JP6409477B2 - Motorcycle / Tricycle - Google Patents

Description

The present invention relates to a motorcycle or a tricycle that reflects a radar wave transmitted from an autonomous driving vehicle so that the autonomous driving vehicle detects the presence of a surrounding vehicle.

  2. Description of the Related Art Conventionally, a driving support system that detects a surrounding vehicle with a radar wave and automatically drives the vehicle is known. In a vehicle equipped with a driving support system, a radar wave is transmitted from a radar device toward a surrounding vehicle, and the presence of the surrounding vehicle is detected from a radar wave reflected by the surrounding vehicle. As such a driving support system, one that monitors the level of a reflected wave from a surrounding vehicle is also known (see, for example, Patent Document 1). The driving support system disclosed in Patent Document 1 detects the presence of a two-wheeled vehicle having a small reflection area with respect to a radar wave in the vehicle front-rear direction and the poor sensitivity due to contamination of the radar antenna according to the level of the reflected wave.

JP 2006-250793 A

  By the way, it is known that in bad weather such as rain and fog, radar waves are absorbed or scattered in the atmosphere and the detection performance of the radar device is lowered. However, in the driving support system described in Patent Document 1, the presence of a two-wheeled vehicle and the poor sensitivity of a radar antenna are detected from the degree of a decrease in the level of the reflected wave, but rain, fog, etc. in bad weather against the radar wave are detected. Impact is not considered. Therefore, the radar wave transmitted from the radar device is greatly attenuated by rain, fog, etc., and there is a possibility that the presence of the surrounding vehicle is overlooked in the autonomous driving vehicle and the automatic driving considering the presence of the surrounding vehicle is not performed. there were.

The present invention has been made in view of the above points, and is basically applicable to all vehicles. In particular, the present invention provides a motorcycle or tricycle that can make an autonomous driving vehicle detect the presence of a vehicle satisfactorily. The purpose is to do.

Automatic two-tricycle of the present invention, a reflector for reflecting the radars wave An automatic two-tricycle which is arranged in front and rear of the vehicle, the reflector, the width the weight balance of the vehicle body of the automatic two-tricycle The motorcycle and the tricycle are arranged close to each other evenly .

  According to this configuration, the radar wave transmitted from the traveling autonomous driving vehicle toward the front or rear vehicle is reflected back and forth by the reflecting surface of the reflector of the vehicle and sent back to the autonomous driving vehicle. Therefore, even if the radar wave is attenuated by the influence of fog, rain, etc., the radar wave is efficiently reflected by the reflector toward the autonomous driving vehicle. Can be detected positively. In this way, the vehicle on the receiver side of the radar wave actively appeals to the autonomous driving vehicle on the radar wave sender side about the existence of the vehicle, and considers the existence of the vehicle to the autonomous driving vehicle. Automated driving can be encouraged.

In the motorcycle / tricycle of the present invention, the reflector is a fixed portion that does not move together with a steering operation by a handle of the motorcycle / tricycle.

In the motorcycle / tricycle of the present invention, the reflector is disposed inside a cover member of a body of the motorcycle / tricycle.

In the motorcycle / tricycle of the present invention, the reflector is disposed on a vehicle width center line extending in the vehicle longitudinal direction of the motorcycle / tricycle.

In the motorcycle / tricycle according to the present invention, the reflector is disposed inside the both ends of the handle.

In the motorcycle / tricycle of the present invention, the reflector is disposed in a lighting fixture.

In the motorcycle / tricycle of the present invention, the reflector is disposed above the down tube.

In the motorcycle / tricycle of the present invention, the reflector is disposed on a flexible rearview mirror.

In the motorcycle / tricycle of the present invention, the reflector is disposed on a rear suspension.

In the motorcycle or tricycle of the present invention , the reflector reflects the radar wave from the bumper of the automobile toward the height of the roof.

According to the motorcycle and tricycle of the present invention, the vehicle in which the reflector is arranged can be positively detected by the autonomous driving vehicle by efficiently reflecting the radar wave transmitted from the autonomous driving vehicle.

It is explanatory drawing of the automatic driving system which concerns on a comparative example and this Embodiment. It is a figure which shows the reflector which concerns on this Embodiment. It is a four-plane figure which shows the example of arrangement | positioning of the reflector with respect to the wagon type four-wheeled vehicle which concerns on this Embodiment. It is a four-plane figure which shows the example of arrangement | positioning of the reflector with respect to the sedan type four-wheeled vehicle which concerns on this Embodiment. It is a four-plane figure which shows the example of arrangement | positioning of the reflector with respect to the truck type four-wheeled vehicle which concerns on this Embodiment. It is a figure which shows the example of arrangement | positioning of the reflector with respect to the scooter type two-wheeled vehicle which concerns on this Embodiment. It is a figure which shows the example of arrangement | positioning of the reflector with respect to the American type two-wheeled vehicle which concerns on this Embodiment. It is a figure which shows the example of arrangement | positioning of the reflector with respect to the naked type two-wheeled vehicle which concerns on this Embodiment. It is a figure which shows the example of arrangement | positioning of the reflector with respect to the naked type two-wheeled vehicle which concerns on this Embodiment. It is a figure which shows the example of arrangement | positioning of the reflector with respect to the super sports type two-wheeled vehicle which concerns on this Embodiment. It is explanatory drawing of the detection operation | movement of the surrounding vehicle at the time of the lane change by the automatic driving vehicle which concerns on this Embodiment.

