WO2005038746A1 - 自動二輪車用の走行支援方法および走行支援システム - Google Patents
自動二輪車用の走行支援方法および走行支援システム Download PDFInfo
- Publication number
- WO2005038746A1 WO2005038746A1 PCT/JP2004/014654 JP2004014654W WO2005038746A1 WO 2005038746 A1 WO2005038746 A1 WO 2005038746A1 JP 2004014654 W JP2004014654 W JP 2004014654W WO 2005038746 A1 WO2005038746 A1 WO 2005038746A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motorcycle
- traveling
- rider
- curve
- value
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096861—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where the immediate route instructions are output to the driver, e.g. arrow signs for next turn
-
- 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
- B62J45/415—Inclination sensors
- B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
Definitions
- the present invention relates to a driving support method for a motorcycle.
- the present invention also relates to a driving support system for a motorcycle and a motorcycle provided with the system.
- Patent Document 1 JP-A-2002-140800
- the present invention has been made in view of various points to be solved, and a main object of the present invention is to provide an automatic driving system capable of providing appropriate driving support to both skilled and inexperienced riders. It is an object of the present invention to provide a driving support method for a motorcycle, and in particular, to provide a driving support method for a motorcycle capable of notifying an appropriate bank angle for the driving support of the motorcycle. Another object of the present invention is to provide a driving support system for a motorcycle suitable for realizing such a driving support method, and a motorcycle provided with the system.
- a motorcycle driving support method is a method for supporting driving using motorcycle driving information.
- the traveling condition of the curve is determined.
- a driving appropriate value which is calculated based on driving information recorded in advance as the driving condition of the curve and can be changed according to the skill level of the rider, and an actual driving condition.
- This is a driving support method for a motorcycle, in which a result of comparison with the value of (i) is notified to the rider.
- the traveling condition of the curve is displayed and notified on an image display unit.
- the traveling condition of the curve is notified to the rider by voice.
- the traveling condition of the curve notified to the rider includes a maximum appropriate vehicle speed and a maximum appropriate bank angle! /
- the maximum appropriate bank angle is notified separately from a left bank angle and a right bank angle. Is preferred.
- a warning is issued to the rider when the motorcycle exceeds a proper traveling value when the motorcycle travels on a predetermined curve.
- the appropriate traveling value is an appropriate traveling vehicle speed
- the appropriate traveling value is a curve depth data, a tire pressure data, a downward slope data, and a temperature. Corrected by at least one of the data.
- the running condition of the curve notified to the rider is the comparison result for acceleration / deceleration points.
- the travel data is recorded and the appropriate travel value is updated.
- the method further includes a step.
- the motorcycle driving support method is executed separately for different riders.
- the distinction for each different rider is distinguished between a case where the first rider is alone and a case where the first rider is traveling by two. .
- the traveling support system for a motorcycle is a system for supporting the traveling of the motorcycle, and includes actual value measuring means for measuring a value of an actual traveling state, and traveling information recorded in advance.
- a calculating means for calculating a running condition of a curve based on the actual running state value and a notifying means for notifying a rider of the running condition of the curve when the motorcycle runs on a predetermined curve.
- Condition setting means for changing running conditions of the drive according to the skill level of the rider!
- the notifying means is at least one of an image display device and an audio transmitter / receiver.
- Another traveling support system for a motorcycle is a system for supporting traveling of the motorcycle, and measures a vehicle speed sensor for measuring a speed of the motorcycle and a rate of the motorcycle.
- Driving appropriate value data which is calculated based on the set traveling information and can be changed according to the skill level of the rider is stored, and the control device has a setting change switch for changing the traveling appropriate value data. Connected, the control device has a function of displaying the travel appropriate value data on the image display device.
- the coordinate specifying device includes a GPS (Global Positioning).
- a GPS receiver that receives signals.
- control device has a function of comparing the vehicle speed measured by the vehicle speed sensor with the traveling appropriate value data when the motorcycle runs on a curve. And a function of notifying the image display device of a warning when the vehicle speed exceeds the appropriate traveling value data.
- control device has a function of updating the vehicle speed when the vehicle speed exceeds the appropriate traveling value data as new appropriate traveling value data. are doing.
- an audio transceiver is connected to the control device, and the control device has a function of notifying a rider of the warning via the audio transceiver. ing.
- an external storage device capable of storing information including the traveling appropriate data can be connected.
- the motorcycle of the present invention is a motorcycle including the above-described motorcycle driving support system.
- the motorcycle traveling information display system includes a sensor for detecting a traveling state of the vehicle body; a left and right bank angle, an acceleration / deceleration value, a vehicle speed, and a vehicle acceleration based on the sensor output.
- Data processing means for obtaining data relating to a traveling characteristic value comprising at least one of the deceleration points, sequentially recording values of the data at predetermined time intervals, and accumulating a history of the data; and
- display processing means for executing information processing for displaying the traveling characteristic value on the display means based on the traveling result of the vehicle body.
- the traveling result is a traveling route on which the vehicle body travels or a curve curvature of the traveling route on which the vehicle body travels.
- the display processing means is configured to display the travel characteristic value along the travel route.
- the display processing means is configured to display the travel route overlapping map data.
- the display processing means is configured to be able to display the traveling characteristic value on a display means adjacent to a traveling characteristic value for comparison.
- the comparative traveling characteristic value is configured to be able to be stored in a storage area of the display processing unit via an external database via a communication unit.
- the comparative driving characteristic value is a standard value, a past driving limit value of the same driver, or a driving limit value of another driver.
- the data processing means is configured to obtain a coordinate data force traveling path corresponding to a traveling locus of the vehicle body.
- the coordinate data is obtained from a GPS.
- the information display system for a motorcycle includes processing means for transmitting information to a rider of the motorcycle, and display means for displaying a processing result.
- the bank angle is a limit bank angle depending on the driving ability of the rider.
- the memory map includes a memory area of a bank angle with respect to a curve curvature of the traveling road!
- the memory map includes a memory area of a bank angle for the coordinate data of the traveling road!
- the information transmission processing means includes a current bank angle of the vehicle body and a memory.
- the corresponding bank angle on the map is compared, and based on the comparison result, the corresponding bank angle is updated and stored with the latest bank angle.
- the information transmission processing means determines the corresponding bank angle on the memory map. It is not updated or updated in the range equal to or less than the physical bank value.
- the information transmission processing means performs a warning display on the display means when the latest bank angle is near the limit bank angle.
- the limit bank angle is corrected by at least one of a road surface condition, a weather condition, and a driver's request.
- the limit bank angle is set by in-vehicle map data.
- the limit bank angle is set from an external database to the information transmission processing unit via a communication unit.
- the correction parameter can be set in the information transmission processing means by a vehicle-mounted switch.
- the correction parameter is set in the database, and can be set in the information transmission processing unit via the communication unit.
- the memory map is configured to be able to be set in the database via communication means.
- a maximum vehicle speed for the traveling road is set in the memory map.
- a limit bank angle is set in the memory map for each corner of a traveling path on which the vehicle body travels.
- the motorcycle information display system includes information transmission processing means to a driver of the motorcycle, and display means for displaying a processing result, and the information transmission processing means Is used to sequentially store the output information from the on-vehicle sensors in the memory, and, based on this stored value and the position information of the vehicle body, determine the travel limit value for the travel route on which the vehicle body traveled
- the memory map is formed, and based on the map data, the driving limit value for the driving route is displayed on the display means to the rider.
- the travel limit value is updated and stored with the measured value.
- the travel limit value for the travel route is stored for each travel route.
- the travel limit value for the travel route is stored for each rider.
- the travel limit value includes at least one of the maximum values of a vehicle speed, a bank angle, a deceleration, and an acceleration on a curved road.
- a plurality of travel limit values for the same travel route in the memory map are stored.
- the information transmission processing means has a function of editing storage data of the memory map.
- the storage data of the memory map is configured to be editable by an information processing device outside the vehicle.
- a means for editing a plurality of stored data for the same traveling route and setting an optimum value is provided.
- the bank angle is continuously stored in the memory at predetermined intervals, and the stored value of the bank angle is driven.
- Determine the skill level determine the bank angle for each driving skill level, determine the curve radius, bank angle, and bank limit force of the vehicle.Determine the limit vehicle speed for each skill level, and decelerate the running vehicle before entering the curve to the limit vehicle speed. If not, a warning is issued to the rider.
- the limit vehicle speed value is corrected based on at least one of a feature of a traveling road, a state of a vehicle body, and a road surface state.
- the state of the vehicle body includes air pressure of wheels.
- the motorcycle information display system includes processing means for transmitting information to a driver of the motorcycle, and display means for displaying a processing result.
- the notification transmission processing means includes a memory map for storing a travel limit value of the travel path of the vehicle body.
- the travel limit value is a limit bank angle.
- the state of the vehicle body includes an air pressure of a wheel.
- the information display system for a motorcycle includes processing means for transmitting information to a driver of the motorcycle, and display means for displaying a processing result. Continuously obtains the operating state of the vehicle body on the travel path, obtains the maximum vehicle body operation characteristic on the travel path, and sets this as a limit travel value to form a memory map in correspondence with the travel path.
- the travel limit value is a limit bank angle or a limit vehicle speed.
