WO2020230768A1 - Véhicule à inclinaison équipé d'un dispositif de commande ayant au moins une fonction parmi fcw, eba et aeb - Google Patents

Véhicule à inclinaison équipé d'un dispositif de commande ayant au moins une fonction parmi fcw, eba et aeb Download PDF

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Publication number
WO2020230768A1
WO2020230768A1 PCT/JP2020/018877 JP2020018877W WO2020230768A1 WO 2020230768 A1 WO2020230768 A1 WO 2020230768A1 JP 2020018877 W JP2020018877 W JP 2020018877W WO 2020230768 A1 WO2020230768 A1 WO 2020230768A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
obstacle
eba
control device
lean vehicle
Prior art date
Application number
PCT/JP2020/018877
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English (en)
Japanese (ja)
Inventor
星美 鳥越
小林　寛
知昭 岸
里沙 安川
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ヤマハ発動機株式会社
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Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Publication of WO2020230768A1 publication Critical patent/WO2020230768A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B62J27/00—Safety equipment
    • 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
    • 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
    • B62J99/00—Subject matter not provided for in other groups of this subclass

Definitions

  • the present invention is provided on a lean body frame that inclines to the right of the vehicle when turning right and to the left of the vehicle when turning right, and corresponds to an obstacle acquired based on the relationship between the obstacle and the own vehicle.
  • the present invention relates to a leaning vehicle equipped with a control device having at least one function of FCW, EBA and AEB that operates based on a margin of operation.
  • FCW is an abbreviation for Forward Collision Warning.
  • EBA is an abbreviation for Emergency Brake Assist.
  • AEB is an abbreviation for Autonomous Emergency Braking.
  • a lean vehicle having a control device having at least one of FCW, EBA and AEB functions has been proposed, which operates based on the margin corresponding to the obstacle acquired based on the relationship between the obstacle and the own vehicle. ..
  • the lean vehicle described in Patent Document 1 is provided on a lean body frame that tilts to the right of the vehicle when turning right and tilts to the left of the vehicle when turning right, and is acquired based on the relationship between an obstacle and the own vehicle. It is equipped with a control device having an FCW function that operates based on a margin corresponding to an obstacle.
  • Patent Document 1 describes that the minimum lateral offset between the two-wheeled vehicle and the obstacle is taken into consideration in order to deal with the obstacle.
  • the minimum lateral offset is described as the lateral offset with respect to the central axis of the preceding vehicle. Further, it is stated that if the vehicle travels on the left outer contour line or the right outer contour line of the preceding vehicle, no further lateral offset is required. In other words, a technique for dealing with obstacles is shown by focusing on the distance between the central axis of the preceding vehicle and the outer contour line of the preceding vehicle. (See FIG. 1 and paragraphs 0009 and 0010 of Patent Document 1).
  • the present invention is a lean vehicle that tilts to the right of the vehicle when turning right and tilts to the left of the vehicle when turning left, and is a control device having at least one of the conventionally proposed functions of FCW, EBA, and AEB. It is an object of the present invention to provide a lean vehicle equipped with a control device having at least one function of FCW, EBA and AEB that operates based on a technical idea different from the technical idea.
  • a lean vehicle provided with a control device having at least one of FCW, EBA and AEB has the following configuration.
  • the lean vehicle is mounted on a lean body frame that tilts to the right of the vehicle when turning right and to the left of the vehicle when turning left, based on the margin acquired based on the relationship between the obstacle and the vehicle. It includes a control device having at least one function of operating FCW, EBA and AEB.
  • a lean vehicle equipped with a control device having at least one function of FCW, EBA and AEB is a physical quantity related to a vehicle width which is a left-right length of the lean vehicle that changes when the lean vehicle turns right or left. It is equipped with a lean vehicle width detection sensor for detecting.
  • the control device having at least one function of FCW, EBA and AEB acquires the physical quantity related to the width of the lean vehicle based on the signal detected by the lean vehicle width detection sensor.
  • the control device having at least one function of FCW, EBA and AEB is between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle based on the acquired physical quantity related to the width of the lean vehicle. It operates so that the distance in the left-right direction of the obstacle, which is the distance between the two, is the following relational expression (1).
  • Relational expression (1) When the lean vehicle travels on a straight line at the first vehicle speed, the control device having at least one of FCW, EBA, and AEB does not operate.
  • the minimum value of the lateral distance between obstacles ⁇ the lean vehicle is the first.
  • the control device having at least one of FCW, EBA, and AEB does not operate.
  • Obstacle The minimum value of the left-right distance. However, in the relational expression (1), the obstacle is It is placed inward in the radial direction of the circle.
  • a lean vehicle including a control device having at least one of FCW, EBA, and AEB may have the following configuration.
  • the control device having at least one function of FCW, EBA and AEB is between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle based on the acquired physical quantity related to the width of the lean vehicle. It operates so that the distance in the left-right direction of the obstacle, which is the distance of Relational expression (2): When the lean vehicle travels on a straight line at the first vehicle speed, the control device having at least one function of FCW, EBA, and AEB does not operate.
