling speed of the host vehicle 1 and the driving field of view. The driving visual field determination unit 106 determines the driving visual field angle based on the relationship stored in the storage unit 107.

  The display position determination unit 108 determines the display position of the caution information based on the driving visual field angle determined by the driving visual field determination unit 106 and other vehicle information detected by the other vehicle information detection unit 109 described later. Then, the display position determination unit 108 generates a central visual field light emitting element ON signal when the display position of the caution information is within the central visual field of the helmet 3, and the display position of the caution information is within the peripheral visual field of the helmet 3 The peripheral-field light-emitting element on signal is generated.

  The other vehicle information detection unit 109 detects the distance to the other vehicle 5 and the angle of the other vehicle 5 as other vehicle information at regular intervals based on the output signals of the front radar devices 15a and 15b and the rear radar devices 16a and 16b. .

  The other vehicle relative speed calculation unit 110 calculates the relative speed of the other vehicle 5 with respect to the host vehicle 1 based on the other vehicle information detected by the other vehicle information detection unit 109.

  The attention level calculator 111 calculates TTC and TTP based on the other vehicle information detected by the other vehicle information detector 109 and the relative speed calculated by the other vehicle relative speed calculator 110. The attention level calculation unit 111 outputs the TTC and TTP values as the attention level when the left turn signal and the right turn signal are not blinking, and the TTC value when the left turn signal or the right turn signal is blinking. Output as degrees.

  The attention object determination unit 112 determines whether or not the other vehicle 5 is the attention object OB based on the attention degree determined by the attention degree calculation unit 111. If the other vehicle 5 is the attention object OB, the attention information A presentation on signal is generated, and an attention information presentation off signal is generated when the other vehicle 5 is not the attention target OB.

  The light emission control signal generation unit 113 lights the light emitting elements 31 in the central visual field when the display position determination unit 108 generates the central visual field light emitting element on signal and the attention object determination unit 112 generates the attention information presentation on signal. Alternatively, a light emitting element control signal to be blinked is generated, and when the peripheral visual field light emitting element on signal is generated by the display position determining unit 108 and the attention information presenting on signal is generated by the attention target determining unit 112, the light emitting elements in the peripheral visual field A light emitting element control signal for lighting or blinking 31 is generated.

  The light emitting element control signal generated by the light emission control signal generating unit 113 is given to the light emitting element control device 34 through the wireless transmission device 20 of FIG. 3 and the wireless reception device 33 of the helmet 3. The light emitting element control device 34 lights or blinks the light emitting elements 31 in the central visual field or the peripheral visual field of the light emitting element row 32 based on the light emitting element control signal.

  Each unit of the arithmetic processing unit 19 is realized by a computer and a program. The arithmetic processing unit 19 may be shared with an ECU for vehicle control such as engine control, or may be provided independently of the ECU for vehicle control.

(10) Caution Information Presentation Processing Next, attention information presentation processing by the arithmetic processing unit 19 in FIG. 14 will be described. 15 to 17 are flowcharts showing the caution information presentation process.

  First, the other vehicle information detection unit 109 in FIG. 14 acquires the output signals of the front radar devices 15a and 15b and the rear radar devices 16a and 16b (step S1), and determines whether or not the other vehicle 5 exists (step S1). Step S2). If there is no other vehicle 5, the process returns to step S1.

  When the other vehicle 5 exists, the other vehicle information detection unit 109 detects the distance and angle of the other vehicle 5 obtained from the output signals of the front radar devices 15a and 15b and the rear radar devices 16a and 16b as other vehicle information. (Step S3), and other vehicle information is stored in the storage unit 107 (Step S4).

  The other vehicle relative speed calculation unit 110 determines whether or not the previous other vehicle information (previous information) is in the storage unit 107 (step S5). If there is no previous information, the process returns to step S1.

  When there is previous information, the other vehicle relative speed calculation unit 110 calculates the relative speed as described above from the difference between the current other vehicle information (current information) and the previous information (step S6).

  Next, the attention level calculator 111 calculates the TTC and TTP based on the relative speed of the other vehicle 5 calculated by the other vehicle relative speed calculator 110 and the distance to the other vehicle 5 detected by the other vehicle information detector 109. Is calculated as the attention level (step S7).

  In this case, the attention level calculation unit 111 acquires the output signals of the left turn signal switch 18a and the right turn signal switch 18b in FIG. 3 (step S8). The attention level calculation unit 111 determines whether the left turn signal or the right turn signal is blinking based on the output signals of the left turn signal switch 18a and the right turn signal switch 18b (step S9).

