WO2018229566A1 - 車間距離警告システムのための処理ユニット及び処理方法、車間距離警告システム、及び、モータサイクル - Google Patents
車間距離警告システムのための処理ユニット及び処理方法、車間距離警告システム、及び、モータサイクル Download PDFInfo
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- WO2018229566A1 WO2018229566A1 PCT/IB2018/053370 IB2018053370W WO2018229566A1 WO 2018229566 A1 WO2018229566 A1 WO 2018229566A1 IB 2018053370 W IB2018053370 W IB 2018053370W WO 2018229566 A1 WO2018229566 A1 WO 2018229566A1
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- WIPO (PCT)
- Prior art keywords
- warning
- output
- tilt angle
- processing unit
- motor cycle
- Prior art date
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- 238000003672 processing method Methods 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 230000007613 environmental effect Effects 0.000 claims description 17
- 210000000697 sensory organ Anatomy 0.000 claims description 7
- 230000001953 sensory effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 238000005259 measurement Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 7
- 230000008447 perception Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000005204 segregation Methods 0.000 description 2
- 241000256011 Sphingidae Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- 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
- B62J3/00—Acoustic signal devices; Arrangement of such devices on cycles
- B62J3/10—Electrical devices
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Definitions
- Patent application title Processing unit and processing method for inter-vehicle distance warning system, inter-vehicle distance warning system, and motorcycle
- the present invention relates to an inter-vehicle distance warning system for recognizing a lack of inter-vehicle distance between a running motor cycle and a preceding vehicle by using an environment detection device provided in the motor cycle and warning a rider.
- the present invention relates to a unit and a processing method, an inter-vehicle S segregation warning system including the processing unit, and a motorcycle including the inter-vehicle S segregation warning system.
- inter-vehicle distance warning system As a technology related to motor cycles (motorcycles or motorcycles), there is a known inter-vehicle distance warning system that recognizes the shortage of the distance between the motor cycle while driving and the front vehicle and warns the rider. Yes.
- the inter-vehicle distance warning system acquires environmental information according to the output of the environmental detection device provided in the motor cycle, and determines that the inter-vehicle distance is insufficient based on the environmental information. Causes a warning to be output.
- the operation of the rider is supported by the warning by the warning device (for example, see Patent Document 1).
- Patent Document 1 Japanese Unexamined Patent Publication No. 2 0 0 9 _ 1 1 6 8 8 2
- the warning device outputs a warning that surprises the rider in a state where the motor cycle turns, that is, in a state where the vehicle body becomes unstable due to a large tilt angle in the motor cycle. obtain Therefore, it may affect the safety of the rider.
- the present invention has been made against the background of the above-described problems, and provides a processing unit and a processing method capable of improving the safety of a rider.
- a processing unit and a processing method capable of improving the safety of a rider.
- an inter-vehicle distance warning system equipped with the processing unit is obtained.
- a motor cycle equipped with the inter-vehicle S separation warning system is obtained.
- the processing unit uses an environment detection device provided in a motor cycle to recognize a shortage of the distance between the motor cycle during traveling and the preceding vehicle, and warns the rider
- a processing unit for a distance warning system an acquisition unit that acquires environmental information according to an output of the environment detection device; a determination unit that determines whether the inter-vehicle distance is excessive or insufficient based on the environmental information;
- a controller that outputs a warning to a warning device when the determination unit determines that the inter-vehicle distance is insufficient, and during the motor cycle, the acquisition unit includes: The posture information related to the tilt angle of the motor cycle is acquired, and the control unit changes a warning to be output to the warning device according to the posture information.
- An inter-vehicle distance warning system includes the processing unit, the environment detection device, and the warning device.
- a motor cycle according to the present invention includes the above-mentioned inter-vehicle distance warning system.
- the processing method recognizes a shortage of the distance between the motor cycle during traveling and the vehicle ahead by using an environment detection device provided in the motor cycle, and warns the rider.