  The automatic operation control will be described with reference to FIG. FIG. 1 is an explanatory diagram of a comparative example and an automatic driving system according to the present embodiment. 1A and 1B show an example of an automatic driving system according to a comparative example, and FIG. 1C shows an example of an automatic driving system according to the present embodiment.

  As shown in FIG. 1A and FIG. 1B, the automatic driving control is mainly performed during traveling on the highway, and the four-wheeled vehicle 2 or the two-wheeled vehicle 3 or the like from the radar device 9 provided in the automatic driving vehicle 1 is used. Radar waves are transmitted toward the surrounding vehicles, and the reflected waves from the vehicle bodies of the surrounding vehicles are received by the radar device 9 to detect the presence of the surrounding vehicles. However, as shown in FIG. 1A, even when the surrounding vehicle is a four-wheeled vehicle 2 that is relatively easy to detect, a radar wave directed to the four-wheeled vehicle 2 due to rain, fog, or the like is also generated during the bad weather. As a result, the radar wave reflected by the laser beam is attenuated and the detection performance of the radar device 9 is degraded.

  As shown in FIG. 1B, when the surrounding vehicle is a two-wheeled vehicle 3, the reflection area is narrow with respect to the radar wave from the vehicle front-rear direction, and the body shape has many curved surfaces and the reflected wave is easily reflected in multiple directions. Therefore, there is a possibility that the reflected wave cannot reach the autonomous driving vehicle 1. As the radar wave, a millimeter wave or a laser wave is used, but these radar waves are reflected by the metal part, but have a property that they are not reflected through the resin part or glass. Therefore, even if most of the radar waves can be reflected, the two-wheeled vehicle 3 has a small reflection area, and the two-wheeled vehicle 3 that uses a lot of resin parts such as a scooter has a detection performance of the radar device 9. Had fallen.

  For example, when the engine of the two-wheeled vehicle 3 is a substantially horizontal type engine, the reflection area with respect to the radar wave from the vehicle front-rear direction is particularly narrow. Furthermore, although the engine of the two-wheeled vehicle 3 is disposed between the front wheel and the rear wheel, the radar wave toward the engine and the radar wave reflected by the engine are greatly attenuated by the rubber tire. For this reason, in a two-wheeled vehicle having a substantially horizontal engine and a road sports type two-wheeled vehicle having a thick tire, the radar wave reflected by the engine is greatly attenuated, and the detection performance of the radar device 9 is further deteriorated. Further, the frame of the two-wheeled vehicle 3 sometimes uses a pipe material having a circular cross section, and such a pipe material is difficult to direct the reflection direction of the radar wave in a specific direction.

  Therefore, the inventor of the present invention pays attention to the fact that the surrounding vehicle on the radar wave receiver side needs to actively appeal the existence of the own vehicle toward the autonomous driving vehicle 1 on the radar wave sender side. The present invention has been reached. As shown in FIG. 1C, the gist of the present invention is to provide a reflector 10 in a vehicle on the receiver side of the radar wave, and efficiently reflect the radar wave transmitted from the autonomous driving vehicle 1 by the reflector 10. As a result, even when the weather is bad or the surrounding vehicle is a two-wheeled vehicle, a radar wave can be actively sent back to the autonomous driving vehicle 1 to promote automatic driving in consideration of the presence of the surrounding vehicle.

  Hereinafter, the reflector will be described with reference to FIG. FIG. 2 is a diagram showing a reflector according to the present embodiment. 2A is a perspective view of the reflector, FIG. 2B is a front view of the reflector, and FIG. 2C is a side view of the reflector. In addition, the reflector shown in FIG. 2 shows an example, and can be changed as appropriate. In the reflector according to the present embodiment, a configuration in which millimeter waves and laser waves are mainly applied as radar waves will be described. However, radio waves that can be used as radar waves may be applied.

  As shown in FIGS. 2A to 2C, the reflector 10 reflects a radar wave transmitted from the autonomous driving vehicle 1 (see FIG. 1C) toward the autonomous driving vehicle 1, and includes a plurality of metal plates 13. The reflector main body 11 is configured to be accommodated in a transparent sphere cover 12. The reflector main body 11 is formed by joining a plurality of metal plates 13 of right-angled isosceles triangles orthogonal to each other and joining the equal sides of the metal plates 13 having the same length. For this reason, the reflector body 11 has a shape in which eight triangular pyramid corner reflectors are combined, and a plurality of reflecting surfaces 14 that are recessed in a triangular pyramid shape are formed by the three metal plates 13.

  The sphere cover 12 is formed of a material such as glass or resin so as to transmit the radar wave, and covers and protects the periphery of the reflector body 11. On the inner surface of the spherical cover 12, the apex portion of the reflector body 11 is fixed with an adhesive or the like. The spherical body cover 12 is provided with a bracket 17 (attachment portion) for attachment to the vehicle, and the reflector 10 is attached to the vehicle by being screwed to the vehicle through a pair of attachment holes 18 of the bracket 17. At this time, the triangular pyramid-shaped reflecting surface 14 of the reflector main body 11 is directed in the front-rear direction of the vehicle so that a radar cross section (RCS) is increased.

  Moreover, the reflector 10 is arrange | positioned 1 each at the front side and the rear side of a vehicle so that the autonomous driving vehicle 1 of the front side and the back side may detect. The reflector 10 configured as described above is attached to the vehicle so that the reflection direction of the radar wave is directed in the front-rear direction of the vehicle so as to efficiently reflect toward the transmission source of the radar wave. Further, the reflector 10 is composed of only a minimum member for reflecting radar waves to the autonomous driving vehicle 1. For this reason, the reflector 10 is miniaturized and can be arranged at various positions in the vehicle.