  When the left turn signal and the right turn signal are not blinking, the attention level calculation unit 111 outputs the values of TTC and TTP as the attention level (step S10). When the left turn signal or the right turn signal is blinking, the attention level calculation unit 111 outputs the TTC value as the attention level (step S11).

  Next, the attention object determination unit 112 determines that the other vehicle 5 is the attention object OB based on whether or not the attention degree output from the attention degree calculation unit 111 satisfies the condition of the above formula (16) or (17). It is determined whether or not (step S12).

  When the other vehicle 5 is the attention object OB, the attention object determination unit 112 generates an attention information presentation on signal (step S13), and proceeds to the process of step S15. When the other vehicle 5 is not the attention object OB, the attention object determination unit 112 generates an attention information presentation off signal (step S14) and returns to the process of step S1.

  The own vehicle speed acquisition unit 105 acquires the traveling speed of the own vehicle 1 based on the output signal of the vehicle speed sensor 17 (step S15). The driving visual field determination unit 106 determines the driving visual field angle based on the traveling speed of the host vehicle 1 acquired by the host vehicle speed acquisition unit 105 (step S16).

  Further, the display position determination unit 108 determines whether or not the other vehicle 5 is in the driving field based on the driving field angle determined by the driving field determination unit 106 and the other vehicle information detected by the other vehicle information detection unit 109. Is determined (step S17).

  If the other vehicle 5 is not within the driving field of view, the host vehicle travel lane recognition unit 101 recognizes the travel lane of the host vehicle 1 (step S18). Further, the other vehicle travel lane recognition unit 102 recognizes the travel lane of the other vehicle 5 (step S19).

  Further, the other vehicle travel lane determination unit 103 is based on the travel lane of the host vehicle 1 recognized by the host vehicle travel lane recognition unit 101 and the travel lane of the other vehicle 5 recognized by the other vehicle travel lane recognition unit 102. Then, it is determined whether or not the other vehicle 5 exists in the same lane as the own vehicle 1 (step S20).

  When the other vehicle 5 does not exist in the same lane as the own vehicle 1, the display position determination unit 108 determines the display position of the caution information as the peripheral visual field, and generates a peripheral visual field light emitting element ON signal (step S21). . In this case, the light emission control signal generation unit 113 generates a light emission control signal for turning on or blinking the light emitting element 31 in the peripheral visual field (step S22). Thereafter, the process returns to step S1.

  When the other vehicle 5 is within the driving field of view in step S17 and when the other vehicle 5 is present in the same lane as the host vehicle 1 in step S20, the display position determination unit 108 displays the display position of the caution information as the central field of view. And a central field light emitting element ON signal is generated (step S23). In this case, the light emission control signal generation unit 113 generates a light emission control signal for turning on or blinking the light emitting element 31 in the central visual field (step S22). Thereafter, the process returns to step S1.

(11) Effects of the Embodiment As described above, according to the caution information presentation system according to the present embodiment, when the caution target OB exists in the driving field of view, the light emitting element array 32 of the helmet 3 The light emitting element 31 in the central visual field is turned on or blinked. Further, when the attention object OB exists outside the driving visual field, the light emitting elements 31 in the peripheral visual field in the light emitting element row 32 of the helmet 3 are lit or blinked.

  In this case, the driving field of view is determined based on the traveling direction of the motorcycle 1. Thereby, it is determined whether the attention object OB exists within the driving visual field or outside the driving visual field regardless of the direction of the driver's head. On the other hand, the central visual field and the peripheral visual field are set with reference to the helmet 3. Thereby, even when the driver moves his / her head, attention information is always presented in the driver's central visual field or the peripheral visual field. Thus, the driver can recognize the position of the attention object OB intuitively and without a sense of incongruity.

  Furthermore, when the motorcycle 1 is driven, the driver's line-of-sight direction tends to be more directed toward the road than when a four-wheeled vehicle is driven. Therefore, by providing the light emitting element row 32 at the lower end of the opening 30 of the helmet 3, the driver can easily recognize the caution information.

  In addition, the driver recognizes the front on the lane in which the host vehicle 1 travels on the curved road as the front. Therefore, in the present embodiment, when the attention object OB exists on the same lane as the traveling lane of the host vehicle 1, the attention information is presented in the central field even if the attention object OB is out of the driving field of view. To do. Accordingly, the driver can recognize the attention object OB without a sense of incongruity.

  As a result, the driver of the motorcycle 1 can recognize the attention object OB instantly and intuitively without any sense of incongruity.

(12) Correspondence between each constituent element of claim and each element of the embodiment Hereinafter, an example of correspondence between each constituent element of the claim and each element of the embodiment will be described. It is not limited to.