- a processing method for an inter-vehicle distance warning system wherein an acquisition step of acquiring environmental information in accordance with an output of the environmental detection device, and a determination of determining whether the inter-vehicle distance is excessive or insufficient based on the environmental information And a control step for causing a warning device to output a warning when it is determined in the determination step that the inter-vehicle distance is insufficient.
- posture information related to the tilt angle of the motor cycle is acquired, and in the control step, a warning to be output to the warning device is included in the posture information. It can be changed accordingly.
- the warning output from the warning device changes according to the posture information related to the tilt angle of the motor cycle. Therefore, in a state where the motor cycle turns, that is, in a state where a large tilt angle occurs in the motor cycle and the vehicle body becomes unstable, an appropriate warning is output from the warning device to improve the safety of the rider. It is possible.
- FIG. 1 is a diagram showing a state in which the inter-vehicle distance warning system according to the first embodiment of the present invention is mounted on a motor cycle.
- FIG. 2 is a diagram showing a system configuration of the inter-vehicle distance warning system according to the first embodiment of the present invention.
- FIG. 3 is a diagram for explaining a definition of a tilt angle of a motor cycle.
- FIG. 4 is a diagram showing an operation window of a processing unit of the inter-vehicle distance warning system according to the first embodiment of the present invention.
- FIG. 5 is a diagram showing an operation window of a processing unit of the inter-vehicle distance warning system according to the second embodiment of the present invention.
- FIG. 6 is a diagram showing an operation window of a processing unit in the inter-vehicle distance warning system according to the third embodiment of the present invention.
- Embodiment 1 An inter-vehicle distance warning system according to Embodiment 1 will be described below.
- FIG. 1 is a diagram showing a state in which the inter-vehicle distance warning system according to the first embodiment of the present invention is mounted on a motor cycle.
- FIG. 2 is a diagram showing a system configuration of the inter-vehicle distance warning system according to Embodiment 1 of the present invention.
- FIG. 3 is a diagram for explaining the definition of the tilt angle of the motor cycle.
- the inter-vehicle distance warning system 1 is mounted on a motor cycle 100.
- the inter-vehicle distance warning system 1 includes at least an environment detection device 1 1 that detects the front of the motor cycle 100 and an inertial measurement device (IMU) 1 2 that detects the inertia occurring in the motor cycle 1 0 0. And a processing unit (ECU) 20 and a warning device 30.
- IMU inertial measurement device
- ECU processing unit
- the inter-vehicle distance warning system 1 uses the environment detection device 1 1 to recognize the shortage of the inter-vehicle distance between the motor cycle 1 0 0 and the preceding vehicle, and uses the warning device 3 0 And responsible for outputting warnings to riders.
- Processing The computer 20 acquires the output of the environment detection device 11 1 and the output of the inertial measurement device 12 and outputs a control command to the warning device 30.
- the processing unit 20 also receives, for example, outputs of various detection devices (not shown) for obtaining the running state information of the motor cycle 100, the rider's operation state information, and the like.
- Each part of the inter-vehicle distance warning system 1 may be used exclusively for the inter-vehicle distance warning system 1 or may be used in common with other systems.
- the environment detection device 11 is, for example, a radar, a lidar, an ultrasonic sensor, a camera, or the like, and always detects surrounding objects within the detection range during the running of the motor cycle 100.
- the inertial measurement device 12 includes, for example, a three-axis gyro sensor and a three-direction acceleration sensor, and outputs the detected inertia to the processing unit 20.
- the inertial measurement device 12 may detect another physical quantity that can be substantially converted into inertia occurring in the motor cycle 100.
- the inertial measurement device 12 may be another detection device that can acquire posture information related to the tilt angle ⁇ L of the motor cycle 100.
- the processing unit 20 includes an acquisition unit 21, a half 1J fixing unit 22, and a control unit 23.
