WO2022107527A1 - 車両の情報通知装置 - Google Patents
車両の情報通知装置 Download PDFInfo
- Publication number
- WO2022107527A1 WO2022107527A1 PCT/JP2021/038429 JP2021038429W WO2022107527A1 WO 2022107527 A1 WO2022107527 A1 WO 2022107527A1 JP 2021038429 W JP2021038429 W JP 2021038429W WO 2022107527 A1 WO2022107527 A1 WO 2022107527A1
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- WO
- WIPO (PCT)
- Prior art keywords
- movable portion
- vehicle
- driver
- steering
- intervention function
- Prior art date
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- 230000033001 locomotion Effects 0.000 abstract description 5
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- 230000004397 blinking Effects 0.000 description 20
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- 239000002828 fuel tank Substances 0.000 description 7
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- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
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- 238000001914 filtration Methods 0.000 description 1
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
- B62J50/20—Information-providing devices
- B62J50/21—Information-providing devices intended to provide information to rider or passenger
- B62J50/23—Information-providing devices intended to provide information to rider or passenger mechanical, e.g. cable-driven trip meters
-
- 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
- B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
- B62J50/20—Information-providing devices
- B62J50/21—Information-providing devices intended to provide information to rider or passenger
- B62J50/22—Information-providing devices intended to provide information to rider or passenger electronic, e.g. displays
-
- 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
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- 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
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
- B62J25/02—Knee grips, e.g. on fuel tanks
-
- 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
- B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
- B62J6/22—Warning or information lights
- B62J6/24—Warning or information lights warning or informing the rider, e.g. low fuel warning lights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K21/00—Steering devices
-
- 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
Definitions
- the present invention relates to a vehicle information notification device.
- This application claims priority based on Japanese Patent Application No. 2020-192716 filed in Japan on November 19, 2020, the contents of which are incorporated herein by reference.
- the tactile information notification is performed at the part where the driver is always in contact while driving the vehicle, so that the information can be reliably notified to the driver. Is.
- the driver may find it complicated to receive the information notification, and therefore improvement is desired.
- an object of the present invention is to make it easier to receive information notification in a vehicle information notification device that notifies the driver of information by tactile sensation.
- the vehicle information notification device of the present invention is provided on at least one of a pair of left and right vehicle body outer portions (1L, 1R) in a vehicle body (1A) that steerably supports a steering system component (10A). It is provided with a movable part (56, 57) operated by an actuator (105L, 105R).
- the movable portion (56, 57) has an outer surface (56e, 57e) capable of contacting the driver's body, and the movable portion (56, 57) has a predetermined outer surface (56e, 57e). By operating with the same operation, the driver is notified of predetermined information.
- a movable portion is provided on at least one of a pair of left and right outer vehicle body portions of the vehicle body.
- the moving part is separated from the steering system parts (particularly the steering wheel). As a result, the notification of information by the movable portion and the steering operation are separated, and the driver can easily receive the notification of information.
- the movable portion (56, 57) has the outer surface (56e, 57e) capable of contacting the driver's leg in front of the seat (19) and above the step (25). You may.
- the outer surface on which the driver's legs can be contacted is arranged and operated at a position in front of the seat and above the step (position where the driver knee grips). This makes it possible to notify the driver's legs of predetermined information.
- the movable portion (56, 57) may be operated so as to move the outer surface (56e, 57e) outward in the vehicle width direction. According to this configuration, the movable portion operates so as to move the outer surface outward in the vehicle width direction. This makes it possible to increase the certainty of contact with the driver's leg and make it easier for the driver to receive notification of information.
- the movable portion (56, 57) may be provided on each of the pair of left and right vehicle body outer portions (1L, 1R) and may be operated independently on the left and right sides. According to this configuration, since the pair of left and right movable parts operate independently of each other, it is possible to combine the difference in which of the left and right movable parts is operated. As a result, a large amount of information can be notified to the driver, and the types of information to be notified can be increased.
- the movable portion (56, 57) may be operated in conjunction with the operation intervention function, which is provided with an operation intervention function capable of intervening in the operation performed by the driver.
- the movable part is operated in conjunction with the operation intervention function for the driver's operation. Thereby, it is possible to notify the driver that the operation intervention function is activated by the operation of the movable portion.
- the movable portion when the operation intervention function is activated, the movable portion (56, 57) starts operation at a timing (ta, te) earlier than the operation start timing (tb, tf) of the operation intervention function. You may. According to this configuration, the movable portion starts to operate at a timing earlier than the start of operation of the operation intervention function. This makes it possible to notify the driver in advance of the start of operation of the operation intervention function.
- the operation intervention function may include at least one of a steering intervention function and a braking intervention function. According to this configuration, at least one of the steering intervention function and the braking intervention function in the operation intervention function is activated. As a result, the driver can be notified by the operation of the movable portion.
- both the left and right movable portions (56, 57) may be activated. According to this configuration, the driver is notified by the operation of both the left and right movable parts that the braking intervention function is activated. As a result, it is possible to increase the certainty of the operation notification of the braking intervention function in which the behavior is likely to occur.
- one of the left and right movable portions (56, 57) may be activated.
- the driver is notified by the operation of one of the left and right movable parts that the steering intervention function is activated.
- the steering intervention function may have a course change function for changing the course of the vehicle to the left or right.
- the movable portion (56, 57) may be operated so as to move the outer surface (56e, 57e) outward in the vehicle width direction.
- the movable portion (56, 57) on the side that changes the course of the vehicle may be operated so as to move the outer surface (56e, 57e) outward in the vehicle width direction. ..
- the movable portion on the side that changes the course of the vehicle operates so as to move the outer surface outward in the vehicle width direction.
- the leg portion on the side of changing the course of the driver opens outward in the vehicle width direction, and it is possible to promote a posture suitable for steering.
- the movable portion (56, 57) may be operated as follows in the standby state before the system of the operation intervention function is activated and the operation intervention function is activated. That is, the movable portion (56, 57) may be operated in a different operation mode than when the operation intervention function is being operated.
- the operation intervention function has a standby state before the operation intervention function is activated, and in the standby state, the movable portion operates in an operation mode different from that when the operation intervention function is activated. This makes it possible to notify the driver that the operation intervention function is in the standby state.
- a display device (66, 67) for displaying predetermined information to the driver may be provided in conjunction with the operation of the movable portion (56, 57).
- a display device interlocking with the operation of the movable portion is further provided. As a result, information can be more reliably notified to the driver by operating the movable portion and displaying the display device.
- FIG. 1 is a cross-sectional view taken along the line VV of FIG. 1, showing a non-operating state of the left movable portion. It is sectional drawing corresponding to FIG. 5 which shows the 1st operation state of the left movable part. It is sectional drawing corresponding to FIG. 5 which shows the 2nd operation state of the left movable part. It is an operation explanatory diagram of the standby state of the said driving support device.
- FIG. 1 shows a motorcycle 1 as an example of the vehicle of the present embodiment.
- the motorcycle 1 includes a front wheel (steering wheel) 3 steered by the steering wheel 2 and a rear wheel (driving wheel) 4 driven by the power unit 20.
- the motorcycle 1 is a saddle-riding vehicle on which the driver straddles the vehicle body.
- the motorcycle 1 can swing (bank) the vehicle body in the left-right direction (roll direction) with reference to the ground contact points of the front and rear wheels 3 and 4.
- the vehicle of the embodiment is not limited to a vehicle that turns in a direction in which the vehicle body is banked, such as a motorcycle. Vehicles of the embodiment include vehicles that turn by steering the steering wheels without banking the vehicle body.
- the motorcycle 1 is equipped with a steering system component 10A including a steering wheel 2 and a front wheel 3.
- the steering system component 10A is steerably supported by the head pipe 6.
- the head pipe 6 is located at the front end of the vehicle body frame 5, which is the skeleton of the motorcycle 1.
- the front wheels 3 are supported by the lower ends of the pair of left and right front forks 10 in the steering system component 10A.
- the periphery of the vehicle body frame 5 is covered with the vehicle body cover 12.
