JP7128738B2 - Behavior information estimation method and behavior information estimation program - Google Patents

Description

The present invention relates to a behavior information estimation method and a behavior information estimation program for estimating the behavior of a vehicle such as a motorcycle that can run in an inclined state.

Various methods have been proposed for measuring behavior information according to a vehicle coordinate system for a vehicle such as a motorcycle that can run in an inclined state, that is, a so-called lean vehicle. For example, Patent Literature 1 describes the use of a gyro sensor attached to a motorcycle to measure the bank angle of the motorcycle.

JP 2017-65307 A

In order to use the information obtained by the measuring device for measuring the vehicle body behavior as the behavior information of the vehicle body, it is required to accurately grasp the relative position of the measuring device with respect to the vehicle body. In other words, if the mounting position of the measuring device with respect to the vehicle body deviates from the predetermined position, the estimation accuracy will decrease. It is also conceivable to use an external device attached to the vehicle body as a post-installation instead of using a sensor that is pre-installed on the vehicle body. In this case, in order to use the information obtained on the external device side as the behavior information of the vehicle body, the external device side is required to accurately grasp the relative position between the vehicle body and the external device attached thereto.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a behavior information estimation method and a behavior information estimation program capable of accurately acquiring behavior information according to a vehicle coordinate system using a measuring device attached to a lean vehicle. .

In order to solve the above problems, a behavior information estimation method according to the present invention provides a vehicle capable of running in an inclined state and provided with a stand member for allowing the vehicle to stand still in an inclined state. A behavior information estimating method for estimating behavior information of the vehicle using a sensor, wherein the vehicle is in an upright stationary state in which the vehicle stands still and an inclination in which the vehicle is stationary while being inclined using the stand member. A stationary measured value obtaining step of obtaining acceleration measured values by the three-axis acceleration sensor in two stationary states; and a behavior estimating step of estimating the behavior information by converting the measured acceleration values of the three-axis acceleration sensor in step A into values according to a vehicle coordinate system predefined for the vehicle.

When the vehicle is stationary, the gravitational force is only generated as acceleration (force). Therefore, the direction of gravity (gravitational vector) in the upright state of the vehicle, that is, the direction of the vertical axis of the vehicle can be grasped based on the acceleration measurement value in the upright and stationary state. The tilted stationary state of the vehicle is a vehicle attitude that is angularly displaced about the vehicle front-rear axis with respect to the upright stationary state. In other words, the orientation of the vehicle longitudinal axis in the tilted stationary state is the same as the orientation of the vehicle longitudinal axis in the upright stationary state. Therefore, based on the orientation of the vertical axis of the vehicle in an upright stationary state and the orientation of the vertical axis of the vehicle in an inclined stationary state angularly displaced about the longitudinal axis of the vehicle, the orientation of the longitudinal axis of the vehicle and the orientation of the longitudinal axis of the vehicle and the orientation of the vehicle lateral It is possible to grasp the direction of the axis. In this way, the vehicle coordinate system (vehicle longitudinal axis, vehicle lateral axis, vehicle vertical axis) can be grasped. In addition, it is possible to obtain the behavior information of the vehicle during running by converting the acceleration measurement value in the running state of the vehicle into a value according to the vehicle coordinate system.

In the upright stationary state, the weight of the vehicle is supported by the bottom surface of the vehicle, so the operator does not need to support the weight of the vehicle and can stably maintain the stationary state. In addition, in the tilted stationary state using the stand member, the operator does not need to support the vehicle, and the stationary state can be stably maintained. In this way, when acquiring the acceleration measurement value of the stationary state of the vehicle, the operator's burden can be reduced, and the acceleration measurement value can be acquired while the vehicle is stably stationary. information can be obtained.

Further, when the mounting position of the three-axis acceleration sensor with respect to the vehicle is not predetermined, or even when the mounting position is predetermined, the position or posture of the three-axis acceleration sensor with respect to the vehicle body may shift. Even in such a case, the current position and orientation of the three-axis acceleration sensor with respect to the vehicle body can be accurately grasped through the static measurement value acquisition process, so behavior information can be obtained with high accuracy.

Further, in the behavior information estimation method described above, the vehicle coordinate system includes a longitudinal axis, a lateral axis, and a vertical axis of the vehicle that are orthogonal to each other, and the three-axis acceleration sensor includes a sensor first axis that is orthogonal to each other, a sensor A sensor coordinate system consisting of a second axis and a sensor third axis is defined in advance, the three-axis acceleration sensor measures accelerations in three-axis directions according to the sensor coordinate system, and the behavior estimation step includes: a transformation rule derivation step of deriving and storing a coordinate transformation rule for transforming the sensor coordinate system into the vehicle coordinate system based on the acceleration measurement value measured in the measurement value acquisition step, and based on the coordinate transformation rule; and a converting step of converting the measured acceleration values of the three-axis acceleration sensor in the running state of the vehicle into values according to the vehicle coordinate system. According to this method, the conversion from the sensor coordinate system to the vehicle coordinate system can be realized using the numerical processing device by deriving the coordinate conversion rule. In addition, by storing the coordinate conversion rule, it is not necessary to go through the stationary measurement value acquisition process every time the vehicle is driven, and convenience can be improved.

Further, in the behavior information estimation method described above, in the static measurement value acquiring step, a plurality of the acceleration measurement values measured over a predetermined measurement time are acquired in each of the upright stationary state and the tilted stationary state, and In the behavior estimating step, the acceleration measurement values of the three-axis acceleration sensor in the running state of the vehicle are converted to values according to the vehicle coordinate system based on the plurality of acceleration measurement values in each of the upright stationary state and the inclined stationary state. may be converted. According to this method, the acceleration measurement value in the running state is converted based on a plurality of acceleration measurement values measured over a predetermined measurement time in the stationary measurement value acquisition step, so that the influence of noise, vibration, etc. can be suppressed. can improve the estimation accuracy of behavior information.

Further, in the behavior information estimation method described above, in the static measurement value acquisition step, if the degree of variation in the plurality of acceleration measurement values measured over the measurement time is greater than a predetermined set value, a new predetermined measurement time A plurality of acceleration measurements measured over may be obtained. According to this method, the estimation accuracy of behavior information can be improved.

Further, in the behavior information estimation method described above, the static measurement value acquisition step includes acquiring the acceleration measurement value when acquisition of the acceleration measurement value in each of the upright stationary state and the tilted stationary state is completed normally. may include a notification step for notifying completion of According to this method, it is possible to make it easier for the operator to determine the transition to the action after the acquisition of the acceleration measurement value is completed. For example, convenience can be improved by making it easier for the operator to determine when to shift from the upright stationary state to the tilted stationary state.

Further, in the behavior information estimation method described above, in the static measurement value acquisition step, the three-axis acceleration sensor measurement values measured after a predetermined waiting time has elapsed after an acquisition instruction by the operator may be acquired. According to this method, it is possible to suppress the influence of vibration caused by the attachment of the three-axis acceleration sensor to the vehicle and the operator's operation for instructing acquisition, and the accuracy of estimating the behavior information can be improved.

In the above-described behavior information estimation method, the static measurement value acquisition step includes displaying a display screen for instructing an operator that the vehicle should be in either the upright static state or the tilted static state. may include an instruction step to display in the According to this method, the operator can be guided to operate the vehicle in the state required for the measurement in the static measurement value acquisition process, thereby allowing the static measurement value acquisition process to proceed smoothly.

Further, in the behavior information estimation method described above, the three-axis acceleration sensor is provided with a sensor coordinate system including a first sensor axis, a second sensor axis, and a third sensor axis that are orthogonal to each other. measures the acceleration in each direction of the sensor first axis, the sensor second axis and the sensor third axis in the sensor coordinate system, and measures the sensor first axis, the sensor second axis and the sensor third axis It may be configured to measure angular velocity about each of three axes. According to this method, as well as the acceleration measurement values in the running state, the angular velocity measurement values in the running state can be converted into values according to the vehicle coordinate system. This makes it easier to detect changes in the posture of the vehicle in the running state.