  • the control device When turning on a circle with the first radius at the vehicle speed, the control device having at least one of FCW, EBA, and AEB does not operate. Obstacle The minimum value of the left-right distance. However, in the relational expression (2), the obstacle is It is placed outside the radial direction of the circle.
  • a lean vehicle including a control device having at least one of FCW, EBA, and AEB may have the following configuration.
  • the control device having at least one function of FCW, EBA and AEB is between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle based on the acquired physical quantity related to the width of the lean vehicle.
  • the obstacle is operated so that the lateral distance of the obstacle, which is the distance between the two, is at least one of the following relational expressions (3) and (4).
  • the control device having at least one function of FCW, EBA and AEB does not operate.
  • the obstacle is arranged inward in the radial direction of the circle.
  • a lean vehicle including a control device having at least one of FCW, EBA, and AEB may have the following configuration.
  • the control device having at least one function of FCW, EBA and AEB is between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle based on the acquired physical quantity related to the width of the lean vehicle.
  • the obstacle is operated so that the left-right distance of the obstacle is at least one of the following relational expressions (5) and (6).
  • the minimum value of the lateral distance between obstacles ⁇ lean When the vehicle turns on the circle of the first radius at the second vehicle speed faster than the first vehicle speed, the control device having at least one function of FCW, EBA and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle. In (6), the obstacle is arranged outside the radial direction of the circle.
  • FCW, EBA and AEB focus on the lateral distance between the central axis of the preceding vehicle and the outer contour of the preceding vehicle" and “in the region to be activated". It is based on the technical idea of "focusing”.
  • a control device having at least one function of FCW, EBA, and AEB according to an embodiment of the present invention is described as "a lateral distance between a grounding point of a lean vehicle and an obstacle based on a changing vehicle width of the lean vehicle. It is based on the technical idea of "focusing on the non-operating region” and “focusing on the non-operating region”, and is different from the conventionally proposed control device having at least one function of FCW, EBA and AEB.
  • the lean vehicle is a vehicle provided with a lean vehicle body frame that tilts to the right of the vehicle when turning right and tilts to the left of the vehicle when turning left. Includes at least one front wheel and at least one rear wheel.
  • the lean vehicle may have two front wheels and one rear wheel or two rear wheels.
  • the lean vehicle may have one front wheel and two rear wheels or two rear wheels.
  • the front wheels may be steering wheels or the rear wheels may be steering wheels.
  • the lean vehicle is equipped with a drive source.
  • the drive source may be an engine, an electrically powered motor, or a hybrid drive source having both.
  • the lean body frame is a member that mainly receives stress in a lean vehicle.
  • the lean body frame may be a combination of a plurality of parts, or may be integrally molded.
  • the "margin acquired based on the relationship between obstacles and own vehicle" in the present invention and the embodiment is the margin when dealing with the obstacle.
  • the margin is acquired based on, for example, the relative speed between the obstacle and the own vehicle.
  • the margin is information such as numerical values and strength of analog signals.
  • When the margin is higher than the standard it means that there is a margin compared to the standard.
  • the standard may be set in advance according to various lean vehicles. Further, it may be corrected or learned based on the signals acquired by various sensors.
  • the margin may be information that directly indicates the margin or information that indirectly indicates the margin, for example, information that correlates with the margin. Acquiring the margin means to directly acquire the information indicating the margin or indirectly to acquire the information indicating the margin.
  • the lean vehicle width detection sensor in the present invention and the embodiment detects a physical quantity related to the vehicle width, which is the left-right length of the lean vehicle that changes when the lean vehicle turns right or left. It is a sensor for.
  • the width of the lean vehicle itself does not change. However, the lean vehicle tilts to the right of the vehicle when turning right and to the left of the vehicle when turning left. Therefore, the width of the lean vehicle, which is the length in the left-right direction, changes by inclining in the left-right direction.
  • the physical quantity related to the vehicle width which is the length of the lean vehicle in the left-right direction, is the physical quantity related to the lean angle of the lean vehicle.
  • a lean vehicle width detection sensor is a sensor such as an IMU (Inertial Measurement Unit), a GPS (Global Positioning System), or a camera for acquiring from an image.
  • a lean vehicle width detection sensor is a sensor such as an IMU (Inertial Measurement Unit), a GPS (Global Positioning System), or a camera for acquiring from an image.
  • the physical quantity related to the vehicle width which is the length in the left-right direction of the lean vehicle, is indirectly the information indicating the physical quantity related to the vehicle width, which is the length in the left-right direction of the lean vehicle.
  • Information indicating a physical quantity related to the vehicle width, which is the length in the left-right direction of the lean vehicle for example, information correlating with the physical quantity related to the vehicle width, which is the length in the left-right direction of the lean vehicle may be used.
  • Acquiring the physical quantity related to the width of the lean vehicle, which is the length in the left-right direction of the lean vehicle means information indicating the physical quantity related to the width of the lean vehicle, which is the length in the left-right direction of the lean vehicle, or indirectly, the lean vehicle. It means to acquire information indicating a physical quantity related to the vehicle width, which is the length in the left-right direction.