- the motorcycle information display system includes processing means for transmitting information to a rider of the motorcycle, and display means for displaying a processing result, and the information transmission processing means. Is a step of reading parameters and a step of reading the rider's travel limit value to an external memory medium.If the measured value exceeds the travel limit value, rewrite the travel limit value with the measured value and register this in the external memory. Performing the steps of:
- the information display system for a motorcycle includes processing means for transmitting information to a rider of the motorcycle, and display means for displaying a processing result.
- the first step is to read the parameters and the second step is to read the rider's travel limit value from external memory.If the measured value exceeds the travel limit value, the travel limit value is rewritten with the measured value and And a third step of registering in the memory.
- the information transmission processing means is configured to read a limit vehicle speed value of a corner from the external memory, and execute the third step when an actual measurement value is equal to or higher than the limit vehicle speed value.
- the motorcycle information display system includes processing means for transmitting information to a rider of the motorcycle, and display means for displaying a processing result. Is the memory of the rider's critical bank angle for the corner of the line The map is read from an external memory, a limit vehicle speed is obtained based on the limit bank angle, the limit vehicle speed value is compared with an actually measured vehicle speed value, and the comparison result is displayed on the display means. I have.
- the program according to the embodiment of the present invention is a program for causing a vehicle-mounted microcomputer for controlling a motorcycle to execute each of the above means.
- the storage medium according to the embodiment of the present invention is a storage medium storing the above-mentioned program.
- the traveling condition of the curve is notified to the rider and recorded as the traveling condition of the curve in advance. It is calculated based on the driving information that has been set, and notifies the rider of the result of comparison between the appropriate driving value that can be changed according to the rider's skill level and the value of the actual driving state. Even riders can provide appropriate driving support. If the running conditions of the curve to be notified to the rider include the maximum appropriate vehicle speed and the maximum appropriate bank angle, the appropriate bank for the motorcycle driving support is selected according to the skill level of the rider. It is possible to notify the corner.
- FIG. 1 is a flowchart illustrating a driving support method according to an embodiment of the present invention.
- FIG. 2 is a diagram (table) in which various traveling appropriate values are assigned to each group of curve curvature.
- FIG. 3 is a diagram (table) in which various traveling appropriate values are assigned to each group of curve curvature.
- FIG. 4 is a block diagram showing a driving support system 100 for a motorcycle according to an embodiment of the present invention.
- FIG. 5 is a block diagram showing a driving support system 100 for a motorcycle according to an embodiment of the present invention.
- FIG. 6 (a) and (b) are diagrams for explaining a method of calculating a bank angle ⁇ .
- FIG. 7 is a side view schematically showing a motorcycle 200 provided with a motorcycle driving support system according to an embodiment of the present invention.
- FIG. 8 is a block diagram showing a driving support system 100 for a motorcycle.
- FIG. 9 is a block diagram showing a driving support system 100 for a motorcycle.
- FIG. 10 is a block diagram showing a driving support system 100 for a motorcycle.
- FIG. 11 is a diagram for explaining a step of creating a traveling map 110 including a traveling route 114 of the motorcycle.
- FIG. 12 is a diagram for explaining a process of calculating a curve curvature 118 of a traveling route from a traveling map 110.
- FIG. 13 is a diagram showing a display example of integrated data such as bank angle data and acceleration data.
- FIG. 14 is a diagram showing a display example in which a camera window 66 and a map information window 111 are combined.
- FIG. 15 is a diagram showing a display example in which data including image data 66 during traveling is notified as a comparison result.
- FIG. 16 This is a structural view of a monitor around a monitor seen from a rider's side.
- FIG. 17 (a) is a front view showing a configuration of a display 216, and (b) is a side sectional view thereof.
- FIG. 18 is a perspective view showing the configuration of a display 216 and its surroundings.
- FIG. 19 is a diagram in which left and right bank angle values are continuously displayed in a manner superimposed on an image of a track of a traveling road.
- FIG. 20 is a diagram displaying an image in which the vehicle speed is imposed on the traveling locus of the vehicle body.
- FIG. 21 is a screen example showing running characteristic values during running of a course.
- FIG. 22 is an example of a screen showing running characteristic values during running on a course.
- FIG. 23 is a diagram for explaining setting of various parameters when displaying data.
- FIG. 24 is a flowchart illustrating a flow including a driving support method for a motorcycle according to an embodiment of the present invention.
- FIG. 25 is a flowchart for describing a flow including a driving support method for a motorcycle according to an embodiment of the present invention.
- FIG. 26 is a flowchart for explaining a flow including a driving support method for a motorcycle according to an embodiment of the present invention.
- Driving support system Map information window Coordinate data Acquisition number Driving route Azimuth mark Wind bar Own vehicle position Curve curvature GPS receiver motorcycle Front wheel
- the inventor of the present application does not simply provide a warning based on the size of the bank angle but provides an appropriate bank angle according to the skill of the rider in order to perform appropriate driving support of the motorcycle.
- the inventor has come to realize that knowledge has a great technical significance, and has led to the present invention.
- FIG. 1 is a flowchart for explaining the driving support method of the present embodiment.
- the traveling support method for a motorcycle includes a step of notifying a rider of a traveling condition of a curve when the motorcycle travels on a predetermined curve. As a result, the rider is notified of the result of comparison between the appropriate traveling value and the value of the actual traveling state (actual value).
- the appropriate driving value is a value calculated based on driving information recorded in advance, and the appropriate value can be changed according to the skill level of the rider.
- the comparison between the appropriate traveling value and the actual value is performed.
- the rider is notified of the driving condition of the curve that results in the power (S20).
- the running conditions of the curve are displayed on the image display unit mounted on the motorcycle and notified to the rider.
- the running condition of the curve can be notified to the rider by voice, and both the notification by the display on the image display unit and the notification by voice can be adopted.
- the traveling condition of the curve notified to the rider includes the maximum appropriate vehicle speed and the maximum appropriate bank angle.
- the maximum appropriate vehicle speed is the largest appropriate vehicle speed at the curve, and the maximum appropriate vehicle speed is calculated based on driving information recorded in advance.
- the maximum appropriate bank angle is an appropriate bank angle having the largest angle on the curve, and is also calculated based on traveling information recorded in advance. Further, in the present embodiment, the actual vehicle speed and the actual bank angle are displayed together with the maximum appropriate vehicle speed and the maximum appropriate bank to notify the rider.
- the appropriate vehicle speed (maximum appropriate vehicle speed) or the appropriate bank angle (maximum appropriate bank angle) at the curve does not correspond to the curve obtained by dividing the curve curvature (R) for each lm. Also, it is sufficient to report the appropriate vehicle speed or the appropriate bank angle corresponding to a curve having a curve curvature within a predetermined range (for example, less than R50m, more than R50m and less than R100m). And often appropriate. Riders do not recognize the size of a curve as finely as the curvature lm, but they capture it with a large frame such as a sharp curve or a shallow curve, and it is enough to correspond to it And it is appropriate.
- the maximum appropriate bank angle is notified separately for the left bank angle and the right bank angle. This is because, depending on the rider's habit and skill, there is a tendency to be good at the right curve or weak at the left curve, so it is preferable to notify the left bank angle and the right bank angle separately. It is. However, the maximum appropriate vehicle speed and the maximum appropriate bank angle for a given curve show a certain tendency for both the left and right curves, so even if the left and right curves are not specially divided, appropriate motorcycle driving support It can be performed
- the traveling appropriate value and the actual value (the actual traveling state Since the result of the comparison with the rider is notified to the rider, appropriate ride support can be provided to both skilled and inexperienced riders.
- the traveling appropriate value notified in comparison with the actual value is a value calculated based on traveling information recorded in advance, and reflects characteristics such as the skill of the rider. Therefore, when the standard setting is notified to the rider, the setting becomes loose for a skilled rider and can be prevented from becoming a setting that makes traveling difficult for a rider without skill. Furthermore, the appropriate running value can be changed according to the skill level of the rider, so that even if the same rider continues to use the same motorcycle, if the rider's skill level increases, It can continue to provide appropriate driving values that follow. Also, if the progress of the appropriate driving value is recorded, it is possible to realize a driving support method that also has a role as a guideline for improving the driving skills of riders.
- a warning is issued to the rider if the motorcycle exceeds a proper traveling value (for example, a maximum proper vehicle speed, a maximum proper bank angle) when the motorcycle travels on a predetermined curve (S30).
- the warning to the rider may be a notification by display on the image display unit or a notification by sound. In addition, both can be adopted. This warning informs the rider that the rider is exceeding his or her skill and is therefore a motorcycle driving aid.
- the traveling appropriate value is updated (S40).
- running beyond the appropriate running value means that high-level cornering that could not be achieved with the existing skills was properly performed, so the running appropriate value was updated based on the new skills. And set it again.
- a step of notifying that the update (S40) has been performed may be executed. For example, a notification such as a change in the color of the screen background for a second or a notification such as a sound or a chime may be made.
- the rider (user) power can change the driving appropriate value as needed.
- the largest point in the cornering of the curve is the maximum vehicle speed in a curve having a certain curve curvature (for example, R50m). It is also preferable to set the appropriate traveling speed (maximum appropriate vehicle speed) and issue a warning to the rider if the vehicle speed exceeds that (S30).
