JP6913770B2 - 二輪車のための運転者アシストシステムを作動させる方法および装置 - Google Patents
二輪車のための運転者アシストシステムを作動させる方法および装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/20—Cycle computers as cycle accessories
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W40/09—Driving style or behaviour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/414—Acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L3/00—Brake-actuating mechanisms; Arrangements thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/30—Driving style
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- 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)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Description
本発明の実施形態は、傾斜安定的なマルチトラック車両においても、たとえばオートバイなどの傾斜安定的なシングルトラック車両においても、たとえば振り子技術を用いた三輪車などの傾斜可能なマルチトラック車両においても、類似の作用をする運転者アシストシステムを適用することを可能にできるという利点がある。
106 走行状態
200 介入限界
202 物理的な限界
a 加速度値
y 傾斜姿勢値
Claims (10)
- 二輪車のための運転者アシストシステムを作動させる方法において、前記運転者アシストシステムは前記運転者アシストシステムの介入のステップで運転者固有の走行ダイナミクスプロフィル(100)と現在の走行状態(106)とに依存して介入をし、前記走行ダイナミクスプロフィル(100)は二輪車の運転者によって過去に走行された傾斜姿勢値(y)とその際に走行された加速度値(a)との間の関係を反映し、前記走行状態(106)は現在検出されている加速度値(a)と現在検出されている傾斜姿勢値(y)とによって特徴づけられ、
前記介入のステップで、前記現在の走行状態(106)が緊急状態を表しているときに前記運転者アシストシステムが介入をし、前記緊急状態は前記走行ダイナミクスプロフィル(100)と比較して外れ値として認識可能な走行状態(106)によって認識され、
前記外れ値は、前記走行ダイナミクスプロフィル(100)を表す包絡線(102)で囲まれた面(104)の範囲外にあることを特徴とする方法。 - さらに前記運転者アシストシステムは前記介入のステップで現在の車道状態に依存して介入をし、車道状態は二輪車のホイールと車道との間の予想される摩擦係数を表す、請求項1に記載の方法。
- 前記介入のステップで前記走行ダイナミクスプロフィル(100)を適用したうえで車道状態が決定され、決定をするために前記走行ダイナミクスプロフィル(100)に関わる走行状態(106)の発生頻度が評価される、請求項2に記載の方法。
- 前記介入のステップで前記運転者アシストシステムが二輪車のブレーキシステムを制御し、前記ブレーキシステムのブレーキ圧についての設定値が前記走行ダイナミクスプロフィル(100)と前記走行状態(106)とに依存して提供される、請求項1から3までのいずれか1項に記載の方法。
- 前記介入のステップで、現在検出されている加速度値(a)が現在検出されている傾斜姿勢値(y)についての前記走行ダイナミクスプロフィル(100)に関わる介入限界(200)よりも大きいときに前記設定値が引き上げられる、請求項4に記載の方法。
- 前記介入のステップで現在のABS制御限界値まで前記設定値が引き上げられる、請求項4または5に記載の方法。
- 介入のない走行中に検出された加速度値(a)と傾斜姿勢値(y)とを用いて運転者の前記走行ダイナミクスプロフィル(100)が作成される作成のステップを有する、請求項1から6までのいずれか1項に記載の方法。
- 二輪車のための運転者アシストシステムを作動させる装置において、前記装置は請求項1から7までのいずれか1項に記載の方法を相応のデバイスで実施し、具体化し、および/または制御するために構成されている装置。
- 請求項1から6までのいずれか1項に記載の方法を実施し、具体化し、および/または制御するためにセットアップされているコンピュータプログラム製品。
- 請求項9に記載のコンピュータプログラム製品が格納されている機械可読の記憶媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102017210500.3 | 2017-06-22 | ||
DE102017210500.3A DE102017210500A1 (de) | 2017-06-22 | 2017-06-22 | Verfahren und Vorrichtung zum Betreiben eines Fahrerassistenzsystems für ein Zweirad |
PCT/EP2018/059993 WO2018233901A1 (de) | 2017-06-22 | 2018-04-19 | Verfahren und vorrichtung zum betreiben eines fahrerassistenzsystems für ein zweirad |
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JP2020523248A JP2020523248A (ja) | 2020-08-06 |
JP6913770B2 true JP6913770B2 (ja) | 2021-08-04 |
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US (1) | US11618522B2 (ja) |
JP (1) | JP6913770B2 (ja) |
CN (1) | CN110740913B (ja) |
DE (1) | DE102017210500A1 (ja) |
WO (1) | WO2018233901A1 (ja) |
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DE102018221720A1 (de) | 2018-12-13 | 2020-06-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Durchführung einer autonomen Bremsung bei einem einspurigen Kraftfahrzeug |
JP7337251B2 (ja) * | 2020-03-09 | 2023-09-01 | 本田技研工業株式会社 | 情報提供システム、情報提供方法、およびプログラム |