  Hereinafter, the example of arrangement | positioning of the reflector with respect to a vehicle is demonstrated in detail. First, an example of the arrangement of reflectors in a four-wheel vehicle will be described for each of three body types. FIG. 3 is a four-sided view showing an example of the arrangement of reflectors for the wagon type four-wheel vehicle according to the present embodiment. FIG. 4 is a four-side view showing an example of the arrangement of reflectors for the sedan type four-wheel vehicle according to the present embodiment. FIG. 5 is a four-side view showing an example of the arrangement of reflectors for the truck-type four-wheel vehicle according to the present embodiment. In FIG. 3 to FIG. 5, for the convenience of explanation, the reflector placement location candidates are indicated by circles.

  As shown in FIG. 3, the wagon type four-wheel vehicle 20 is provided with the reflector 10 so as to overlap the outline of the vehicle in a front view and a rear view. Specifically, on the front side of the four-wheeled vehicle 20, a central position 21 a of the bonnet 21, a central position 22 a of the front grill 22, and a side position 23 a of the number plate 24 in the front bumper 23 are effective locations of the reflector 10. . If the reflector 10 is arrange | positioned in these arrangement | positioning locations, the radar wave sent out from the front can be efficiently reflected in the front side of a vehicle body. When the reflector 10 is disposed on the bonnet 21, it is preferable that the reflector 10 is disposed so that the design of the vehicle is not hindered and air resistance is not further generated.

  Further, since the headlight 25 and the front bumper 23 are formed of a material that transmits radar waves on the front side of the four-wheeled vehicle 20, the inner position 25 a of the headlight 25 and the rear side position 23 b of the front bumper 23 are also included in the reflector 10. It is an effective location. Since the reflector 10 is hidden by the headlight 25 and the front bumper 23, the design of the vehicle is not affected by the reflector 10. It is also possible to arrange the reflector 10 at the peripheral position 26 a of the side mirror 26. As the peripheral position 26a of the side mirror 26, for example, the reflector 10 may be disposed in the front surface of the housing of the side mirror 26 or in the housing.

  In the vicinity of the inner side of the front window 27, the peripheral position 28 a of the room mirror 28 and the upper surface position 29 a of the instrument panel 29 are effective arrangement positions of the reflector 10. By arranging the reflector 10 in the vehicle, maintenance and inspection by the occupant can be facilitated. As the peripheral position 28 a of the room mirror 28, for example, the reflector 10 may be disposed between the front surface of the room mirror 28 or between the front window 27 and the room mirror 28. By arranging the reflector 10 so as to overlap the room mirror 28 in a front view, the reflector 10 does not enter the eyes of the occupant, and the interior design is not affected by the reflector 10.

  On the rear side of the four-wheeled vehicle 20, a peripheral position 31 a of the rear door 31 and a side position 32 a of the number plate 33 in the rear bumper 32 are effective arrangement positions of the reflector 10. If the reflector 10 is arrange | positioned in these arrangement | positioning locations, the radar wave sent out from back can be efficiently reflected in the rear side of a vehicle body. In addition, on the rear side of the four-wheeled vehicle 20, an inner position 34 a of the rear combination lamp 34 and a rear side position 32 b of the rear bumper 32 which are formed of a material that transmits radar waves are also effective arrangement positions of the reflector 10. Since the reflector 10 is hidden by the rear combination lamp 34 and the rear bumper 32, the design of the vehicle is not affected by the reflector 10.

  Around the inner side of the rear window 35, a peripheral position 36 a of the high mount stop lamp 36 is an effective arrangement location of the reflector 10. Thereby, the maintenance inspection by a passenger | crew can be made easy by the reflector 10 being arrange | positioned in a vehicle. As the peripheral position 36 a of the high mount stop lamp 36, for example, the reflector 10 may be disposed inside the high mount stop lamp 36 or between the rear window 35 and the high mount stop lamp 36. By disposing the reflector 10 so as to overlap the high-mount stop lamp 36 in a front view, the reflector 10 does not enter the eyes of the occupant, and the interior design is not affected by the reflector 10.

  The four-wheeled vehicle 20 is often covered with a steel plate and reflects radar waves with the steel plate. However, it is difficult to arrange the reflector 10 on the surface of the steel plate in terms of design and aerodynamics. For this reason, when the reflector 10 is arranged on the surface of the steel plate, the upper surface position 37a of the roof 37 is an effective arrangement candidate of the reflector 10. By disposing the reflector 10 on the roof 37, the reflector 10 is unlikely to obstruct an occupant, and the vehicle is not greatly affected in terms of design and aerodynamics.

  In this manner, by arranging the reflector 10 at an appropriate location of the four-wheel vehicle 20, the radar wave transmitted from the autonomous driving vehicle 1 is efficiently reflected and the radar wave is sent back to the autonomous driving vehicle 1. Can do. Therefore, since the radar wave is reflected toward the autonomous driving vehicle 1 by the reflector 10 having a high reflection intensity, even if the radar wave is attenuated due to the influence of fog, rain, etc., the presence of the vehicle with respect to the autonomous driving vehicle 1 is prevented. Active detection is possible.