- Each part of the processing unit 20 may be provided in one casing, or may be divided into a plurality of casings.
- a part or all of the processing unit 20 may be constituted by, for example, a microcomputer, a microprocessor unit, etc., may be constituted by an updatable one such as firmware, and a CPU or the like. It may be a program module executed by a command from
- the acquisition unit 21 receives the output of the environment detection device 11 and acquires environment information corresponding to the output.
- the environmental information includes at least distance information to the vehicle ahead.
- the determination unit 22 determines whether or not the distance between the motor cycle 100 and the preceding vehicle is insufficient by a known method. In other words, the determination unit 2 2 performs processing on the environmental information, and considers the driving state information of the motor cycle 100, the operation state information of the rider, etc. acquired by using various detection devices. On the motor cycle 1 It is determined whether the inter-vehicle distance between 0 0 and the preceding vehicle is insufficient.
- the control unit 23 causes the warning device 30 to output a warning.
- the acquisition unit 21 acquires posture information related to the tilt angle ⁇ L of the motor cycle 100 based on the output of the inertial measurement device 12.
- the posture information related to the tilt angle ⁇ ⁇ _ may be information on the tilt angle ⁇ ⁇ _ itself, and other physical quantities that can be substantially converted to the tilt angle ⁇ ⁇ _ (for example, motor cycle 1 (Correct speed, lateral acceleration, etc.) occurring in 0).
- the tilt angle ⁇ ⁇ _ is defined as the tilt and angle of the motor cycle 100 0 in the direction of the mouth with respect to the state where the motor cycle 100 0 is upright (see Fig. 3).
- Warning device 30 may be used to warn the rider by sound (ie, the perception that the auditory organ is used as a sensory organ), and the display (ie, May be used to warn the rider by virtue of a perception used as a sensation), or may be alerted to the rider by vibration (ie, the perception that a hornworm is used as a sensory organ). Moreover, you may warn by those combination.
- the warning device 30 is a speed, a display, a lamp, a vibrator, etc., and may be provided in a motor cycle 100, or a motor such as a helmet. It may be provided in equipment accompanying the cycle 100. Warning device 3
- 0 may be composed of one output device, or may be composed of a plurality of the same type or different types of output devices.
- the plurality of output devices may be provided integrally or may be provided separately.
- FIG. 4 is a diagram showing an operation flow of the processing unit of the inter-vehicle distance warning system according to Embodiment 1 of the present invention.
- the processing unit 20 performs the operation flow shown in FIG. 4 during the running of the motor cycle 100. [0 0 2 8]
- step S 1 0 the acquisition unit 21 acquires environment information corresponding to the output of the environment detection device 11. Further, the acquisition unit 21 acquires posture information related to the tilt angle ⁇ L based on the output of the inertial measurement device 12.
- step S 1 0 2 the half 1J fixed part 2 2 processes the environmental information acquired in step S 1 0 1 and acquires the inter-vehicle distance between the motor cycle 1 0 0 and the preceding vehicle. . Further, the determination unit 22 obtains the limit inter-vehicle distance in consideration of the traveling state information of the motor cycle 100, the operation state information of the rider, and the like obtained by using various detection devices. In general, the higher the vehicle speed of the motor cycle 100, the longer the limit inter-vehicle distance is set. Then, the determination unit 22 determines whether or not the inter-vehicle distance between the motor cycle 100 and the preceding vehicle is less than the limit inter-vehicle distance over a reference time. If it is Y e s, the process proceeds to step S 1 0 3, and if it is N 0, the process returns to step S 1 0 1.
- the control unit 23 causes the warning device 30 to output a warning in a manner corresponding to the posture information acquired in step S 1 0 1.
- step S 1 0 3 the control unit 23 corresponds to the posture angle acquired in step S 1 0 1 with a smaller tilt angle ⁇ ⁇ _ compared to the limit tilt angle ⁇ ⁇ _ th 1. It is determined whether or not the posture information is to be used. If it is Y e s, the process proceeds to step S 1 0 4, and if it is N 0, the process proceeds to step S 1 0 5.