In the behavior information estimation method described above, the three-axis acceleration sensor may be detachable from the vehicle so that at least one of the posture and position can be selected by the wearer. According to this method, the three-axis acceleration sensor can be attached to the vehicle at the operator's preferred position and/or posture.

Further, a behavior information estimation program according to the present invention is a behavior information estimation program for estimating behavior information of a vehicle using a three-axis acceleration sensor attached to a vehicle capable of running in an inclined state, the computer comprising: a stationary measurement value acquisition unit that acquires acceleration measurement values from the three-axis acceleration sensor in two states: an upright stationary state in which the vehicle is standing still and an inclined stationary state in which the vehicle is stationary while tilted; , based on the measured acceleration values in the upright stationary state and the tilted stationary state, the acceleration measurement values of the three-axis acceleration sensor in the running state of the vehicle are converted to values according to a vehicle coordinate system predefined for the vehicle; , and functions as a behavior estimation unit that estimates the behavior information. Note that the present invention may be a recordable medium on which a behavior information estimation program is recorded.

ADVANTAGE OF THE INVENTION According to this invention, the behavior information according to a vehicle coordinate system can be acquired with sufficient precision using the measuring device attached to the lean vehicle.

1 is an overall diagram of a behavior information estimation system that executes a behavior information estimation method according to one embodiment; FIG. 2 is a block diagram showing the configuration of a mobile terminal of the behavior information estimation system of FIG. 1; FIG. It is a flowchart which shows an example of the flow of the behavior information estimation method which concerns on one Embodiment. It is a figure which shows an example of the upright measurement screen displayed on the screen of a portable terminal. It is a figure which shows an example of the inclination measurement screen displayed on the screen of a portable terminal.

A behavior information estimation method according to an embodiment will be described below with reference to the drawings. A behavior information estimation method according to the present embodiment is a method for estimating the behavior of a lean vehicle.

FIG. 1 is a schematic overall diagram of a behavior information estimation system 1 that executes a behavior information estimation method according to an embodiment. As shown in FIG. 1 , the behavior information estimation system 1 includes a motorcycle 2 that is a lean vehicle and a mobile terminal (for example, a multifunctional mobile phone (smartphone)) 20 attached to the motorcycle 2 . FIG. 2 is a block diagram showing the configuration of the mobile terminal 20 that functions as part of the behavior information estimation system 1. As shown in FIG. As shown in FIG. 2 , the portable terminal 20 incorporates measurement devices such as an acceleration sensor 25 and an angular velocity sensor 26 . The behavior information estimation system 1 enables the behavior information of the motorcycle 2 to be estimated using these measurement devices built into the mobile terminal 20 .

The vehicle to which the behavior information estimation system 1 is applied is a vehicle that can run in a leaning state, and is a lean vehicle that turns by tilting the vehicle body in the left-right direction. A lean vehicle is capable of turning while maintaining the vehicle body tilted state by running at an inclination angle that balances the centrifugal force of the entire moving body including the driver and the vehicle. The motorcycle 2 is an example of such a lean vehicle.

Also, the directions described below are the directions seen from the driver who got on the motorcycle 2 . The vehicle length direction corresponds to the front-rear direction, and the vehicle width direction corresponds to the left-right direction. Also, in the following description, for the sake of convenience, the operator who operates the mobile terminal 20 and the driver of the motorcycle 2 are both referred to as "users" without distinction. However, the operator who operates the mobile terminal 20 and the driver of the motorcycle 2 may be the same person or different persons.

As schematically shown in FIG. 1, the motorcycle 2 includes a front wheel 3 as a driven wheel and a rear wheel 4 as a driving wheel. The motorcycle 2 includes a body 5 on which a user can ride. The body 5 includes a head pipe 7 that rotatably supports a steering shaft 6 that steers the front wheels 3, and a frame 8 that extends rearward from the head pipe 7. have An engine (not shown) is mounted on the frame 8 as a drive source for driving the rear wheels 4 .

A stand member (side stand) 9 for supporting the motorcycle 2 when the motorcycle 2 is parked is provided at the lower left portion of the vehicle body 5 . When the stand member 9 is swung downward, the stand member 9 and the front and rear wheels 3, 4 are grounded at three points, and the vehicle body 5 is tilted to the left. As a result, the vehicle body 5 can stand by itself by the stand member 9 while maintaining the tilted state that is angularly displaced about the front-rear axis from the upright state.

A steering shaft 6 supported by a head pipe 7 is connected to a bar-shaped handle 10 extending in the left-right direction. A terminal holder 11 capable of holding the mobile terminal 20 described above is attached to the left portion of the handle 10 . By holding the mobile terminal 20 , the terminal holder 11 maintains the position and orientation of the mobile terminal 20 with respect to the vehicle body 5 . The terminal holder 11 is detachably attached to an arbitrarily selected position on the handlebar 10 of the motorcycle 2 . For example, the terminal holder 11 can be attached to and detached from the right side of the handle 10 instead of the left side.

In addition, in this embodiment, the terminal holder 11 is configured so as to be able to take an arbitrarily selected posture with respect to the handle 10 . For example, the terminal holder 11 may have a mount that holds the handle 10 and an arm extending from the mount. The portion may be configured to be able to adjust the angle of the main surface of the mobile terminal 20 with respect to the arm extending direction. That is, even if the mounting position of the terminal holder 11 on the handle 10 is the same, it is possible to change the orientation of the mobile terminal 20 held by the terminal holder 11 by arbitrarily changing the orientation of the terminal holder 11 . In this manner, the terminal holder 11 allows the portable terminal 20 to be attached so that the position and orientation (orientation) with respect to the vehicle body 5 can be selected according to the driver's preference, physique, and driving posture.

A vehicle coordinate system B is defined in advance for the motorcycle 2 . The vehicle coordinate system B consists of mutually orthogonal X, Y and Z axes. The X-axis passes through a vehicle reference position preset on the vehicle body 5 and is parallel to the front-rear direction of the motorcycle 2, and is also referred to herein as the front-rear axis. The Y-axis passes through the vehicle reference position and is parallel to the left-right direction of the motorcycle 2, and is also referred to herein as the left-right axis. The Z-axis passes through the vehicle reference position and is parallel to the vertical direction of the motorcycle 2, and is also referred to herein as the vertical axis. The X, Y and Z axes intersect each other at the vehicle reference position. That is, the vehicle reference position is the origin of the vehicle coordinate system B. FIG. For example, the vehicle reference position is set to the center-of-gravity position of the vehicle body 5 .

Specifically, the standard state is a state in which the vehicle body 5 is in a non-tilted state, in other words, in an upright state in which the axle of the vehicle body 5 extends horizontally and is arranged on a road surface parallel to the horizontal plane. The X-axis extends parallel to the longitudinal direction when the vehicle body 5 is in the standard state. When the vehicle body 5 is in the standard state, the Y-axis extends perpendicularly to the X-axis and parallel to the left-right direction. Further, when the vehicle body 5 is in the normal state, the Z-axis extends perpendicularly to both the X-axis and the Y-axis and extends parallel to the vertical direction.

For example, in this embodiment, the positive direction of the Z-axis when the vehicle body 5 is in the standard state coincides with the vertically upward direction from the vehicle reference position. Also, the positive direction of the X-axis coincides with the forward direction from the vehicle reference position. Also, the positive direction of the Y-axis coincides with the leftward direction toward the stand member 9 side from the vehicle reference position.