  In the above embodiment, the light emitting element 32 is an example of a light emitting unit, the vehicle speed sensor 17 is an example of a speed detecting means, the arithmetic processing unit 19 is a driving visual field determining means, a position determining means, a control means, a lane determining means, Examples of correction means, storage means, calculation means, and attention object determination means. Front radar devices 15a and 15b and rear radar devices 16a and 16 are examples of position detection means and object detection means. Left turn signal switch 18a and right The turn signal switch 18b is an example of a lane change signal output unit.

  In particular, the display position determination unit 108 of the arithmetic processing unit 19 is an example of a position determination unit and a control unit, and the host vehicle travel lane recognition unit 101, the other vehicle travel lane recognition unit 102, and the other vehicle travel lane determination unit 103 determine the lane. The display position correction unit 104 is an example of a correction unit, the storage unit 107 is an example of a storage unit, the other vehicle information detection unit 109 is an example of a position detection unit, and the other vehicle information detection unit. 109 and the other vehicle relative speed calculation unit 110 are examples of calculation means, and the attention level calculation unit 111 and the attention object determination unit 112 are examples of attention object determination means.

Also, V _x is an example of the first velocity component, V _y is an example of the second velocity component, TTC is an example of the first time, TTP is an example of the second time, The reference value α is an example of the first value, the reference value β is an example of the second value, and the output signals of the left turn signal switch 18a and the right turn signal switch 18b are examples of lane change signals.

  As each constituent element in the claims, various other elements having configurations or functions described in the claims can be used.

(13) Other Embodiments In the above embodiment, each part of the arithmetic processing unit 19 is realized by a computer and a program, but part or all of the arithmetic processing unit 19 is realized by hardware such as a logic circuit. May be.

  In the said embodiment, although LED is used as the light emitting element 31 of the light emitting element row | line | column 32, it is not limited to this, You may use other light emitting elements, such as an organic electroluminescent element.

  Moreover, in the said embodiment, although the several light emitting element 31 is used as a some light emission part, it is not limited to this, By selectively lighting or blinking the several part of a continuous display panel, Attention information may be selectively presented in the central view and the peripheral view.

  The present invention can be used to present attention information to a motorcycle driver.

It is a mimetic diagram showing a motorcycle provided with a caution information presentation system concerning one embodiment of the present invention. It is a figure which shows the helmet contained in the attention information presentation system of FIG. It is a block diagram which shows the structure of the attention information presentation system which concerns on one embodiment of this invention. It is a schematic diagram for demonstrating the attention information presentation method. It is a schematic diagram for demonstrating the attention information presentation method. It is a figure which shows the relationship between the driving speed of a vehicle, and a driving | operation visual field angle. It is a figure for demonstrating the relationship between the position of attention object, and the lighting position of a light emitting element row | line | column. It is a figure for demonstrating the relationship between the position of attention object, and the lighting position of a light emitting element row | line | column. It is a figure which shows an example of the lighting state of the light emitting element row | line | column by the position of attention object. It is a figure which shows the lighting state of the light emitting element when the own vehicle drive | works the road of an opposing 2 lane. It is a figure which shows the lighting state of the light emitting element when the own vehicle drive | works a curve road. It is a figure for demonstrating the calculation method of the relative position and relative speed of the other vehicle with respect to the own vehicle. It is a schematic diagram for demonstrating the determination method of the possibility of the collision based on the own vehicle direction component and an offset direction component. It is a block diagram which shows the functional structure of the arithmetic processing unit of FIG. It is a flowchart which shows attention information presentation processing. It is a flowchart which shows attention information presentation processing. It is a flowchart which shows attention information presentation processing.

Explanation of symbols

1 Motorcycle (own vehicle)
3 Helmet 5 Other vehicle 8a, 8b Lane 11 Car body 12 Front wheel 13 Rear wheel 14 Handle 15a, 15b Forward radar device 16a, 16b Rear radar device 17 Vehicle speed sensor 18a Left turn signal switch 18b Right turn signal switch 19 Arithmetic processing device 20 Wireless transmission device 21 Interface 22 In-vehicle battery 30 Opening 31 Light emitting element 32 Light emitting element array 33 Wireless receiver 34 Light emitting element control device 35 Battery 101 Own vehicle travel lane recognition unit 102 Other vehicle travel lane recognition unit 103 Other vehicle travel lane determination unit 104 Display position correction Unit 105 Own vehicle speed acquisition unit 106 Driving field of view determination unit 107 Storage unit 108 Display position determination unit 109 Other vehicle information detection unit 110 Other vehicle relative speed calculation unit 111 Attention degree calculation unit 112 Attention target determination unit 113 Light emission control signal Generating unit CL Center line d _{0, d 1} distance P _{0, P 1} position v travel speed V relative velocity V _x the vehicle direction component V _y offset direction component θ _0, θ ₁ angle theta _d operation field angle theta _de operating field ends Angle θ _ds Driving field start angle