- the vehicle body including the vehicle body frame 5 and the like (the vehicle body that supports the steering system parts 10A so as to be steerable) is referred to as the vehicle body 1A.
- the vehicle body frame 5 includes a head pipe 6, a pair of left and right main frames 7, a pair of left and right pivot frames 8, and a pair of left and right seat frames 9.
- the head pipe 6 supports the steering system component 10A so as to be steerable.
- the left and right main frames 7 extend backward from the head pipe 6.
- the left and right pivot frames 8 extend downward from the rear ends of the left and right main frames 7.
- the left and right seat frames 9 extend backward from the upper portions of the left and right pivot frames 8.
- Pivot shafts 8a along the vehicle width direction are provided to the left and right pivot frames 8.
- the front end portion of the swing arm 11 is supported by the left and right pivot frames 8 so as to be able to swing up and down via the pivot shaft 8a.
- the rear wheel 4 is supported by the rear end portion of the swing arm 11.
- a cushion unit (not shown), which is a shock absorber, is provided between the vehicle body frame 5 and the swing arm 11.
- a fuel tank 18 is supported on the upper portions of the left and right main frames 7. Behind the fuel tank 18, the seat 19 is supported by the left and right seat frames 9. Below the seat 19, a pair of left and right steps 25 on which the driver seated on the seat 19 rests his / her feet are arranged.
- the power unit 20 of the motorcycle 1 is supported by the left and right main frames 7 and the left and right pivot frames 8.
- the output shaft of the power unit 20 is connected to the rear wheel 4 so as to be able to transmit power via a chain type transmission mechanism (not shown).
- the power unit 20 integrally includes an engine (internal combustion engine) 13 as a prime mover and a transmission 21 connected to the rear of the engine 13.
- the motorcycle 1 includes a front wheel brake 3B for braking the front wheels 3 and a rear wheel brake 4B for braking the rear wheels 4.
- the front wheel brake 3B and the rear wheel brake 4B are disc brakes, respectively.
- the front wheel brake 3B and the rear wheel brake 4B appropriately brake the rotation of the front wheels 3 and the rear wheels 4 by operating the brake lever and the brake pedal, which are brake operators. Further, the front wheel brake 3B and the rear wheel brake 4B appropriately brake the rotation of the front wheel 3 and the rear wheel 4 by operating the brake actuator 102 (see FIG. 4) described later.
- the motorcycle 1 includes a driving support device 70 (see FIG. 4) that supports a driver's driving operation (in the embodiment, a steering operation for steering the front wheel 3 and a braking operation for braking the front wheel 3 and the rear wheel 4). ing.
- the driving support device 70 includes a control device 71 that controls a function of automatically intervening in the driver's driving operation (automatic operation intervention function).
- the automatic operation intervention function includes an automatic steering intervention function and an automatic braking intervention function.
- the driving support device 70 will be described in detail later.
- FIG. 2 shows the front part of the vehicle body as seen from the driver's point of view.
- the upper portions of the left and right front forks 10 are supported by the head pipe 6 via the steering stem 31.
- the left and right front forks 10 are telescopic shock absorbers.
- the steering stem 31 includes a top bridge 32 and a bottom bridge 33 that connect the upper portions of the left and right front forks 10, and a stem shaft (steering shaft) 34 that is inserted into the head pipe 6.
- the front part of the vehicle body is covered with the front cowl 27 of the vehicle body cover 12.
- the handle 2 of the motorcycle 1 is a separate left and right handle, and includes a pair of left and right right handles 36 and a left handle 37.
- the right-hand drive 36 and the left-hand drive 37 are attached to the upper parts of the left and right front forks 10 below the top bridge 32, respectively.
- the vehicle body 1A includes a pair of left and right vehicle body outer portions 1L and 1R facing the outer side in the vehicle width direction.
- the left and right vehicle body outer portions 1L and 1R are provided with movable portions 56 and 57 operated by actuators 105L and 105R.
- the left and right movable portions 56 and 57 are arranged in front of the seat 19 and above the step 25.
- the driver's legs, seated on the seat 19 and resting their feet on step 25, extend their thighs toward the left and right outside of the fuel tank 18. In addition, the legs bend the knees on the left and right outside of the fuel tank and extend the lower legs toward step 25.
- the movable portions 56 and 57 are arranged so as to overlap with the legs when viewed from the side of the vehicle.
- the outer surfaces (outer surfaces) 56e and 57e of the movable portions 56 and 57 facing the outside in the vehicle width direction can come into contact with the driver's legs from the inside in the vehicle width direction.
- Each movable portion 56, 57 functions as a means for notifying the driver's leg portion of predetermined information by operating the outer surfaces 56e, 57e in a predetermined motion.
- each of the movable portions 56, 57 functions as a means for notifying the driver of information regarding the automatic operation intervention function.
- the movable portions 56 and 57 operate so as to move the outer surfaces 56e and 57e outward in the vehicle width direction.
- Each of the movable portions 56 and 57 is included in the leg pressing device 72 that presses the driver's leg from the inside in the vehicle width direction.
- the leg pressing device 72 includes a right leg pressing portion 72R provided on the right vehicle body outer side portion 1R, a left leg portion pressing portion 72L provided on the left vehicle body outer portion 1L, and a leg pressing control unit 89 (FIG. 4) described later. See) and.
- the right leg pressing portion 72R and the left leg pressing portion 72L can move (swing) the plate-shaped right movable portion (movable portion) 56 and the left movable portion 57 along the outer surface of the vehicle body in the vehicle width direction, respectively. be.
- the right movable portion 56 and the left movable portion 57 are inclined backward and extend along the upper edge of the main frame 7 in the side view of the vehicle.
- the right movable portion 56 and the left movable portion 57 can come into contact with the left and right legs (thighs, knees, etc.) of the driver from the inside in the vehicle width direction.
- the position where the right movable portion 56 and the left movable portion 57 are arranged in the vehicle body 1A is a position where the driver sandwiches the vehicle body 1A between the left and right legs (so-called knee grip position).
- the right vehicle body outer side portion 1R and the left vehicle body outer side portion 1L are provided with a pair of left and right leg grip portions 120 formed so as to align the left and right legs of the driver.
- a right movable portion 56 and a left movable portion 57 are arranged in each of the left and right leg grip portions 120.
- the right movable portion 56 and the left movable portion 57 operate so as to move from the initial position P0 (see FIG. 5) to the operating positions P1 and P2 (see FIGS. 6 and 7).
- the initial position P0 is a position where the outer surfaces 56e and 57e are arranged so as to be along the outer surfaces of the vehicle body outer portions 1R and 1L.
- the operating positions P1 and P2 are positions where the outer surfaces 56e and 57e are moved (swinged) outward in the vehicle width direction.
- the operating positions P1 and P2 include a first operating position P1 (see FIG. 6) and a second operating position P2 (see FIG. 7).
- the first operating position P1 is a position where the outer surfaces 56e and 57e are moved (swinged) from the initial positions P0 to the outside in the vehicle width direction by the first specified amount S1.
- the second operating position P2 is a position where the outer surfaces 56e and 57e are further moved (swinged) from the first operating position P1 to the outside in the vehicle width direction by the second specified amount S2.
- the right movable portion 56 and the left movable portion 57 move (swing) outward in the vehicle width direction to press the driver's legs from the inside in the vehicle width direction. By this pressing, the driver is notified of information such as that the automatic operation intervention function is operating.
- a meter device 61 is arranged in front of the front fork 10.
- the meter device 61 is supported by the vehicle body frame 5 or the front cowl 27.
- the meter device 61 includes, for example, a display screen 62 such as a liquid crystal display that displays images such as vehicle speed and engine speed, and an indicator lamp group 63 that is arranged around the display screen 62 and notifies various information.
- the indicator lamp group 63 includes a right indicator lamp (display device) 66 arranged on the right side of the display screen 62 and a left indicator lamp (display device) 67 arranged on the left side of the display screen 62.
- the right indicator lamp 66 emits light in conjunction with the operation of the right movable portion 56.
- the left indicator lamp 67 emits light in conjunction with the operation of the left movable portion 57.