- the appropriate running value can change depending on the curve depth, tire pressure, downhill slope, and temperature (freezing state), make corrections to more realistic ones in consideration of such parameters. Is preferred.
- Steps S10-S20 or steps S10-S30 or S40 shown in Fig. 1 can be separately executed for different riders.
- the first rider can be executed separately from the case where the first rider is traveling with two persons. In some cases, it may be performed separately for each road surface (dry, wet, etc.).
- Fig. 2 shows that the curve curvature (R) of a predetermined curve is classified into a plurality of groups, and various travel appropriate values (vehicle speed V, bank angle ⁇ , deceleration a1, It is an example of a table to which accelerations a2) are sorted. Various driving appropriate values are based on data on actual driving. Note that in the example shown in FIG. 2, the curve curvature is divided into groups of 50 m units.
- the groups of curve curvatures in Fig. 2 are: ⁇ R50 (less than R50m), ⁇ R100 (more than R50m and less than R100m), kuR150 (more than R100m and less than R150m), kuR200 (more than R150m and less than R2OOm), ⁇ R300 (R200m or more and less than R300m) and R300 ⁇ (R300m or more).
- ⁇ R50 less than R50m
- ⁇ R100 more than R50m and less than R100m
- kuR150 more than R100m and less than R150m
- kuR200 more than R150m and less than R2OOm
- ⁇ R300 R200m or more and less than R300m
- R300 ⁇ R300m or more
- the largest bank angle ⁇ is displayed in each curvature group. From this data, it is possible to grasp how large a bank can be banked in a curve of a predetermined curvature (that is, the maximum appropriate bank angle). Further, in addition to the bank angle ⁇ , the table shown in FIG. 2 also describes the vehicle speed (V), deceleration (Hi1), and acceleration (oc2) of the motorcycle. Also for these items, the one having the largest value in each curvature group (for example, the maximum appropriate vehicle speed) is displayed.
- V vehicle speed
- Hi1 deceleration
- oc2 acceleration
- the reason for dividing into groups every 50 m is as follows. First, it is empirically known that, due to the discriminating ability of the rider, it is impossible to judge the difference even if the curvature of the curve is examined in detail. Considering that the classification of about 50m was considered appropriate. Also, even if the road width is assumed to be 3.5 m, the actual curvature will be wide depending on the way, and the course is taken at the depth of the power tube, 40 ° (40 °), 90 ° (90 °). Degree), 135 ° (135 °), etc. In addition, considering multi-step curves, etc., is it sufficient to grasp rough trends and compare them? There is also a reason.
- the notification of the comparison result (S20) can be performed by indicating the appropriate traveling value (for example, the maximum appropriate vehicle speed) and the actual value (for example, the actual vehicle speed) together with the image display unit, When the actual value (for example, the actual vehicle speed) exceeds the appropriate traveling value (for example, the maximum appropriate vehicle speed), the display (numerical value, etc.) is made to flash to notify the rider, and the comparison result notification (S20) is made.
- the warning (S30) can be executed at the same time.
- a method of actively using a sound notification for the warning (S30) and a method of actively using a screen display for the comparison result notification (S20) may be used.
- a voice warning the sound quality is changed by using different voice types, and the degree of warning and the alertness of the warning are improved.
- traveling appropriate values such as a bank angle and a vehicle speed (eg, a maximum appropriate bank angle and a maximum appropriate vehicle speed) can be separately processed for different road surfaces, and are shown in FIG.
- road surface A and road surface B can be processed separately.
- road A can be dry and road B can be wet.
- the road surface can be further classified into finer distinctions, for example, asfanoreto, dirt, rainy road, snowy road, and frozen road.
- the recording and processing can be performed separately for each different rider.
- rider 1 and rider 2 are separately recorded and processed.
- the rider 1 and the rider 2 may be the same rider driving a motorcycle, which is typically a different person, or may be stored separately from the rider 1 and the rider 2.
- recording and processing can be performed separately for a case where the rider is alone and a case where the rider is traveling with two riders.
- FIG. 4 is a block diagram showing the configuration of a motorcycle driving support system 100 of the present embodiment.
- the motorcycle driving support system 100 shown in Fig. 4 includes an actual value measuring means 12 for measuring a value of an actual traveling state (actual value) of the motorcycle, and the actual value is recorded in advance.
- Calculating means 10 for calculating the running condition of the curve based on the running information, a notifying means 14 for notifying the rider of the running condition of the curve when the motorcycle runs on a predetermined curve, and Condition setting means 16 for changing the running conditions of the curve at the same time.
- the calculating means 10 is connected to the storing means 18, and the storing means 18 stores actual value data and traveling information data, data calculated by the calculating means 10, and the like.
- the condition setting means 16 is composed of, for example, an input device such as a touch panel, and is connected to the arithmetic means 10 so that a condition setting operation and a condition changing operation can be performed.
- the notification means 14 is at least one of an image display device and an audio transceiver, and is connected to the arithmetic means 10.
- the arithmetic means 10 also includes a control device (for example, a microprocessor unit) power, and can execute a process (S20) of notifying the rider of the curve traveling condition via the notifying means 14. . It is also possible to perform a process (S30) to warn the rider via the notification means 14 based on the actual measurement value from the actual value measurement means 12, so that the force! In addition, the driving information (especially, the driving appropriate value) can be updated (S40).
- a control device for example, a microprocessor unit
- the driving support system 100 for a motorcycle shown in FIG. 4 can be constructed, for example, as shown in FIG.
- the driving support system 100 for a motorcycle shown in FIG. 5 includes a vehicle speed sensor 22 for measuring the speed of the motorcycle, a rate sensor 23 for measuring the rate of the motorcycle, and coordinate identification for acquiring the coordinate data of the motorcycle.
- the system includes a device (for example, a GPS device) 25 and a control device 20 connected to the vehicle speed sensor 22, the yaw rate sensor 23, and the coordinate specifying device 25.
- the control device 20 is connected to a storage device (memory) 28 for storing data, and is also connected to an image display device (for example, a liquid crystal display, an organic EL display) 24 for displaying an image.
- the storage device 28 stores appropriate traveling value data (for example, the table in FIG. 2 or FIG. 3) that is calculated based on traveling information recorded in advance and can be changed in accordance with the skill level of the rider. Is stored.
- the control device 20 is connected to a setting change switch 26 for changing the appropriate travel value data.
- the control device 20 has a function of displaying the appropriate travel value data on the image display device 24.
- control device 20 corresponds to the calculating means 10
- vehicle speed sensor 22 and the yorate sensor 23 correspond to the actual value measuring means 12. It is also possible to use other sensors such as an acceleration sensor as the actual value measuring means 12.
- image display device 24 corresponds to the notifying means 14, and the setting change switch 26 corresponds to the condition setting means 16.
- Mgtan ⁇ MV 2 / R (V is vehicle speed, R is turning radius) ⁇ ⁇ ⁇ (1)
- the bank angle ⁇ can be automatically obtained from the values of the vehicle speed V of the vehicle 200 and the yaw rate ⁇ using Expression (3).
- the vehicle speed V and the yaw rate ⁇ are obtained from the vehicle speed sensor 22 and the yaw rate sensor 23, and are calculated by the control device 20 to obtain the bank angle Q.
- the coordinate identifying device 25 is provided in the motorcycle driving support system 100 shown in FIG. 5, it is possible to identify the position of the own vehicle by coordinates.
- the specification of the coordinates is executed by obtaining the position data of the own vehicle using a GPS (Global Positioning System).
- GPS Global Positioning System
- Guard Triangulation from stars is the basis of the system, and more than four satellites are required to determine the exact position.
- the function of the navigation system can be added to the driving support system 100.
- the vehicle angle V and the turning radius R of the vehicle 200 can be obtained from the equation (1) without using the equation (3).
- the turning radius R can be obtained from the map data by the navigation system.
- the coordinate identifying device 25 is a coordinate identifying device for acquiring force coordinate data, which is preferable and convenient to use a GPS receiver that receives a GPS signal in consideration of the environment of the infrastructure.
- a GPS receiver that receives a GPS signal in consideration of the environment of the infrastructure.
- other things can be used. For example, if the infrastructure is in place, the coordinate position can be specified using a receiver for mobile phone communication, wireless LAN communication, and road-to-vehicle communication.
- the image recognition device as the coordinate specifying device 25 by taking the heat.
- a course or a point can be identified by a white line or a surrounding building, and the coordinates can be specified by the identification. If there is a signboard or a sign serving as a base point, the identification is further facilitated.
- the start position can be confirmed on a single road, the position on the map can be roughly specified by the integration calculation. In addition, you can easily estimate where you are in the corner from the yore rate.
- the rider inputs the base point position using a switch to specify the coordinate position.
- FIG. 7 is a diagram schematically illustrating an example of a motorcycle 200 including the motorcycle driving support system 100 of the present embodiment.
- FIG. 8 is a diagram illustrating the motorcycle driving support system 100 of the present embodiment.
- FIG. 4 is a block diagram showing an example of the above.
- the motorcycle 200 shown in Fig. 7 is a starter-type motorcycle, and includes a front wheel 202, a rear wheel 203, a handle 204, a screen 205, a unit swing engine 206 as a drive source, and a seat 207. It is composed of! On top of the sheet 207 The rider wearing is sitting.