Since the vehicle reference position is set fixed to the vehicle body 5 , it moves together with the vehicle body 5 with respect to the absolute coordinate system set outside the vehicle body 5 . The vehicle coordinate system B changes in attitude (orientation) together with the vehicle body 5 with respect to the absolute coordinate system due to changes in the attitude of the vehicle body 5, for example, lean running. For example, when the motorcycle 2 runs or stops with the vehicle body 5 tilted about the front-rear axis, the Z-axis of the vehicle coordinate system B is also tilted with respect to the vertically upward direction.

The acceleration sensor 25 of the mobile terminal 20 is a triaxial acceleration sensor, and the sensor coordinate system S is defined in advance for the acceleration sensor 25 . The sensor coordinate system S consists of x-axis (sensor first axis), y-axis (sensor second axis) and z-axis (sensor third axis) which are orthogonal to each other. The x-axis, y-axis, and z-axis each pass through a sensor reference position preset in the acceleration sensor 25 . In other words, the x-, y-, and z-axes intersect each other at the sensor reference position, which is the origin of the sensor coordinate system S. For example, the sensor reference position is set to the center-of-gravity position of the mobile terminal 20 . As an example, when mobile terminal 20 is formed in the shape of a rectangular parallelepiped plate, the z-axis extends parallel to the thickness direction of mobile terminal 20 . The y-axis extends in the longitudinal direction of mobile terminal 20 . The x-axis is orthogonal to the z-axis and the y-axis and extends parallel to the lateral direction of the mobile terminal 20 .

The sensor reference position is fixed to the mobile terminal 20 and set. Therefore, with respect to the vehicle coordinate system B, the sensor reference position changes according to the mounting position of the mobile terminal 20 . Similarly, with respect to the vehicle coordinate system B, the orientation (orientation) of the sensor coordinate system S changes according to the mounting orientation of the mobile terminal 20 .

The acceleration sensor 25 measures acceleration in three axial directions according to the sensor coordinate system S, respectively. Note that the acceleration measured by the acceleration sensor 25 is a force, that is, an amount including inertial force and gravity (gravitational acceleration) in addition to acceleration. For example, the acceleration sensor 25 measures gravitational acceleration even in a stationary state. Further, the acceleration sensor 25 measures an amount including centrifugal force as the inertial force when the motorcycle 2 is turning. For example, the acceleration sensor 25 measures values obtained by dividing the force (acceleration) generated in the sensor into components in the respective directions of three axes. In other words, the magnitude and direction of the force generated at the sensor reference position can be calculated by calculating the vector sum of the measurement values measured for each axis. Further, the acceleration sensor 25 measures a direction that advances in one predetermined direction along each axis from the sensor reference position as a positive direction, and a direction that advances in the opposite direction to the positive direction as a negative direction.

FIG. 2 is a block diagram showing the configuration of the mobile terminal 20 that functions as part of the behavior information estimation system 1. As shown in FIG. The mobile terminal 20 is a general-purpose device that the driver owns and can be used for various purposes, and is provided so that functions for purposes other than behavior information estimation in the present embodiment, such as a telephone function and an Internet connection function, can be realized. . By storing a program for use in behavior information estimation (behavior information estimation program 41 described later), it can be used as part of a behavior information estimation system.

The mobile terminal 20 includes a CPU 21 , a memory 22 , a wireless communication device 23 , a screen 24 , an acceleration sensor 25 , an angular velocity sensor 26 and a position sensor 27 in terms of hardware. These components 21, 22, 23, 24, 25, 26 and 27 are interconnected via a bus 28 so as to allow data transmission.

The CPU 21 is an arithmetic processing unit (Central Processing Unit) that controls the operation of the mobile terminal 20 . The memory 22 stores various programs and data for operating the mobile terminal 20 . The memory 22 is a random access memory (RAM), which is a nonvolatile memory that erases stored information when the power supply is stopped, and a ROM that functions as a nonvolatile memory that maintains information storage even when the power supply is stopped. (Read Only Memory). The memory 22 stores a behavior information estimating program 41 , upright stationary data 42 , inclined stationary data 43 , conversion rule data 44 , traveling data 45 and converted data 46 . For example, the behavior information estimation program 41 is stored in ROM. Details of the program 41 and data 42 to 46 stored in the memory 22 will be described later.

The wireless communication device 23 performs data communication with a server (not shown) on the Internet via a public line by wireless communication. For example, the behavior information estimation program 41 described above is downloaded to the memory 22 by wireless communication using the wireless communication device 23 . The wireless communication device 23 may be configured to communicate with a wireless communication device provided in the vehicle. In this case, mutual data communication is possible between the vehicle control device and the vehicle sensor device provided on the vehicle body.

In this embodiment, the screen 24 serves as both a display section and an input section. Specifically, the screen 24 includes a transflective display and backlight LED (display unit), and a touch panel (input unit) provided on the display. As another example, the terminal device 20 may be provided with a display section and an input section separately.

The acceleration sensor 25 detects acceleration acting in each of the x-axis, y-axis, and z-axis directions in the sensor coordinate system S. As shown in FIG. An angular velocity sensor (gyro sensor) 26 detects angular velocities around the x-axis, y-axis, and z-axis in the sensor coordinate system S, respectively. Note that the three-axis acceleration sensor 25 and the three-axis angular velocity sensor 26 may be integrally configured as a six-axis sensor. The position sensor 27 acquires the current position of the mobile terminal 20 using GPS (Global Positioning System) or the like.

2 also shows the functional configuration of the mobile terminal 20. As shown in FIG. The mobile terminal 20 includes an interface control section 31 , a measured value storage section 32 , a conversion rule derivation section 33 , a conversion section 34 and a behavior estimation section 35 in terms of functions. These functional units 31 to 35 are implemented by the CPU 21 executing a behavior information estimation program 41 that is an application program stored in the memory 22 .

The interface control section 31 controls the display screen of the screen 24 . The interface control unit 31 also determines a user command by determining a user operation given to the input unit.

The measured value storage unit 32 stores the measured value of the acceleration sensor 25 in the memory 22 according to the user's operation. Specifically, the measurement value storage unit 32 stores a state in which the motorcycle 2 stands still (hereinafter referred to as an “upright stationary state”), and a state in which the motorcycle 2 is tilted using the stand member 9. Measured values of the acceleration sensor 25 in three axial directions in two states, namely, a stationary state (hereinafter referred to as a “tilted stationary state”), are stored in the memory 22 .

The measured value storage unit 32 stores the measured value of the acceleration sensor 25 when the motorcycle 2 is standing still in the memory 22 as the standing standing still data 42 . Further, the measured value storage unit 32 stores the measured value of the acceleration sensor 25 in the tilted stationary state of the motorcycle 2 in the memory 22 as the tilted stationary data 43 . The measured value storage unit 32 also stores the measured values of the acceleration sensor 25 and the angular velocity sensor 26 in the running state of the motorcycle 2 in the memory 22 as running data 45 .

As described above, the measured values of the acceleration sensor 25 are measured values according to the sensor coordinate system S. As shown in FIG. That is, the upright stationary data 42, the tilted stationary data 43, and the traveling data 45 are all measurement data according to the sensor coordinate system S. FIG. Further, when the motorcycle 2 is stationary, the acceleration sensor 25 measures gravitational acceleration. The acceleration measurement values in the three axial directions included in each of the upright stationary data 42 and the tilted stationary data 43 respectively correspond to the components of the gravitational acceleration vectors in the respective axial directions included in the sensor coordinate system S. In other words, the upright stationary data 42 is the gravitational acceleration vector information in the sensor coordinate system S when the motorcycle 2 is in the upright stationary state. It is the gravitational acceleration vector information in the coordinate system S.