- the display screen 62 notifies the driver of predetermined information by displaying a predetermined image.
- the indicator lamp group 63 notifies the driver of predetermined information by performing a predetermined light emission display (lighting or blinking).
- FIG. 3 shows the periphery of the top bridge 32 as seen from above the stem shaft 34 in the axial direction.
- a steering input is automatically made to the steering system component 10A by the steering assist device 73, in addition to the operation of the steering wheel 2 by the driver.
- the steering assist device 73 includes a steering actuator 74, an arm 75, a connecting rod 76, and a steering control unit 77.
- the steering actuator 74 includes an electric motor that is a drive source for the automatic steering intervention function.
- the steering actuator 74 is fixed to, for example, the vehicle body frame 5.
- the base end portion of the arm 75 is integrally rotatably fixed to the drive shaft 74a, which is the output shaft of the steering actuator 74.
- One end of the connecting rod 76 is swingably connected to the tip of the arm 75 via the first connecting pin 78.
- the other end of the connecting rod 76 is swingably connected to the rod connecting portion 32a provided on the top bridge 32 via the second connecting pin 79.
- the operation of the steering actuator 74 is controlled by the steering control unit 77.
- the output of the steering actuator 74 (rotational torque of the drive shaft 74a) is transmitted to the top bridge 32 via the arm 75 and the connecting rod 76.
- the steering actuator 74 generates steering torque (assist torque) in the steering system component 10A.
- the operation support device 70 includes a control device 71, various sensors 81, and various devices 82.
- the control device 71 controls the operation of the various devices 82 based on the detection information acquired from the various sensors 81.
- the control device 71 includes, for example, a single or a plurality of ECUs (Electronic Control Units).
- the control device 71 may be realized at least in part by the cooperation of software and hardware.
- the control device 71 includes an engine control unit 85, a steering control unit 77, a brake control unit 87, a display control unit 88, and a leg pressing control unit 89.
- the various sensors 81 include a steering torque sensor 91, a steering angle sensor 92, a vehicle body acceleration sensor 93, a vehicle speed sensor 94, a camera device 96, and a radar device 97.
- the steering torque sensor 91 is, for example, a magnetostrictive torque sensor provided between the steering wheel 2 and the steering system component 10A other than the steering wheel 2.
- the steering torque sensor 91 detects the torsional torque (steering input) input from the steering wheel 2 to the other steering system component 10A.
- the steering angle sensor 92 is, for example, a potentiometer provided on the steering shaft (stem shaft 34).
- the steering angle sensor 92 detects the rotation angle (steering angle) of the steering shaft with respect to the vehicle body.
- the vehicle body acceleration sensor 93 is a 5-axis or 6-axis IMU (Inertial Measurement Unit).
- the vehicle body acceleration sensor 93 detects the angular velocities of the three axes (roll axis, pitch axis, and yaw axis) in the vehicle body, and can estimate the angle and acceleration from the results.
- the vehicle speed sensor 94 detects, for example, the rotational speed of the output shaft of the power unit 20.
- the vehicle speed sensor 94 can detect the rotation speed of the rear wheel 4 and thus the vehicle speed of the motorcycle 1 from the rotation speed.
- the camera device 96 includes a camera using a solid-state image sensor such as a CCD or CMOS.
- the camera device 96 periodically photographs the periphery (for example, front / rear / left / right) of the motorcycle 1, for example, by the camera.
- the camera device 96 generates image data from the captured image through image processing such as filtering and binarization.
- the radar device 97 radiates radio waves such as millimeter waves around the motorcycle 1.
- the radar device 97 detects radio waves (reflected waves) reflected by an object around the vehicle.
- the radar device 97 can detect at least the front / rear / left / right positions (distance and direction with respect to the motorcycle 1) and speed of the object with respect to the motorcycle 1.
- the information from the camera device 96 and the radar device 97 described above is used for recognizing the position, type, speed, etc. of the object in the detection direction. Based on this recognition, driving assist control, automatic driving control, and the like of the motorcycle 1 are performed.
- Various devices 82 include a steering actuator 74, a brake actuator 102, an indicator lamp group 63, and a movable part actuator 105.
- the steering actuator 74 generates steering torque for steering the front wheels 3 separately from the operation of the steering wheel 2 by the driver.
- the steering actuator 74 may also serve as a steering damper.
- the brake actuator 102 supplies hydraulic pressure to the front wheel brake 3B and the rear wheel brake 4B to operate the front wheel brake 3B and the rear wheel brake 4B, separately from the operation on the brake controller by the driver.
- the brake actuator 102 may also serve as a control unit for ABS (Anti-lock Brake System).
- the brake actuator 102 may be connected to a brake pipe branched from a normal brake circuit.
- the indicator lamp group 63 includes a right indicator lamp 66 and a left indicator lamp 67.
- the right indicator lamp 66 and the left indicator lamp 67 emit light in conjunction with the operation of the movable portion actuator 105.
- the movable portion actuator 105 includes a right movable portion actuator 105R and a left movable portion actuator 105L.
- the right movable portion actuator 105L drives the right movable portion 56 provided on the right side portion of the vehicle body.
- the left movable portion actuator 105L drives the left movable portion 57 provided on the left side portion of the vehicle body.
- the engine control unit 85 controls the output of the engine 13 based on the throttle opening degree, the suction negative pressure, the fuel injection amount, the valve timing, the ignition timing, and the like in the engine 13. Further, by controlling the output of the engine 13, the vehicle speed of the motorcycle 1 is changed depending on the crank shaft rotation speed of the engine 13 and the gear ratio of the transmission 21.
- the steering control unit 77 controls the operation of the steering actuator 74 based on the following signals and information.
- the signals and information were detected by the steering torque signal detected by the steering torque sensor 91, the angular speed signal detected by the vehicle body acceleration sensor 93, the vehicle speed signal detected by the vehicle speed sensor 94, the camera device 96 and the radar device 97. Detection information, etc.
- the assist torque is applied to the steering system component 10A. This assist torque assists the steering of the front wheels 3, which are the steering wheels. In this way, the steering control unit 77 controls the automatic steering intervention function.
- the brake control unit 87 controls the operation of the brake actuator 102 based on the engine output, the vehicle speed signal detected by the vehicle speed sensor 94, the detection information detected by the camera device 96 and the radar device 97, and the like. As a result, the front wheel brake 3B and the rear wheel brake 4B generate an assist braking force. The assist braking force assists the braking of the front wheels 3 and the rear wheels 4. In this way, the brake control unit 87 controls the automatic braking intervention function.
- the display control unit 88 controls the light emission (lighting or blinking) of the right indicator lamp 66 and the left indicator lamp 67 in accordance with the control of the following functions.
- the control of the function is the control of the automatic steering intervention function by the steering control unit 77 and the control of the automatic braking intervention function by the brake control unit 87.
- the leg pressing control unit 89 controls the operation of the right movable unit actuator 105R and the left movable unit actuator 105L in accordance with the control of the following functions.
- the control of the function is the control of the automatic steering intervention function by the steering control unit 77 and the control of the automatic braking intervention function by the brake control unit 87.
- the right movable portion actuator 105R and the left movable portion actuator 105L By controlling the operation of the right movable portion actuator 105R and the left movable portion actuator 105L, the movement of the right movable portion 56 and the left movable portion 57 to the outside in the vehicle width direction is controlled.
- the display control unit 88 and the leg pressing control unit 89 are controlled in synchronization with each other.
- the engine control unit 85, the steering control unit 77, the brake control unit 87, the display control unit 88, and the leg pressing control unit 89 are all equipped with a microcomputer and are configured to be communicable with each other.
- the left leg pressing portion 72L includes a left movable portion actuator (actuator) 105L, a disk 106, a link member 107, and a left movable portion 57.
- actuator left movable portion actuator
- the left movable part actuator 105L is an electric motor arranged between the upper edge of the main frame 7 and the fuel tank 18.
- the left movable portion actuator 105L is fixed to the main frame 7 or the fuel tank 18.
- the electric motor is a stepping motor capable of controlling the rotation angle of the rotation shaft 105a to a predetermined angle.