- a starter-type motorcycle is exemplified as the motorcycle 200, but is not limited to a starter-type motorcycle, and may be another motorcycle.
- “motorcycle” means a motorcycle, and specifically refers to a vehicle that can turn by tilting the vehicle body.
- the front wheels and the rear wheels is two or more wheels and the number of tires is counted as a tricycle or a four-wheeler (or more), it can be included in "motorcycle", and the bank It is possible to measure and calculate the angle ⁇ .
- the motorcycle 200 includes an electronic control unit (ECU) serving as a control unit (the arithmetic means 10 in Fig. 4 and the control device 20 in Fig. 5) of the motorcycle driving support system 100 of the present embodiment. 120 and a GPS receiver 122 that is a coordinate specifying device 25 is provided.
- ECU electronice control unit
- the motorcycle 200 has an antenna 209 and a DSRC (Dedicated Short-Range).
- DSRC Dedicated Short-Range
- An antenna 210 An antenna 210, a detector 212, a DSRC receiver 213, an audio / video circuit 215, a display device 216, and a transmitter 217 are also provided.
- Antenna 209 receives a signal from roadside marker 218 installed on the road, and is electrically connected to DSRC receiver 213 via detector 212 installed at the rear of the vehicle body. .
- the DSRC antenna 210 receives a signal from the DSRC roadside antenna 219 installed on a telephone pole or the like, and is connected to the DSRC receiver 213.
- the DSRC receiver 213 and the GPS receiver 122 are electrically connected to the ECU 120.
- the operation of the control unit of the driving assistance system 100 for a motorcycle according to the present embodiment can be performed by the ECU 120.
- the ECU 120 is also connected to an audio / video circuit 215 installed at the front of the vehicle body.
- the ECU 120 includes an on-board sensor that detects the running state of the motorcycle 200 (for example, a rotation sensor that detects the engine speed, a throttle opening sensor that detects the opening of the throttle valve, and an opening of the brake lever).
- a brake sensor to be detected, a yaw rate sensor to detect the inclination angle of the vehicle body, etc.) and an in-vehicle navigation device 220 are connected.
- the audio / video circuit 215 is connected to a display device 216 arranged at the front of the vehicle body together with various meters, and a transmitter 217 arranged at the front of the vehicle body.
- Helmet 208 includes an audio receiver 222 and left and right speakers 224 connected to the audio receiver 222.
- ECU 120 can obtain position information of motorcycle 200 using GPS receiver 122. Further, in the configuration shown in FIG. 7, the motorcycle 200 also has the function of the DSR C, whereby it is possible to obtain road information. Hereinafter, this will be briefly described.
- antenna 209 receives a signal from roadside marker 218, and transmits the signal to DSRC receiver 213 via detector 212.
- DSRC receiver 213 outputs the signal to ECU 120.
- the signal transmitted from the roadside marker 218 informs the ECU 120 of the start position and the end position of the provision of the road information.
- the ECU 120 receives various road information transmitted from the DSRC roadside antenna 219.
- a signal indicating the presence of an intersection, a pedestrian crossing, a curve, a slope, or the like transmitted from the DSRC roadside antenna 219 is received by the DSRC antenna 210 and transmitted to the DSRC receiver 213.
- various road information is input to the ECU 120 from the DSRC receiver 213.
- the ECU 120 calculates the information (positional information) input from the GPS receiver 122, the road information input from the DSRC receiver 213, or the running state of the vehicle detected by the navigation device 220.
- a memory map can be created by obtaining the vehicle running characteristic values corresponding to the vehicle running progress, and this is set and stored in the memory of the ECU.
- the ECU 120 includes a data processing unit 30, a memory 32, and a display processing device 34.
- the detection signal from the sensor 42 and the route / road 'position signal from the GPS or DSRC 44 are input to the data processing unit 30 in the ECU 120.
- the processing result of the data processing unit 30 is set and stored in the memory 32 as a memory map.
- the sensor 42 and the GPS 44 in FIG. 8 correspond to the sensors 22 and 23 and the coordinate specifying device 25 shown in FIG. 5, and the data processing unit 30 and the memory 32 in the ECU 120 Corresponds to device 20 and storage device 28.
- the data in the memory 32 is subjected to display processing by the display processing device 34 and displayed on the display 216, or is subjected to audio processing and output to the audio output means 224 of the hermet 208. Is forced.
- An example in which the data in the memory 32 is displayed is the display example in FIGS.
- the data processing unit 30 may have a function of a display process and a sound process.
- various setting switches 46 can be connected to the data processing unit 30.
- the data processing unit 30 is connected to an external memory 48 (CDROM, CD-RW, flash memory, note flash (registered trademark), or a server database that can be connected via communication means, etc.). It is possible to do.
- a data library can be created by a system including the ECU 120.
- the data processing unit 30 samples the various data from the sensor 42 every unit time (for example, every 100 msec), and calculates the bank angle, vehicle speed, and acceleration / deceleration points in real time or after the end of traveling based on the sampling value.
- a vehicle running characteristic value including the vehicle body characteristic value is obtained and recorded in the memory 32.
- the bank angle, the point at which acceleration or deceleration was performed, the vehicle speed, the acceleration value, and the deceleration value are stored at predetermined intervals of the traveling locus (coordinate data) of the traveling route of the vehicle body.
- Vehicle position information is obtained from GPS44 (122). Further, it is also possible to obtain a memory map (library) in which the vehicle body traveling characteristic values in a form corresponding to the route are recorded by being superimposed on the map data of the navigation device 220.
- the vehicle body traveling characteristic value is determined for each corner curvature of the road. Specifically, (1) Set the limit bank value (appropriate bank value), acceleration / deceleration value, limit vehicle speed (appropriate vehicle speed), and acceleration / deceleration position of the corner (R * 100) of the XXX-th street of the expressway in the memory map. I do.
- the limit of the limit bank value is described because it is assumed that the motorcycle rider is going to turn a corner with his / her best driving technique. Is also good. This description applies equally to critical vehicle speeds
- This memory map is stored in the memory 32 in the ECU 120 or in the external memory 48. If the result of travel such as the limit bank angle (appropriate bank angle) exceeds the value before traveling when re-traveling on the same route, the stored value may be updated with the value after traveling. it can.
- the external memory 48 is a driving support center having a server
- a limit driving value (appropriate driving value) for each of a plurality of drivers can be registered therein.
- Driving support centers can provide various services to riders. For example, the best rider Limit value (proper value) can be transmitted to the driver.
- the driving support center can correct the limit value (appropriate value) according to the climate, road surface condition, or road congestion condition, and transmit the corrected value to the driver.
- the Driving Assistance Center can also send the driver a physical limit (appropriate value) determined from the curvature of the corner of the line or the structure of the motorcycle.
- FIG. 9 when the configuration of the present embodiment shown in FIGS. 7 and 8 is represented by a block diagram, it becomes as shown in FIG.
- a GPS data recording switch 46a, a vehicle information writing switch 46b, and a setting change switch 46c are described as the setting switches 46
- the sensor 42 includes a yaw rate sensor 42a, a vehicle speed sensor, and the like.
- the various sensors 42b are shown.
- a power supply 50, a CCD camera (image pickup device), a microphone input unit 54, and an AV output unit 56 are also described. It is also possible to use the same device as the image / audio unit 215 and the display processing device 34 in FIG.
- the DSRC receiver 210 is not particularly required to realize the driving support method of the present embodiment, in that case, the configuration shown in FIG. 9 should be replaced with the configuration shown in FIG. Can be done.
- a CCD camera (or other image sensor such as a CMOS image sensor) 54, a microphone input unit 54, voice transceivers 217, 222, etc. can be optionally treated.
- the audio transceivers 217 and 222 may be bidirectional so that the audio from the rider can be recorded as data.
- a traveling map composed of the traveling route of the motorcycle is created using the coordinate data obtained by the GPS, and the curve of the traveling route is calculated from the traveling map. Can also be calculated.
- FIG. 11 is a diagram for explaining a process of creating a traveling map 110 including a traveling route 114 of the motorcycle, and FIG. 12 calculates a curve curvature 118 of the traveling route from the traveling map 110. It is a figure for explaining a process.
- GPS coordinate data 112 is acquired at predetermined time intervals (for example, every 100 milliseconds), and points (nodes) are connected in time series. (Or, by connecting in the order of the acquisition number 113 of the GPS coordinate data 112), a traveling route 114 of the motorcycle is obtained, and a traveling map 110 including the traveling route 114 is created.
- GPS coordinate data 112 with a predetermined acquisition number 113 The image is displayed in the India screen 111, and an orientation mark 115 is arranged on the window screen 111, and a window bar 116 for image editing is provided.
- the travel map 110 shown in FIG. 12 is obtained. Then, a curve curvature 118 can be obtained from the traveling route 114 of the traveling map 110. In addition, since the information of the descending gradient and the ascending gradient can be obtained from the GPS coordinate data 112, the gradient information (downward in this example) 119 can be displayed.
- the curve curvature 118 is more accurate than the curve curvature obtained from the electronic map used in the navigation system.
