JP6648181B2 - 制御装置 - Google Patents
制御装置 Download PDFInfo
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- JP6648181B2 JP6648181B2 JP2018064533A JP2018064533A JP6648181B2 JP 6648181 B2 JP6648181 B2 JP 6648181B2 JP 2018064533 A JP2018064533 A JP 2018064533A JP 2018064533 A JP2018064533 A JP 2018064533A JP 6648181 B2 JP6648181 B2 JP 6648181B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/02—Driver type; Driving style; Driver adaptive features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/03—Overturn, rollover
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/049—Number of occupants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
[先行技術文献]
[特許文献]
[特許文献1]特開2017−24644号公報
[特許文献2]特開2009−166616号公報
[特許文献3]特開2006−182283号公報
S506において緊急状態にあると判断した場合、介入部230は、S508において、介入部230は、予備介入を実行する。例えば、介入部230は、後述する本介入より弱い予め定められた強度で前輪ブレーキ240及び後輪ブレーキ250の少なくとも一方を作動させる。
11 ヘッドパイプ
20 シート
22 シート
40 構造体
50 操向ハンドル
60 前輪懸架装置
62 後輪懸架装置
70 前輪
72 後輪
90 運転者
120 センサ
122 センサ
130 センサ
132 センサ
140 センサ
150 センサ
160 センサ
162 センサ
170 センサ
180 センサ
200 運転制御部
210 取得部
220 決定部
230 介入部
240 前輪ブレーキ
250 後輪ブレーキ
260 ステアリングシステム
280 車両側センサ
290 搭乗者側センサ
100 制御装置
1000 コンピュータ
1010 CPU
1020 ROM
1030 RAM
1040 通信I/F
1050 ハードディスクドライブ
1080 入出力チップ
1085 グラフィックコントローラ
1092 ホストコントローラ
1094 入出力コントローラ
Claims (10)
- 鞍乗型車両の制御装置であって、
鞍乗型車両の搭乗者の姿勢を示す情報を取得する取得部と、
前記取得部により取得された情報が示す前記搭乗者の姿勢に基づいて、前記鞍乗型車両の運転への介入レベルを決定する決定部と、
前記鞍乗型車両の状況と前記決定部により決定された介入レベルとに基づいて、前記鞍乗型車両の運転に介入する介入部と
を備え、
前記決定部は、前記介入部が前記鞍乗型車両の制動装置を動作させた場合の前後を比較し、前後で前記搭乗者の姿勢変化が大きいほど、前記鞍乗型車両の運転への介入レベルを低く決定する
制御装置。 - 鞍乗型車両の制御装置であって、
鞍乗型車両の搭乗者の姿勢を示す情報を取得する取得部と、
前記取得部により取得された情報が示す前記搭乗者の姿勢に基づいて、前記鞍乗型車両の運転への介入レベルを決定する決定部と、
前記鞍乗型車両の状況と前記決定部により決定された介入レベルとに基づいて、前記鞍乗型車両の運転に介入する介入部と
を備え、
前記介入部は、緊急ブレーキ制御を行い、前記鞍乗型車両の周囲の物体と前記鞍乗型車両との間の位置関係と前記決定部により決定された介入レベルとに基づいて定められる制動力に基づいて、前記鞍乗型車両の制動装置を動作させる
制御装置。 - 鞍乗型車両の制御装置であって、
鞍乗型車両の搭乗者の姿勢を示す情報を取得する取得部と、
前記取得部により取得された情報が示す前記搭乗者の姿勢に基づいて、前記鞍乗型車両の運転への介入レベルを決定する決定部と、
前記鞍乗型車両の状況と前記決定部により決定された介入レベルとに基づいて、前記鞍乗型車両の運転に介入する介入部と
を備え、
前記取得部は、同乗者が存在するか否かを示す情報を更に取得し、
前記決定部は、前記取得部が取得した情報によって同乗者が存在することが示される場合に、前記鞍乗型車両の運転への介入レベルを低く決定する
制御装置。 - 鞍乗型車両の制御装置であって、
鞍乗型車両の搭乗者の姿勢を示す情報を取得する取得部と、
前記取得部により取得された情報が示す前記搭乗者の姿勢に基づいて、前記鞍乗型車両の運転への介入レベルを決定する決定部と、
前記鞍乗型車両の状況と前記決定部により決定された介入レベルとに基づいて、前記鞍乗型車両の運転に介入する介入部と
を備え、
前記決定部は、前記鞍乗型車両の前輪及び後輪のそれぞれにかかる力のバランスに基づいて、前記鞍乗型車両の運転への介入レベルを決定する
制御装置。 - 前記介入は、本介入と、前記本介入の事前に前記本介入より低い介入レベルで介入される予備介入とを備える
請求項1から4のいずれか一項に記載の制御装置。 - 前記搭乗者の姿勢は、前記搭乗者が着座するシートにかかる力又は前記搭乗者が足を載せるステップにかかる力により判定される
請求項1から5のいずれか一項に記載の制御装置。 - 前記決定部は、左右のステップにかかる力の差が大きい、または、前記シートの着座面内にかかる力のばらつきが大きいほど、前記鞍乗型車両の運転への介入レベルを低く決定する
請求項6に記載の制御装置。 - 前記取得部は、前記搭乗者の視線を示す情報を更に取得し、
前記決定部は、前記取得部により取得された情報が示す前記搭乗者の視線に基づいて前記介入レベルを変化させる
請求項1から7のいずれか一項に記載の制御装置。 - 前記決定部は、前記搭乗者の姿勢に基づいて定められる前記搭乗者の介入許容量が低いほど、前記鞍乗型車両の運転への介入レベルを低く決定する