- the electric motor has a holding force for holding the rotary shaft 105a at a predetermined rotation angle when the rotary shaft 105a is stopped at a predetermined rotation angle.
- the disk 106 is integrally rotatably attached to the rotation shaft 105a of the left movable portion actuator 105.
- the rotation shaft 105a extends in the front-rear direction of the vehicle.
- the upper end of the left movable portion 57 is supported by the lower end of the tank side cover 111.
- the tank side cover 111 is arranged above the main frame 7.
- the left movable portion 57 is supported so as to be swingable with the upper edge portion extending in the front-rear direction of the vehicle (extending along the upper edge of the main frame 7) as a fulcrum.
- the outer surface 57e of the left movable portion 57 can come into contact with the legs of the driver riding on the motorcycle 1 from the inside in the vehicle width direction.
- the left movable portion 57 shown in FIG. 5 is in a position where it swings inward in the vehicle width direction.
- the position of the left movable portion 57 at this time is referred to as an initial position P0 or a closed position.
- a link connecting portion 57c is projected inside the left movable portion 57 in the vehicle width direction.
- a disk 106 is connected to the link connecting portion 57c via the link member 107.
- One end of the link member 107 is swingably connected to the outer peripheral portion of the disk 106 by the first support shaft 113.
- the other end of the link member 107 is swingably connected to the link connecting portion 57c of the left movable portion 57 by the second support shaft 114.
- the right movable part actuator (actuator) 105R included in the right leg pressing part 72R is shown in the block diagram of FIG.
- the right movable portion actuator 105R is an electric motor having the same structure as the left movable portion actuator 105L.
- the right movable portion 57 includes an outer surface 56e that can come into contact with the legs of the rider.
- the left movable portion actuator 105L when the left movable portion actuator 105L is operated from the state of FIG. 5, the following operation occurs. That is, the disk 106 rotates in the direction of arrow A together with the rotation shaft 105a of the left movable portion actuator 105L. Along with this rotation, the link member 107 is pushed out in the vehicle width direction, and the left movable portion 57 is pushed out in the vehicle width direction. As a result, the left movable portion 57 swings with the upper end portion as a swing fulcrum and moves as follows. That is, the left movable portion 57 moves from the initial position P0 (closed position) in FIG.
- the left movable portion 57 is swung from the initial position P0 to the first operating position P1 and protrudes outward in the vehicle width direction by the first specified amount S1.
- the left movable portion actuator 105L when the left movable portion actuator 105L is further operated from the state of FIG. 6, the following operation occurs. That is, the disk 106 further rotates in the direction of arrow A together with the rotation shaft 105a of the left movable portion actuator 105L. Along with this rotation, the link member 107 is further pushed outward in the vehicle width direction, and the left movable portion 57 is further pushed outward in the vehicle width direction. As a result, the left movable portion 57 swings further with the upper end portion as a swing fulcrum, and moves as follows.
- the left movable portion 57 moves from the first operating position P1 (LOW position) shown by the two-dot chain line to the second operating position P2 (HIGH position) shown by the solid line.
- the left movable portion 57 is swung from the first operating position P1 to the second operating position P2, and projects outward by the second specified amount S2 in the vehicle width direction.
- the second operating position P2 is the maximum protruding position of the left movable portion 57 outward in the vehicle width direction.
- the left movable portion 57 (and the right movable portion 56) can be moved in two stages, a LOW position in which the amount of protrusion to the outside in the vehicle width direction is small, and a HIGH position in which the amount of protrusion to the outside in the vehicle width direction is large. This makes it possible to notify the driver of a plurality of different types of information regarding the automatic operation intervention function.
- the operation of giving a tactile stimulus to the driver's leg in the left movable portion 57 (and the right movable portion 56) is not limited to the configuration in which the upper end portion is used as the swing fulcrum to swing.
- the left movable portion 57 (and the right movable portion 56) may swing with the lower end portion or the front / rear end portion as a swing fulcrum.
- the left movable portion 57 (and the right movable portion 56) generally moves in parallel, performs various other operations, vibrates the outer surfaces 56e and 57e, and performs the above-mentioned various operations. You may combine more than one.
- the right movable portion 56 and the left movable portion 57 are arranged at the initial position P0 as shown in FIG. That is, the right movable portion 56 and the left movable portion 57 are arranged along the outer surfaces of the right vehicle body outer portion 1R and the left vehicle body outer portion 1L of the motorcycle 1.
- the right movable portion 56 and the left movable portion 57 at the initial position P0 are in the following states in the right vehicle body outer portion 1R and the left vehicle body outer portion 1L. That is, the right movable portion 56 and the left movable portion 57 form a substantially continuous outer surface together with the vehicle body components such as the main frame 7, the fuel tank 18, and other vehicle body covers.
- the right movable portion 56 and the left movable portion 57 are at positions where the driver sandwiches the vehicle body 1A between the left and right legs (so-called knee grip position).
- the right movable portion 56 and the left movable portion 57 do not project on the outer surfaces of the right vehicle body outer portion 1R and the left vehicle body outer portion 1L. Therefore, when the driver knee grips the right vehicle body outer side portion 1R and the left vehicle body outer side portion 1L, the driver can drive without any discomfort without being particularly aware of the existence of the right movable portion 56 and the left movable portion 57.
- the right movable portion 56 and the left movable portion 57 are in the vehicle width direction by the first specified amount S1 from the outer surface of the right vehicle body outer portion 1R and the left vehicle body outer portion 1L of the motorcycle 1.
- the arrangement is such that it protrudes outward.
- the right movable portion 56 and the left movable portion 57 repeatedly reciprocate between the initial position P0 and the first operating position P1.
- the first operating position P1 is a position protruding outward in the vehicle width direction by the first specified amount S1 from the initial position P0. Therefore, the driver is aware of the presence of the right movable portion 56 and the left movable portion 57 on the left and right legs that knee-grip the right vehicle body outer portion 1R and the left vehicle body outer portion 1L. Therefore, the driver can recognize that the driving support device 70 is activated.
- the driver can sense the movement of at least one of the right movable portion 56 and the left movable portion 57 and recognize that the automatic operation intervention function is activated.
- at least one of the right movable portion 56 and the left movable portion 57 is maintained in a state of being moved to the second operating position P2 during the operation of the automatic operation intervention function.
- the driving support device is not limited to this configuration.
- at least one of the right movable portion 56 and the left movable portion 57 may repeatedly reciprocate between the first actuated position P1 and the second actuated position P2.
- FIG. 8 shows a standby state in which the system of the driving support device 70 is activated and the automatic operation intervention function is not activated.
- the main switch (power supply) of the motorcycle 1 is turned on, the operation switch of the driving support device 70 is turned on, and the operation of the automatic operation intervention function is permitted.
- various sensors 81 monitor various parameters for operating the automatic operation intervention function. Based on this monitoring information, the automatic operation intervention function can be started immediately.
- the right movable portion 56 of the right leg pressing portion 72R and the left movable portion 57 of the left leg pressing portion 72L operate in synchronization with each other.
- the right movable portion 56 and the left movable portion 57 move (swing) once in the vehicle width direction.
- the right movable portion 56 and the left movable portion 57 move from the initial position P0 (closed position) to the first operating position P1 (LOW position), and return from the first operating position P1 to the initial position P0. Do the movement.
- the right indicator lamp 66 and the left indicator lamp 67 of the meter device 61 emit light (blink) in synchronization with the operation of the right movable portion 56 and the left movable portion 57.
- the right indicator lamp 66 and the left indicator lamp 67 emit light when the right movable portion 56 and the left movable portion 57 reach the first operating position P1 from the initial position P0.
- the right indicator lamp 66 and the left indicator lamp 67 are turned off when the first operating position P1 returns to the initial position P0.
- the blinking cycle of the right indicator lamp 66 and the left indicator lamp 67 in the standby state (which is also the operating cycle of the left and right movable portions 56 and 57) is set as the first cycle. In this way, the driver's legs are given a tactile stimulus and the visual sense is also used to notify the driver that the system is being activated.
- FIG. 9 shows the passage of time in the operation of the movable part actuator 105 and the like in the standby state.