- the control unit 23 causes the warning device 30 to output a warning in step S 10 04 and does not cause the warning device 30 to output a warning in step S 10 05.
- the controller 23 determines that Yes is determined in step S 1 0 2 and N 0 is determined in step S 1 0 3 and continues for more than the reference time, a warning is output to the warning device 30. You may let them. [0 0 3 3]
- the processing unit 20 acquires an acquisition unit 21 that acquires environmental information according to the output of the environment detection device 11 1, a determination unit 2 2 that determines whether the distance between vehicles is excessive or insufficient based on the environmental information, and a determination unit 2 2 And a control unit 23 that causes the warning device 30 to output a warning when it is determined that the distance between vehicles is insufficient. 2 3 changes the warning to be output to the warning device 30 according to the posture information related to the tilt angle ⁇ _ of the motor cycle 100.
- the control unit 23 acquires the posture information corresponding to the tilt angle ⁇ L smaller than the limit tilt angle ⁇ L th 1 in the acquisition unit 21.
- the warning device 30 outputs a warning
- the acquisition unit 21 acquires posture information corresponding to the large tilt angle ⁇ ⁇ _ compared to the limit tilt angle ⁇ L th 1
- the warning device 3 0 Do not output warnings. Therefore, the improvement of the safety of the rider is ensured.
- the control unit 2 3 determines that the inter-vehicle distance is insufficient in the determination unit 2 2, and the acquisition unit 21 has a large tilt compared to the limit tilt angle ⁇ ⁇ _th 1. If the state in which the posture information corresponding to the angle ⁇ _ is continued for more than the reference time, the warning device 30 may output a warning.
- Such a configuration makes it possible to support rider driving while improving rider safety.
- Embodiment 2 Hereinafter, an inter-vehicle distance warning system according to Embodiment 2 will be described.
- the inter-vehicle distance warning system according to the second embodiment only the operation flow of the processing unit 20 is different from the inter-vehicle distance warning system according to the first embodiment.
- Vehicle distance warning system according to Embodiment 1 A description overlapping or similar to the above is simplified or omitted as appropriate.
- FIG. 5 is a diagram showing an operation flow of the processing unit in the inter-vehicle distance warning system according to the second embodiment of the present invention.
- the processing unit 20 performs the operation flow shown in FIG. 5 during the running of the motor cycle 100. [0 0 3 9]
- step S 2 0 the acquisition unit 21 acquires environment information corresponding to the output of the environment detection device 11. Further, based on the output of the inertial measurement device 12, posture information related to the tilt angle ⁇ L is acquired. [0 0 4 0] (Half 1J fixed step)
- step S 2 0 2 the determination unit 2 2 performs processing on the environment information acquired in step S 2 0 1, and the motor cycle 1 0 0 Get the distance between the car and the car ahead. Further, the determination unit 22 obtains the limit inter-vehicle distance in consideration of the traveling state information of the motor cycle 100, the operation state information of the rider, and the like obtained by using various detection devices.
- the determination unit 2 2 mode - Tasaikuru distance to the 1 0 0 and the front vehicle, semi 1 J constant whether below the limit vehicle distance over reference time or longer. If yes, go to step S 2 0 3 and if no, go back to step S 2 0 1. [0 0 4 1] (Control step) In steps S 2 0 3 to S 2 0 5, the control unit 2 3 operates in a manner corresponding to the posture information acquired in step S 2 0 1 in the warning device 3. Causes 0 to output a warning.
- step S2 0 3 the control unit 2 3 determines that the posture information acquired in step S 2 0 1 is It is determined whether or not the posture information corresponds to a smaller tilt angle ⁇ ⁇ _ compared to the reference tilt angle ⁇ ⁇ _th 2. If yes, go to step S 2 0 4, and if no, go to step S 2 0 5.