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US5521823A (en) * | 1991-09-03 | 1996-05-28 | Mazda Motor Corporation | Learning control vehicle |
SE516119C2 (sv) * | 1999-08-27 | 2001-11-19 | Thoreb Ab | Metod och anordning för att assistera en förare av ett fordon |
DE19951274B4 (de) * | 1999-10-25 | 2008-02-14 | Lucas Varity Gmbh | Verfahren und Vorrichtung zur Erkennung fahrdynamischer Zustände eines Fahrzeugs |
TW561262B (en) * | 2001-10-19 | 2003-11-11 | Yamaha Motor Co Ltd | Tipping detecting device for a motorcycle |
JP2004082903A (ja) * | 2002-08-28 | 2004-03-18 | Furuki Shinobu | 自立型自動車両 |
DE10242124B4 (de) * | 2002-09-11 | 2009-12-10 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Einstellung des Motormoments eines einspurigen Kraftfahrzeugs |
WO2005038746A1 (ja) * | 2003-10-20 | 2005-04-28 | Yamaha Hatsudoki Kabushiki Kaisha | 自動二輪車用の走行支援方法および走行支援システム |
DE102005059216A1 (de) * | 2005-07-16 | 2007-01-25 | Ralf Michel | Informationseinrichtung für den Führer eines Fahrzeugs, insbesondere eines Motorrads |
US8019514B2 (en) * | 2007-02-28 | 2011-09-13 | Caterpillar Inc. | Automated rollover prevention system |
US9665910B2 (en) * | 2008-02-20 | 2017-05-30 | Hartford Fire Insurance Company | System and method for providing customized safety feedback |
WO2012086289A1 (ja) * | 2010-12-20 | 2012-06-28 | ボッシュ株式会社 | ブレーキシステム及びブレーキ制御方法 |
DE102011016804B4 (de) * | 2011-04-12 | 2016-01-28 | Drägerwerk AG & Co. KGaA | Vorrichtung und Verfahren zur Datenverarbeitung physiologischer Signale |
WO2012143238A2 (de) * | 2011-04-19 | 2012-10-26 | Meissner Marita | Fahrdynamikregelung mit gnss und ins |
DE102012201802A1 (de) * | 2012-02-07 | 2013-08-08 | Robert Bosch Gmbh | Fahrerassistenzsystem für ein Zweirad zur Schräglagenwarnung |
JP5926095B2 (ja) * | 2012-03-30 | 2016-05-25 | 本田技研工業株式会社 | 自動二輪車用トラクション制御装置 |
DE102013225751A1 (de) * | 2013-12-12 | 2015-06-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs, Fahrzeug |
WO2017164342A1 (ja) * | 2016-03-23 | 2017-09-28 | ヤマハ発動機株式会社 | 左右傾斜輪付リーン車両用リーン姿勢制御装置および左右傾斜輪付リーン車両 |
DE102016211427A1 (de) * | 2016-06-27 | 2017-12-28 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Zweirads, Vorrichtung, Zweirad |
US10059336B2 (en) * | 2017-01-06 | 2018-08-28 | Toyota Research Institute, Inc. | Systems and methods for dynamically adjusting a vehicle trajectory according to deviations of a driver from expected inputs |
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- 2017-06-22 DE DE102017210500.3A patent/DE102017210500A1/de active Pending
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- 2018-04-19 JP JP2019568688A patent/JP6913770B2/ja active Active
- 2018-04-19 US US16/625,073 patent/US11618522B2/en active Active
- 2018-04-19 WO PCT/EP2018/059993 patent/WO2018233901A1/de active Application Filing
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JP2020523248A (ja) | 2020-08-06 |
CN110740913A (zh) | 2020-01-31 |
CN110740913B (zh) | 2023-03-31 |
US11618522B2 (en) | 2023-04-04 |
WO2018233901A1 (de) | 2018-12-27 |
US20200148294A1 (en) | 2020-05-14 |
DE102017210500A1 (de) | 2018-12-27 |
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