- the vertical axis of the graph of FIG. 9 shows the operating states (ON (operated) and OFF (non-operating)) of the actuators 105L and 105R of the left and right movable portions 56 and 57, and the left and right indicator lamps 66 and 67.
- the vertical axis further indicates the operating state (ON and OFF) of the steering intervention or the braking intervention.
- OFF is set when the left and right movable portions 56 and 57 are in the closed position
- ON is set when the left and right movable portions 56 and 57 are in the LOW position and HIGH position.
- L is described in the graph
- H is described in the graph.
- the horizontal axis of the graph represents time T (sec).
- RH movable part indicates the right movable part actuator 105R
- LH movable part indicates the left movable part actuator 105L
- indRH indicates the right indicator lamp 66
- indLH indicates the left indicator lamp 67.
- the vertical axis and the horizontal axis are the same as those of the graph shown in FIG.
- the right movable part actuator 105R and the left movable part actuator 105L operate intermittently at the same timing as each other.
- the right movable portion actuator 105R and the left movable portion actuator 105L operate to open the left and right movable portions 56 and 57 from the initial position P0 to the first operating position P1.
- This operation is performed only for a predetermined time T1 (for example, 0.5 to 1 second).
- the right movable portion actuator 105R and the left movable portion actuator 105L operate to open the left and right movable portions 56 and 57.
- This operation is repeated at intervals of a predetermined time T2 (for example, about 2 seconds).
- the right movable portion 56 and the left movable portion 57 move to a LOW position protruding from the leg grip portions 120 around them.
- the right movable portion 56 and the left movable portion 57 open the left and right legs of the driver outward in the vehicle width direction rather than being located in the closed position.
- the driver recognizes that the right movable portion 56 and the left movable portion 57 are in the standby state from the operation.
- the right movable portion 56 and the left movable portion 57 move outward in the vehicle width direction and press the left and right legs of the driver, and the reaction causes the driver to pinch the vehicle body more. Further, at this time, the driver strongly pinches the vehicle body against the pressure. As a result, the driver's force to hold the vehicle body with the left and right legs increases, and the vehicle body posture is suitable for the automatic operation intervention function.
- the right indicator lamp 66 and the left indicator lamp 67 blink in synchronization with the intermittent operation of the right movable portion 56 and the left movable portion 57. That is, the right indicator lamp 66 and the left indicator lamp 67 repeat the light emission at time T1 at time intervals of time T2. In this way, the right movable portion 56 and the left movable portion 57 and the right indicator lamp 66 and the left indicator lamp 67 are interlocked with each other. In the standby state, the steering intervention function and the braking intervention function of the automatic operation intervention function are not activated and remain OFF.
- FIG. 10 shows a state in which the driving support device 70 activates the automatic braking intervention function from the standby state to brake the motorcycle 1. Since the automatic braking intervention function of the embodiment is not related to the left-right direction, both the right movable portion 56 and the left movable portion 57 are operated. At this time, both the right movable portion 56 and the left movable portion 57 are moved from the closed position to the HIGH position. Since the automatic braking intervention function induces the behavior of the driver's body and is assumed to be urgent, both the right movable portion 56 and the left movable portion 57 are activated. At this time, the right movable portion 56 and the left movable portion 57 maintain a continuous operating state without a time interval, rather than an intermittent operation.
- both the right indicator lamp 66 and the left indicator lamp 67 emit light (blink) while the right movable portion 56 and the left movable portion 57 are operating.
- This light emission is not limited to blinking, and may be lighting linked to the operation of the right movable portion 56 and the left movable portion 57.
- the right movable portion 56 and the left movable portion 57 operate relatively largely in an operating mode different from the standby state. Further, the right indicator lamp 66 and the left indicator lamp 67 of the meter device 61 blink earlier than in the standby state. As a result, the driver can recognize that the automatic braking intervention function is activated through the tactile sensation and the visual sense of the left and right legs that knee-grip the vehicle body.
- the right movable portion 56 and the left movable portion 57 move to a HIGH position that protrudes more than the leg grip portions 120 around them.
- both the left and right legs are opened wider in the left and right vehicle width directions than in the LOW position by the right movable portion 56 and the left movable portion 57 having a larger protrusion amount than the LOW position.
- both legs are pressed from the inside by the right movable portion 56 and the left movable portion 57, thereby causing the following actions. That is, the holding force for holding the vehicle body by both legs is higher than that in the LOW position. As a result, the vehicle body posture suitable for coping with the deceleration of the motorcycle 1 when the automatic braking intervention function is activated.
- FIG. 11 shows the mode of operation of the right movable portion actuator 105R, the left movable portion actuator 105L, and the like when the automatic braking intervention function is activated.
- the automatic braking intervention function is activated by an obstacle or the like in front of the motorcycle 1, both the right movable portion actuator 105R and the left movable portion actuator 105L are activated.
- the right movable portion 56 and the left movable portion 57 move from the closed position to the HIGH position. This operation is continuously maintained at no time interval during the time T5 when the automatic braking intervention function is activated.
- both the right indicator lamp 66 and the left indicator lamp 67 start blinking. Specifically, the right indicator lamp 66 and the left indicator lamp 67 repeat light emission for a predetermined time T3 (for example, 0.5 to 1 second). The light emission at the time T3 is repeated at intervals of a predetermined time T4 (for example, 0.5 to 1 second). The time T4 is shorter than the time T2 in the standby state. The time T3 may be the same as or shorter than the time T1 in the standby state.
- the timing te at which the right movable portion 56 and the left movable portion 57 start operating and the right indicator lamp 66 and the left indicator lamp 67 start blinking is set as follows. That is, the timing te is earlier than the timing tf at which the automatic braking intervention function starts operation by a time th (for example, about 1 second). That is, the operation of the right movable portion 56 and the left movable portion 57, and the blinking of the right indicator lamp 66 and the left indicator lamp 67 are started before the activation of the automatic braking intervention function. As a result, the driver can be notified of the start of operation of the automatic braking intervention function. The operation of the right movable portion 56 and the left movable portion 57, and the blinking of the right indicator lamp 66 and the left indicator lamp 67 are simultaneously stopped at the timing tg when the operation of the automatic steering intervention function is stopped.
- FIG. 12 shows a state in which the driving support device 70 activates the automatic steering intervention function from the standby state and tries to turn the course of the motorcycle 1 to the left side.
- the steering control unit 77 of the driving support device 70 determines that the motorcycle 1 is too close to the right side of the lane, the steering control unit 77 tries to return the course of the motorcycle 1 to the left side.
- the steering control unit 77 steers the front wheels 3 to the right by the steering actuator 74. That is, the front wheels 3 are steered on the side opposite to the side where the course of the motorcycle 1 is to be changed (reverse steering). As a result, the motorcycle 1 can be naturally steered in the course change direction.
- the left movable portion 57 in the course change direction (left side) of the motorcycle 1 moves from the LOW position to the HIGH position. Further, the left indicator lamp 67 of the meter device 61 blinks in a blinking mode different from the standby state.
- the driver can recognize the following points through the tactile sensation and the visual sense of the legs that knee grip the vehicle body. That is, the driver can recognize that the automatic steering intervention function is operating and the direction in which the motorcycle 1 is directed.
- the left movable portion 57 presses the left leg portion of the occupant to the outside (left side) in the vehicle width direction, so that the left leg portion is opened to the outside (left side) in the vehicle width direction. This makes it possible for the driver to strongly recognize that the automatic steering intervention function to the left of the vehicle is operating. Further, by opening the left leg to the right, the center of gravity of the driver moves to the left with respect to the vehicle body, and the posture suitable for turning left can be taken.
- FIG. 13 shows the mode of operation of the right movable portion actuator 105R, the left movable portion actuator 105L, and the like during the operation shown in FIG. 12 of the automatic steering intervention function.
- the left movable portion actuator 105L is activated, and the left movable portion 57 is moved from the LOW position to the HIGH position.
- the left indicator lamp 67 starts blinking differently from the standby state.