- automatically calculating the curve curvature by the method of the present embodiment has technical value by itself. are doing.
- the curve curvature 118 based on the traveling map 110 reflects the traveling characteristics of the motorcycle. In other words, in the case of a four-wheeled vehicle such as a passenger car, the difference between the curve curvature calculated by the approximate calculation of the electronic map power and the actual curve curvature does not pose a major problem, considering the relationship between the vehicle width and the road width. In the case of a motorcycle, the curve curvature differs depending on the route actually traveled. Therefore, it is of great technical significance to be able to obtain the curve curvature 118 that reflects the traveling characteristics of the motorcycle.
- FIG. 12 shows an example of such integrated data display.
- a map information window 111 in which the vehicle position 117, the traveling route 114, the direction mark 115, and the like are displayed, a bank angle display 60, and an acceleration / deceleration display 62 are displayed.
- the curve instruction icon 64 is also displayed.
- the vehicle speed can also be described.
- FIG. 14 is a display example of a combination of a camera window 66 for displaying image data during traveling captured by the CCD camera 54 in FIGS. 9 and 10 and a map information window 111 and the like.
- the image data during traveling is not limited to moving image data, but may be still image data.
- the bank angle display 60 and the acceleration / deceleration display 62 are represented by a simplified notation 68 including the vehicle speed display.
- FIG. 15 shows an example in which image data 66 during traveling is also shown as a comparison result.
- the acceleration / deceleration icon 61 is also displayed, and the displayed “B” is a braking point, and when “A” is displayed on one, it is an accelerator point.
- the vehicle speed icon 63, the rider icon 65, and the distance'time icon 69 are also displayed in contrast.
- the driving support data shown in FIG. 13, FIG. 14, or FIG. 15 can be distributed to the Internet or the like in real time via communication means. When the information is distributed by using, it is possible to provide more realistic driving support data.
- FIG. Fig. 16 is a structural diagram around the handlebar's monitor that also shows the rider's side force.
- a display (monitor) 216 is provided behind the handle 204.
- a screen (wind screen) 205 and a side mirror 232 are attached to the vehicle body around the display 216.
- the GPS data recording switch 46a and the vehicle information writing switch (drive A vehicle information data acquisition switch 46b for turning on / off the recorder function is provided.
- a main switch key 230 for turning the engine on and off is also disposed around the periphery.
- the display (monitor) 216 can have, for example, a configuration as shown in FIG.
- the display 216 is configured as a meter unit 240, and includes a liquid crystal display 216, a vehicle speed meter 242, and a fuel gauge / oil temperature gauge 244.
- the liquid crystal display device 216 may be another image display device such as an organic EL display device.
- a button-type switch 252 is provided around the liquid crystal display device 216.
- the switch 252 here is, for example, a menu forward switch 252a, a rider 1-2 selection switch, a Z curve service on / off switch 2 52b, an audio mode switching switch 252c, a road surface selection switch 252d, and a data display Z determination switch. 252e.
- FIG. 17A a shade 250 that covers the liquid crystal display device 216 is provided.
- FIG. 18 schematically shows the perspective view.
- the shade 250 is movable as shown in FIG. 17 (b).
- the shade 250 rotates about the rotation center point 258 and the display screen of the liquid crystal display 216 is displayed.
- the part can be covered.
- the shade 250 is fixed and opened by the notch 253a, the panel 254, and the stopper 256. Note that the notch 253b is used for holding in the middle.
- the stopper 256 of the present embodiment has a function of locking when the shade 250 is closed, and can be, for example, linked to the rotation of the main switch key 230. That is, the shade 250 can be locked and unlocked by a mechanism similar to a seat lock or the like. When the shade 250 is linked with the main switch 230 in this way, a function of preventing tampering with the liquid crystal display surface can be provided.
- the driving support method of the present embodiment can also be executed as follows.
- Fig. 19 shows the values of the left and right bank angles continuously superimposed on the image of the trajectory of the traveling road.
- a line 150 is a traveling route (traveling locus) of the vehicle body
- a line 152 is a change in the bank angle of the rider 11
- a line 154 is a change in the bank angle of the rider 2.
- the coordinate difference between the change curve of the bank angle and the traveling direction of the travel route corresponds to the size of the bank angle, and the direction of the bank angle is determined depending on whether the width is on the left or right of the travel route. Is performed.
- the notification step (S20) shown in FIG. 1 can be performed.
- Such a display is very technically significant because it can visually provide the rider with information on the bank angle and the curve (travel route) in an easily understandable manner.
- the bank angle data may be sequentially updated in the memory when the vehicle body travels on the same traveling road, or the bank angle data for each traveling date and time may be set in the memory. .
- Fig. 20 shows an image in which the vehicle speed is imposed on the traveling locus of the vehicle body in place of the bank angle.
- the difference between the vehicle speed change graph 156 and the traveling route 150 corresponds to the vehicle speed.
- This display is also of great technical significance because it can visually provide the rider with information on the vehicle speed and the traveling route easily.
- the notification step (S20) can be executed together with the appropriate traveling value (maximum appropriate vehicle speed).
- the rider displays the traveling result on the display device not only during traveling but also after traveling.
- the accuracy or skill of the current running can be displayed on the screen on the display.
- the driving improvement degree can be recognized.
- Fig. 21 is a screen example showing another display form, in which a course is specified, and running on this course is performed.
- the running characteristic value (limit running value) in the middle is shown as a number.
- the colors may be displayed in different colors to make it easier to distinguish between rider 1 and rider 1 2.
- Rider 1 and Rider 2 may be another person or their own. This numerical value may be read from the body memory or from an external memory. As described above, the rider 2 can be set to the appropriate traveling value.
- the data of the standard value (maximum value) and the data of the rider 1 are compared. Therefore, you can check how your limits are compared to the standard values.
- the data processing unit reads out the running limit value for each rider and each curvature of a corner, and reads this through the data display processing unit. It can be displayed on the display.
- the bank angle is calculated from the curve curvature R based on the characteristic equation.
- the acceleration / deceleration value is calculated from the vehicle speed value.
- Curve curvature can be calculated from navigation and GPS data MAP.
- FIG. Screen 70 is an example of a touch panel.
- “Display” in screen 70 is a button for displaying data (for example, corresponding to FIGS. 21 and 22), while “Setting” is a button for displaying a memory map. This button is used to set parameters for correcting the registered limit driving value (proper driving value).
- a display screen 71 is displayed on the display device.
- a screen 72 is displayed, and a force for making a single sound "Pee” is selected to make a sound such as "there is a right curve".
- a screen 74 in which settings for two riders can be displayed is displayed.
- a screen 76 is displayed in which the road surface setting parameters can be selected.
- parameters can be set according to the road surface conditions, such as on-road 'off-road' or dry 'wet.
- time elements such as day and night, dusk and the like can be set.
- a screen 78 is displayed to select whether to rewrite with the travel limit value corrected by the parameter or to clear it.
- the correction parameters include the depth of the curve, tire pressure, temperature, descending slope, and whether or not there is freezing.
- the display screen described above is displayed on the display.
- the required settings are made, and when the motorcycle is started, the navigation screen is displayed, the current bank angle is calculated, and the left and right bank angle values are displayed on the map screen.
- An example of the screen at that time can be, for example, as shown in Fig. 13, where the running position of the vehicle body, the link angle, the radius of curvature, the gradient, the direction of the curve (curve icon), acceleration and deceleration are displayed together with map information. Is done.
- the limit vehicle speed value (maximum appropriate traveling value) is compared with the actual measurement value, and if the actual measurement value exceeds this, the icon flashes or the driver is notified by voice information. I do.
- the data processing means reads the travel limit value (bank angle, etc.) at the R of the running road from the map data in the work RAM of the memory, and if the measured value exceeds the travel limit value, the work Update the RAM limit value table.
- the data processing means writes the data of the work memory of the ECU to the table of the external memory. This writing operation is performed when the stoppage of the vehicle is several minutes or more, or the vehicle is more than 10 m from the end point, that is, when the condition is satisfied. On the other hand, when this condition is not satisfied, the actual measurement of the traveling limit value is continued. In this way, sampling does not end in the middle of the curve.
- the external memory is not updated because the measured travelability value does not exceed the limit travel value. Even if the measured vehicle speed value exceeds the limit person speed value, the external memory is not updated unless the bank angle exceeds the limit bank angle.
- the data processing means informs the driver by using the limit travel value on the memory map.
- Various warnings ⁇ The process of giving a notice can be executed. For example, comparing the travel limit value registered on the route with the actual measurement value, announcing that the actual measured value is approaching the limit value, and if the limit travel value is less than the theoretical limit value in the first place In addition, the driver is notified that it is possible to drive at a larger bank angle and vehicle speed than the measured values. If the route has not traveled yet, the curvature of the corner can be obtained from the map data of the navigation, and the limit travel value of the same curvature on the data map can be provisionally set for the untraveled route.
- the map data can be edited by a computer or the like, and can be registered in an external memory.
- the required memory map can be downloaded to the motorcycle controller by accessing the website of the Driving Support Center via the Internet.
- FIG. 24 is a flowchart for explaining an outline of the entire flow, while FIGS. 25 and 26 are flowcharts showing the flow of FIG. 24 in detail.