  • the physical quantity related to the vehicle width which is the length of the lean vehicle in the left-right direction in the present invention and the embodiment, is, for example, the length between the grounding point of the wheel and the right end of the lean vehicle or the rider, and the grounding point of the wheel. It may be information that directly or indirectly indicates the length between the left end of the lean vehicle or the rider, or the length between the right end and the left end of the lean vehicle or the rider. As the width of the vehicle changes, so do these lengths. In a lean vehicle, by including the concept of the grounding point of the wheel in the physical quantity related to the vehicle width, it becomes easy to obtain the distance in the left-right direction of the obstacle between the obstacle and the grounding point of the wheel.
  • the lean vehicle may or may not acquire the obstacle left-right distance.
  • Including the concept of the wheel contact point in the physical quantity related to the vehicle width means that the information directly or indirectly indicated by the physical quantity related to the vehicle width includes the information about the contact point.
  • the lean angle in the present invention and the embodiment is the tilt angle of the lean vehicle in the left-right direction of the lean vehicle with respect to the vertical direction.
  • the tilt angle of the lean vehicle in the left-right direction of the lean vehicle with respect to the vertical is the tilt angle of the lean vehicle body frame in the left-right direction of the lean vehicle with respect to the vertical.
  • the lean angle is zero, the lean vehicle is in an upright state in the left-right direction of the lean vehicle.
  • the state in which the absolute value of the lean angle decreases is a state in which the lean vehicle transitions from a state in which the lean vehicle is tilted in the left-right direction to an upright state.
  • the state in which the absolute value of the lean angle increases is a state in which the lean vehicle transitions from an upright state to a state in which the lean vehicle is tilted in the left-right direction.
  • the time change rate of the lean angle at this time is the lean angular velocity.
  • the time change rate of the lean angular velocity is the lean angular acceleration.
  • the lean angular velocity or lean angular acceleration is indirectly correlated with information indicating lean angular velocity or lean angular acceleration, for example, lean angular velocity or lean angular acceleration, even if the information directly indicates lean angular velocity or lean angular acceleration. It may be relevant information.
  • Acquiring lean angular velocity or lean angular acceleration means directly acquiring information indicating lean angular velocity or lean angular acceleration or indirectly obtaining information indicating lean angular velocity or lean angular acceleration.
  • the obstacle left-right distance which is the distance between the obstacle in the left-right direction of the lean vehicle and the ground contact point of the wheels of the lean vehicle.
  • the obstacle left-right distance is the left-right distance between the grounding point of the lean vehicle wheels and the left edge of the obstacle. is there.
  • the obstacle left-right distance is between the grounding point of the lean vehicle wheels and the right edge of the obstacle in the left-right direction of the lean vehicle. Is the distance.
  • the obstacle left-right distance is the contact point of the lean vehicle wheel in the left-right direction of the lean vehicle and the obstacle. The distance between the outer edges of an object (the outer edge of the circle in the radial direction).
  • the obstacle left-right distance is the contact point of the lean vehicle wheel in the left-right direction of the lean vehicle and the obstacle.
  • the distance between the inner edges of an object (the inner edge of the circle in the radial direction).
  • the left-right direction of the lean vehicle may be the radial direction of the circle.
  • the obstacle left-right distance may be a radial distance passing through the lean vehicle.
  • the obstacle left-right distance may be a radial distance passing through the edge of the obstacle.
  • the lateral distance of the obstacle is the circle that is concentric with the circle on which the lean vehicle travels, passes through the edge of the obstacle, and has a radius closest to the first radius. It may be the difference between the radius and the first radius.
  • the lateral distance of the obstacle is the radius of the circle that is concentric with the circle on which the lean vehicle travels, passes through the edge of the obstacle, and has a radius closest to the second radius.
  • the difference from the second radius may be used.
  • the left-right direction of the lean vehicle in the present invention and the embodiment is a direction parallel to the road surface or a horizontal direction regardless of the lean angle of the lean vehicle.
  • the left-right direction of the lean vehicle may be, for example, a direction orthogonal to the traveling direction of the lean vehicle, or may be a left-right direction of the lane in which the lean vehicle travels.
  • the traveling direction of the lean vehicle may be acquired from, for example, the traveling locus of the lean vehicle.
  • the direction of travel of the lean vehicle may include, for example, the future direction of travel of the lean vehicle estimated during travel.
  • the obstacle left-right distance may be, for example, a distance in a straight line direction orthogonal to the traveling direction of the lean vehicle and passing through the lean vehicle, or a distance in the straight line direction orthogonal to the traveling direction of the lean vehicle and passing through the obstacle. There may be.
  • the left-right distance of the obstacle may be, for example, the left-right distance of the lane passing through the lean vehicle, or the left-right distance of the lane passing through the obstacle.
  • the distance between the two obstacles in the left-right direction at the time of turning in each of the above-mentioned relational expressions (3) to (6) is the distance in the same definition.
  • the obstacle left-right distance between the obstacle and the line is gradually reduced from the obstacle left-right distance where the controller having at least one function of FCW, EBA and AEB does not operate, and at least one of FCW, EBA and AEB.
  • the limit obstacle left-right distance that does not operate is the minimum value of the obstacle left-right distance that the control device having at least one function of FCW, EBA, and AEB does not operate.