  As shown in FIG. 4, the sedan type four-wheel vehicle 40 is provided with an arrangement position of the reflector 10 in the upper surface position 56 a of the trim 56 at the rear of the seat in addition to the arrangement positions of the reflector 10 in the wagon type four-wheel vehicle 20. It has been. That is, on the front side of the four-wheeled vehicle 40, the central position 41a of the bonnet 41, the central position 42a of the front grill 42, the central position 43a of the front bumper 43, the inner position 45a of the headlight 45, the back side position 43b of the front bumper 43, the side The peripheral position 46 a of the mirror 46, the peripheral position 47 a of the room mirror 47, and the upper surface position 48 a of the instrument panel 48 are effective arrangement locations of the reflector 10. In addition, when the external air inlet for turbo is provided on the bonnet 41, the reflector 10 may be arrange | positioned at the external air inlet.

  On the rear side of the four-wheeled vehicle 40, the peripheral position 51a of the rear door 51, the lower position 52a of the number plate 53 in the rear bumper 52, the inner position 54a of the rear combination lamp 54, the peripheral position 55a of the high-mount stop lamp 55, the rear trim of the seat The upper surface position 56 a of 56 is an effective arrangement location of the reflector 10. Furthermore, the upper surface position 57 a of the roof 57 of the four-wheel vehicle 40 is also an effective arrangement candidate of the reflector 10. Also in the sedan type four-wheeled vehicle 40, the presence of the vehicle can be positively detected by the autonomous driving vehicle 1 by arranging the reflector 10.

  As shown in FIG. 5, the truck-type four-wheeled vehicle 60 has a loading platform 72 on the rear side, and therefore, the number of effective placement locations of the reflector 10 is reduced compared to other body types. That is, in the four-wheeled vehicle 60, the center position 61a of the bonnet 61, the center position 62a of the front grill 62, the side position 63a of the number plate 64 in the front bumper 63, the inner position 65a of the headlamp 65, and the back position of the front bumper 63. 63b, the peripheral position 66a of the side mirror 66, the peripheral position 67a of the room mirror 67, the upper surface position 68a of the instrument panel 68, and the upper surface position 69a of the roof 69 are the effective arrangement locations of the reflector 10.

  In addition, on the rear side of the cabin 71 of the four-wheeled vehicle 60, an intermediate position 71 a between the driver seat and the passenger seat is also an effective arrangement location of the reflector 10. Also in the truck type four-wheeled vehicle 60, the presence of the vehicle can be positively detected by the autonomous driving vehicle 1 by arranging the reflector 10.

  As shown in FIGS. 3 to 5, in the four-wheeled vehicle 20, 40, 60, the reflector 10 may be disposed at any of the above-described locations where the reflector 10 is disposed. It is preferable that the reflector 10 is arrange | positioned at each one place of the front side and back side. Moreover, although the structure by which the reflector 10 is arrange | positioned at an above-described arrangement | positioning location is preferable, what is necessary is just to arrange | position so that at least one part of the reflector 10 may overlap with the outline of a vehicle by a front view and a back view.

  Moreover, in the four-wheeled vehicles 20, 40, 60, the reflector 10 is disposed so that the radar wave reflected by the reflector 10 does not pass through the human body. For this reason, the radar wave reflected by the reflector 10 is not attenuated by moisture of the human body and the radio wave level does not decrease. In addition, the reflector 10 reflects radar waves from the bumper of the autonomous driving vehicle 1 on the front side and the rear side (see FIG. 1) aiming at the height range of the roof. In the automatic driving vehicle 1, the radar device 9 (see FIG. 1) is generally arranged in the height range from the bumper to the roof, so that the automatic driving vehicle 1 can easily detect the presence of the vehicle.

  Then, the example of arrangement | positioning of the reflector in a two-wheeled vehicle is demonstrated for every four types. FIG. 6 is a diagram showing an example of the arrangement of reflectors for the scooter type motorcycle according to the present embodiment. FIG. 7 is a diagram showing an example of the arrangement of reflectors for an American type motorcycle according to the present embodiment. FIGS. 8 and 9 are diagrams showing an example of the arrangement of reflectors for the naked type two-wheeled vehicle according to the present embodiment. FIG. 10 is a diagram showing an example of the arrangement of reflectors for a super sports type motorcycle according to the present embodiment. In FIG. 6 to FIG. 10, for the convenience of explanation, the reflector placement location candidates are indicated by circles.

  As shown in FIG. 6, the scooter type two-wheeled vehicle 80 has the reflector 10 disposed in the range from the front end to the rear end of the vehicle body in the vehicle front-rear direction and in the range inside the both ends of the handle 81 in the vehicle width direction. When the reflector is arranged in this range, the handle 81 first comes into contact with the road surface when the two-wheeled vehicle rolls over, so that the reflector 10 is prevented from being damaged by an impact during the rollover. In the two-wheeled vehicle 80, the reflector 10 is disposed above the lower ends of the front fender 82 and the rear fender 83. For this reason, the mud and sand wound up by the front wheel 84 and the rear wheel 85 become difficult to adhere to the reflector 10, and the fall of the reflective efficiency of the reflector 10 by mud and sand is prevented.

  Specifically, on the front side of the motorcycle 80, the lower position 86a of the windshield 86, the front position 87a of the front cowl 87, the upper position 88a of the front leg shield 88, and the upper surface position 82a of the front fender 82 are effective. It is an arrangement place. If the reflector 10 is arrange | positioned in these arrangement | positioning locations, the radar wave sent out from the front can be efficiently reflected in the front side of a vehicle body. As the lower position 86 a of the windshield 86, for example, the reflector 10 may be disposed outside the windshield 86, or the reflector 10 may be disposed inside the windshield 86.