The conversion rule derivation unit 33 derives a conversion rule for converting values according to the sensor coordinate system S into values according to the vehicle coordinate system B. FIG. The conversion rule derivation unit 33 stores the derived conversion rule in the memory 22 as the conversion rule data 44 .

Using conversion rule data 44 , conversion unit 34 converts travel data 45 in accordance with sensor coordinate system S into values in accordance with vehicle coordinate system B, and stores the converted data 46 in memory 22 . That is, the transformed data 46 is data according to the vehicle coordinate system B. FIG.

The behavior estimation unit 35 estimates the behavior of the vehicle body 5 using the transformed data 46 . For example, the behavior estimator 35 estimates the acceleration in the longitudinal direction, the vertical direction, and the lateral direction in the vehicle coordinate system B, and outputs the estimation results. For example, the acceleration in the vehicle coordinate system B and the position information acquired by the position sensor 26 are associated and displayed. This allows the user to grasp the acceleration applied to the vehicle body 5 during running. Further, by storing the behavior information and storing the original information (driving data 45 and conversion rule data 44) for deriving the stored information, the user can change the vehicle body during running even after the end of running. 5 can be grasped.

(Flow of behavior information estimation method)
Next, the flow of the behavior information estimation method according to this embodiment will be described. FIG. 3 is a flowchart showing an example of the flow of the behavior information estimation method according to this embodiment.

A behavior information estimation method according to the present embodiment includes a static measurement value acquisition process and a behavior estimation process. The stationary measurement value acquisition process is a preparatory process before acquiring the travel data 45 used for behavior estimation of the motorcycle 2 . In the static measurement value acquisition step, measurement values are acquired by the acceleration sensor 25 in each of the two states of the two-wheeled motor vehicle 2, namely, the upright stationary state and the tilted stationary state. That is, in the static measurement value acquisition step, the upright static data 42 and the inclined static data 43 described above are acquired. In the behavior estimating step, the measured values of the acceleration sensor 25 in the running state of the motorcycle 2 according to the sensor coordinate system S are converted into values according to the vehicle coordinate system B based on the measured values acquired in the stationary measured value acquiring step, and the behavior Estimate information.

The flow of the behavior information estimation method will be described in detail with reference to FIGS. First, as a preliminary step, the mobile terminal 20 is given a program storage command for executing the behavior information estimation method from the user. The mobile terminal 20 stores in the memory 22 the behavior information estimation program 41 acquired from the information source through a wireless connection such as a public line or a wired connection such as USB. When the storage of the behavior information estimation program 41 is completed in this way, it becomes possible to proceed to the stationary measurement step.

For example, when the user operates the mobile terminal 20 to execute the behavior information estimation program 41, which is an application program, the CPU 21 proceeds to step S1, which is a holding confirmation step, and starts the behavior information estimation method. In step S<b>1 , for example, the CPU 21 causes the interface control unit 31 to display a screen for prompting the terminal holder 11 to hold the terminal holder 11 on the vehicle body 5 . When the user operates the input unit to indicate that the terminal holder 11 has been mounted, the CPU 21 determines that the mobile terminal 20 is mounted on the terminal holder 11, and proceeds to step S2, which is an upright stationary measurement step. . It should be noted that such a holding confirmation step is included in the present invention even when it is not included in the behavior estimation method.

[Standing upright measurement]
In step S2, the CPU 21 causes the interface control section 31 to display an upright measurement screen on the screen 24 for prompting an upright stationary operation.

FIG. 4 is a diagram showing an example of the upright measurement screen 50. As shown in FIG. The upright measurement screen 50 is a screen that prompts the user to perform measurement with the acceleration sensor 25 while the vehicle body 5 is upright (hereinafter referred to as “upright stationary measurement”). The erect measurement screen 50 includes an instruction area 51 , a vehicle body image 52 and an erect measurement start button 53 .

The instruction area 51 is an area for displaying an operation instruction for the user to guide the user so that the upright stationary measurement is performed normally. In the instruction area 51, as illustrated in FIG. 4, an instruction is displayed to prompt the user to keep the steering wheel 10 facing straight forward (instruction stage). This is because, in the static measurement value acquisition step, it is necessary to acquire the measurement values while the positional relationship between the sensor coordinate system S and the vehicle coordinate system B is kept constant. In addition to such an instruction, the instruction area 51 also includes an instruction to prompt the user not to change the orientation of the mobile terminal 20 with respect to the vehicle body 5 in order to keep the positional relationship between the sensor coordinate system S and the vehicle coordinate system B constant. Instructions may be displayed.

The vehicle body image 52 is an image of the motorcycle 2 with the vehicle body 5 standing vertically. The user can intuitively recognize what state the vehicle body 5 should be in by looking at the vehicle body image 52 .

The upright measurement start button 53 is a software button that accepts an instruction to acquire the upright stationary data 42 by a user operation. When the user operates the upright measurement start button 53, the measured value storage unit 32 stores the measured value of the acceleration sensor 25 in the upright stationary state of the motorcycle 2 in the memory 22 as the upright stationary data 42 (Fig. 3: step S2). That is, the acceleration measurement values in the three axial directions set in the acceleration sensor 25 in the upright stationary state are stored.

In this embodiment, the measurement value storage unit 32 does not immediately start the measurement for the upright stationary data 42 immediately after the user instructs to acquire the upright stationary data 42, but waits for a predetermined waiting time ( For example, 5 seconds), the measurement for the standing still data 42 is started. By providing a waiting time between the acquisition instruction and the start of measurement in this way, it is possible to eliminate the influence of vibration caused by, for example, the user's operation of the mobile terminal 20, and to obtain a highly accurate acceleration measurement value.

In the present embodiment, the measured value storage unit 32 stores a plurality of measured values (sensor's The average value of the digital values obtained by sampling the analog output is stored as the upright stationary data 42 . By using the average value of the measured values as the upright stationary data 42 in this way, noise effects such as excessive shaking of the vehicle body 5 and engine vibration can be eliminated, and accurate acceleration measured values can be obtained. Note that the measured value storage unit 32 is not limited to storing the average value of a plurality of measured values as the upright stationary data 42 . For example, the median value (mode value) of a plurality of measured values may be used as the upright stationary data 42, or the value may be stored after filtering to remove periodic vibration components.

In this way, the time from when the acquisition instruction for the upright stationary data 42 is issued by the user operation to the end of the acceleration measurement for the upright stationary data 42 (that is, the time obtained by adding the above-described waiting time and measurement time), the vehicle body 5 must be kept upright and stationary. Therefore, as exemplified in FIG. 4, an instruction area 51 displays an instruction prompting the user to keep the motorcycle 2 in an upright stationary state for a predetermined period (for example, 10 seconds) after pressing the upright measurement start button 53. is displayed.

In addition, in the present embodiment, the measured value storage unit 32 redoes the acceleration measurement when the degree of variation in the plurality of measured acceleration values measured over the measurement time is large. Specifically, when the degree of variation in the plurality of acceleration measurement values measured over the measurement time is greater than a predetermined set value, the measurement value storage unit 32 stores a plurality of acceleration values newly measured over the predetermined measurement time. Get measurements. In this case, the interface control unit 31 may display a screen on the screen 24 indicating that the acceleration measurement should be redone or prompting the user to stop the motorcycle 2 again.

[Inclination stationary measurement]
When acquisition of the upright stationary data 42 is completed in step S2, the process proceeds to step S3, which is a tilt stationary measurement step. In step S<b>3 , the CPU 21 causes the interface control section 31 to display a tilt measurement screen on the screen 24 for prompting a tilt stop operation.

FIG. 5 is a diagram showing an example of the tilt measurement screen 60. As shown in FIG. The tilt measurement screen 60 is a screen prompting the user to perform measurement by the acceleration sensor 25 (hereinafter referred to as “still tilt measurement”) while the motorcycle 2 is tilted and stopped using the stand member 9 . . The tilt measurement screen 60 includes an instruction area 61 , a vehicle body image 62 and a tilt measurement start button 63 .