  • Obstacle left-right distance when the lean vehicle turns on the circle is the radius of the circle that is concentric with the circle that the lean vehicle travels and is closest to the circle that the lean vehicle travels through the edge of the obstacle and the lean vehicle. Is the difference from the radius of the circle on which.
  • the obstacle lateral distance is the radial distance passing through the lean vehicle and the straight line direction orthogonal to the traveling direction of the lean vehicle and passing through the lean vehicle. It can be seen that the relational expression (1) holds even when the distance of the above or the distance in the direction of the straight line perpendicular to the traveling direction of the lean vehicle and passing through the obstacle is used.
  • the first vehicle speed, the second vehicle speed, the first radius, and the second radius may be determined by assuming an actual usage scene of a lean vehicle.
  • the minimum value of the obstacle left-right distance in which the control device having at least one function of FCW, EBA and AEB does not operate may be designed.
  • FCW the operating state can be grasped by confirming "notify” and “not notify”.
  • AEB the operating state can be grasped by confirming that "the braking force is automatically generated when there is no braking operation” and "the braking force is not automatically generated when there is no braking operation”.
  • the EBA "when the distance between the lean vehicle and the obstacle in the front-rear direction of the lean vehicle is the first distance and the brake operator is operated to the first operation amount, an assist braking force is generated.”
  • the operating state can be grasped by confirming that "the assist braking force is not generated when the brake operator is operated by the first operation amount at the first distance.”
  • the rider travels on the drawn line with a lean vehicle from a position where the obstacle is away from the front of the vehicle to a position where the obstacle is away from the rear of the vehicle at a predetermined speed, and the distance to the obstacle. However, it is sufficient to operate the brake operator by the first operation amount at the first distance.
  • the control device having at least one function of FCW, EBA, and AEB acquires the obstacle left-right distance between the obstacle and the grounding point of the wheel. It doesn't matter if it is or not.
  • the control device having at least one function of FCW, EBA and AEB of the present invention may or may not acquire the obstacle left-right distance between the obstacle and the grounding point of the wheel.
  • Control device having at least one function of FCW, EBA and AEB The control device having at least one function of FCW, EBA and AEB in the present invention and the embodiment is, for example, a control device having an EBA function.
  • the EBA function is a function that controls the assist braking force based on the brake operation of the rider.
  • the assist braking force is a braking force that is increased or decreased by the control of a control device having an EBA function among the braking forces.
  • the control device having at least one function of FCW, EBA and AEB is, for example, a control device having an AEB function.
  • the control device having the AEB function is a function of automatically controlling the braking force without depending on the brake operation of the rider.
  • the control device having at least one function of FCW, EBA and AEB is, for example, a control device having an FCW function for notifying the rider.
  • a control device having an EBA function and a control device having an AEB function a control device having an EBA function and a control device having an FCW function
  • a control device having an AEB function and a control device having an FCW function a control device having an FCW function
  • a control device having an EBA function, a control device having an AEB function, and a control device having an FCW function may be combined.
  • the control device having the AEB function has a function of controlling the assist braking force
  • the control device having the AEB function can be regarded as the control device having the EBA function.
  • control device having at least one function of FCW, EBA and AEB "operates” means “notifies” in FCW, “generates assist braking force” in EBA, and “generates assist braking force” in AEB. It automatically generates braking force. " When a control device having at least one of FCW, EBA, and AEB functions is “operated”, it means “performing a process that the rider can understand” rather than “operating the program”.
  • a control device having at least one function of FCW, EBA and AEB “does not operate”, it means “does not notify” in FCW, “does not generate assist braking force” in EBA, and “does not generate assist braking force” in AEB. It does not automatically generate braking force.
  • a controller having at least one of the functions of FCW, EBA and AEB “does not work” means “does not perform any process known to the rider”.
  • the control device having at least one function of FCW, EBA and AEB “does not operate” the program operates even if the program of the control device having at least one function of FCW, EBA and AEB is operating. It doesn't have to be.
  • Control device does not work can be replaced with "Control device does not perform any process that the rider can see”.
  • the control device is activated can be replaced with "the control device performs a process that the rider can understand”.
  • the control device having the EBA function in the present invention and the embodiment is a control device having a function of controlling the assist braking force.
  • the control device having the EBA function may have other functions.
  • the control device having the function of the antilock braking system (ABS) has the function of controlling the assist braking force
  • the control device having the ABS function can be regarded as the control device having the EBA function.
  • the control device having the EBA function in the present invention and the embodiment is acquired based on the brake, the sensor related to the amount of change in the traveling direction necessary for acquiring the amount of change in the traveling direction, and the relationship between the obstacle and the own vehicle.
  • the traveling direction change amount related sensor is, for example, an IMU (Inertial Measurement Unit), a GPS (Global Positioning System), a camera for acquiring from an image, a handle angle sensor for detecting a handle angle, and the like.
  • Margin-related sensors include, for example, a camera that captures the front of a lean vehicle, millimeter-wave radar, lidar, or a combination thereof.
  • Examples of the brake operation amount related sensor include an angle sensor that detects the rotation angle of the brake operator, a hydraulic pressure sensor that detects the hydraulic pressure generated by the brake operator, and the like.
