WO2020008302A1 - モータサイクルに用いられる運転支援システムの制御装置及び制御方法、及び、モータサイクルに用いられる運転支援システム - Google Patents
モータサイクルに用いられる運転支援システムの制御装置及び制御方法、及び、モータサイクルに用いられる運転支援システム Download PDFInfo
- Publication number
- WO2020008302A1 WO2020008302A1 PCT/IB2019/055378 IB2019055378W WO2020008302A1 WO 2020008302 A1 WO2020008302 A1 WO 2020008302A1 IB 2019055378 W IB2019055378 W IB 2019055378W WO 2020008302 A1 WO2020008302 A1 WO 2020008302A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- notification
- control
- control device
- motor cycle
- adaptive cruise
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000003044 adaptive effect Effects 0.000 claims abstract description 49
- 238000005259 measurement Methods 0.000 description 13
- 230000000694 effects Effects 0.000 description 8
- 239000012530 fluid Substances 0.000 description 7
- 238000013459 approach Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000002411 adverse Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000000470 constituent Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000001550 testis Anatomy 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/16—Pitch
Definitions
- the present invention relates to a control device and a control method capable of appropriately assisting a rider in driving a motorcycle, and a driving support system including such a control device.
- Patent Literature 1 this describes that a motorcycle is improperly approaching an obstacle based on an output of a sensor for detecting an obstacle in the traveling direction or substantially in the traveling direction.
- a driving support system for notifying the driver is disclosed.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2000-0916
- the motorcycle executes a smart cruise operation.
- the behavior of the motorcycle is controlled so that the traveling speed of the motorcycle approaches the speed reference value.
- the adaptive cruise operation which is a form of smart cruise operation
- the vehicle ahead of the lane on which the motorcycle runs is specified as the vehicle to be followed, and the relative position information between the motor cycle and the vehicle to be followed is obtained.
- the motor cycle is acquired so that the inter-vehicle distance from the motor cycle to the target vehicle approaches the distance reference value. ⁇ ⁇ 0 2020/008302? € 1/162019/055378
- the behavior of the file is controlled.
- the deceleration that occurs in the motorcycle during automatic deceleration during the operation is limited to a deceleration that does not impair rider comfort.
- adaptive cruise operations performed on wide vehicles have already become widespread and various technologies have already been established.
- wide vehicles for example, passenger cars having four wheels, trucks, etc.
- the driver can change the driving lane relatively freely by operating the eight dollars even during automatic deceleration.
- the change of the running direction is performed with the weight shift of the rider.
- a force in the direction of raising the vehicle body may act on the motor cycle. Therefore, it is relatively difficult to change the lane during automatic deceleration in the motor cycle.
- the adaptive cruise operation of the motor cycle may require the rider to allow automatic deceleration that may make the rider feel less comfortable.
- there is a special control specialized for the adaptive cruise operation of the motorcycle It is considered necessary to introduce
- the present invention has been made in view of the above problems, and has as its object to obtain a control device and a control method capable of appropriately supporting the rider's driving. Further, a driving support system provided with such a control device is obtained.
- the present invention relates to a control device for a driving assistance system used in a motorcycle, which includes a control device for an adaptive cruise operation in which the motorcycle runs at a speed corresponding to a large distance between the motorcycle and a preceding vehicle.
- a control amount setting section for setting a control amount
- an execution step (5) for executing the adaptive cruise operation according to the control amount set by the control amount setting section in the motor cycle
- a related information acquisition unit for acquiring information related to automatic deceleration occurring during the adaptive cruise operation, and a notification when the information related to the automatic deceleration acquired by the related information acquisition unit satisfies a determination criterion. Performs a notification operation to the rider on the device.
- ⁇ ⁇ 0 2020/008302 sukeru (: 17132019/055378).
- the present invention is a driving support system used for a motor cycle, comprising the control device described above and the notification device.
- the present invention relates to a control method of a driving support system used for a motorcycle, the adaptive cruise operation for running the motorcycle at a speed corresponding to a large distance between the motorcycle and a preceding vehicle.
- a notification control step of causing the notification device to execute a notification operation to the rider.
- the information relating to the automatic deceleration that occurs during the adaptive cruise operation is acquired, and when the information satisfies the determination criterion, the notifying device executes the notifying operation to the rider.