The instruction area 61 is an area for displaying an operation instruction for the user to guide the user to perform normal tilt stationary measurement. As illustrated in FIG. 5 , the instruction area 61 displays an instruction prompting the user to keep the steering wheel 10 pointing straight ahead, as in the upright still screen 50 .

In the static measurement value acquisition process, it is necessary to acquire measurement values while the relationship between the sensor coordinate system S and the vehicle coordinate system B is kept constant. Therefore, as exemplified in FIG. 5, an instruction is displayed in the instruction area 61 to prompt the user to keep the steering wheel 10 facing straight forward. In addition to such instructions, the instruction area 61 may display an instruction prompting the user not to change the orientation of the mobile terminal 20 with respect to the vehicle body 5 . Further, an instruction may be displayed in the instruction area 61 to prompt the user not to change the position and orientation of the mobile terminal 20 with respect to the vehicle body 5 between the upright stationary measurement and the tilted attitude measurement.

The vehicle body image 62 is an image of the motorcycle 2 with the vehicle body 5 erected by the stand member 9 . The user can intuitively recognize what state the vehicle body 5 should be in by looking at the vehicle body image 62 .

The inclination measurement start button 63 is a software button that accepts an instruction to acquire the stationary inclination data 43 by a user operation. When the user operates the tilt measurement start button 63, the measured value storage unit 32 stores the measured value of the acceleration sensor 25 in the tilted stationary state of the motorcycle 2 in the memory 22 as the tilted stationary data 43 (FIG. 3: step S3). That is, the acceleration measurement values in the three axial directions set in the acceleration sensor 25 in the tilted stationary state are stored.

Measurement is performed in the same way as in the upright stationary measurement in the tilt stationary measurement. That is, the measurement value storage unit 32 starts measurement for the stationary tilt data 43 after a predetermined standby time (for example, 5 seconds) has elapsed since the user gave an instruction to acquire data. In addition, the measured value storage unit 32 stores the average value of a plurality of measured values measured by the acceleration sensor 25 for a predetermined predetermined measurement time (for example, 5 seconds) after the standby time has elapsed and the start of measurement, and stores the average value as the stationary tilt data. Store as 43. Further, as in the upright stationary measurement, processing for removing noise may be performed.

The measured value storage unit 32 acquires a plurality of measured acceleration values newly measured over a predetermined measurement time when the degree of variation in the plurality of measured acceleration values measured over the measurement time is greater than a predetermined set value. . Further, in the instruction area 61, after pressing the tilt measurement start button 63, an instruction is displayed to prompt the user to maintain the tilted stationary state of the motorcycle 2 for a predetermined period (for example, 10 seconds).

In this embodiment, the interface control unit 31 displays the tilt measurement screen 60 including a notification for notifying the user that the acceleration measurement value in the upright and stationary state has been acquired, that is, the upright and stationary measurement is completed. is displayed (notification stage). That is, the tilt measurement screen 60 also serves as a notification screen for notifying the user that the upright stationary measurement has been completed. Thereby, it is possible to make it easier for the user to determine the transition to the operation after the acquisition of the acceleration measurement value is completed. For example, convenience can be improved by making it easier for the operator to determine when to shift from the upright stationary state to the tilted stationary state. However, the interface control unit 31 may display, in addition to the tilt measurement screen 60, a notification screen for notifying the completion of the standing still measurement when the standing standing still measurement is completed. Similarly, the interface control unit 31 may display a notification screen for notifying completion of the stationary tilt measurement when the stationary tilt measurement is completed.

[Derivation of coordinate transformation rule (transformation rule derivation stage)]
When both the upright stationary measurement (S2) and the tilted stationary measurement (S3) are completed (in other words, after steps S2 and S3 in FIG. 3), the CPU 21 proceeds to step S4, which is a step of deriving coordinate transformation rules. In step S4, the CPU 21 causes the conversion rule deriving section 33 to obtain a coordinate conversion rule for converting the sensor coordinate system S into the vehicle coordinate system B based on the upright stationary data 42 and the tilted stationary data 43, and stores it in the memory 22. (Step S4). Specifically, the transformation rule derivation unit 33 derives a rotation matrix for transforming the sensor coordinate system S into the vehicle coordinate system B using the upright stationary data 42 and the tilted stationary data 43 stored in the memory 22. , is stored in the memory 22 as the conversion rule data 44 .

In the present embodiment, measurement results in an upright stationary state and an inclined stationary state that is angularly displaced about the front-rear axis with respect to the upright stationary state are used to derive the coordinate transformation rule. In this case, the orientation of the gravitational acceleration obtained in the sensor coordinate system S changes due to the influence of the attitude change using the stand member 9 . In addition, since the stand member 9 is used, the inclination direction of the vehicle body 5 is known in advance. Therefore, the posture of the vehicle coordinate system B with respect to the sensor coordinate system S can be grasped by geometric calculation from the measurement results in the two stationary states. In other words, the rotation matrix for transforming the sensor coordinate system S to the vehicle coordinate system B can be computed without the need for additional user manipulation or receipt of other information. By eliminating the additional operation of a new user in this way, convenience in estimating behavior information can be enhanced. An example of a specific method of deriving the rotation matrix will be described later.

After obtaining the information about the rotation matrix in this way, the process of deriving the coordinate transformation rule is finished. When the driver instructs to measure the travel, or when the vehicle is determined to be traveling, the process proceeds to step S5, which is a step of measuring the travel.

[Driving measurement]
In step S5, the CPU 21 causes the measured value storage unit 32 to store the measured values of the acceleration sensor 25 and the angular velocity sensor 26 in the traveling state of the motorcycle 2 in the memory 22 as traveling data 45, which is measurement data according to the sensor coordinate system S. (step S5). After storing the travel data 45, the CPU 21 proceeds to step S6, which is a coordinate conversion step.

[Coordinate conversion (conversion stage)]
In step S6, the CPU 21 converts the travel data 45 according to the sensor coordinate system S into data according to the vehicle coordinate system B using the rotation matrix Rbs stored as the transformation rule data 44 in the memory 22 by the transforming unit 34. It is obtained as converted data 46 (step S6). That is, the acceleration according to the vehicle coordinate system B of the motorcycle 2 in the running state is obtained by subjecting the measurement values of the acceleration sensor 25 included in the running data 45 to coordinate transformation. Further, by subjecting the measured values of the angular velocity sensor 26 included in the traveling data 45 to coordinate transformation, the angular velocity according to the vehicle coordinate system B of the motorcycle 2 in the traveling state can be obtained. After acquiring the converted data 46, the CPU 21 proceeds to step S7, which is a behavior estimation step.

[Behavior estimation]
In step S7, after the CPU 21 acquires the converted data 46, the behavior estimation unit 35 uses the converted data 46 to estimate the behavior of the vehicle body 5 (step S7). Since the acceleration values and angular velocity values included in the transformed data 46 are values according to the vehicle coordinate system B, various values of the vehicle body can be obtained in the same way as the measured values obtained by the measuring device pre-mounted on the vehicle body of a conventional motorcycle. can be used to estimate the behavior information of Therefore, the behavior estimator 35 employs a conventional behavior information estimation method based on measured values obtained by a measuring device pre-mounted on the body of a conventional motorcycle.

The behavior information of the motorcycle 2 may be the acceleration in each of the three axial directions in the vehicle coordinate system B and the angular velocity around the three axes. Alternatively, other information obtained from such information, such as running speed, running distance, running direction, and vehicle posture information (for example, bank angle) may be used. Also, for example, in addition to the acceleration and angular velocity in the three-axis direction, the weight of the vehicle, the longitudinal length, the position of the center of gravity, etc. The wheel force (tire force) includes longitudinal force applied in the front-rear direction, lateral force applied in the left-right direction, normal force applied in the vertical direction, and the like.