  • the type of each sensor is not limited as long as it satisfies the above-mentioned functions.
  • the brake has a function of receiving an electric signal from a control device having an EBA function and generating a braking force.
  • the type of brake is not limited as long as it satisfies the above functions.
  • the control device having the EBA function may be electrically connected to a sensor other than the above. Further, the control device having an EBA function may be controlled based on a signal acquired from a sensor other than the above.
  • the control device having an EBA function may have an ABS function. In that case, the control device having the EBA function may be electrically connected to a sensor capable of detecting the slip state of the wheel.
  • the control device having the EBA function may, for example, control the braking force of only the front wheels.
  • the control device having the EBA function may, for example, control the braking force of only the rear wheels.
  • the control device having the EBA function may, for example, control both the braking force of the front wheels and the braking force of the rear wheels.
  • the control device having the EBA function may, for example, control the total braking force of the front wheels and the rear wheels.
  • the control device having at least one function of EBA and AEB may control, for example, a mechanically connected brake in which a brake operator and a brake are mechanically connected.
  • the control device having at least one function of EBA and AEB may control, for example, an electrically connected brake in which the brake operator and the brake are electrically connected without being mechanically connected.
  • the control device having at least one function of EBA and AEB may control, for example, a brake having both a mechanical connection and an electrical connection.
  • the notification device in the present invention and the embodiment is a device for notifying the rider.
  • the notifying device notifies at least one of visual, auditory, tactile and olfactory sensations.
  • the notification device may notify, for example, a combination of two or more of visual, auditory, tactile, and olfactory senses.
  • the acquired physical quantity related to the width of the lean vehicle may be used for control as follows.
  • the physical quantity related to the width of the lean vehicle may be acquired before the margin is acquired, and the margin may be acquired based on the physical quantity.
  • the control may be such that the acquired margin is corrected based on the physical quantity related to the width of the acquired lean vehicle.
  • the control device having at least one function of FCW, EBA and AEB operates so as to have the relational expression based on the acquired physical quantity related to the width of the lean vehicle.
  • the specific control form and method are not limited to a specific form and method.
  • the front-rear interlocking brake may be a control target.
  • the front-rear interlocking brake is a brake that first generates braking force with the rear wheel brake when the front wheel brake operator or rear wheel brake operator is operated, and then generates braking force with both the front wheel brake and the rear wheel brake. is there.
  • controlling the braking force in the present invention and the embodiment means “controlling the brake so that the braking force is obtained”.
  • a type of brake in which the braking force changes depending on the hydraulic pressure
  • the rotation angle of the lever is controlled.
  • the target to be specifically controlled may be changed according to the type of brake.
  • control based on A in the present invention and the embodiment is not limited to A as the information used for control.
  • Controlling based on A includes the case of including information other than A and controlling based on information other than A and A.
  • At least one (one) of a plurality of options in this invention and embodiment includes all combinations considered from a plurality of options. At least one (one) of the plurality of options may be any one of the plurality of options, or may be all of the plurality of options. For example, at least one of A, B, and C may be A only, B only, C only, A, B, and A and C. It may be, B and C, or A, B and C.
  • the present invention may have a plurality of these components if the number of certain components is not clearly specified in the claims and is displayed in the singular when translated into English. Further, the present invention may have only one of these components.
  • connection, connection and support includes not only direct mounting, connection, connection and support, but also indirect mounting, connection, connection and support.
  • connected and coupled are not limited to physical or mechanical connections / couplings. They also include direct or indirect electrical connections / couplings.
  • the term “favorable” in the present invention and embodiments is non-exclusive. "Preferable” means “preferable, but not limited to”. In the present specification, the configuration described as “favorable” exhibits at least the above-mentioned effect obtained by the configuration of claim 1. Further, in the present specification, the term “may” is non-exclusive. “May” means “may, but is not limited to this.” In the present specification, the configuration described as “may” exerts at least the above-mentioned effect obtained by the configuration of claim 1.
  • U is the upward direction of the lean vehicle
  • D is the downward direction of the lean vehicle
  • L is the left direction of the lean vehicle
  • R is the right direction of the lean vehicle
  • F is the front direction of the lean vehicle
  • Re is the lean vehicle. Indicates the backward direction.
  • the lean vehicle 1001 includes a control device 1011 having at least one function of FCW, EBA, and AEB mounted on a lean vehicle body frame 1002 that tilts to the right of the vehicle when turning right and tilts to the left of the vehicle when turning left. ..
  • the control device 1011 having at least one function of FCW, EBA and AEB operates based on the margin acquired based on the relationship between the obstacle 2001 and the own vehicle 1001.
  • the lean vehicle 1001 provided with the control device 1011 having at least one function of FCW, EBA and AEB is a vehicle width which is a left-right length of the lean vehicle 1001 which changes when the lean vehicle 1001 turns right or left.
  • a lean vehicle width detection sensor 1012 for detecting physical quantities DCVW and DSVW related to the above is provided.
  • the control device 1011 having at least one function of FCW, EBA, and AEB acquires physical quantities DCVW and DSVW related to the width of the lean vehicle 1001 based on the signal detected by the lean vehicle width detection sensor 1012.