- This blinking may be a mode in which light emission at a time T3 (for example, 0.5 to 1 second) is repeated at intervals of a time T4 (for example, 0.5 to 1 second), as in the case of automatic braking intervention.
- the timing ta at which the left movable portion 57 moves to the HIGH position and the left indicator lamp 67 starts blinking is set as follows. That is, the timing ta is earlier than the timing tb at which the automatic steering intervention function starts to operate by a time td (for example, about 1 second). That is, the operation of the left movable portion actuator 105L and the blinking of the left indicator lamp 67 are started before the operation of the automatic steering intervention function. As a result, the driver can be notified of the start of operation of the automatic steering intervention function. The operation of the left movable portion actuator 105L and the blinking of the left indicator lamp 67 are simultaneously stopped at the timing ct when the operation of the automatic steering intervention function is stopped.
- FIG. 14 shows a state in which the driving support device 70 activates the automatic steering intervention function from the standby state and tries to turn the course of the motorcycle 1 to the right side.
- the steering control unit 77 of the driving support device 70 determines that the motorcycle 1 is too close to the left side of the lane, the steering control unit 77 tries to return the course of the motorcycle 1 to the right side.
- the steering control unit 77 steers the front wheels 3 to the left by the steering actuator 74. That is, the front wheels 3 are steered on the side opposite to the side where the course of the motorcycle 1 is to be changed (reverse steering). As a result, the motorcycle 1 can be naturally steered in the course change direction.
- the automatic steering intervention function When the above-mentioned automatic steering intervention function is activated, only the right movable portion 56 in the course change direction (right side) of the motorcycle 1 moves from the LOW position to the HIGH position. Further, the right indicator lamp 66 of the meter device 61 blinks in a blinking mode different from the standby state. As a result, the driver can recognize the following points through the tactile sensation and the visual sense of the legs that knee grip the vehicle body. That is, it is possible to recognize that the automatic steering intervention function is operating and the direction in which the motorcycle 1 is directed.
- the right movable portion 56 presses the occupant's right leg portion to the outside (right side) in the vehicle width direction, so that the right leg portion is opened to the outside (right side) in the vehicle width direction. This makes it possible for the driver to strongly recognize that the automatic steering intervention function to the right of the vehicle is operating. Further, by opening the right leg to the right, the center of gravity of the driver moves to the right with respect to the vehicle body, and the posture suitable for turning to the right can be taken.
- FIG. 15 shows the mode of operation of the right movable portion actuator 105R, the left movable portion actuator 105L, and the like during the operation shown in FIG. 14 of the automatic steering intervention function.
- the right movable portion actuator 105R is activated, and the right movable portion 56 is moved from the LOW position to the HIGH position.
- the right indicator lamp 66 starts blinking differently from the standby state.
- This blinking may be a mode in which light emission at a time T3 (for example, 0.5 to 1 second) is repeated at intervals of a time T4 (for example, 0.5 to 1 second), as in the case of automatic braking intervention.
- the timing ta at which the right movable portion 56 moves to the HIGH position and the right indicator lamp 66 starts blinking is set as follows. That is, the timing ta is earlier than the timing tb at which the automatic steering intervention function starts to operate by a time td (for example, about 1 second). That is, the operation of the right movable portion actuator 105R and the blinking of the right indicator lamp 66 are started before the operation of the automatic steering intervention function. As a result, the driver can be notified of the start of operation of the automatic steering intervention function. The operation of the right movable portion actuator 105R and the blinking of the right indicator lamp 66 are stopped at the same time at the timing ct when the operation of the automatic steering intervention function is stopped.
- the vehicle information notification device has the left and right movable portion actuators 105L on at least one of the pair of left and right vehicle body outer portions 1L and 1R in the vehicle body 1A that steerably supports the steering system component 10A. It includes left and right movable parts 56 and 57 operated by 105R.
- the left and right movable portions 56 and 57 have left and right outer surfaces 56e and 57e that can contact the driver's legs in front of the seat 19 on which the driver sits and above the step 25 on which the driver rests his / her feet. Have.
- the left and right movable portions 56, 57 notify the driver of predetermined information by operating the left and right outer surfaces 56e, 57e in a predetermined operation.
- left and right movable portions 56 and 57 are provided on at least one of a pair of left and right outer vehicle body outer portions 1L and 1R of the vehicle body 1A.
- predetermined information can be notified to the legs of the driver.
- the left and right movable portions 56 and 57 are separated from the steering system component 10A (particularly the steering wheel 2). As a result, the notification of information by the left and right movable portions 56 and 57 and the steering operation are separated, and the driver can easily receive the notification of information.
- the left and right movable portions 56 and 57 operate so as to move the left and right outer surfaces 56e and 57e outward in the vehicle width direction. This makes it possible to increase the certainty of contact with the driver's leg and make it easier for the driver to receive notification of information.
- the left and right movable portions 56 and 57 are provided in each of the pair of left and right vehicle body outer portions 1L and 1R, and can be operated independently on the left and right sides. This makes it possible to combine the difference in which of the left and right movable portions 56 and 57 is operated. As a result, a large amount of information can be notified to the driver, and the types of information to be notified can be increased.
- the information notification device of the vehicle is provided with an operation intervention function capable of intervening in the operation performed by the driver, and the left and right movable portions 56 and 57 operate in conjunction with the operation intervention function. Thereby, it is possible to notify the driver that the operation intervention function is activated by the operation of the left and right movable portions 56 and 57.
- the left and right movable portions 56, 57 are activated at timings ta, te earlier than the timing tb, tf of the operation start of the operation intervention function. Start. This makes it possible to notify the driver in advance of the start of operation of the operation intervention function.
- the vehicle information notification device includes at least one of a steering intervention function and a braking intervention function as the operation intervention function. Thereby, it is possible to notify the driver by the operation of the left and right movable portions 56 and 57 that at least one of the steering intervention function and the braking intervention function is operated.
- both the left and right movable portions 56 and 57 are activated when the braking intervention function is activated. Thereby, it is possible to notify the driver by the operation of both the left and right movable parts that the braking intervention function is activated. As a result, it is possible to increase the certainty of the operation notification of the braking intervention function in which the behavior is likely to occur.
- the steering intervention function when the steering intervention function is activated, one of the left and right movable portions 56 and 57 is activated. Thereby, it is possible to notify the driver that the steering intervention function is activated by the operation of the left and right movable portions 56, 57. That is, it is possible to notify the driver of information including the steering direction by the steering intervention function depending on which of the left and right movable portions 56 and 57 is operated.
- the steering intervention function has a course change function of changing the course of the motorcycle 1 to the left or right.
- the steering intervention function is activated, among the left and right movable portions 56 and 57, the one on the side that changes the course of the motorcycle 1 operates so as to move the outer surfaces 56e and 57e outward in the vehicle width direction. ..
- the leg portion on the side of changing the course of the driver opens outward in the vehicle width direction, and it is possible to promote a posture suitable for steering.
- the left and right movable portions 56 and 57 operate as follows in the standby state before the system of the operation intervention function is activated and the operation intervention function is activated. That is, the left and right movable portions 56 and 57 operate in an operating mode different from that when the operation intervention function is operating. This makes it possible to notify the driver that the operation intervention function is in the standby state.
- the left and right display devices 66 and 67 for displaying predetermined information to the driver in conjunction with the operation of the left and right movable portions 56 and 57 are further provided. As a result, information can be more reliably notified to the driver by operating the left and right movable portions 56 and 57 and displaying the left and right display devices 66 and 67.
- the driving support device 70 includes, but is not limited to, a steering intervention function and a braking intervention function as operation intervention functions. That is, the driving support device 70 may have only one of the steering intervention function and the braking intervention function as the operation intervention function.
- an example of notifying the operation information of the device related to the driving support is shown, but the present invention is not limited to this. That is, the notification may be, for example, notifying information from a navigation system or an ITS (Intelligent Transport Systems).
- the present invention is not limited to a configuration in which movable portions are provided on both the left and right outer portions of the vehicle body.
- the present invention may have a configuration in which a movable portion is provided only on one of the left and right outer vehicle body portions.