Behavior information can be estimated in this way. An example of a method of deriving the rotation matrix Rbs for transforming the sensor coordinate system S into the vehicle coordinate system B for estimating behavior information will be described below.

Let X _b be the vector according to the vehicle coordinate system B, X _s be the vector according to the sensor coordinate system S, and Rbs be the rotation matrix for transforming the sensor coordinate system S into the vehicle coordinate system B. Equation 1 below holds.

In this embodiment, the orientation of the vehicle coordinate system B with respect to the sensor coordinate system S is represented by the Euler angles φ, θ, and ψ of the zyx system. That is, when it is assumed that the sensor coordinate system S and the vehicle coordinate system B share the origin, the Euler angles φ, θ, and ψ are obtained by rotating the sensor coordinate system S by ψ about the z-axis and obtaining the sensor coordinates after rotation. This means that the sensor coordinate system S after rotation coincides with the vehicle coordinate system B when the system S is rotated about the y-axis by θ and the rotated sensor coordinate system S is rotated about the x-axis by φ. Specifically, the rotation matrix R _bs is represented by the following Equation 2 using Euler angles φ, θ, and ψ.

In the following description, the Euler angles φ, θ, and ψ in the rotation matrix R _bs are also called relative roll angle φ _bs , relative pitch angle θ _bs , and relative yaw angle ψ _bs , respectively.

First, the conversion rule derivation unit 33 uses the upright stationary data 42 to obtain the relative roll angle φ _bs and the relative pitch angle θ _bs among the Euler angles φ _bs , θ _bs and φ _bs . Let X _s1 be the vector in the sensor coordinate system S whose components are acceleration measurement values in the three axial directions included in the upright stationary data 42, and let X _b1 be the vector obtained by transforming the vector X _s1 into the vehicle coordinate system B using the rotation matrix R _bs . , the following equation 3 is established from the equation 1.

In Equation 3 above, the vector X _b1 is the gravitational acceleration vector according to the vehicle coordinate system B. In the upright _stationary state, the vertical axis of the vehicle body 5 and the vertical direction are parallel to each other. The magnitude of the component is |g| (where g is the gravitational acceleration), and the magnitude of the other X-axis and Y-axis components is zero. By expanding the value of each component of vector X _b1 and Equation 3, the relative roll angle φ _bs and the relative pitch angle θ _bs are obtained as shown in Equations 4 and 5 below.

In the above formulas 4 and 5, a _x1 , a _y1 , and a _z1 are the respective components of the vector X _s1 , and the measured acceleration values in the x-axis, y-axis, and z-axis directions, respectively, measured in an upright stationary state. is.

Next, the conversion rule derivation unit 33 uses the stationary tilt data 43 to obtain the remaining relative yaw angle ψ _bs among the Euler angles φ _bs , θ _bs , and ψ _bs . Let X _s2 be the vector in the sensor coordinate system S whose components are acceleration measurement values in the three axial directions included in the stationary tilt data 43, and let X _b2 be the vector obtained by transforming the vector X _s2 into the vehicle coordinate system B using the rotation matrix R _bs . , the following equation 6 is established from equation 1.

In Equation 6 above, the vector _Xb2 is the gravitational acceleration vector according to the vehicle coordinate system B. The tilted stationary state is a vehicle attitude that is angularly displaced about an axis along the front-rear axis of the motorcycle 2 from the upright stationary state. In other words, the orientation of the longitudinal axis of the vehicle in the tilted stationary state is the same as the orientation of the longitudinal axis of the vehicle in the upright stationary state, and the magnitude of the X-axis component of vector _{Xb2 is 0, like vector Xb1 .} Therefore, when the displacement angle around the axis of the motorcycle 2 (the inclination angle of the vehicle body 5 in the tilted and stationary state with respect to the vertically upward direction) when the motorcycle 2 changes from the upright and stationary state to the tilted and stationary state is α _bs , Equation 6 is: is expanded to obtain the tilt angle α and the relative yaw angle ψ _bs as shown in the following equations 7 and 8.

In Equations 7 and 8 above, a _x2 , a _y2 , and a _z2 are the respective components of vector X _S2 , and the accelerations in the x-, y-, and z-axis directions, respectively, measured in the tilted still state. It is a measured value. In addition, the tilt angle α _bs is an angle that satisfies −90°<α<0°, where positive is when the vehicle body is tilted to the right while facing forward.

As described above, in the upright stationary state, the vertical axis and the vertical direction of the vehicle body 5 are parallel to each other, and in the tilted stationary state, the vehicle body 5 is rotated about an axis parallel to the longitudinal axis of the vehicle from the upright stationary state. Based on the conditions, the relative roll angle φ _bs , relative pitch angle θ _bs , and relative yaw angle φ _bs are derived. Therefore, the rotation matrix R _bs as the coordinate conversion rule is obtained from the upright stationary data 42 and the tilted stationary data 43 . The method of deriving the coordinate transformation rule described above is merely an example, and the method of deriving the coordinate transformation rule of the present invention is not limited to the method described above. For example, in the method of deriving the coordinate transformation rule described above, the attitude of the vehicle coordinate system B with respect to the sensor coordinate system S is represented by the Euler angles of the zyx system. It may be expressed (defined) by other Euler angles such as the z system. Also, the sensor coordinate system S and the vehicle coordinate system B may be defined in a left-handed coordinate system or a right-handed coordinate system. Also, the attitude of the vehicle coordinate system B with respect to the sensor coordinate system S may not be represented by Euler angles, and may be represented using another attitude representation method (eg, quaternion representation).

Moreover, it is not necessary to perform the stationary measurement process every time before obtaining the travel data 45 . For example, the conversion rule data 44 derived in the past is stored in the memory 22, and the position and orientation of the mobile terminal 20 with respect to the vehicle body 5 while the terminal holder 20 is maintained fixed to the vehicle body is used to derive the conversion rule data 44. If the behavior information is the same as when the conversion rule data 44 is used in the past, it is possible to estimate the behavior information. In this case, the static measurement process may be performed timely for the purpose of calibrating the conversion rule data 44 .

In addition, if the static measurement process is repeated a predetermined number of times or more and a measured value within an appropriate range cannot be obtained due to a large amount of variation, etc., a measurement abnormality may be displayed and the behavior estimation method may be terminated. .

As described above, according to the behavior information estimation method according to the present embodiment, the mobile terminal 20 attached to the motorcycle 2 is used to accurately acquire the behavior information of the motorcycle 2 according to the vehicle coordinate system B. be able to.

To explain in detail, when the motorcycle 2 is stationary, the gravitational force is only generated as acceleration (force). Therefore, the direction of gravity (gravitational vector) in the upright state of the motorcycle 2, that is, the direction of the vertical axis of the motorcycle 2 can be grasped based on the acceleration measurement value in the upright and stationary state. The tilted stationary state of the motorcycle 2 is a posture in which the motorcycle 2 is angularly displaced only about the front-rear axis, without being angularly displaced about the vertical axis and the lateral axis with respect to the upright stationary state. In other words, the direction of the longitudinal axis of the motorcycle 2 in the tilted stationary state is the same as the direction of the longitudinal axis of the motorcycle 2 in the upright stationary state. In addition, since the stand member 9 is used, in the tilted stationary state, the direction of tilting about the front-rear axis is known in advance as the side of the stand member 9 . From this, the orientation of the vertical axis of the motorcycle 2 in the upright stationary state, the orientation of the vertical axis of the motorcycle 2 in the inclined stationary state angularly displaced about the front-rear axis of the motorcycle 2, and the orientation of the vertical axis of the motorcycle 2 in the two stationary states. The orientation of the vehicle coordinate system B with respect to the sensor coordinate system S, that is, the direction of the front-rear axis of the motorcycle 2 and the direction of the left-right axis of the motorcycle 2 can be grasped by geometric calculation based on the direction of gravity. Thus, the rotation matrix R _bs for transforming the sensor coordinate system S to the vehicle coordinate system B can be calculated without the need for additional user manipulation or receipt of other information. Further, by obtaining the rotation matrix R _bs , it is possible to convert the acceleration measurement values in the running state of the motorcycle 2 into values according to the vehicle coordinate system B, and obtain the behavior information of the motorcycle 2 during running.