  • the control device 1011 having at least one function of FCW, EBA and AEB is an obstacle 2001 and a lean vehicle in the left-right direction of the lean vehicle 1001 based on the physical quantities DCVW and DSVW related to the acquired width of the lean vehicle 1001. It operates so that the obstacle left-right distance, which is the distance between the grounding points of the wheels of 1001, becomes the following relational expression (1).
  • Relational expression (1) When the lean vehicle 1001 travels on a straight line at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle DSLRmin ⁇ lean.
  • the control device 1011 When the vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate.
  • the obstacle 2001 is arranged inward in the radial direction of the circle.
  • the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1.
  • the physical quantities DCVW and DSVW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the left end of the lean vehicle 1001.
  • the physical quantities DCVW and DSVW related to the width of the lean vehicle 1001 of the first embodiment are not limited to this.
  • the length DCVW between the ground contact point of the wheel when the lean vehicle 1001 turns left on the circle and the left end (the inner end in the radial direction of the circle) of the lean vehicle 1001 is when the lean vehicle 1001 runs on a straight line.
  • the length between the grounding point of the wheels and the left edge of the lean vehicle 1001 is greater than the DSVW.
  • the control device 1011 having at least one function of FCW, EBA, and AEB of the second embodiment has the following configurations in addition to the configurations of the first embodiment.
  • the control device 1011 having at least one function of FCW, EBA and AEB is an obstacle 2001 in the left-right direction of the lean vehicle 1001 based on the physical quantities DCVW, DCSVW and DSVW related to the width of the lean vehicle 1001 acquired. It operates so that the obstacle left-right distance, which is the distance between the grounding points of the wheels of the lean vehicle 1001, is the following relational expression (2).
  • Relational expression (2) When the lean vehicle 1001 travels on a straight line at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value of the distance in the left-right direction of the obstacle DSLRmin ⁇ lean When the vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate. The minimum value DCLRmin of the distance in the left-right direction of the obstacle. However, in the relational expression (2), the obstacle 2001 is arranged outside in the radial direction of the circle.
  • the minimum value of the distance in the left-right direction of the obstacle DSLRmin the lean vehicle 1001 When turning on a circle with a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate.
  • the minimum value of the distance in the left-right direction of the obstacle DSLRmin> The lean vehicle 1001 When turning on a circle with a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA, and AEB does not operate.
  • the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1.
  • the physical quantities DCVW, DCSVW, and DSVW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the right end of the lean vehicle 1001.
  • the physical quantities DCVW, DCSVW, and DSVW related to the width of the lean vehicle 1001 of the second embodiment are not limited to this.
  • the lean angle of the lean vehicle 1001 when the lean vehicle 1001 turns on a circle is larger than the lean angle of the lean vehicle 1001 when the lean vehicle 1001 travels on a straight line.
  • the length DCVW and DCSVW between the grounding point of the wheel when the lean vehicle 1001 turns left on the circle and the right end (the outer end in the radial direction of the circle) of the lean vehicle 1001 are such that the lean vehicle 1001 is on a straight line.
  • the length between the ground contact point of the wheel and the left end of the lean vehicle 1001 when traveling is smaller than the DSVW.
  • the control device 1011 having at least one function of FCW, EBA, and AEB of the third embodiment has the following configurations in addition to the configurations of the first embodiment or the second embodiment.
  • the control device 1011 having at least one function of FCW, EBA and AEB is an obstacle 2001 and a lean vehicle in the left-right direction of the lean vehicle 1001 based on the physical quantities DC1VW and DC2VW related to the acquired width of the lean vehicle 1001. It operates so that the obstacle left-right distance, which is the distance between the grounding points of the wheels of 1001, becomes the following relational expression (3).
  • Relational expression (3) Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at a first vehicle speed V1.
  • Minimum value DC1LRmin ⁇ An obstacle in which the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the lean vehicle 1001 turns on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1.
  • Minimum value of lateral distance DC2LRmin However, in the relational expression (3), the obstacle 2001 is arranged inward in the radial direction of the circle.
  • the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1.
  • the physical quantities DC1VW and DC2VW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the left end (inner end in the radial direction of the circle) of the lean vehicle 1001.
  • the physical quantities DC1VW and DC2VW related to the width of the lean vehicle 1001 of the third embodiment are not limited to this.
  • the lean angle of the lean vehicle 1001 when the lean vehicle 1001 turns on a circle with a second radius r2 smaller than the first radius r1 at the first vehicle speed V1 is such that the lean vehicle 1001 is on the circle with the first radius r1 at the first vehicle speed V1. Is larger than the lean angle of the lean vehicle 1001 when turning. Therefore, when the lean vehicle 1001 turns left on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1, the ground contact point of the wheels and the left end of the lean vehicle 1001 (the inner end in the radial direction of the circle).
  • the length DC2VW between the lean vehicle 1001 is larger than the length DC1VW between the grounding point of the wheel when the lean vehicle 1001 turns left on the circle of the first radius r1 at the first vehicle speed V1 and the left end of the lean vehicle 1001.