- parameter setting S100
- parameters such as rider and road surface are set using the touch panel and button switch.
- S110 when writing the vehicle data (S110), measurement values obtained by various sensors mounted on the vehicle are acquired, and the acquired data is written (S11).
- map data S120
- data acquisition for the GPS curve service is executed to create map data based on the GPS data (S121).
- S130 when it is desired to execute a curve service (S130), the above-described curve support service (a driving support method for a motorcycle) is provided (S131).
- parameters are read (S200).
- the types of the rider, the road surface, and the sound are performed.
- the running limit value (appropriate limit value) of the rider is also read from the external memory medium (S210).
- the tables as shown in Fig. 2 and Fig. 3. This also includes the maximum appropriate vehicle speed (Vmax) data. Na
- the reading from the external memory medium may be performed using communication.
- a tire correction value is determined or a correction value based on temperature is determined. For example, if tire pressure Pl ⁇ 90 kPa, or if temperature tl ⁇ 20 ° C or temperature tl ⁇ 80 ° C, determine 90% (normally 100%) as the tire correction coefficient. Alternatively, perform freezing judgment and set 80% (normally 100%) as temperature freezing correction data when the temperature is 0 ° C or less.
- the current vehicle speed VI is detected (S221), and the GPS longitude x and the latitude y are detected (S222). Then, along with extracting the road linear map closest to the current position (S223), the bank angle and acceleration are calculated and displayed (S230). Here, it is determined whether or not the current position is close to the map based on a line connecting nodes (constituent points) of the map or within a predetermined distance (for example, within 10 m) from the curve (S240). If it is close, a map is displayed to indicate the current position (S241).
- the map curve R1-Rn force calculates the distance to the nearest curve start point in the traveling direction of the current position and the arrival time (S242).
- V2 obtained by multiplying Vmax by the correction coefficient is calculated (S270).
- the correction coefficient include curve depth correction (C2), tire correction (C3), downward slope correction (C4), and temperature correction (C5).
- the corrected vehicle speed limit V2 is compared with the current vehicle speed VI (S300). If V2 ⁇ V1, notification is given to the rider by blinking an icon, providing audio information, or the like (S310).
- the running limit value (running appropriate value) during the current service existing in the temporary memory is taken out (S320), and it is determined whether the running limit value exceeds the measured value (S330). If it exceeds (yes), the limit value table of the temporary memory is updated (S340).
- the temporary memory means a memory that is appropriately rewritten. [0180] Along with updating the limit value table (S340), if "no" in S300 and S330, it is determined whether or not the map has reached the end point (S350).
Landscapes
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Instrument Panels (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Indicating Measured Values (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005514740A JP4318314B2 (ja) | 2003-10-20 | 2004-10-05 | 自動二輪車用の走行支援方法および走行支援システム |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003359808 | 2003-10-20 | ||
JP2003-359808 | 2003-10-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005038746A1 true WO2005038746A1 (ja) | 2005-04-28 |
Family
ID=34463358
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/014653 WO2005038745A1 (ja) | 2003-10-20 | 2004-10-05 | 自動二輪車用の走行情報蓄積方法および走行情報蓄積システム |
PCT/JP2004/014655 WO2005038747A1 (ja) | 2003-10-20 | 2004-10-05 | 自動二輪車用の走行情報表示方法および走行情報表示システム |
PCT/JP2004/014654 WO2005038746A1 (ja) | 2003-10-20 | 2004-10-05 | 自動二輪車用の走行支援方法および走行支援システム |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/014653 WO2005038745A1 (ja) | 2003-10-20 | 2004-10-05 | 自動二輪車用の走行情報蓄積方法および走行情報蓄積システム |
PCT/JP2004/014655 WO2005038747A1 (ja) | 2003-10-20 | 2004-10-05 | 自動二輪車用の走行情報表示方法および走行情報表示システム |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP1679673B1 (ja) |
JP (5) | JP4318314B2 (ja) |
AT (1) | ATE505710T1 (ja) |
DE (1) | DE602004032251D1 (ja) |
ES (1) | ES2361319T3 (ja) |
TW (3) | TWI281644B (ja) |
WO (3) | WO2005038745A1 (ja) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009525227A (ja) * | 2006-02-03 | 2009-07-09 | サンドール コンコリー | オートバイの制動挙動のリアルタイムデモンストレーション用の視覚情報装置 |
JP2010149668A (ja) * | 2008-12-25 | 2010-07-08 | Nippon Seiki Co Ltd | 車両用表示装置 |
WO2011077638A1 (ja) * | 2009-12-25 | 2011-06-30 | ヤマハ発動機株式会社 | ライダー特性判定装置およびそれを備えた鞍乗り型車両 |
CN102556222A (zh) * | 2010-12-07 | 2012-07-11 | 光阳工业股份有限公司 | 显示行车效能的灯号控制方法 |
JP2015074410A (ja) * | 2013-10-11 | 2015-04-20 | 日産自動車株式会社 | 運転支援装置 |
JP2016509552A (ja) * | 2013-01-14 | 2016-03-31 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | カーブに接近した二輪車のドライバを支援する方法および装置 |
JP2017182725A (ja) * | 2016-03-31 | 2017-10-05 | 本田技研工業株式会社 | 鞍乗型車両の路面状況報知装置並びに鞍乗型車両の路面状況判断装置 |
JP2019520657A (ja) * | 2016-06-27 | 2019-07-18 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 二輪車を運転するための方法、装置、二輪車 |
JP6620268B1 (ja) * | 2018-11-15 | 2019-12-11 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
JP6619915B1 (ja) * | 2018-11-15 | 2019-12-11 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
JP6619914B1 (ja) * | 2018-11-15 | 2019-12-11 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
WO2020100257A1 (ja) * | 2018-11-15 | 2020-05-22 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置および鞍乗型車両走行データ処理方法 |
WO2020100333A1 (ja) * | 2018-11-15 | 2020-05-22 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
WO2020100332A1 (ja) * | 2018-11-15 | 2020-05-22 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
WO2021149403A1 (ja) * | 2020-01-23 | 2021-07-29 | 日立Astemo株式会社 | 車両制御装置 |
Families Citing this family (44)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006125906A (ja) * | 2004-10-27 | 2006-05-18 | Looped Picture:Kk | 車両走行状態解析システム、方法、プログラムを記録した記憶媒体及びプログラム |
GB0614184D0 (en) * | 2006-07-18 | 2006-08-23 | Farnham John | Integrated data logging unit |
JP4948210B2 (ja) * | 2007-03-12 | 2012-06-06 | カヤバ工業株式会社 | 運行状況記憶装置 |
ATE510274T1 (de) * | 2007-03-23 | 2011-06-15 | Christian Heusch | System und verfahren zur verbesserung der fahreffizienz |
JP5039444B2 (ja) * | 2007-06-18 | 2012-10-03 | 川崎重工業株式会社 | 乗り物及び情報記録方法 |
CN102818575A (zh) * | 2007-10-12 | 2012-12-12 | 株式会社建伍 | 车载装置和发话优先方法 |