In addition, since the weight of the motorcycle 2 is supported by the bottom surface of the motorcycle 2 in an upright stationary state, the operator does not need to support the weight of the motorcycle 2 and can stably maintain the stationary state. In addition, in the tilted stationary state using the stand member 9, the user does not need to support the motorcycle 2, and the stationary state can be stably maintained. In this way, when acquiring the acceleration measurement value of the stationary state of the motorcycle 2, the user's burden is reduced, and the acceleration measurement value can be acquired while the motorcycle 2 is stably stationary, easily and accurately. Often behavioral information can be obtained.

Moreover, there are cases where the mounting position of the three-axis acceleration sensor 25 with respect to the motorcycle 2 is not determined in advance, and even if the mounting position is determined in advance, the position and attitude of the three-axis acceleration sensor 25 with respect to the vehicle body 5 may shift. or Even in such a case, the current position and orientation of the three-axis acceleration sensor 25 with respect to the vehicle body 5 can be accurately grasped through the static measurement value acquisition process, so behavior information can be obtained with high accuracy.

Even if the acceleration sensor 25 is retrofitted to the vehicle body 5, it is possible to accurately estimate the behavior information. This makes it possible to increase the number of models capable of estimating behavior information, thereby enhancing versatility. Also, behavior information can be estimated using a general-purpose device such as the mobile terminal 20 that the user already owns. This eliminates the need to prepare a new device for behavior information estimation. This makes it possible to acquire behavior information while suppressing an increase in cost.

Further, in the present embodiment, the conversion from the sensor coordinate system S to the vehicle coordinate system B can be realized using the CPU 21 (numerical processing unit) of the portable information terminal 20 by deriving the coordinate conversion rule. In addition, by storing the coordinate transformation rule in the memory 22, it is not necessary to go through the stationary measurement value acquisition step every time the vehicle is driven, and convenience can be improved.

Further, in the present embodiment, acceleration measurement values in the running state are converted based on a plurality of acceleration measurement values measured over a predetermined measurement time in the stationary measurement value acquisition process. Therefore, the influence of noise, vibration, and the like can be suppressed, and the estimation accuracy of behavior information can be improved, compared to the case based on a single acceleration measurement value.

In addition, in the present embodiment, when the degree of variation in the plurality of measured acceleration values measured over the above measurement time is greater than a predetermined set value, a plurality of newly measured acceleration values are not used as the measured acceleration value. get the value. As a result, it is possible to prevent a value exceeding the assumed range from being used as an acceleration measurement value, and to prevent behavior information from being estimated using an abnormal value.

In addition, in the present embodiment, since the acceleration measurement value measured after a predetermined waiting time has elapsed since the user instructed acquisition, the acceleration sensor 25 is attached to the vehicle body 5 and the operation for the user's acquisition instruction is performed. Influence of accompanying vibration can be suppressed, and the estimation accuracy of behavior information can be improved.

Further, in the present embodiment, since the upright measurement screen 50 and the tilt measurement screen 60 are displayed on the screen 24 to instruct the user that the motorcycle 2 should be in either the upright stationary state or the tilted stationary state, the user , the vehicle can be guided to operate in the state required for the measurements of the static measurement acquisition process, thereby facilitating the static measurement acquisition process.

Further, in this embodiment, a conversion rule for converting from the sensor coordinate system S to the vehicle coordinate system B is derived when fixing the mobile terminal 20 to the vehicle body 5 . As a result, the behavior information can be estimated even if the mobile terminal 20 is not in a predetermined position and posture with respect to the motorcycle 2 (specifically, the steering wheel 11). Therefore, it is possible to estimate the behavior information after attaching the portable terminal 20 to an arbitrary position on the vehicle body 5 according to the user's preference, driving posture, physique, and the like. While improving the convenience by this, estimation precision can be improved.

(Other embodiments)
The present invention is not limited to the embodiments described above, and various modifications are possible without departing from the gist of the present invention.

For example, in the behavior information estimation method described above, static tilt measurement (step S3 in FIG. 3) was performed after static static measurement (step S2 in FIG. 3). Not limited. For example, it is preferable to perform tilted stationary measurement before upright stationary measurement. As a result, the measurement can be performed in the order along the flow of the driving operation from the tilted stationary state using the stand member 9 to the upright stationary state straddling the vehicle by the driver, and the load for preparation can be further reduced. can be done. Further, for example, the interface control unit 31 may display a selection screen on the screen 29 from which the user can select which of the upright stationary measurement and the tilted stationary measurement is to be performed first.

Moreover, the mobile terminal 20 described above only needs to include the triaxial acceleration sensor 25, and is not limited to the configuration described in the above embodiment. For example, the mobile terminal 20 may not include the screen 24, or may include an input section and a display section separately. The mobile terminal 20 does not have to include the angular velocity sensor 26 or the position sensor 27 .

Further, in the above-described embodiment, the stand member 9 is used to perform the measurement by the acceleration sensor 25 while the motorcycle 2 is tilted and stationary in the stationary stationary measurement, but the present invention is not limited to this. For example, the tilted stationary state of the vehicle may be realized by the user tilting the vehicle without using the stand member, or by supporting the vehicle in the tilted state using another support. In this case, if the tilt angle α of the vehicle is within a predetermined range, such as −20° to −10°, sufficiently accurate behavior information can be obtained.

For example, the vehicle may be leaned against a wall or the like to be in an inclined state. The tilting state can be obtained by the same calculation formula as described above if the tilting direction is given to the program 41 in advance as information about the axis of interest among the three axes. For example, the acceleration may be measured by tilting the vehicle body about the left-right axis as the tilted stationary state. Specifically, a center stand may be used, and either the front wheels or the rear wheels may be placed at a higher position to achieve the tilted state. A sensor for detecting the tilt direction in which the vehicle body 5 is tilted may be provided on the vehicle body to detect the tilt direction.

In this embodiment, behavior information is estimated by the mobile terminal 20, but the present invention is not limited to this. In the present invention, the behavior information estimating device may be any computing device capable of acquiring acceleration measurement values in three axial directions in an upright stationary state and an inclined stationary state and estimating behavior information. For example, it is sufficient to be able to obtain acceleration information in each of the upright stationary state, the tilted stationary state, and the running state, and to be able to execute a program for deriving the conversion rule. Specifically, it may be realized by a vehicle arithmetic device provided in the vehicle, such as an engine control device or a meter control device. In this case, the vehicle arithmetic unit is provided so as to be able to communicate information with the portable terminal by wire or wirelessly. In addition, a server device provided separately from the vehicle may be used as the arithmetic device for estimating the behavior information. In this case, the server device is provided so as to be able to wirelessly communicate information with the portable terminal via a public line or the like.

The vehicle computing device or the server device acquires the acceleration measurement value in each state as information and executes the operation according to the derivation program, thereby estimating the acceleration information in the vehicle coordinates from the measurement value of the portable terminal. In this embodiment, the mobile terminal 20 stores the measured acceleration values in each state. Acceleration measurements may be stored.