- the control unit 23 causes the warning device 30 to output the first warning sound having the first volume at step S 2 0 4, and the first warning sound to the warning device 30 at step S 2 0 5.
- a second warning sound having a second volume lower than the sound volume is output. That is, the second warning sound is a warning having a lower perceptibility than the first warning sound.
- the second warning sound may be a warning sound whose volume gradually increases with time.
- the first warning sound corresponds to the “first warning” in the present invention
- the second warning sound corresponds to the “second warning” in the present invention.
- the volume corresponds to “intensity” in the present invention.
- the control unit 23 causes the warning device 30 to output the first warning display of the first brightness in step S 2 0 4, and causes the warning device 3 0 to output in step S 2 0 5.
- the second warning display having the second brightness that is darker than the first brightness is output.
- the second warning display is a warning having a lower perceptibility than the first warning display.
- the second warning display may be a warning display that gradually becomes brighter as time elapses.
- the first warning display corresponds to the “first warning” in the present invention
- the second warning display corresponds to the “second warning” in the present invention.
- the brightness corresponds to “intensity” in the present invention.
- the control unit 23 causes the warning device 30 to output a warning vibration having the first amplitude in step S 2 0 4, and causes the warning device 3 0 to output the first amplitude in step S 2 0 5.
- the second warning vibration may be a warning vibration whose amplitude gradually increases with time.
- the first warning vibration corresponds to the “first warning” in the present invention
- the second warning vibration corresponds to the “second warning” in the present invention.
- the amplitude corresponds to “intensity” in the present invention.
- step S 20 04 the control unit 23 changes the volume of the warning device 30 to the first cycle of the first cycle. 1 is output, and in step S 2 0 5, the warning device 30 is caused to output a second warning sound having a second period in which the volume change is longer than the first period. That is, the second warning sound is a warning having a lower perceptibility than the first warning sound.
- the second warning sound may be a warning sound in which the period of volume change gradually shortens with time.
- the first warning sound corresponds to the “first warning” in the present invention
- the second warning sound corresponds to the “second warning” in the present invention.
- the volume change corresponds to the “change pattern” in the present invention.
- the control unit 23 causes the warning device 30 to output a first warning display whose brightness change has the first cycle in step S 2 0 4, and in step S 2 0 5, the warning device 3
- the second warning display of the second cycle whose brightness change is longer than the first cycle is output to 0.
- the second warning display is a warning having a lower perceptibility than the first warning display.
- the second warning display may be a warning display in which the brightness change cycle gradually decreases with time.
- the first warning display corresponds to the “first warning” in the present invention
- the second warning display corresponds to the “second warning” in the present invention.
- the change in brightness corresponds to the “change pattern” in the present invention.
- step S 2 0 4 the control unit 23 3 causes the warning device 30 to output a warning vibration that vibrates in the first cycle, and in step S 2 0 5, the warning device 3 0 A second warning vibration that vibrates in a second cycle longer than the cycle is output. That is, the second warning vibration is a warning having a lower perceptibility than the first warning vibration.
- the second warning vibration may be a warning vibration whose period gradually decreases with time.
- the first warning vibration corresponds to the “first warning” in the present invention
- the second warning vibration corresponds to the “second warning” in the present invention.
- the vibration corresponds to the “transformer pattern” in the present invention.
- the control unit 23 causes the warning device 30 to output a warning by a first output device that outputs a sound (preferably a loud sound), and in step S 2 0 5,
- the warning device 30 outputs a warning by a second output device that outputs a display (preferably a display that is not so conspicuous). That is, the warning by the second output device is a warning perceived by the rider by a sensory device different from the warning by the first output device. . Further, the warning by the second output device is a warning having a lower perceptibility than the warning by the first output device.
- the warning by the first output device corresponds to the “first warning” in the present invention
- the warning by the second output device corresponds to the “second warning” in the present invention.