DE102008040284A1 (de) * | 2008-07-09 | 2010-01-14 | Zf Friedrichshafen Ag | Verfahren zum Erfassen von vorbestimmten Daten während des Betriebes eines Fahrzeuges |
JP5285384B2 (ja) * | 2008-10-09 | 2013-09-11 | 三菱重工業株式会社 | 自動運転システム及び自動運転方法 |
TWI514337B (zh) | 2009-02-20 | 2015-12-21 | 尼康股份有限公司 | Carrying information machines, photographic devices, and information acquisition systems |
KR101638135B1 (ko) | 2009-05-12 | 2016-07-20 | 팅크웨어(주) | 내비게이션 장치, 내비게이션 시스템 및 이들의 동작 방법 |
US9177543B2 (en) | 2009-08-26 | 2015-11-03 | Insightec Ltd. | Asymmetric ultrasound phased-array transducer for dynamic beam steering to ablate tissues in MRI |
WO2011045669A2 (en) | 2009-10-14 | 2011-04-21 | Insightec Ltd. | Mapping ultrasound transducers |
ITMI20091824A1 (it) * | 2009-10-21 | 2011-04-22 | Ecie Electric Components And Instru Ments Europ S | Dispositivo per la configurazione di un cruscotto di veicoli a due ruote e assieme di un cruscotto e di detto dispositivo |
JP2011213336A (ja) * | 2010-03-16 | 2011-10-27 | Protec:Kk | 自動二輪車のバンク角度表示システム |
US9852727B2 (en) | 2010-04-28 | 2017-12-26 | Insightec, Ltd. | Multi-segment ultrasound transducers |
JP2013177016A (ja) * | 2010-06-29 | 2013-09-09 | Yamaha Motor Co Ltd | バンク角推定装置およびそれを用いた移動状態表示装置 |
JP5830246B2 (ja) * | 2011-01-11 | 2015-12-09 | 矢崎総業株式会社 | 車両走行状態表示装置 |
JP2013029759A (ja) * | 2011-07-29 | 2013-02-07 | Hioki Ee Corp | データ測定装置 |
US8725312B2 (en) | 2011-08-12 | 2014-05-13 | Kawasaki Jukogyo Kabushiki Kaisha | System for obtaining information in vehicle |
JP2013095306A (ja) * | 2011-11-02 | 2013-05-20 | Yupiteru Corp | 自転車用電子システム及びプログラム |
JP5899573B2 (ja) * | 2011-11-29 | 2016-04-06 | 株式会社ユピテル | 電子機器及びプログラム |
WO2013080318A1 (ja) * | 2011-11-30 | 2013-06-06 | パイオニア株式会社 | バンク判定装置、制御方法、プログラム、及び記憶媒体 |
JPWO2013080319A1 (ja) * | 2011-11-30 | 2015-04-27 | パイオニア株式会社 | 位置認識装置、制御方法、プログラム、及び記憶媒体 |
WO2013080319A1 (ja) * | 2011-11-30 | 2013-06-06 | パイオニア株式会社 | 位置認識装置、制御方法、プログラム、及び記憶媒体 |
US9146124B2 (en) * | 2012-12-18 | 2015-09-29 | Nokia Technologies Oy | Helmet-based navigation notifications |
JP5811118B2 (ja) * | 2013-03-11 | 2015-11-11 | カシオ計算機株式会社 | ドライブレコーダ、動画像記録方法及びプログラム |
JP5770223B2 (ja) * | 2013-06-21 | 2015-08-26 | 創研光電股▲ふん▼有限公司 | 安全な範囲内の道路状況検出及びアラーム機能を具えるドライブレコーダ |
GB201320881D0 (en) | 2013-11-26 | 2014-01-08 | Cambridge Display Tech Ltd | Organic light-emitting device and method |
US11352090B2 (en) | 2014-07-28 | 2022-06-07 | Robert Bosch Gmbh | Information providing device and program for motorcycle |
JP2017187812A (ja) * | 2014-08-21 | 2017-10-12 | ヤマハ発動機株式会社 | 運転支援方法、運転支援装置および運転支援システム |
EP3048025A1 (en) * | 2015-01-20 | 2016-07-27 | Harman Becker Automotive Systems GmbH | Driver information system for two-wheelers |
DE102015218807A1 (de) | 2015-09-29 | 2017-03-30 | Continental Teves Ag & Co. Ohg | Verfahren zum Ermitteln eines Fahrbahnzustands, Verfahren zum Mitteilen eines Fahrbahnzustands, Verfahren zum Übertragen eines Fahrbahnzustands und Verwendung |
KR101855400B1 (ko) * | 2016-01-14 | 2018-06-21 | 정석주 | 자전거에서 양방향 모니터링 방법 및 시스템 |
WO2018179392A1 (ja) * | 2017-03-31 | 2018-10-04 | 本田技研工業株式会社 | 車載装置、情報管理システム、情報管理サーバ、および方法 |
JP6991434B2 (ja) * | 2017-05-24 | 2022-01-12 | カワサキモータース株式会社 | 鞍乗型車両の制御装置 |
DE102017210500A1 (de) * | 2017-06-22 | 2018-12-27 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrerassistenzsystems für ein Zweirad |
JP7015161B2 (ja) * | 2017-12-11 | 2022-02-02 | カワサキモータース株式会社 | リーン型乗物の走行情報蓄積方法、走行情報処理プログラム及び走行情報蓄積装置 |
JP7245019B2 (ja) * | 2018-09-28 | 2023-03-23 | カワサキモータース株式会社 | 走行データ表示方法、プログラム及びシステム |
TWI675761B (zh) * | 2018-12-17 | 2019-11-01 | 造隆股份有限公司 | 結合行動裝置的機車儀表系統 |
JP2021106652A (ja) * | 2019-12-27 | 2021-07-29 | 株式会社Tkm Japan | 多数の流動球体を用いる遊戯ゲーム機 |
WO2021182137A1 (ja) * | 2020-03-09 | 2021-09-16 | 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 |
DE102020132931A1 (de) | 2020-12-10 | 2022-06-15 | Ktm Ag | Nutzungsprofilerkennung |
JPWO2022185708A1 (ja) * | 2021-03-02 | 2022-09-09 | ||
WO2023119024A1 (ja) * | 2021-12-23 | 2023-06-29 | ロベルト·ボッシュ·ゲゼルシャフト·ミト•ベシュレンクテル·ハフツング | ライダー支援システム、データ構造及び制御方法 |
Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0415799A (ja) * | 1990-05-01 | 1992-01-21 | Fujitsu Ten Ltd | 車両制御装置 |
JPH0636187A (ja) * | 1992-07-14 | 1994-02-10 | Honda Motor Co Ltd | 自動車の車速制御装置 |
JPH06324138A (ja) * | 1993-03-17 | 1994-11-25 | Nippondenso Co Ltd | 車両制御装置 |
JPH07125565A (ja) * | 1993-11-02 | 1995-05-16 | Honda Motor Co Ltd | オートクルーズ制御装置 |
JP2001088760A (ja) * | 1999-09-22 | 2001-04-03 | Honda Motor Co Ltd | 速度表示装置 |
JP2001163082A (ja) * | 1999-12-09 | 2001-06-19 | Mazda Motor Corp | 移動体の制御装置 |
JP2001280982A (ja) * | 2000-03-31 | 2001-10-10 | Toshiba Corp | 自動2輪車の情報提供装置 |
JP2002071703A (ja) * | 2000-09-01 | 2002-03-12 | Yamaha Motor Co Ltd | 自動二輪車の加速度センサー |
JP2002140800A (ja) * | 2000-11-02 | 2002-05-17 | Yamaha Motor Co Ltd | 自動二輪車の情報提供装置 |
JP2002166873A (ja) * | 2000-12-01 | 2002-06-11 | Tokyo R & D Co Ltd | 電動二輪車用コントローラ |
JP2003048450A (ja) * | 2001-08-07 | 2003-02-18 | Nissan Motor Co Ltd | 車両用総合制御装置 |
JP2003051100A (ja) * | 2001-08-07 | 2003-02-21 | Nissan Motor Co Ltd | 走行支援装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3680043A (en) * | 1969-11-25 | 1972-07-25 | Paul Angeloni | Vehicle speed monitoring systems |
JPS6225205A (ja) * | 1985-07-26 | 1987-02-03 | Fuideritsukusu:Kk | 二輪車用バンク角測定装置 |
JP3079841B2 (ja) * | 1993-07-14 | 2000-08-21 | 日産自動車株式会社 | 道路形状及び自車両位置の計測装置 |
JPH08133155A (ja) * | 1994-11-14 | 1996-05-28 | Suzuki Motor Corp | 二輪車用バンク角検出装置 |
JP3772383B2 (ja) * | 1996-03-18 | 2006-05-10 | 株式会社エクォス・リサーチ | 車両用表示装置 |
JP3550888B2 (ja) * | 1996-07-02 | 2004-08-04 | トヨタ自動車株式会社 | 車両用音声案内装置 |
JP3829511B2 (ja) * | 1998-12-18 | 2006-10-04 | 日産自動車株式会社 | 自動車の走行制御装置 |
JP3560852B2 (ja) * | 1999-06-09 | 2004-09-02 | ダイハツ工業株式会社 | 自動車のカーブ進入速度制御装置 |
JP3821271B2 (ja) * | 1999-09-06 | 2006-09-13 | 本田技研工業株式会社 | 車両用無線通信システム |
JP2001124581A (ja) * | 1999-10-28 | 2001-05-11 | Kyocera Corp | 携帯電話端末 |
JP3499819B2 (ja) * | 2000-11-07 | 2004-02-23 | 東京海上リスクコンサルティング株式会社 | 運行解析システム、運行解析方法及びコンピュータプログラム |
JP2002170188A (ja) * | 2000-12-04 | 2002-06-14 | Nissan Diesel Motor Co Ltd | 車両の運行状況記録装置 |
JP2002267489A (ja) * | 2001-03-14 | 2002-09-18 | Advanced Technology Inst Of Commuter Helicopter Ltd | 高度表示装置および速度表示装置 |
JP3942379B2 (ja) | 2001-05-22 | 2007-07-11 | 信越ポリマー株式会社 | 精密基板収納容器の位置決め部材 |
JP3973949B2 (ja) * | 2002-03-29 | 2007-09-12 | 財団法人鉄道総合技術研究所 | 運転支援システム |
JP2003337028A (ja) * | 2002-05-20 | 2003-11-28 | Denso Corp | 二輪車及び二輪車用運転技術データ収集システム |
-
2004
- 2004-10-05 JP JP2005514740A patent/JP4318314B2/ja active Active
- 2004-10-05 WO PCT/JP2004/014653 patent/WO2005038745A1/ja active Application Filing