  Since the front cowl 87 and the front leg shield 88 are made of a material that transmits radar waves, the reflector 10 may be disposed on the back surfaces of the front cowl 87 and the front leg shield 88. In addition, since the head lamp 91 and the position lamp 92 are also formed of resin or the like on the front side of the two-wheeled vehicle 80, the inner positions 91a and 92a of the head lamp 91 and the position lamp 92 are also effective arrangement positions of the reflector 10. Since the reflector 10 is hidden by the front cowl 87, the front leg shield 88, the headlamp 91, and the position lamp 92, the design of the vehicle is not affected by the reflector 10.

  On the rear side of the two-wheeled vehicle 80, the rear position 93 a of the seat 93, the lower position 94 a of the rear carrier 94, the rear position 95 a of the rear cover 95, and the upper surface position 83 a of the rear fender 83 are effective locations for the reflector 10. If the reflector 10 is arrange | positioned in these arrangement | positioning locations, the radar wave sent out from back can be efficiently reflected in the rear side of a vehicle body. Further, since the rear cover 95 is made of a material that transmits radar waves, the reflector 10 may be disposed on the back surface of the rear cover 95. Further, the inner positions 97 a and 98 a of the tail lamp 97 and the rear combination lamp 98 are also effective arrangement positions of the reflector 10. Since the reflector 10 is hidden by the rear cover 95, the tail lamp 97, and the rear combination lamp 98, the design of the vehicle is not affected by the reflector 10.

  In the vehicle width direction, the configuration in which the reflector 10 is disposed inside the both ends of the handle 81 is illustrated. However, the reflector 10 may be disposed at the surface position 99a of the rearview mirror 99 outside the both ends of the handle 81. Since the arm of the rearview mirror 99 has flexibility, even if the two-wheeled vehicle 80 rolls over and an external force is applied to the rearview mirror 99 from the road surface, the arm is deformed and escapes the rearview mirror 99, and the reflector 10 is damaged. Is prevented.

  In this way, by arranging the reflector 10 at an appropriate location of the two-wheeled vehicle 80, the radar wave transmitted from the autonomous driving vehicle 1 (see FIG. 1) is efficiently reflected, and the radar wave is reflected on the autonomous driving vehicle 1. Can be sent back. Therefore, even in the scooter type two-wheeled vehicle 80 having a substantially horizontal type engine having a small reflection area, the radar wave is reflected toward the autonomous driving vehicle 1 by the reflector 10 having high reflection intensity. On the other hand, it is possible to positively detect the presence of the vehicle. Further, since the reflector 10 is disposed above the front wheels 84 and the rear wheels 85, the radar wave is not attenuated by the tires of the front wheels 84 and the rear wheels 85.

  As shown in FIG. 7, similarly to the scooter type two-wheeled vehicle 80, the American type two-wheeled vehicle 100 is a range from the front end to the rear end of the vehicle body in the vehicle front-rear direction, and a range inside the both ends of the handle 101 in the vehicle width direction. In the height direction, the reflector 10 is disposed in the upper range of the fender. Further, since the American type two-wheeled vehicle 100 is not provided with a front cowl, the number of effective arrangement positions of the reflector 10 is reduced as compared with the scooter type two-wheeled vehicle 80. Specifically, on the front side of the motorcycle 100, the lower position 102a of the headlamp 102, the upper surface position 103a of the front fender 103, the front position 104a of the fuel tank 104, and the front position 105a of the upper part of the engine 105 are effectively arranged. It is a place.

  For example, the reflector 10 may be disposed between the pair of front forks 106 as the lower position 102 a of the headlamp 102. As the front portion 104 a of the fuel tank 104, for example, the reflector 10 may be disposed on one of the left and right sides in the front portion of the fuel tank 104. For example, the reflector 10 may be disposed at the upper portion of the down tube 107 as the front position 105a at the upper portion of the engine 105. If the reflector 10 is arrange | positioned in these arrangement | positioning locations, the radar wave sent out from the front can be efficiently reflected in the front side of a vehicle body.

  On the rear side of the two-wheeled vehicle 100, the rear position 109 a of the seat 109, the lower position 111 a of the tail lamp 111, and the rear position 112 a of the rear suspension 112 are effective locations of the reflector 10. When the reflector 10 is disposed at the rear position 112a of the cylindrical rear suspension 112, the outer diameter shape of the reflector 10 is cylindrical, so that the feet of the passengers are taken into consideration and the unity in design is obtained. I have to. Further, the reflector 10 may be disposed at the surface position 108 a of the rearview mirror 108 outside the both ends of the handle 101. Thus, also in the American type two-wheeled vehicle 100, the presence of the vehicle can be positively detected by the autonomous driving vehicle 1 by arranging the reflector 10.

  As shown in FIG. 8, the naked type two-wheeled vehicle 120 is in the range from the front end to the rear end of the vehicle body in the vehicle front-rear direction and inside the both ends of the handle 121 in the vehicle width direction, like the other types of two-wheeled vehicles 80. In the range and height direction, the reflector 10 is arranged in the upper range of the fender. In addition, since the two-wheeled vehicle 120 is not provided with a front cowl, the number of effective placement locations of the reflector 10 is reduced compared to the scooter-type two-wheeled vehicle 80. Specifically, on the front side of the motorcycle 120, an upper position 122a of the headlamp 122, a lower position 122b of the headlamp 122, and a position 123a between the front forks 123 are effective locations of the reflector 10.