- the motorcycle can be decelerated in various modes, and the driving of the rider can be appropriately supported.
- FIG. 1 is a diagram showing a configuration of a motorcycle to which a driving support system according to an embodiment of the present invention is applied.
- FIG. 2 is a diagram for explaining a driving support system according to the embodiment of the present invention. ⁇ ⁇ 0 2020/008302? € 1/162019/055378
- FIG. 3 is a diagram illustrating a system configuration of a main part of the driving support system according to the embodiment of the present invention.
- FIG. 4 is a flowchart showing the operation of the control device of the driving support system according to the embodiment of the present invention.
- motorcycle means a motorcycle or a tricycle of a straddle-type vehicle on which a rider straddles.
- the configurations and operations described in the following embodiments are merely examples. The present invention is not limited to the configuration and operation described in the following embodiment. For example, in the following, the case where the motor cycle is a motorcycle is described, but the motorcycle may be a motorcycle. Further, in the following, the case where the driving support system has two wheel cylinders is described, but the driving support system may have another number of wheel cylinders.
- FIG. 1 is a diagram showing a configuration of a motor cycle to which a driving support system according to an embodiment of the present invention is applied.
- FIG. 2 is a diagram for explaining a driving support system according to the first embodiment of the present invention.
- FIG. 3 is a diagram showing a main system configuration of the driving support system according to the embodiment of the present invention.
- the motorcycle 100 is composed of a lunar body 1, an occlusal 2 that is rotatably held on the lunar body 1, a front wheel 3 that is rotatably held along with an occlusal 2 on the lunar body 1, and a fuselage 1. And a rear wheel 4 that is rotatably held at
- the driving support system 10 includes at least a front brake operation ⁇ 5 11, at least a front wheel braking mechanism 12 that brakes the front wheel 3 in conjunction with the front brake operation ⁇ 5 1 1, and a rear brake operation ⁇ 5 13 And a rear wheel braking mechanism 14 that brakes the rear wheel 4 in conjunction with the rear brake operation # 5 13.
- the front brake operation ⁇ 5 1 1 is provided on the handle 2 and is operated by the user's hand.
- the front brake operation # 5 1 1 is, for example, a brake lever.
- the rear brake operation # 5 13 is provided at the bottom # 5 of the Moon 1 and is operated by the user's foot.
- the rear brake operation # 5 13 is, for example, a brake pedal.
- Each of the front wheel braking mechanism 12 and the rear wheel braking mechanism 14 includes a master cylinder 21 with a built-in piston (not shown), a reservoir 22 attached to the master cylinder 21, and a lunar body 1.
- the main channel 26 is provided with a filling valve 31. ⁇ 1]
- the flow path 27 bypasses the main flow path 26 between the wheel cylinder 24 side and the master cylinder 21 side with respect to the filling valve 31. ⁇ ⁇ In channel 27, ⁇ ⁇ 0 2020/008302? 1/162019/055378
- a relaxation valve (8 V) 32 In order from the upstream side, a relaxation valve (8 V) 32, an accumulator-evening 33, and a pump 34 are provided.
- the first valve (II 5 V 3) 5 are provided between the end # 5 of the master cylinder 21 on the main flow path 26 and the point where the downstream end # 5 of the flow path 27 is connected.
- the supply passage 28 communicates between the master cylinder 21 and the suction side of the pump 34 in the sub passage 27.
- the supply flow path 28 is provided with a second valve (H 5 V) 36.
- the confining valve 31 is, for example, a solenoid valve that opens when not energized and closes when energized.
- the release valve 32 is, for example, a solenoid valve that closes in a non-energized state and opens in an energized state.
- the first valve 35 is, for example, a solenoid valve that opens when not energized and closes when energized.
- the second valve 36 is, for example, a solenoid valve that closes when not energized and opens when energized.
- the hydraulic pressure control unit 50 constitutes the hydraulic pressure control unit 50.
- the hydraulic pressure control unit 50 in the driving support system 10 controls the hydraulic pressure of the brake fluid of the wheel cylinder 24, that is, the front wheel braking. This unit has a function of controlling the braking force of the front wheel 3 generated by the mechanism 12 and the braking force of the rear wheel 4 generated by the rear wheel braking mechanism 14.