- the movable portion may be provided at a part (including a step) of the outer part of the vehicle body where the driver's leg is in contact with the lower leg or foot (for example, calf, ankle, sole, etc.).
- the steps are not limited to bar types, but include floor types and board types.
- the movable portion may be provided on a seat in contact with the driver's buttocks or the base of the legs, a lumbar in contact with the waist, or the like. That is, the movable portion may be any one that forms an outer surface that naturally comes into contact with the body (particularly the lower body) of the driver in a normal riding posture.
- the saddle-riding type vehicle includes all vehicles in which the driver rides across the vehicle body. That is, saddle-riding vehicles include not only motorcycles (including motorized bicycles and scooter-type vehicles), but also three-wheeled vehicles (including front two-wheeled and rear one-wheeled vehicles in addition to front one-wheeled and rear two-wheeled vehicles) or four-wheeled vehicles. Vehicles are also included. It also includes vehicles that include electric motors in their prime movers.
- the configuration in the above embodiment is an example of the present invention. That is, various changes can be made without departing from the gist of the present invention, such as replacing the components of the embodiment with well-known components.
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Abstract
Description
本願は、2020年11月19日に、日本に出願された特願2020-192716号に基づき優先権を主張し、その内容をここに援用する。
しかし、情報の通知を受けながらステアリング操作が必要になると、運転者が情報の通知の受け取りを繁雑に感じることが考えられるため、改善が望まれている。
この構成によれば、車体の左右一対の車体外側部の少なくとも一方に可動部を備える。この可動部の作動によって、運転者の身体に対して予め定めた情報を通知することができる。可動部は、ステアリング系部品(特にハンドル)とは分離する。これにより、可動部による情報の通知とステアリング操作とが切り離され、運転者が情報の通知の受け取りやすくすることができる。
この構成によれば、シートよりも前方でステップよりも上方の位置(運転者がニーグリップする位置)に、運転者の脚部を接触可能な外表面を配置して作動させる。これにより、運転者の脚部に対して予め定めた情報を通知することができる。
この構成によれば、可動部が外表面を車幅方向外側へ移動させるように作動する。これにより、運転者の脚部に接触する確実性を高め、運転者が情報の通知を受け取りやすくすることができる。
この構成によれば、左右一対の可動部が互いに独立して作動するので、左右可動部の何れを作動させるかの違いを組み合わせることが可能となる。これにより、運転者に多くの情報を通知することができとともに、通知する情報の種類を増やすことができる。
この構成によれば、運転者の操作に対する操作介入機能に連動して可動部を作動させる。これにより、操作介入機能が作動することを、可動部の作動によって運転者に通知することができる。
この構成によれば、操作介入機能の作動開始よりも早いタイミングで可動部が作動を開始する。これにより、操作介入機能の作動開始を事前に運転者に通知することができる。
この構成によれば、操作介入機能における操舵介入機能及び制動介入機能の少なくとも一方が作動する。これにより、可動部の作動によって運転者に通知することができる。
この構成によれば、制動介入機能が作動することを、左右両方の可動部の作動によって運転者に通知する。これにより、挙動が生じやすい制動介入機能の作動通知の確実性を高めることができる。
この構成によれば、操舵介入機能が作動することを、左右一方の可動部の作動によって運転者に通知する。これにより、左右何れの可動部が作動するかによって、操舵介入機能による操舵の方向を含んだ情報を運転者に通知することができる。
この構成によれば、操舵介入機能の進路変更機能の作動時において、車両の進路を変化させる側の可動部が、外表面を車幅方向外側へ移動させるように作動する。これにより、運転者における進路変更側の脚部が車幅方向外側へ開くこととなり、操舵に適した姿勢を促すことができる。
この構成によれば、操作介入機能が作動する前に操作介入機能の待機状態を有し、待機状態で可動部は、操作介入機能が作動しているときとは異なる作動形態で作動する。これにより、操作介入機能が待機状態にあることを運転者に通知することができる。
この構成によれば、可動部の作動と連動する表示装置をさらに備える。これにより、可動部の作動および表示装置の表示によって、運転者への情報通知をより確実に行うことができる。
図1は、本実施形態の車両の一例としての自動二輪車1を示す。自動二輪車1は、ハンドル2によって操舵される前輪(操舵輪)3と、パワーユニット20によって駆動される後輪(駆動輪)4と、を備えている。自動二輪車1は、運転者が車体を跨いで乗車する鞍乗り型車両である。自動二輪車1は、前後輪3,4の接地点を基準に車体を左右方向(ロール方向)に揺動(バンク)可能である。実施形態の車両は、自動二輪車のように車体をバンクさせた方向に旋回する車両に限らない。実施形態の車両は、車体をバンクさせずに操舵輪の操舵によって旋回する車両を含む。
ヘッドパイプ6は、ステアリング系部品10Aを操舵可能に支持する。左右のメインフレーム7は、ヘッドパイプ6から後ろ下がりに延びる。左右のピボットフレーム8は、左右のメインフレーム7の各後端部からそれぞれ下方に延びる。左右のシートフレーム9は、左右のピボットフレーム8の各上部からそれぞれ後ろ上がりに延びる。
左右のメインフレーム7の上部には、燃料タンク18が支持されている。燃料タンク18の後方には、左右のシートフレーム9によってシート19が支持されている。シート19の下方には、シート19に着座した運転者が足を載せる左右一対のステップ25が配置されている。
パワーユニット20は、原動機となるエンジン(内燃機関)13と、エンジン13の後方に連なる変速機21と、を一体に備えている。
前輪ブレーキ3B及び後輪ブレーキ4Bは、ブレーキ操作子であるブレーキレバー及びブレーキペダルが操作されることで、前輪3および後輪4の回転を適宜制動する。また、前輪ブレーキ3B及び後輪ブレーキ4Bは、後述するブレーキアクチュエータ102(図4参照)が作動することによっても、前輪3および後輪4の回転を適宜制動する。
ステアリング系部品10Aには、運転者によるハンドル2への操作とは別に、ステアリングアシスト装置73により自動で操舵入力がなされる。
ステアリングアシスト装置73は、ステアリングアクチュエータ74、アーム75、連結ロッド76、ステアリング制御部77を備えている。
図4に示すように、運転支援装置70は、制御装置71、各種センサ類81、各種装置類82を備える。制御装置71は、各種センサ類81から取得した検出情報に基づき、各種装置類82の作動を制御する。
制御装置71は、エンジン制御部85、ステアリング制御部77、ブレーキ制御部87、表示制御部88、脚部押圧制御部89を備える。
操舵角センサ92は、例えば、操舵軸(ステムシャフト34)に設けられたポテンショメータである。操舵角センサ92は、車体に対する操舵軸の回動角度(操舵角度)を検出する。
車速センサ94は、例えばパワーユニット20の出力軸の回転速度を検出する。車速センサ94は、前記回転速度から後輪4の回転速度ひいては自動二輪車1の車速を検知可能とする。