  On the rear side of the two-wheeled vehicle 120, the lower position 125 a of the tail lamp 125, the surface position 126 a of the rear fender 126, and the rear position 127 a of the rear suspension 127 are effective arrangement positions of the reflector 10. When the reflector 10 is disposed at the rear position 127a of the cylindrical rear suspension 127, the outer diameter shape of the reflector 10 is made cylindrical so that the passengers' feet are taken into consideration and the unity in design is obtained. I have to. Further, the reflector 10 may be disposed on the surface position 124 a of the rearview mirror 124 outside the both ends of the handle 121. As described above, also in the naked type two-wheeled vehicle 120, the presence of the vehicle can be positively detected by the autonomous driving vehicle 1 by arranging the reflector 10.

  As shown in FIG. 9, the naked type two-wheeled vehicle 130 with the half cowl 137 has a range from the front end to the rear end of the vehicle body in the vehicle front-rear direction and both ends of the handle 131 in the vehicle width direction. The reflector 10 is disposed in the range on the inner side and in the height direction above the fender. Specifically, on the front side of the motorcycle 130, the upper position 132 a of the headlamp 132, the upper surface position 133 a of the front fender 133, and the front position 134 a of the upper part of the engine 134 are effective arrangement locations of the reflector 10.

  For example, the reflector 10 may be disposed at an upper portion of the down tube 136 as the front position 134a of the upper portion of the engine 134. In this case, the reflector 10 is disposed between the half cowl 137 and the front fender 133 in the vertical direction and between the pair of front forks 138 in the vehicle width direction. Further, since the half cowl 137 is formed of a material that transmits radar waves, the reflector 10 may be disposed on the back surface of the half cowl 137.

  On the rear side of the two-wheeled vehicle 130, the lower position 139 a of the tail lamp 139 and the surface position 141 a of the rear fender 141 are effective arrangement positions of the reflector 10. Further, the reflector 10 may be disposed at the surface position 135 a of the rearview mirror 135 outside the both ends of the handle 131. Thus, even in the naked type two-wheeled vehicle 130 with the half cowl 137, the presence of the vehicle can be positively detected by the autonomous driving vehicle 1 by arranging the reflector 10.

  As shown in FIG. 10, the super sports type two-wheeled vehicle 150 is in the range from the front end to the rear end of the vehicle body in the vehicle front-rear direction and inside the both ends of the handle 151 in the vehicle width direction, as in other types of motorcycles. In the range and height direction, the reflector 10 is arranged in the upper range of the fender. Specifically, the inner position 152a of the headlamp 152 and the front position 153a of the radiator 153 are effective arrangement locations of the reflector 10. For example, the reflector 10 is disposed between the front cowl 155 and the front fender 156 so as to be positioned above the tire as the front position 153a of the radiator 153.

  On the rear side of the two-wheeled vehicle 150, the rear position 157 a of the rear frame cover 157 is an effective arrangement location of the reflector 10. Further, the reflector 10 may be disposed on the surface position 154 a of the rearview mirror 154 outside the both ends of the handle 151. As described above, also in the super sports type motorcycle 150, the presence of the vehicle can be positively detected by the autonomous driving vehicle 1 by arranging the reflector 10. Moreover, although the structure which arrange | positions the reflector 10 in the two-wheeled vehicle 150 was demonstrated, you may make it the structure which provides the reflector 10 in the predetermined position 162a of the helmet 162 of the driver | operator 161. Thereby, it is possible to favorably reflect the radar wave toward the autonomous driving vehicle 1 without arranging the reflector 10 in the two-wheeled vehicle 150.

  Since the helmet 162 is formed of a material that transmits radar waves such as resin, the reflector 10 may be arranged inside the helmet 162. Moreover, you may make it the structure by which the reflector 10 is arrange | positioned at the driver | operator's 161 suit.

  As shown in FIGS. 6 to 10, in the two-wheeled vehicles 80, 100, 120, 130, and 150, the reflector 10 may be disposed at any of the above-described positions where the reflector 10 is disposed. , 130 and 150, the reflector 10 is preferably disposed at one location on each of the front side and the rear side. The reflector 10 is preferably arranged at the above-described arrangement place, but may be arranged so that at least a part of the reflector 10 is in contact with the outline of the vehicle in front view and rear view. In addition, the reflector 10 is preferably disposed on the vehicle width center line extending in the front-rear direction of the two-wheeled vehicle 80, 100, 120, 130, 150. Since the reflector 10 is positioned at the center in the vehicle width direction, the weight balance of the vehicle body is made even in the width direction, and steering stability is improved.

  Moreover, it is preferable that the reflector 10 is arrange | positioned in the fixed location which does not move with steering operation. By arranging the reflector 10 at the fixed location, the reflection efficiency of the reflector 10 is not changed by the steering operation. Also in each location of the reflector 10 in the two-wheeled vehicle 80, 100, 120, 130, 150, the radar wave does not pass through the human body and aims at the height range of the roof from the bumper of the autonomous driving vehicle 1 (see FIG. 1). The reflector 10 is preferably arranged so as to reflect the radar wave.

  With reference to FIG. 11, the influence at the time of lane change of the autonomous driving vehicle with respect to the surrounding vehicle including the reflector according to the present embodiment will be described. FIG. 11 is an explanatory diagram of an automatic driving operation at the time of lane change by an autonomous driving vehicle. Note that the detection operation shown in FIG. 11 is merely an example at the time of lane change, and can also be applied when detecting surrounding vehicles in other situations. FIG. 11A shows an example in which a reflector is not provided in a two-wheeled vehicle, and FIG. 11B shows an example in which a reflector is provided in a two-wheeled vehicle.