  • the control device 1011 having at least one function of FCW, EBA and AEB of the fourth embodiment has the following configurations in addition to the configurations of the first embodiment, the second embodiment or the third embodiment.
  • the control device 1011 having at least one function of FCW, EBA and AEB is an obstacle 2001 and a lean vehicle in the left-right direction of the lean vehicle 1001 based on the physical quantities DC1VW and DC2VW related to the acquired width of the lean vehicle 1001. It operates so that the obstacle left-right distance, which is the distance between the grounding points of the wheels of 1001, becomes the following relational expression (4).
  • Relational expression (4) Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1.
  • Minimum value of lateral distance DC2LRmin However, in the relational expression (4), the obstacle 2001 is arranged inward in the radial direction of the circle.
  • the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1.
  • the physical quantities DC1VW and DC2VW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the left end (the inner end in the radial direction of the circle) of the lean vehicle 1001.
  • the physical quantities DC1VW and DC2VW related to the width of the lean vehicle 1001 of the fourth embodiment are not limited to this.
  • the lean angle of the lean vehicle 1001 when the lean vehicle 1001 turns on the circle of the first radius r1 at the second vehicle speed V2, which is faster than the first vehicle speed V1, is that the lean vehicle 1001 is on the circle of the first radius r1 at the first vehicle speed V1. Is larger than the lean angle of the lean vehicle 1001 when turning. Therefore, when the lean vehicle 1001 turns left on the circle with the first radius r1 at the second vehicle speed V2 faster than the first vehicle speed V1, the ground contact point of the wheels and the left end of the lean vehicle 1001 (the inner end in the radial direction of the circle).
  • the length DC2VW between the lean vehicle 1001 is larger than the length DC1VW between the grounding point of the wheel when the lean vehicle 1001 turns left on the circle of the first radius r1 at the first vehicle speed V1 and the left end of the lean vehicle 1001.
  • the control device 1011 having at least one function of FCW, EBA and AEB of the fifth embodiment has the following configurations in addition to the configurations of the first embodiment, the second embodiment, the third embodiment or the fourth embodiment. To be equipped.
  • the control device 1011 having at least one function of FCW, EBA, and AEB is based on the acquired physical quantities DC1VW, DC2VW, and DC2SVW related to the width of the lean vehicle 1001, and the obstacle 2001 in the left-right direction of the lean vehicle 1001.
  • the obstacle left-right distance which is the distance between the grounding points of the wheels of the lean vehicle 1001
  • Relational expression (5) Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA, and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at a first vehicle speed V1.
  • Minimum value DC1LRmin Lean Obstacle in which the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the vehicle 1001 turns on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1.
  • Minimum value of lateral distance DC2LRmin However, in the relational expression (5), the obstacle 2001 is arranged outside in the radial direction of the circle.
  • the following two patterns are shown for the minimum value DC2LRmin of the lateral distance.
  • Pattern 3 When the lean vehicle 1001 turns on a circle having a first radius r1 at the first vehicle speed V1, the control device 1011 having at least one function of FCW, EBA and AEB does not operate.
  • the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1.
  • the physical quantities DC1VW, DC2VW, and DC2SVW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the right end (the outer end in the radial direction of the circle) of the lean vehicle 1001.
  • the physical quantities DC1VW, DC2VW, and DC2SVW related to the width of the lean vehicle 1001 of the fifth embodiment are not limited to this.
  • the lean angle of the lean vehicle 1001 when the lean vehicle 1001 turns on a circle with a second radius r2 smaller than the first radius r1 at the first vehicle speed V1 is such that the lean vehicle 1001 is on the circle with the first radius r1 at the first vehicle speed V1. Is larger than the lean angle of the lean vehicle 1001 when turning. Therefore, when the lean vehicle 1001 turns left on a circle having a second radius r2 smaller than the first radius r1 at the first vehicle speed V1, the ground contact point of the wheels and the right end of the lean vehicle 1001 (the outer end in the radial direction of the circle).
  • the lengths between DC2VW and DC2SVW are larger than the length DC1VW between the ground contact point of the wheels when the lean vehicle 1001 turns left on the circle of the first radius r1 at the first vehicle speed V1 and the left end of the lean vehicle 1001. ..
  • the control device 1011 having at least one function of FCW, EBA, and AEB of the sixth embodiment is provided in addition to the configurations of the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, or the fifth embodiment. It has the following configuration.
  • the control device 1011 having at least one function of FCW, EBA and AEB is an obstacle 2001 in the left-right direction of the lean vehicle 1001 based on the physical quantities DC1VW, DC2VW and DC2SVW related to the width of the lean vehicle 1001 acquired.
  • Relational expression (6) Obstacle left-right distance in which the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the lean vehicle 1001 turns on a circle having a first radius r1 at a first vehicle speed V1.
  • Minimum value DC1LRmin Lean Obstacle that the control device 1011 having at least one function of FCW, EBA and AEB does not operate when the lean vehicle 1001 turns on the circle of the first radius r1 at the second vehicle speed V2 faster than the first vehicle speed V1.
  • Minimum value of lateral distance DC2LRmin However, in the relational expression (6), the obstacle 2001 is arranged outside in the radial direction of the circle.