- Each child may be provided collectively on one base 51, or may be provided separately on a plurality of bases 51. Further, the number of the [ 1 ] control devices 60 may be one, or may be divided into a plurality. Further, the control device 60 may be attached to the base 51, or may be attached to another # 5 material other than the base 51.
- the driving support system 10 includes a front wheel rotation speed sensor 41, a rear wheel rotation speed sensor 42, a distance measurement sensor 43, an image sensor 44, and Inertial measurement sensor (I 1 ⁇ / 1 II) 4 5 Including.
- the front wheel rotation speed sensor 41 detects the rotation speed of the front wheel 3.
- the front wheel rotation speed sensor 41 may detect another physical quantity that can be substantially converted to the rotation speed of the front wheel 3.
- the rear wheel rotation speed sensor 42 detects the rotation speed of the rear wheel 4.
- the rear wheel rotation speed sensor 42 may detect another physical quantity that can be substantially converted to the rotation speed of the rear wheel 4.
- the distance measuring sensor 43 is attached to the front of the motor cycle 100 so as to face forward.
- the distance measurement sensor 43 is, for example, a Rada sensor, a lidar sensor, an ultrasonic sensor, a stereo vision sensor, or the like, and measures the S-separation and azimuth from the motor cycle 100 to an object located in front of it. It is to detect.
- the image sensor 44 is attached to the front P of the motorcycle 100 so as to face forward.
- the image sensor 44 may be of any type as long as it can know the positional relationship between the traveling lane of the motorcycle 100 and the preceding vehicle. Note that the function of the image sensor 44 may be realized by the large S sensor 43, and the image sensor 44 may be omitted.
- the inertial measurement sensor 45 includes, for example, a triaxial gy ⁇ sensor and a three-directional force Q speed sensor. That is, the inertial measurement sensor 45 detects the angular velocity and the acceleration occurring in the motor cycle 100 during traveling. Inertial measurement sensor 45 may detect other physical quantities that can be substantially converted to angular velocity, or may detect other physical quantities that can be substantially converted to caro velocity. Good.
- the control device 60 includes a following vehicle specifying unit 61, a vehicle position information obtaining unit 62, a control amount setting unit 63, an execution unit 64, and a related information obtaining unit. 65 and a notification control unit 66.
- One or all of the control device 60 may be constituted by, for example, a microcomputer, a microphone processor unit, or the like.
- -A program that may be composed of updatable items such as firmware, and is executed by a command from 0 II or the like.
- the control unit 60 includes various sensors (master cylinder pressure sensor, wheel cylinder pressure sensor, front wheel rotation speed sensor 41, rear wheel rotation speed sensor 42, distance measuring sensor 43, image sensor 44, inertial measurement The output of sensor 45, etc.) is input. Further, the control device 60 outputs a signal to each component of the driving support system 10 (each component of the hydraulic pressure control unit 50, each component for controlling the engine output, etc.), and Control the behavior of cycle 100.
- the normal brake ⁇ I] control is a control for generating a braking force corresponding to the operation amount of the front wheel 3 when the front brake operation ⁇ 5 1 1 is operated. Further, the normal brake control is a control for generating a braking force corresponding to the operation amount of the rear wheel 4 when the rear brake operation unit 13 is operated.
- the control device 60 opens the filling valve 31, closes the release valve 32, opens the first valve 35, and closes the second valve 36.
- the piston (not shown) of the master cylinder 21 is pushed in the front wheel braking mechanism 12 to release the brake fluid of the wheel cylinder 24.
- the hydraulic pressure increases, and the brake pad 25 provided on the brake caliper 23 is pressed against the square 3 of the front wheel 3. As a result, a braking force is generated on the front wheels 3, and the front wheels 3 are braked.
- the control device 60 can execute an adaptive cruise operation. Adaptive cruising is a form of gravity-based work. The engine power and the wheels (3 front wheels, 3 rear wheels) ⁇ ⁇ 0 2020/008302? € 1/162019/055378
- Automatic acceleration or automatic deceleration is performed by controlling the braking force generated in (1) so that the running speed of the motor cycle 100 approaches the speed reference value.
- the adaptive cruise operation is executed when the preceding vehicle is specified as a vehicle to be followed during the execution of the intelligent cruise operation.