  In the comparative example shown in the upper lane of FIG. 11A, the autonomous driving vehicle 1 is traveling on the traveling lane while keeping a predetermined distance between the front vehicle 4 and the rear vehicle 5, and several two-wheeled vehicles 3 are traveling on the overtaking lane. doing. The autonomous driving vehicle 1 is automatically driven while detecting the front vehicle 4 and the rear vehicle 5 by receiving radar waves transmitted from the radar devices 9 before and after the vehicle body and receiving the radar waves reflected from the front vehicle 4 and the rear vehicle 5. Has been implemented. At this time, since the reflector 10 is not disposed on the two-wheeled vehicle 3 and the two-wheeled vehicle 3 is traveling in the overtaking lane, the presence of the two-wheeled vehicle 3 is hardly detected by the radar wave.

  Then, since the inter-vehicle distance between the autonomous driving vehicle 1 and the preceding vehicle 4 has been reduced, as shown by the arrow, when the autonomous driving vehicle 1 changes the lane to the overtaking lane, between the two-wheeled vehicles 3 arranged in front and back The autonomous driving vehicle 1 enters. As described above, the presence of the two-wheeled vehicle 3 traveling in the overtaking lane is overlooked in the autonomous driving vehicle 1 traveling in the traveling lane, and there is a possibility that the automatic driving vehicle 1 may perform an impossible lane change. Furthermore, since the reflector 10 is not provided in the two-wheeled vehicle 3 before and behind the autonomous driving vehicle 1 after the lane change, the autonomous driving vehicle 1 must continue to travel between the two-wheeled vehicles 3 that are difficult to detect by radar waves. .

  On the other hand, in the present embodiment shown in the upper lane of FIG. 11B, the reflector 10 is disposed on the two-wheeled vehicle 3 traveling on the overtaking lane. For this reason, the radar wave from the radar device 9 of the autonomous driving vehicle 1 is reflected toward the autonomous driving vehicle 1 by the reflector 10 having a high reflection intensity of the two-wheeled vehicle 3. The presence of the two-wheeled vehicle 3 is easily detected by the autonomous driving vehicle 1 by returning a radar wave having a high radio wave intensity from the two-wheeled vehicle 3 to the autonomous driving vehicle 1. For this reason, even if the inter-vehicle distance between the autonomous driving vehicle 1 and the preceding vehicle 4 is reduced, the presence of the two-wheeled vehicle 3 is not detected by the autonomous driving vehicle 1 and an excessive lane change is not performed.

  Therefore, in the autonomous driving vehicle 1, forcible lane change as described above is prohibited, and a sufficient inter-vehicle distance can be secured between the autonomous driving vehicle 1 and the two-wheeled vehicle 3 after the lane change. Lane changes as shown are implemented. Moreover, since the reflectors 10 are provided in the front and rear motorcycles 3 of the autonomous driving vehicle 1 after the lane change, the autonomous driving vehicle 1 is allowed to continue safe driving while detecting the presence of the front and rear motorcycles 3. Can do.

  Next, in the comparative example shown in the lower lane of FIG. 11A, the autonomous driving vehicle 1 is traveling on the traveling lane while taking a predetermined inter-vehicle distance between the front vehicle 4 and the rear vehicle 5. A two-wheeled vehicle 3 is traveling behind the vehicle 5. At this time, since the reflector 10 is not disposed in the two-wheeled vehicle 3 and the two-wheeled vehicle 3 is hidden from the shadow of the front vehicle 4 and the rear vehicle 5 from the autonomous driving vehicle 1, the radar wave transmitted from the autonomous driving vehicle 1. Then, it is difficult to detect the presence of the motorcycle 3.

  Since the distance between the autonomous driving vehicle 1 and the preceding vehicle 4 has been reduced, as shown by the arrow, when the autonomous driving vehicle 1 changes the lane to the overtaking lane, the rear motorcycle 3 also overtakes. Thus, the automatic driving vehicle 1 prevents the overtaking of the motorcycle 3. Thus, the presence of the two-wheeled vehicle 3 hidden behind the shadow of the rear vehicle 5 may be overlooked, and the presence of the two-wheeled vehicle 3 may be detected by the autonomous driving vehicle 1 and the lane change may be forced.

  On the other hand, in the present embodiment shown in the lower lane of FIG. 11B, the reflector 10 is disposed on the two-wheeled vehicle 3 in front of the front vehicle 4 and behind the rear vehicle 5. For this reason, the radar wave from the radar device 9 of the autonomous driving vehicle 1 is reflected toward the autonomous driving vehicle 1 by the reflector 10 having a high reflection intensity of the two-wheeled vehicle 3. The presence of the two-wheeled vehicle 3 is easily detected by the autonomous driving vehicle 1 by returning a radar wave having a high radio wave intensity from the two-wheeled vehicle 3 to the autonomous driving vehicle 1. For this reason, the overtaking of the two-wheeled vehicle 3 hidden behind the rear vehicle 5 is detected by the autonomous driving vehicle 1 and an unreasonable lane change is not performed.

  Therefore, in the autonomous driving vehicle 1, the above-described excessive lane change is prohibited, and the lane change as indicated by the arrow is performed after the two-wheeled vehicle 3 is overtaken. Moreover, in this Embodiment, since the reflector 10 is arrange | positioned 1 each at the front side and rear side of a vehicle, a radar wave is reflected in the autonomous driving vehicle 1 from one reflector 10 of one vehicle. For this reason, when the self-oscillation phenomenon of the radar wave is detected in the automatic driving vehicle 1, the automatic driving vehicle 1 can detect the presence of a group of a plurality of vehicles.