- step S 20 04 the control unit 23 3 outputs a warning by using a first output device that outputs a sound to the warning device 30 and a second output device that outputs a display.
- the warning is output only by the second output device. That is, the warning by the second output device in step S 2 0 4 and step S 2 0 5 is a warning perceived by the rider by a sensory organ different from the warning by the first output device in step S 2 0 4. is there.
- the warning by the first output device in step S 2 0 4 corresponds to the “first warning” in the present invention, and the warning by the second output device in step S 2 0 4 is the “third warning in the present invention”.
- the warning by the second output device in step S 2 0 5 corresponds to the “second warning” in the present invention.
- step S 2 0 4 the control unit 23 causes the warning device 30 to output a warning by the first output device that outputs vibration, and in step S 2 0 5, the warning device 3 0 outputs a sound.
- a warning is output by the second output device that outputs the display. That is, the warning by the second output device is a warning perceived by the rider by a sensory device different from the warning by the first output device.
- the warning by the second output device is a warning that is less perceptible than the warning by the first output device.
- the warning by the first output device exerts an external force on the rider, and the warning by the second output device does not exert an external force on the rider.
- the warning by the first output device corresponds to the “first warning” in the present invention
- the warning by the second output device corresponds to the “second warning” in the present invention.
- step S 2 0 4 the control unit 23 causes the warning device 30 to output a warning by the first output device that outputs vibration and the second output device that outputs sound or display, and In step S 2 0 5, a warning is output only by the second output device.
- the warning by the second output device in step S 2 0 4 and step S 2 0 5 is caused by a different sensory organ than the warning by the first output device in step S 2 0 4. This is a warning perceived by the rider.
- the warning from the first output device in step S 2 0 4 corresponds to the “first warning” in the present invention
- the warning from the second output device in step S 2 0 4 corresponds to the “third warning in the present invention.
- the warning by the second output device in step S 2 0 5 corresponds to the “second warning” in the present invention.
- the control unit 23 receives the first warning device 30 when the acquisition unit 21 acquires posture information corresponding to the small tilt angle ⁇ L compared to the reference tilt angle ⁇ L th 2.
- the first warning is given to the warning device 30.
- the second warning may be a warning having a lower perceptibility than the first warning.
- the second warning should be a warning that gradually improves perceptibility. With such a configuration, it is possible to improve the rider's safety while promoting the rider's driving support.
- the second warning may be a warning perceived by the rider by a sensory device different from the first warning.
- the first warning may be a warning that applies an external force to the rider
- the second warning may be a warning that does not apply an external force to the rider.
- Such a configuration suppresses external force from being applied to the rider in a state where a large tilt angle ⁇ L occurs in the motor cycle 100 and the vehicle body becomes unstable. It will be possible to support rider operation while ensuring the improvement of safety.
- the second warning is a warning perceived by the rider with a sensory organ different from the first warning
- the control unit 23 3 compares the reference tilt angle ⁇ ⁇ _ th 2 with the acquisition unit 21.
- the warning device 30 recognizes the first warning and perceives it by the rider with a sensory device different from the first warning.
- the posture information corresponding to the tilt angle ⁇ L that is larger than the reference tilt angle ⁇ ⁇ _th 2 is acquired by the acquisition unit 21, the warning device 30 receives the first warning. Don't output 3 warnings.
- the second warning and the third warning are warnings perceived by the rider by the same sensory organ. Such a configuration makes it possible to prevent the second warning from being overlooked by the rider and further improve the safety of the rider.
- Embodiment 3 An inter-vehicle distance warning system according to Embodiment 3 will be described below. Note that the inter-vehicle distance warning system according to the third embodiment is different from the inter-vehicle distance warning system according to the first and second embodiments only in the operation flow of the processing unit 20. Description overlapping or similar to the inter-vehicle distance warning system according to the first embodiment and the second embodiment is appropriately simplified or omitted.