- the engine output and the braking force generated on the wheels depend on the distance between the motor cycle 100 and the following vehicle as the distance reference value.
- automatic acceleration or automatic deceleration is performed.
- upper limits are set for the target acceleration of the motor cycle 100 set at the time of the automatic calorie speed and the target deceleration of the motor cycle 100 set at the time of the automatic deceleration. I have.
- the upper limit should be a value that does not significantly impair rider comfort.
- the target vehicle specifying unit 61 specifies the target vehicle based on the outputs of the distance measurement sensor 43 and the image sensor 44. Specifically, of the preceding vehicles located within the detection range of the distance measuring sensor 43, the vehicle is located on the traveling lane of the motor cycle 100 and has the shortest distance from the motor cycle 100. The preceding vehicle is specified as the vehicle to be followed.
- the vehicle position information acquisition unit 62 acquires vehicle position information, which is relative position information of the vehicle to be followed with respect to the motor cycle 100 during traveling, based on the output of the distance measurement sensor 43. Specifically, the inter-vehicle distance between the motor cycle 100 and the target vehicle is acquired as vehicle position information.
- the adaptive control Set the control amount for operation. Specifically, the control amount setting unit 63 sets a control amount such that the inter-vehicle distance between the motor cycle 100 ⁇ in the traveling direction of the motor cycle 100 and the vehicle to be followed approaches the distance reference value. Set. The distance reference value is set as a distance from the motor cycle 100 to the vehicle to be followed so as to ensure rider safety. Further, the control amount setting unit 63 sets a control amount such that the traveling speed of the motor cycle 100 does not exceed the speed reference value.
- the speed reference value can be appropriately set by, for example, a rider.
- control amount setting unit 63 ⁇ ⁇ 0 2020/008302? € 1/162019/055378 If the target vehicle is not identified by the elephant vehicle identification unit 6 1, control is performed so that the running speed of the motor cycle 100 approaches the speed reference value. Set the amount.
- the execution unit 64 executes an adaptive cruise operation according to the control amount set by the control amount setting unit 63.
- execution # 5 564 controls the components of the driving support system 10 so that the engine output increases in the adaptive cruise operation, and executes the automatic calorie speed.
- execution # 564 controls the components of the driving support system 10 in the adaptive cruise operation so that the braking force generated on the wheels (the front wheels 3 and the rear wheels 4) is increased.
- Execute automatic deceleration When executing automatic deceleration, execution # 5 6 4 is performed by setting the inflow valve 31, the release valve 32, the first valve 35, the second valve 36, and the pump 34 to the control amount setting section. 6 Operates with the control amount set in 3 to control the deceleration generated in the motor cycle 100.
- the control device 60 controls the filling valve 31, the release valve 32, the first valve 35, the second valve 36, and the pump 34 as follows.
- the control device 60 opens the filling valve 31, closes the release valve 32, and closes the first valve 35 in the front wheel braking mechanism 12.
- the pump 34 is driven in a state where the second valve 36 is opened.
- the control device 60 opens the filling valve 31 and closes the release valve 32 in the rear wheel braking mechanism 14, and the first valve 35 Is closed and the second valve 36 is opened to drive the pump 34.
- the ⁇ I] control device 60 operates various sensors (master cylinder pressure sensor, wheel cylinder pressure sensor, front wheel rotation speed sensor 41, rear wheel rotation speed sensor 42, distance measurement sensor 43). In response to the output of the image sensor 44, the inertial measurement sensor 45, etc., it is possible to output a signal to the notification device 70 to execute the notification operation to the rider.
- the related information acquisition unit 65 acquires information related to automatic deceleration that occurs during the adaptive cruise operation.
- the information relating to the automatic deceleration may be information relating to the automatic deceleration occurring at that time, and ⁇ ⁇ 0 2020/008302? € 1/162019/055378 It may be information related to the automatic deceleration that occurs.
- the notification control unit 66 determines whether or not the information related to the automatic deceleration acquired by the related information acquisition unit 65 satisfies the determination criterion, and notifies the notification device 70 when the determination criterion is satisfied. Outputs a signal to execute the operation.
- information related to automatic deceleration includes motor cycle 100 deceleration with automatic deceleration occurring during adaptive cruise operation.