  • the lean vehicle 1001 is turning to the left of the vehicle on a circle having a first radius r1.
  • the physical quantities DC1VW, DC2VW, and DC2SVW related to the width of the lean vehicle 1001 are the lengths between the ground contact point of the wheels and the right end (the outer end in the radial direction of the circle) of the lean vehicle 1001.
  • the physical quantities DC1VW, DC2VW, and DC2SVW related to the width of the lean vehicle 1001 of the sixth embodiment are not limited to this.
  • the lean angle of the lean vehicle 1001 when the lean vehicle 1001 turns on the circle of the first radius r1 at the second vehicle speed V2, which is faster than the first vehicle speed V1, is that the lean vehicle 1001 is on the circle of the first radius r1 at the first vehicle speed V1. Is larger than the lean angle of the lean vehicle 1001 when turning. Therefore, when the lean vehicle 1001 turns left on the circle with the first radius r1 at the second vehicle speed V2 faster than the first vehicle speed V1, the ground contact point of the wheels and the right end of the lean vehicle 1001 (the outer end in the radial direction of the circle).
  • the lengths between DC2VW and DC2SVW are larger than the length DC1VW between the ground contact point of the wheels when the lean vehicle 1001 turns left on the circle of the first radius r1 at the first vehicle speed V1 and the left end of the lean vehicle 1001. ..
  • the control device 1011 having at least one function of FCW, EBA and AEB according to the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the fifth embodiment or the sixth embodiment has an EBA function.
  • the control device 1011 has, and may be configured as follows.
  • the control device 1011 having an EBA function is based on the relationship between the front braking device, the rear braking device, the lean angle-related physical quantity detecting device required for acquiring at least one of the lean angular velocity and the lean angular acceleration, the obstacle 2001, and the own vehicle 1001.
  • the control device 1011 having an EBA function is electrically connected to the engine unit.
  • the control device 1011 having the EBA function may or may not be electrically connected to the yaw angle-related physical quantity detecting device required for acquiring at least one of the yaw angular velocity and the yaw angular acceleration.
  • the front brake device is an example of a brake.
  • the rear braking device is an example of a brake.
  • the lean angle-related physical quantity detector is an example of a lean angle-related sensor.
  • the forward detection device is an example of a margin-related sensor.
  • the brake operation state detection unit is an example of a brake operation amount related sensor.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Selon la présente invention, un dispositif de commande (1011) ayant au moins une fonction parmi FCW, EBA et AEB acquiert une quantité physique liée à la largeur de véhicule d'un véhicule à inclinaison (1001) sur la base d'un signal détecté par un capteur de détection de largeur de véhicule (1012) d'un véhicule à inclinaison. Le dispositif de commande (1011), ayant au moins une fonction parmi FCW, EBA et AEB, fonctionne, sur la base de la quantité physique acquise liée à la largeur de véhicule du véhicule à inclinaison (1001), de telle sorte qu'une distance de direction latérale d'obstacle ait la relation suivante : la distance de direction latérale d'obstacle est la distance entre un obstacle (2001) dans la direction latérale du véhicule à inclinaison (1001) et les points de contact au sol des roues du véhicule à inclinaison (1001). Une valeur minimale DSLRmin d'une distance latérale d'obstacle, dans laquelle le dispositif de commande (1011) ayant au moins une fonction parmi FCW, EBA et AEB ne fonctionne pas lorsque le véhicule à inclinaison (1001) se déplace en ligne droite à une première vitesse de véhicule (V1), est inférieure à une valeur minimale DCLRmin d'une distance latérale d'obstacle dans laquelle le dispositif de commande (1011) ayant au moins une fonction parmi FCW, EBA et AEB ne fonctionne pas lorsque le véhicule à inclinaison (1001) tourne dans un cercle d'un premier rayon (r1) à la première vitesse de véhicule (V1). Cependant, l'obstacle (2001) est disposé vers l'intérieur dans la direction radiale du cercle.
PCT/JP2020/018877 2019-05-10 2020-05-11 Véhicule à inclinaison équipé d'un dispositif de commande ayant au moins une fonction parmi fcw, eba et aeb WO2020230768A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017095089A (ja) * 2015-11-23 2017-06-01 コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングＣｏｎｔｉ Ｔｅｍｉｃ ｍｉｃｒｏｅｌｅｃｔｒｏｎｉｃ ＧｍｂＨ 運転手アシスタント装置、並びに、該運転手アシスタント装置を用いたカーブ領域において側方に傾斜できる動力車両を操縦する際における運転手のサポート方法
JP2018081363A (ja) * 2016-11-14 2018-05-24 スズキ株式会社 運転支援装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017095089A (ja) * 2015-11-23 2017-06-01 コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングＣｏｎｔｉ Ｔｅｍｉｃ ｍｉｃｒｏｅｌｅｃｔｒｏｎｉｃ ＧｍｂＨ 運転手アシスタント装置、並びに、該運転手アシスタント装置を用いたカーブ領域において側方に傾斜できる動力車両を操縦する際における運転手のサポート方法
JP2018081363A (ja) * 2016-11-14 2018-05-24 スズキ株式会社 運転支援装置

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