- FIG. 6 is a diagram showing an operation flow of the processing unit of the inter-vehicle distance warning system according to the third embodiment of the present invention.
- the processing unit 20 performs the operation flow shown in FIG. 6 during the running of the motor cycle 100. [0 0 6 0]
- Step S 301 the acquisition unit 21 acquires environment information corresponding to the output of the environment detection device 11. Further, based on the output of the inertial measurement device 12, posture information related to the tilt angle ⁇ L is acquired. [0 0 6 1 J (Half 1J fixed step)
- step S 3 0 2 semi-ij fixed part 2 2 processes the environmental information acquired in step S 3 0 1 and acquires the inter-vehicle distance between the motor cycle 1 0 0 and the preceding vehicle. . Further, the determination unit 22 obtains the limit inter-vehicle distance in consideration of the traveling state information of the motor cycle 100, the operation state information of the rider, and the like obtained by using various detection devices. In general, the higher the vehicle speed of the motor cycle 100, the longer the limit inter-vehicle distance is set. Then, the determination unit 22 determines whether or not the inter-vehicle distance between the motor cycle 100 and the preceding vehicle is less than the limit inter-vehicle distance over a reference time. When it is Y e s, the process proceeds to step S 3 0 3, and when it is N 0, the process returns to step S 3 0 1.
- step S 3 0 3 to S 3 07 the control unit 23 causes the warning device 30 to output a warning in a manner corresponding to the attitude information acquired in step S 3 0 1.
- control unit 23 corresponds to the tilt angle ⁇ ⁇ _ that is smaller than the limit tilt angle ⁇ ⁇ _th 1 in Step S 3 0 It is determined whether or not the posture information is to be used. If it is Y e s, the process proceeds to step S 3 0 4, and if it is N 0, the process proceeds to step S 3 0 7.
- step S 3 0 4 the control unit 2 3 is the posture information corresponding to the tilt angle ⁇ ⁇ _ in which the posture information acquired in step S 3 0 1 is smaller than the reference tilt angle ⁇ L th 2. It is determined whether or not.
- the reference tilt angle ⁇ _th 2 is an angle smaller than the limit tilt angle ⁇ _th 1.
- step S 3 0 5 the control unit 23 causes the warning device 30 to perform the same operation as in step S 2 0 4 in FIG. 5.
- the same operation as step S 2 0 5 in step S 2 0 5 is performed, and in step S 3 0 7, the warning device 3 0 performs the same operation as step S 1 0 5 in FIG. To do.
- the acquisition unit 21 acquires the first warning device 30.
- the warning device 30 outputs a second warning different from the first warning, and the acquisition unit 21 acquires posture information corresponding to the tilt angle ⁇ _ that is larger than the limit tilt angle ⁇ _th 1.
- the warning device 30 does not output a warning. Therefore, the safety of the rider is improved while the safety of the rider is improved.
- Embodiment 1 to Embodiment 3 have been described above, the present invention is not limited to the description of each embodiment. For example, only a part of each embodiment may be implemented, or all or a part of each embodiment may be combined. Further, all or some of the steps of the motion flow may be executed in different orders. For example, the posture related to the tilt angle ⁇ _ in the acquisition steps S 1 0 1, S 2 0 1, S 3 0 1 Acquisition of information may be performed after half a 1J fixed step S 1 0 2, S 2 0 2, S 3 0 2. In the second embodiment and the third embodiment, two types of warnings are used properly using the reference tilt angle ⁇ _th 2, but three or more types of warnings may be used properly. [Explanation of symbols]
- 1 Inter-vehicle distance warning system 1 1 Environment detection device, 1 2 Inertial measurement device, 2 0 Processing unit, 2 1 Acquisition unit, 2 2 Judgment unit, 23 Control unit, 3 0 Warning device, 1 0 0 Motor cycle, ⁇ L Tilt angle, ⁇ _ th 1 Limit tilt angle, ⁇ _ th 2 Reference tilt angle.