  As described above, according to the present embodiment, the radar wave transmitted from the traveling self-driving vehicle 1 toward the front or rear vehicle is reflected in the front-rear direction by the reflecting surface 14 of the reflector 10 of the vehicle. And sent back to the autonomous driving vehicle 1. Accordingly, even if the radar wave is attenuated by the influence of fog, rain, or the like, the radar wave is efficiently reflected by the reflector 10 toward the autonomous driving vehicle 1, and therefore the reflector 10 is arranged with respect to the autonomous driving vehicle 1. It is possible to positively detect the presence of a vehicle. Further, by disposing the reflector 10 on a two-wheeled vehicle that is difficult to detect, the two-wheeled vehicle can be detected well by the autonomous driving vehicle. In this way, the vehicle that is the receiver side of the radar wave actively appeals the presence of the vehicle to the autonomous driving vehicle 1 that is the sender side of the radar wave, and the presence of the vehicle is indicated to the autonomous driving vehicle 1. It is possible to promote automatic driving in consideration of it.

  In addition, this invention is not limited to the said embodiment, It can change and implement variously. In the above-described embodiment, the size, shape, and the like illustrated in the accompanying drawings are not limited to this, and can be appropriately changed within a range in which the effect of the present invention is exhibited. In addition, various modifications can be made without departing from the scope of the object of the present invention.

  For example, in the above-described embodiment, the configuration in which the reflector 10 is disposed in a four-wheel vehicle and a two-wheel vehicle as a vehicle has been described, but the configuration is not limited to this configuration. The reflector 10 may be arranged in a tricycle having two front wheels or rear wheels. Moreover, the reflector 10 may be arrange | positioned at the bicycle which does not have a motor | power_engine.

  In the above-described embodiment, the reflector body 11 has a configuration in which eight triangular pyramid corner reflectors are combined. However, the present invention is not limited to this configuration. The reflector body 11 may be configured in any way as long as it has a reflecting surface 14 that reflects radar waves. For example, the reflector body 11 may be composed of a single triangular pyramidal corner reflector formed by orthogonally intersecting three right-angled isosceles triangles.

  In the above-described embodiment, the reflector main body 11 is accommodated in the spherical cover 12, but is not limited to this configuration. For example, when the reflector main body 11 is disposed in the lighting device, the reflector main body 11 is protected by the cover of the lighting device, and thus the spherical body cover 12 may not be provided.

  In the above-described embodiment, the reflector 10 is screwed to the vehicle via the bracket 17 as the attachment portion. However, the present invention is not limited to this configuration. The attachment portion may be configured in any manner as long as the reflector 10 can be attached to the vehicle so that the reflection direction of the radar wave is directed in the front-rear direction of the vehicle.

  In the above-described embodiment, one reflector 10 is disposed on the front side and the rear side of the vehicle. However, the present invention is not limited to this configuration. A plurality of reflectors 10 may be arranged on the front side and the rear side of the vehicle.

  Although the present invention has been described centering on an autonomous driving vehicle, it is effective not only for an autonomous driving vehicle but also for a normal vehicle driven by a human. In this case, since the other vehicle information for the driver is transmitted more accurately, the driver can drive the vehicle more easily like the autonomous driving vehicle.

  As described above, the present invention has an effect that the presence of a vehicle can be satisfactorily detected by an autonomous driving vehicle, and is particularly useful for a two-wheeled vehicle that is difficult to detect with a radar wave.

DESCRIPTION OF SYMBOLS 1 Auto-driving vehicle 2 Four-wheeled vehicle 3 Two-wheeled vehicle 9 Radar apparatus 10 Reflector 11 Reflector main body 14 Reflecting surface 17 Bracket (mounting part)
20 Wagon-type four-wheeled vehicle 23 Front bumper (bumper)
27 Front window 32 Rear bumper (bumper)
35 Rear window 37 Roof 40 Sedan-type four-wheeled vehicle 43 Front bumper (bumper)
52 Rear bumper (bumper)
57 Roof 60 Truck-type four-wheeler 63 Front bumper
69 Roof 80 Scooter type motorcycle 82 Front fender (fender)
83 Rear fender (fender)
100 American type motorcycle 103 Front fender (fender)
120 Naked Type Motorcycle 126 Rear Fender 130 Nay Kit Type Motorcycle 133 Front Fender (Fender)
141 Rear fender (fender)
150 Supersport type motorcycle 156 Front fender (fender)

Claims (10)

The reflector for reflecting the radars wave An automatic two-tricycle which is arranged in front and rear of the vehicle,
A motorcycle or tricycle characterized in that the reflector is disposed on the motorcycle or tricycle with the weight balance of the body of the motorcycle or tricycle approached equally in the width direction . 2. The motorcycle according to claim 1, wherein the reflector is a fixed portion that does not move together with a steering operation by a steering wheel of the motorcycle. 2. The motorcycle according to claim 1, wherein the reflector is disposed inside a cover member of a body of the motorcycle. 2. The motorcycle according to claim 1, wherein the reflector is disposed on a vehicle width center line extending in a vehicle front-rear direction of the motorcycle. The motorcycle / tricycle according to claim 1, wherein the reflector is disposed inside the both ends of the handle. 2. The motorcycle / tricycle according to claim 1, wherein the reflector is disposed in a lighting device. The motorcycle according to claim 1, wherein the reflector is disposed on an upper portion of a down tube. 2. The motorcycle / tricycle according to claim 1, wherein the reflector is arranged on a flexible rearview mirror. The motorcycle according to claim 1, wherein the reflector is disposed on a rear suspension. The motorcycle according to any one of claims 1 to 9, wherein the reflector reflects the radar wave in a range of a height of a roof from a bumper of the automobile.

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