- the related information acquisition unit 65 may acquire the deceleration occurring at that time based on the outputs of the front wheel rotation speed sensor 41 and the rear wheel rotation speed sensor 42.
- the deceleration that will occur in the future may be acquired based on the control amount set in setting No. 5 63.
- the notification control unit 66 outputs a signal for causing the notification device 70 to execute a notification operation when the deceleration is greater than the reference speed.
- the reference value is smaller than the upper limit of the target deceleration of the motor cycle 100 set at the time of automatic deceleration.
- notification control unit 66 outputs a signal for causing notification device 70 to execute a notification operation.
- information related to automatic deceleration includes the pitch angle or pitch angular velocity of the motor cycle 100 with automatic deceleration occurring during adaptive cruise operation.
- the related information acquisition unit 65 may acquire the pitch angle or the pitch angular velocity occurring at that time based on the output of the inertial measurement sensor 45.
- Notification control # 5 666 outputs a signal for causing notification device 70 to execute a notification operation when the pitch angle or the pitch angular velocity is larger than the reference value.
- the notification control unit 66 outputs a signal for causing the notification device 70 to execute a notification operation when the change amount of the pitch angle or the pitch angular velocity is larger than the reference value.
- information related to automatic deceleration includes ambient environment information of the motor cycle 100 that affects automatic deceleration that occurs during adaptive cruise operation.
- the related information acquisition unit 65 receives the output of the image sensor
- the alarm control unit 6 6 turns on the brake lamp of the preceding vehicle.
- ⁇ ⁇ 0 2020/008302? € 1/162019/055378 Outputs a signal for causing the notification device 70 to execute the notification operation when the lamp is lit.
- the notification control unit 66 outputs a signal for causing the notification device 70 to execute the notification operation.
- the notification device 70 may be a device that notifies the rider by sound, a device that notifies the rider by display, or a device that informs the rider by vibration. Alternatively, the notification may be made by a combination of these. That is, the notification device 70 may perform a notification operation that does not apply an external force to the rider, or may execute a notification operation that applies an external force to the rider.
- the notification device 70 is a speaker, a display, a lamp, a piebrator, or the like.
- the notification device 70 may be provided in the motor cycle 100, or may be provided in equipment such as a helmet attached to the motor cycle 100.
- the notification device 70 may be configured with one output device, or may be configured with 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 flowchart showing the operation of the control device of the driving support system according to the embodiment of the present invention.
- the control device 60 repeats the processing shown in FIG. 4 during the adaptive cruise operation.
- Control device 6 [I] Control amount setting # 5 63 sets a control amount for causing the motor cycle 100 to perform a desired automatic caro speed or automatic deceleration in step 51.
- step 52 the related information acquisition section 65 of the control device 60 acquires information related to the automatic deceleration occurring in the motor cycle 100.
- ⁇ ⁇ 0 2020/008302 chan (: 17132019/055378
- step 53 the notification control unit 66 of the control device 60 determines whether or not the information related to the automatic deceleration acquired in step 52 satisfies the determination criterion. When it is determined in step 53 that the notification is 5, the notification control unit 66 outputs a signal for causing the notification device 70 to execute the notification operation in step 54.
- the control device 60 includes a related information acquisition unit 65 for acquiring information related to automatic deceleration occurring during the adaptive cruise operation, and a related information acquisition unit 65. And a notification control unit 66 that causes the notification device 70 to execute a notification operation to the rider when the information related to the automatic deceleration acquired in step satisfies the determination criterion.
- the notification control unit 66 that causes the notification device 70 to execute a notification operation to the rider when the information related to the automatic deceleration acquired in step satisfies the determination criterion.
- the predictive effect provided by the notification operation of the notification device 70 is provided.
- the improvement can reduce the adverse effect on rider perceived comfort. Therefore, in the adaptive cruise operation, the motorcycle 100 can be decelerated in various modes, and it is possible to appropriately assist the rider's operation.
- the information related to the automatic deceleration includes the deceleration of the motor cycle 100 due to the automatic deceleration occurring during the adaptive cruise operation. It is.
- the notifying device 70 may execute the notifying operation. Also, for example, the notification control unit
- step 66 when the change amount of the deceleration is larger than the reference value, the notifying device 70 may execute the notifying operation.