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Abstract
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Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2019524536A JP7104036B2 (ja) | 2017-06-12 | 2018-05-15 | 車間距離警告システムのための処理ユニット及び処理方法、車間距離警告システム、及び、モータサイクル |
US16/620,973 US11142215B2 (en) | 2017-06-12 | 2018-05-15 | Processing unit and processing method for inter-vehicular distance warning system, inter-vehicular distance warning system, and motorcycle |
EP18729198.4A EP3640917A1 (en) | 2017-06-12 | 2018-05-15 | Processing unit and processing method for intervehicular distance warning system, intervehicular distance warning system, and motorcycle |
KR1020207000867A KR102518576B1 (ko) | 2017-06-12 | 2018-05-15 | 차간 거리 경고 시스템을 위한 처리 유닛 및 처리 방법, 차간 거리 경고 시스템, 및 모터사이클 |
CN201880052169.8A CN110914885B (zh) | 2017-06-12 | 2018-05-15 | 车间距离警告系统用的处理单元和处理方法、车间距离警告系统以及摩托车 |
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JP2017115129A JP2019003264A (ja) | 2017-06-12 | 2017-06-12 | 車間距離警告システムのための処理ユニット及び処理方法、車間距離警告システム、及び、モータサイクル |
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US (1) | US11142215B2 (ja) |
EP (1) | EP3640917A1 (ja) |
JP (2) | JP2019003264A (ja) |
KR (1) | KR102518576B1 (ja) |
CN (1) | CN110914885B (ja) |
WO (1) | WO2018229566A1 (ja) |
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TWI829313B (zh) * | 2021-09-30 | 2024-01-11 | 日商山葉發動機股份有限公司 | 傾斜車輛 |
GB202211986D0 (en) * | 2022-08-17 | 2022-09-28 | Continental Automotive Gmbh | Method and system to alert a rider on a vehicle based on rider posture for safe riding |
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US3176062A (en) * | 1959-12-04 | 1965-03-30 | Ericsson Telefon Ab L M | Device for fastening a component to a mounting plate |
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JP4427964B2 (ja) | 2003-03-31 | 2010-03-10 | 株式会社アドヴィックス | 車両の制御装置 |
DE102008042521A1 (de) * | 2008-10-01 | 2010-04-08 | Robert Bosch Gmbh | Verfahren für eine Anzeige einer visuellen Warndarstellung |
DE102012207981A1 (de) * | 2012-05-14 | 2013-11-14 | Robert Bosch Gmbh | Verfahren zur Warnung eines Fahrers eines einspurigen Kraftfahrzeugs vor einem Verlassen der Fahrspur |
JP6410509B2 (ja) * | 2014-08-04 | 2018-10-24 | 株式会社エフ・シー・シー | 鞍乗り型車両 |
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CN106139563B (zh) * | 2016-07-15 | 2019-02-26 | 深圳市智慧交通有限公司 | 一种矫正骑行的方法和系统 |
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- 2018-05-15 WO PCT/IB2018/053370 patent/WO2018229566A1/ja unknown
- 2018-05-15 EP EP18729198.4A patent/EP3640917A1/en active Pending
- 2018-05-15 US US16/620,973 patent/US11142215B2/en active Active
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CN110914885A (zh) | 2020-03-24 |
JP7104036B2 (ja) | 2022-07-20 |
US20200198653A1 (en) | 2020-06-25 |
JPWO2018229566A1 (ja) | 2020-03-19 |
KR20200017473A (ko) | 2020-02-18 |
JP2019003264A (ja) | 2019-01-10 |
EP3640917A1 (en) | 2020-04-22 |
KR102518576B1 (ko) | 2023-04-10 |
US11142215B2 (en) | 2021-10-12 |
CN110914885B (zh) | 2022-11-01 |
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