請求項1から3のいずれか一項に記載の制御装置。 - 前記搭乗者の姿勢を示す情報は、前記搭乗者のニーグリップ力、前記搭乗者が把持する操向ハンドルのグリップ部にかかる力、前記鞍乗型車両のリーン角、前記鞍乗型車両の前輪及び後輪にかかる力の少なくとも一つを示す情報を含む
請求項1から9のいずれか一項に記載の制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018064533A JP6648181B2 (ja) | 2018-03-29 | 2018-03-29 | 制御装置 |
DE102019204336.4A DE102019204336A1 (de) | 2018-03-29 | 2019-03-28 | Regel-/Steuervorrichtung |
US16/368,902 US10960896B2 (en) | 2018-03-29 | 2019-03-29 | Control apparatus |
Applications Claiming Priority (1)
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---|---|---|---|
JP2018064533A JP6648181B2 (ja) | 2018-03-29 | 2018-03-29 | 制御装置 |
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Publication Number | Publication Date |
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JP2019172155A JP2019172155A (ja) | 2019-10-10 |
JP6648181B2 true JP6648181B2 (ja) | 2020-02-14 |
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JP2018064533A Active JP6648181B2 (ja) | 2018-03-29 | 2018-03-29 | 制御装置 |
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US (1) | US10960896B2 (ja) |
JP (1) | JP6648181B2 (ja) |
DE (1) | DE102019204336A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018221720A1 (de) * | 2018-12-13 | 2020-06-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Durchführung einer autonomen Bremsung bei einem einspurigen Kraftfahrzeug |
JP2020203654A (ja) * | 2019-06-19 | 2020-12-24 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 制御装置及び制御方法 |
JP7066763B2 (ja) * | 2020-01-16 | 2022-05-13 | 本田技研工業株式会社 | 鞍乗り型車両 |
CN111824301A (zh) * | 2020-06-03 | 2020-10-27 | 邢彦军 | 机动车人为失控急停避险安全装置 |
JP2022062851A (ja) * | 2020-10-09 | 2022-04-21 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 制御装置及び制御方法 |
WO2023053225A1 (ja) * | 2021-09-28 | 2023-04-06 | 本田技研工業株式会社 | 自動二輪車の転舵制御装置 |
WO2023119025A1 (ja) * | 2021-12-23 | 2023-06-29 | ロベルト·ボッシュ·ゲゼルシャフト·ミト•ベシュレンクテル·ハフツング | 鞍乗り型車両の制御装置及び制御方法 |
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JP4434940B2 (ja) | 2004-12-28 | 2010-03-17 | 本田技研工業株式会社 | 自動二輪車のブレーキ制御装置 |
JP2008150009A (ja) * | 2006-12-14 | 2008-07-03 | Mamoru Takemoto | 自動二輪車用三点荷重ステップ |
JP2009166616A (ja) | 2008-01-15 | 2009-07-30 | Toyota Motor Corp | 二輪車走行支援装置 |
DE102011002920A1 (de) * | 2011-01-20 | 2012-07-26 | Robert Bosch Gmbh | Verfahren zur Überwachung der Körperhaltung eines Motorradfahrers |
JP5695496B2 (ja) * | 2011-05-26 | 2015-04-08 | 川崎重工業株式会社 | 車両のブレーキ制御装置 |
JP5715000B2 (ja) * | 2011-07-28 | 2015-05-07 | 川崎重工業株式会社 | 鞍乗り型の乗り物の制御装置および制御方法 |
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JP6321711B2 (ja) * | 2016-03-31 | 2018-05-09 | 本田技研工業株式会社 | 運転者姿勢検出装置 |
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2018
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