Claims (8)

A caution information presentation system that presents caution information that prompts a motorcycle driver to pay attention to a caution target,
A helmet with an opening on the front and worn by the driver;
A plurality of light emitting portions provided so as to be aligned with the lower end of the opening of the helmet;
Speed detecting means for detecting the traveling speed of the motorcycle;
Driving field of view determining means for determining a driver's driving field of view based on the traveling direction of the motorcycle based on the traveling speed detected by the speed detecting means;
A position detecting means attached to the motorcycle body for detecting the position of the object of attention;
Based on the position detected by the position detection means, position determination means for determining whether there is a caution target within the driving visual field determined by the driving visual field determination means or whether there is a caution target outside the driving visual field;
Control means for controlling the plurality of light emitting units based on the determination result of the position determination means,
The plurality of light emitting units are respectively disposed at positions in a central visual field and left and right peripheral visual fields of a driver wearing the helmet,
Wherein when it is determined that there is watched in the operating field by the position determining means, said central control to display state light-emitting portion of the field of view, outside the operating field by the position determining means When it is determined that there is a caution target, the caution information presentation system controls the light emitting units in the left and right peripheral visual fields corresponding to the right and left positions of the caution target to be in a display state. Lane determination means for determining whether or not an attention object is present in the traveling lane of the motorcycle;
When the position determining means determines that there is a cautionary object outside the driving field of view and the lane determining means determines that the cautionary object is present in the traveling lane of the motorcycle, the light emitting unit in the central visual field is displayed. The caution information presentation system according to claim 1, further comprising: a correcting unit that corrects the operation of the control unit. Storage means for storing in advance the relationship between the traveling speed of the motorcycle and the driving field of view;
3. The caution according to claim 1, wherein the driving visual field determination unit determines the driving visual field of the driver based on a traveling speed detected by the speed detection unit and a relationship stored in the storage unit. Information presentation system. The caution information according to any one of claims 1 to 3, wherein the angle range of the central visual field is set within 20 degrees from the front of the helmet to the left and right with the driver's head as the center. Presentation system. An object detection means for detecting an object;
Calculating means for calculating a relative speed and a relative distance between the object detected by the object detecting means and the motorcycle;
5. An attention object determination means for determining whether or not the object is an attention object based on the relative speed and the relative distance calculated by the calculation means. Caution information presentation system described in. The calculating means calculates a relative speed component in a first direction connecting the object and the motorcycle as a first speed component, and calculates a relative speed in a second direction orthogonal to the first direction. Calculating the component as the second velocity component;
The attention object determining means uses a first speed component and a relative distance calculated by the calculating means to calculate a time until the relative distance between the motorcycle and the object becomes zero in the first direction. And calculating the time until the motorcycle and the object deviate from each other in the second direction by using the second speed component calculated by the calculating means as the second time. When the first time is smaller than a predetermined first value and the first time is smaller than the second time, the object is determined to be a target of attention. Item 5. The notice information presentation system according to item 5. Lane change signal output means for outputting a lane change signal indicating that the driver intends to change the lane of the motorcycle;
When the lane change signal is output by the lane change signal output means and the first time is smaller than a predetermined second value, the attention object determining means is configured to output the second time and the first time The caution information presentation system according to claim 6 , wherein the object is determined to be a caution target regardless of a value . A vehicle body having front and rear wheels and traveling by a driver's operation;
A helmet with an opening on the front and worn by the driver;
A plurality of light emitting portions provided so as to be aligned with the lower end of the opening of the helmet;
Speed detecting means for detecting the traveling speed of the vehicle body;
Driving field of view determining means for determining a driver's driving field of view based on the traveling direction of the vehicle body based on the traveling speed detected by the speed detecting means;
A position detecting means attached to the vehicle body for detecting the position of the attention object;
Based on the position detected by the position detection means, position determination means for determining whether there is a caution target within the driving visual field determined by the driving visual field determination means or whether there is a caution target outside the driving visual field;
Control means for controlling the plurality of light emitting units based on the determination result of the position determination means,
The plurality of light emitting units are respectively disposed at positions in a central visual field and left and right peripheral visual fields of a driver wearing the helmet,
Wherein when it is determined that there is watched in the operating field by the position determining means, said central control to display state light-emitting portion of the field of view, outside the operating field by the position determining means A motorcycle characterized in that, when it is determined that there is an attention object, the corresponding light emitting units in the left and right peripheral visual fields are controlled to be in a display state in accordance with the left and right positions of the attention object .

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