- 2004-10-05 JP JP2005514739A patent/JP4346609B2/ja active Active
- 2004-10-05 ES ES04792064T patent/ES2361319T3/es active Active
- 2004-10-05 WO PCT/JP2004/014655 patent/WO2005038747A1/ja active Application Filing
- 2004-10-05 EP EP04792064A patent/EP1679673B1/en active Active
- 2004-10-05 WO PCT/JP2004/014654 patent/WO2005038746A1/ja active Application Filing
- 2004-10-05 DE DE602004032251T patent/DE602004032251D1/de active Active
- 2004-10-05 JP JP2005514741A patent/JP4278107B2/ja active Active
- 2004-10-05 AT AT04792064T patent/ATE505710T1/de not_active IP Right Cessation
- 2004-10-20 TW TW093131866A patent/TWI281644B/zh active
- 2004-10-20 TW TW093131859A patent/TWI288371B/zh active
- 2004-10-20 TW TW093131860A patent/TW200519789A/zh unknown
-
2008
- 2008-10-20 JP JP2008270255A patent/JP4776672B2/ja active Active
-
2011
- 2011-06-06 JP JP2011126013A patent/JP5296835B2/ja active Active
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0415799A (ja) * | 1990-05-01 | 1992-01-21 | Fujitsu Ten Ltd | 車両制御装置 |
JPH0636187A (ja) * | 1992-07-14 | 1994-02-10 | Honda Motor Co Ltd | 自動車の車速制御装置 |
JPH06324138A (ja) * | 1993-03-17 | 1994-11-25 | Nippondenso Co Ltd | 車両制御装置 |
JPH07125565A (ja) * | 1993-11-02 | 1995-05-16 | Honda Motor Co Ltd | オートクルーズ制御装置 |
JP2001088760A (ja) * | 1999-09-22 | 2001-04-03 | Honda Motor Co Ltd | 速度表示装置 |
JP2001163082A (ja) * | 1999-12-09 | 2001-06-19 | Mazda Motor Corp | 移動体の制御装置 |
JP2001280982A (ja) * | 2000-03-31 | 2001-10-10 | Toshiba Corp | 自動2輪車の情報提供装置 |
JP2002071703A (ja) * | 2000-09-01 | 2002-03-12 | Yamaha Motor Co Ltd | 自動二輪車の加速度センサー |
JP2002140800A (ja) * | 2000-11-02 | 2002-05-17 | Yamaha Motor Co Ltd | 自動二輪車の情報提供装置 |
JP2002166873A (ja) * | 2000-12-01 | 2002-06-11 | Tokyo R & D Co Ltd | 電動二輪車用コントローラ |
JP2003048450A (ja) * | 2001-08-07 | 2003-02-18 | Nissan Motor Co Ltd | 車両用総合制御装置 |
JP2003051100A (ja) * | 2001-08-07 | 2003-02-21 | Nissan Motor Co Ltd | 走行支援装置 |
Cited By (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009525227A (ja) * | 2006-02-03 | 2009-07-09 | サンドール コンコリー | オートバイの制動挙動のリアルタイムデモンストレーション用の視覚情報装置 |
JP2010149668A (ja) * | 2008-12-25 | 2010-07-08 | Nippon Seiki Co Ltd | 車両用表示装置 |
WO2011077638A1 (ja) * | 2009-12-25 | 2011-06-30 | ヤマハ発動機株式会社 | ライダー特性判定装置およびそれを備えた鞍乗り型車両 |
JP2013166555A (ja) * | 2009-12-25 | 2013-08-29 | Yamaha Motor Co Ltd | ライダー特性判定装置およびそれを備えた鞍乗り型車両 |
JP5285787B2 (ja) * | 2009-12-25 | 2013-09-11 | ヤマハ発動機株式会社 | ライダー特性判定装置およびそれを備えた鞍乗り型車両 |
US8849474B2 (en) | 2009-12-25 | 2014-09-30 | Yamaha Hatsudoki Kabushiki Kaisha | Rider characteristic determining apparatus, and a saddle riding type vehicle having the same |
CN102556222A (zh) * | 2010-12-07 | 2012-07-11 | 光阳工业股份有限公司 | 显示行车效能的灯号控制方法 |
JP2016509552A (ja) * | 2013-01-14 | 2016-03-31 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | カーブに接近した二輪車のドライバを支援する方法および装置 |
JP2015074410A (ja) * | 2013-10-11 | 2015-04-20 | 日産自動車株式会社 | 運転支援装置 |
JP2017182725A (ja) * | 2016-03-31 | 2017-10-05 | 本田技研工業株式会社 | 鞍乗型車両の路面状況報知装置並びに鞍乗型車両の路面状況判断装置 |
JP2019520657A (ja) * | 2016-06-27 | 2019-07-18 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 二輪車を運転するための方法、装置、二輪車 |
US11077865B2 (en) | 2016-06-27 | 2021-08-03 | Robert Bosch Gmbh | Method for operating a two-wheeled vehicle, a device, and a two-wheeled vehicle |
JP6619915B1 (ja) * | 2018-11-15 | 2019-12-11 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
JP6619914B1 (ja) * | 2018-11-15 | 2019-12-11 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
WO2020100257A1 (ja) * | 2018-11-15 | 2020-05-22 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置および鞍乗型車両走行データ処理方法 |
WO2020100333A1 (ja) * | 2018-11-15 | 2020-05-22 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
WO2020100332A1 (ja) * | 2018-11-15 | 2020-05-22 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
WO2020100246A1 (ja) * | 2018-11-15 | 2020-05-22 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置および鞍乗型車両走行データ処理方法 |
WO2020100267A1 (ja) * | 2018-11-15 | 2020-05-22 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置および鞍乗型車両走行データ処理方法 |
WO2020100334A1 (ja) * | 2018-11-15 | 2020-05-22 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
JP6620268B1 (ja) * | 2018-11-15 | 2019-12-11 | ヤマハ発動機株式会社 | 鞍乗型車両走行データ処理装置、鞍乗型車両走行データ処理方法および鞍乗型車両走行データ処理プログラム |
WO2021149403A1 (ja) * | 2020-01-23 | 2021-07-29 | 日立Astemo株式会社 | 車両制御装置 |
JPWO2021149403A1 (ja) * | 2020-01-23 | 2021-07-29 | ||
US20230011130A1 (en) * | 2020-01-23 | 2023-01-12 | Hitachi Astemo, Ltd. | Vehicle control device |
JP7366157B2 (ja) | 2020-01-23 | 2023-10-20 | 日立Astemo株式会社 | 車両制御装置 |
Also Published As
Publication number | Publication date |
---|---|
TW200519787A (en) | 2005-06-16 |
JP2011201539A (ja) | 2011-10-13 |
WO2005038747A1 (ja) | 2005-04-28 |
JP5296835B2 (ja) | 2013-09-25 |
EP1679673A4 (en) | 2009-04-01 |
JP4318314B2 (ja) | 2009-08-19 |
JP2009023655A (ja) | 2009-02-05 |
EP1679673A1 (en) | 2006-07-12 |
JPWO2005038747A1 (ja) | 2007-11-22 |
JPWO2005038745A1 (ja) | 2007-11-22 |
JP4346609B2 (ja) | 2009-10-21 |
TWI288371B (en) | 2007-10-11 |
TW200525459A (en) | 2005-08-01 |
TW200519789A (en) | 2005-06-16 |
EP1679673B1 (en) | 2011-04-13 |
JPWO2005038746A1 (ja) | 2007-11-22 |
ATE505710T1 (de) | 2011-04-15 |
WO2005038745A1 (ja) | 2005-04-28 |
JP4776672B2 (ja) | 2011-09-21 |
DE602004032251D1 (de) | 2011-05-26 |
JP4278107B2 (ja) | 2009-06-10 |
TWI281644B (en) | 2007-05-21 |
ES2361319T3 (es) | 2011-06-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4318314B2 (ja) | 自動二輪車用の走行支援方法および走行支援システム | |
EP1136792B1 (en) | Dangerous area alarm system | |
JP4193266B2 (ja) | 周辺車両報知装置 | |
JP2003276470A (ja) | 情報提示制御装置 | |
WO2009147896A1 (ja) | 速度警報装置 | |
JP2000047569A (ja) | 安全運転判定装置 | |
JP2006209455A5 (ja) | ||
JP4775131B2 (ja) | 車両用運転補助装置 | |
JP2006209455A (ja) | 車両用運転診断装置、車両用運転診断システム、及び車両用運転診断方法 | |
JP2003254764A (ja) | 走行位置表示装置 | |
JP2009145060A (ja) | カーナビゲーションシステム | |
JP4891745B2 (ja) | 退出検出装置 | |
JP2009008646A (ja) | 車載ナビゲーション装置 | |
JP5109749B2 (ja) | 車載報知装置 | |
JP2002157684A (ja) | 車載用表示装置 | |
JP2005227987A (ja) | 信号情報提供システム | |
JP4842608B2 (ja) | 自動二輪車用の情報表示方法、および、自動二輪車 | |
JP4730880B2 (ja) | 自動二輪車用の方向指示情報の表示方法およびカーブ情報の表示方法 | |
KR101479126B1 (ko) | 차량의 충돌 방지를 위한 사이드미러 시스템 | |
JP2004348287A (ja) | 信号情報提供装置および信号情報提供システム | |
JP6822696B2 (ja) | システム及びプログラム | |
JP2011068354A (ja) | 自動二輪車用の走行情報表示方法 | |
JP2013061763A (ja) | 判定装置 | |
JP4849364B2 (ja) | 自動二輪車用の方向指示情報の表示方法およびカーブ情報の表示方法 | |
JP2006106510A (ja) | 自動二輪車用の地図情報表示方法および走行情報表示方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2005514740 Country of ref document: JP |
|
122 | Ep: pct application non-entry in european phase |