- the behavior of the motorcycle 100 is changed to a deceleration that may cause the rider to feel less comfortable, or an automatic deceleration that causes a change in the deceleration. Should the rider need to be controlled, the rider will be encouraged to prepare for the testicles. Therefore, it is possible to reduce the adverse effect on the comfort that the rider perceives.
- the information related to the automatic deceleration includes the pitch angle or the pitch angular velocity of the motor cycle 100 at the automatic deceleration that occurs during the adaptive cruise operation.
- the notification control unit 66 may cause the notification device 70 to execute a notification operation when the pitch angle or the pitch angular velocity is larger than the reference value. Further, for example, the notification control unit 66 may cause the notification device 70 to execute a notification operation when the change amount of the pitch angle or the pitch angular velocity is larger than the reference value.
- the behavior of the motor cycle 100 may be changed to a pitch angle or a pitch angular speed or a pitch angle or a pitch angular speed at which the rider may feel less comfortable. Even if there is a case where control is required due to automatic deceleration that causes a change in the amount of change, the rider will be encouraged to prepare for the testicles. Therefore, it is possible to reduce the adverse effect on the comfort that the rider feels.
- the information related to the automatic deceleration includes the surrounding environment information of the motor cycle 10 # that affects the automatic deceleration occurring during the adaptive cruise operation.
- the surrounding environment information includes information on the lighting state of the brake lamp of the preceding vehicle.
- the notification operation is an operation that does not exert an external force on the rider.
- the notification operation is an operation that does not exert an external force on the rider.
- the notification operation is an operation of applying an external force to the rider.
- the notification operation is ensured.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Traffic Control Systems (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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EP19742656.2A EP3819179A1 (en) | 2018-07-04 | 2019-06-26 | Controller and control method for driver-assistance system used in motorcycle, and driver-assistance system used in motorcycle |
US17/257,638 US20210276552A1 (en) | 2018-07-04 | 2019-06-26 | Controller and control method for driver-assistance system used in motorcycle, and driver-assistance system used in motorcycle |
JP2020528540A JP7179849B2 (ja) | 2018-07-04 | 2019-06-26 | モータサイクルに用いられる運転支援システムの制御装置及び制御方法、及び、モータサイクルに用いられる運転支援システム |
CN201980044511.4A CN112313132A (zh) | 2018-07-04 | 2019-06-26 | 用于摩托车的驾驶辅助系统的控制装置及控制方法及用于摩托车的驾驶辅助系统 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2018-127300 | 2018-07-04 | ||
JP2018127300A JP2020006740A (ja) | 2018-07-04 | 2018-07-04 | モータサイクルに用いられる運転支援システムの制御装置及び制御方法、及び、モータサイクルに用いられる運転支援システム |
Publications (1)
Publication Number | Publication Date |
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WO2020008302A1 true WO2020008302A1 (ja) | 2020-01-09 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/IB2019/055378 WO2020008302A1 (ja) | 2018-07-04 | 2019-06-26 | モータサイクルに用いられる運転支援システムの制御装置及び制御方法、及び、モータサイクルに用いられる運転支援システム |
Country Status (5)
Country | Link |
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US (1) | US20210276552A1 (ja) |
EP (1) | EP3819179A1 (ja) |
JP (2) | JP2020006740A (ja) |
CN (1) | CN112313132A (ja) |
WO (1) | WO2020008302A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4014779A1 (en) * | 2020-12-21 | 2022-06-22 | Robert Bosch GmbH | Helmet, rider support system, and control method |
Families Citing this family (2)
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JP2020164047A (ja) * | 2019-03-29 | 2020-10-08 | 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 | ライダー支援システム、及び、ライダー支援システムの制御方法 |
JP7235796B2 (ja) * | 2021-03-31 | 2023-03-08 | 本田技研工業株式会社 | 鞍乗型車両の運転支援システム |
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US20210276552A1 (en) | 2021-09-09 |
EP3819179A1 (en) | 2021-05-12 |
JPWO2020008302A1 (ja) | 2021-06-24 |
JP2020006740A (ja) | 2020-01-16 |
JP7179849B2 (ja) | 2022-11-29 |
CN112313132A (zh) | 2021-02-02 |
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