The present invention also includes a behavior information estimation program for the mobile terminal to function as a behavior information estimation device. The behavior information estimation program may be stored in a recordable medium such as a USB memory or CD-ROM. Although the behavior information estimation program is downloaded via a public line, it may be stored in the mobile terminal via a recordable medium such as a USB memory or CD-ROM. Further, the behavior information estimation program may be stored in advance in the vehicle arithmetic device and the server device as described above.

Further, in this embodiment, the three-axis acceleration sensor 25 mounted on the mobile terminal 20 is implemented, but the present invention is not limited to this. For example, the acceleration sensor may be a device, such as a telephone or a network connection, that does not have a communication function to a public line, specifically a dedicated component that is fixed to the vehicle body and capable of measuring acceleration in three axial directions of the vehicle body. Even in this case, according to the present invention, it is possible to appropriately estimate the behavior information even if the mounting position of the acceleration sensor varies due to manufacturing or if the mounting position differs depending on the vehicle type. It is possible to improve accuracy and share a derivation program. If no screen is provided as the acceleration sensor, the user may be prompted to operate a display device provided in the vehicle, such as an instrument meter, during the stationary process.

Further, in this embodiment, the mobile terminal 20 is provided with the acceleration sensor 25 and the angular velocity sensor 26, but instead of the respective sensors 25 and 26, the three-axis acceleration and part of the angular velocity around the three axes are The three-axis acceleration sensor of the present invention can also be used in the case of outputting by calculation based on the acquired information. For example, a three-axis acceleration sensor may detect two-axis acceleration and geometrically calculate the remaining one-axis acceleration.

Moreover, in this embodiment, the terminal holder 11 is attached to the handle 10 . The mounting position of the terminal holder 11 of the present invention on the vehicle body 5 is not limited to the handle 10 . For example, it may be attached to a part of the vehicle body frame so as to maintain a constant posture with respect to the vehicle body regardless of the steering operation. For example, it may be fixed to the instrument panel, or may be fixed to the head pipe peripheral member. Alternatively, the terminal holder 11 may be provided in a housing portion formed in the vehicle body 5 . For example, it may be provided in an accommodating portion in which a space for storing small articles is formed. For example, the accommodation portion may be formed under the seat or inside the cowl. In other words, it also includes the case where it is arranged at a position where the driver cannot visually recognize it while driving. By holding the mobile terminal 20 in this manner, the terminal holder only needs to keep the position and attitude of the mobile terminal constant with respect to the vehicle body, and the position can be arbitrarily set.

The present invention is applicable to lean vehicles that can travel in an angularly displaced tilt about a front-to-rear axis. For example, the present invention can be applied to a scooter type vehicle in which feet are placed on a step in front of the seat, in addition to a straddle type vehicle that is operated while straddling a seat. In addition to engine-driven vehicles, it should be applicable to electric vehicles and hybrid vehicles based on multiple amounts of motion. The present invention can also be applied to vehicles other than two-wheeled vehicles, such as vehicles having three or more wheels. Moreover, it may be a bicycle in which part or all of the driving force is provided by human power, or a small planing boat.

Reference Signs List 1: behavior information estimation system 2: motorcycle 5: vehicle body 9: stand member 10: steering wheel 11: terminal holder 20: mobile terminal 21: CPU (processing device)
22: Memory 23: Wireless communication device 24: Screen (display device)
25: Acceleration sensor (three-axis acceleration sensor)
26: Angular velocity sensor 32: Measured value storage unit (still measured value acquisition unit)
35 : Behavior estimation unit 41 : Behavior information estimation program 42 : Upright stationary data 43 : Tilted stationary data 44 : Conversion rule data 45 : Travel data 46 : Converted data

Claims (10)

A behavior information estimation method for estimating behavior information of a vehicle using a three-axis acceleration sensor attached to a vehicle capable of traveling in an inclined state and having a stand member for allowing the vehicle to stand still in an inclined state. hand,
Stationary state in which acceleration measurement values are acquired by the three-axis acceleration sensor in two states: an upright stationary state in which the vehicle stands still and an inclined stationary state in which the vehicle is inclined and stationary using the stand member. a measurement value acquisition step;
Based on the acceleration measurements in the upright stationary state and the tilted stationary state, the acceleration measurements of the three-axis acceleration sensor in the running state of the vehicle are adjusted to values according to a vehicle coordinate system predefined for the vehicle. and a behavior estimation step of transforming and estimating the behavior information. the vehicle coordinate system comprises a front-rear axis, a left-right axis and a vertical axis of the vehicle that are orthogonal to each other;
A sensor coordinate system consisting of a first sensor axis, a second sensor axis, and a third sensor axis, which are orthogonal to each other, is defined in advance for the three-axis acceleration sensor. Measure the acceleration in each axial direction,
The behavior estimation step includes:
a transformation rule derivation step of deriving and storing a coordinate transformation rule for transforming the sensor coordinate system into the vehicle coordinate system based on the acceleration measurement value measured in the stationary measurement value acquisition step;
2. The method of estimating behavior information according to claim 1, further comprising a transforming step of transforming the acceleration measurement values of said three-axis acceleration sensor in the running state of said vehicle into values according to said vehicle coordinate system based on said coordinate transformation rule. . In the stationary measurement value acquisition step, a plurality of acceleration measurement values measured over a predetermined measurement time are acquired in each of the upright stationary state and the tilted stationary state,
In the behavior estimating step, based on the plurality of acceleration measurement values in each of the upright stationary state and the tilted stationary state, the acceleration measurement values of the three-axis acceleration sensor in the running state of the vehicle are converted to values according to the vehicle coordinate system. 3. The method for estimating behavior information according to claim 1 or 2, wherein the method is converted into In the static measurement value acquisition step, when the degree of variation in the plurality of acceleration measurement values measured over the measurement time is greater than a predetermined set value, a plurality of acceleration measurement values newly measured over the predetermined measurement time are obtained. 4. The behavior information estimation method according to claim 3, wherein the behavior information is acquired. The stationary measured value acquisition step includes a notification step of reporting completion of acquisition of the acceleration measured value when acquisition of the acceleration measured value in each of the upright stationary state and the tilted stationary state is completed. Behavior information estimation method according to any one of 1 to 4. 6. The method according to any one of claims 1 to 5, wherein in the static measurement value obtaining step, the three-axis acceleration sensor measurement values are obtained after a predetermined waiting time has passed since an operator gave an instruction to obtain the measurement value. Behavioral information estimation method. 3. The step of acquiring the static measurement value includes an instruction step of displaying a display screen on a display device for instructing an operator to take the vehicle in one of the upright static state and the tilted static state. Behavior information estimation method according to any one of 1 to 6. A sensor coordinate system consisting of a sensor first axis, a sensor second axis, and a sensor third axis that are orthogonal to each other is defined in advance in the three-axis acceleration sensor,
The three-axis acceleration sensor measures acceleration in each direction of the sensor first axis, the sensor second axis, and the sensor third axis in the sensor coordinate system, and Behavior information estimation method according to any one of the preceding claims, arranged to measure angular velocity about each of an axis and said sensor third axis. The behavior information estimation according to any one of claims 1 to 8, wherein the 3-axis acceleration sensor is detachable from the vehicle so that at least one of posture and position can be selected by the wearer. Method. A behavior information estimation program for estimating behavior information of a vehicle using a triaxial acceleration sensor attached to a vehicle capable of running in an inclined state,
the computer,
a stationary measurement value acquisition unit that acquires acceleration measurement values from the three-axis acceleration sensor in two states: an upright stationary state in which the vehicle stands still and an inclined stationary state in which the vehicle remains tilted;
A behavior information estimation program that functions as a behavior estimation unit that estimates an acceleration measurement value according to a vehicle coordinate system predefined for the vehicle based on the acceleration measurement values in the upright stationary state and the tilted stationary state.

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