レーダ装置97は、自動二輪車1の周辺にミリ波などの電波を放射する。レーダ装置97は、車両周囲の物体によって反射された電波(反射波)を検出する。レーダ装置97は、少なくとも前記物体における、自動二輪車1に対する前後左右の位置(自動二輪車1に対する距離及び方位)と速度とを検知可能とする。
ブレーキアクチュエータ102は、運転者によるブレーキ操作子への操作とは別に、前輪ブレーキ3B及び後輪ブレーキ4Bに液圧を供給して前輪ブレーキ3B及び後輪ブレーキ4Bを作動させる。ブレーキアクチュエータ102は、ABS(Anti-lock Brake System)の制御ユニットを兼ねていてもよい。ブレーキアクチュエータ102は、通常のブレーキ回路から分岐させたブレーキ配管に接続されていてもよい。
エンジン制御部85は、エンジン13におけるスロットル開度、吸入負圧、燃料噴射量、バルブタイミング、点火時期等に基づいてエンジン13の出力を制御する。また、エンジン13の出力が制御されることで、エンジン13のクランク軸回転数と変速機21の変速比とにより、自動二輪車1の車速が変更される。
以下、図5~図7に示す左脚部押圧部72Lの構成を説明する。右脚部押圧部72Rは左右対称の構成を有するものとして説明を省略する。
左脚部押圧部72Lは、左可動部アクチュエータ(アクチュエータ)105L、円板106、リンク部材107、左可動部57を備える。
この回転に伴い、リンク部材107が車幅方向外側に押し出され、左可動部57を車幅方向外側に押し出す。その結果、左可動部57は、上端部を揺動支点として揺動し、以下のように移動する。すなわち、左可動部57は、二点鎖線で示す図5の初期位置P0(クローズドポジション)から、実線で示す第一作動位置P1(LOWポジション)まで移動する。左可動部57は、初期位置P0から第一作動位置P1までの揺動で、車幅方向外側へ第一の規定量S1だけ突出する。
この回転に伴い、リンク部材107が更に車幅方向外側に押し出され、左可動部57を更に車幅方向外側に押し出す。その結果、左可動部57は、上端部を揺動支点として更に大きく揺動し、以下のように移動する。すなわち、左可動部57は、二点鎖線で示す図6の第一作動位置P1(LOWポジション)から、実線で示す第二作動位置P2(HIGHポジション)まで移動する。左可動部57は、第一作動位置P1から第二作動位置P2までの揺動で、車幅方向外側へ第二の規定量S2だけ突出する。例えば、第二作動位置P2は、左可動部57の車幅方向外側への最大突出位置である。
まず、運転支援装置70のシステムが起動していないときには、図5に示すように、右可動部56及び左可動部57は、前記初期位置P0に配置されている。すなわち、右可動部56及び左可動部57は、自動二輪車1の右車体外側部1R及び左車体外側部1Lの外表面に沿うように配置されている。前記初期位置P0にある右可動部56及び左可動部57は、右車体外側部1R及び左車体外側部1Lにおいて、以下の状態にある。すなわち、右可動部56及び左可動部57は、メインフレーム7、燃料タンク18、および他の車体カバー等の車体構成部品とともに、ほぼ連続する外表面を形成している。
実施形態では、自動操作介入機能の作動中、右可動部56及び左可動部57の少なくとも一方は、第二作動位置P2に移動した状態を維持する。しかし、運転支援装置はこの構成に限らない。例えば、自動操作介入機能の作動中、右可動部56及び左可動部57の少なくとも一方は、第一作動位置P1と第二作動位置P2との間で往復動を繰り返してもよい。
図8は、運転支援装置70のシステムが起動した状態であって、自動操作介入機能が作動していない待機状態を示す。待機状態では、自動二輪車1のメインスイッチ(電源)がオンで、かつ運転支援装置70の作動スイッチがオンとなり、自動操作介入機能の作動が許可された状態となる。待機状態では、各種センサ類81が自動操作介入機能の作動のための各種パラメータ等を監視している。この監視情報に基づいて、自動操作介入機能が直ちに作動開始可能となる。
このように、運転者の脚部に触覚刺激を与えるとともに視覚も利用して、運転者にシステム起動中であることを通知する。
図9のグラフの縦軸は、左右可動部56,57の各アクチュエータ105L,105R、ならびに左右インジケータランプ66,67の作動状態(ON(作動)およびOFF(非作動))を示している。縦軸はさらに、操舵介入又は制動介入の作動状態(ONおよびOFF)を示している。
左右アクチュエータ105L,105Rの作動状態において、左右可動部56,57がクローズドポジションにあるときをOFF、LOWポジション及びHIGHポジションにあるときをONとしている。また、左右可動部56,57がLOWポジションにあるときをグラフ中に「L」と記載し、HIGHポジションにあるときをグラフ中に「H」と記載している。グラフの横軸は、時間T(sec)を表している。
待機状態では、自動操作介入機能の操舵介入機能及び制動介入機能は作動しておらず、OFFのままである。
実施形態の自動制動介入機能は、左右方向に関連性が無いので、右可動部56及び左可動部57の両方を作動させる。このとき、右可動部56及び左可動部57の両方を、クローズドポジションからHIGHポジションまで移動させる。自動制動介入機能は、運転者の身体の挙動を誘発し、かつ緊急であることが想定されるので、右可動部56及び左可動部57の両方を作動させる。このとき、右可動部56及び左可動部57は、断続的な作動ではなく、時間間隔のない連続的な作動状態を維持する。
これにより、運転者は、車体をニーグリップする左右の脚部の触覚と視覚とを通じて、自動制動介入機能が作動していることを認識することができる。
自動二輪車1前方の障害物等によって自動制動介入機能が作動するときには、右可動部アクチュエータ105R及び左可動部アクチュエータ105Lの両方が作動を開始する。このとき、右可動部56及び左可動部57は、クローズドポジションからHIGHポジションへ移動する。この作動は、自動制動介入機能が作動する時間T5の間、時間間隔を空けず連続して維持される。
なお、右可動部56及び左可動部57の作動、ならびに右インジケータランプ66及び左インジケータランプ67の点滅は、自動操舵介入機能の作動が停止するタイミングtgにおいて同時に停止する。
運転支援装置70のステアリング制御部77は、例えば自動二輪車1が車線の右側に寄り過ぎたと判定したときに、自動二輪車1の進路を左側に戻そうとする。
これにより、運転者は、車体をニーグリップする脚部の触覚と視覚とを通じて、以下の点を認識することができる。すなわち、運転者は、自動操舵介入機能が作動していることと、自動二輪車1を向かわせようとしている方向と、を認識することができる。
自動操舵介入機能の図12に示す作動時には、左可動部アクチュエータ105Lのみが作動し、左可動部57をLOWポジションからHIGHポジションに移動させる。
なお、左可動部アクチュエータ105Lの作動及び左インジケータランプ67の点滅は、自動操舵介入機能の作動が停止するタイミングtcにおいて同時に停止する。
運転支援装置70のステアリング制御部77は、例えば自動二輪車1が車線の左側に寄り過ぎたと判定したときに、自動二輪車1の進路を右側に戻そうとする。
これにより、運転者は、車体をニーグリップする脚部の触覚と視覚とを通じて、以下の点を認識することができる。すなわち、自動操舵介入機能が作動していることと、自動二輪車1を向かわせようとしている方向と、を認識することができる。
自動操舵介入機能の図14に示す作動時には、右可動部アクチュエータ105Rのみが作動し、右可動部56をLOWポジションからHIGHポジションに移動させる。
なお、右可動部アクチュエータ105Rの作動及び右インジケータランプ66の点滅は、自動操舵介入機能の作動が停止するタイミングtcにおいて同時に停止する。
この構成によれば、車体1Aの左右一対の車体外側部1L,1Rの少なくとも一方に左右可動部56,57を備える。この左右可動部56,57の作動によって、運転者の脚部に対して予め定めた情報を通知することができる。左右可動部56,57は、ステアリング系部品10A(特にハンドル2)とは分離する。これにより、左右可動部56,57による情報の通知とステアリング操作とが切り離され、運転者が情報の通知の受け取りやすくすることができる。
実施形態では、運転支援に関する装置の作動情報を通知する例を示したが、これに限らない。すなわち、前記通知は、例えばナビゲーションシステムやITS(Intelligent Transport Systems)からの情報を通知するものでもよい。
本発明は、左右の車体外側部の両方に可動部を備える構成に限らない。すなわち、本発明は、左右の車体外側部の一方にのみ可動部を備える構成としてもよい。
可動部は、運転者の脚部の下腿や足に接する位置(例えば、ふくらはぎ、くるぶし、足裏等)が接触可能な車体外側部の一部(ステップを含む)に設けてもよい。ステップは、バータイプに限らず、フロアタイプやボードタイプを含む。可動部は、運転者の臀部や脚の付け根付近に接するシートや、腰に接するランバー等に設けてもよい。すなわち、可動部は、通常の乗車姿勢の運転者の身体(特に下半身)に自然に接する外表面を形成するものであればよい。
そして、上記実施形態における構成は本発明の一例である。すなわち、実施形態の構成要素を周知の構成要素に置き換える等、本発明の要旨を逸脱しない範囲で種々の変更が可能である。
1A 車体
1L 左車体外側部(車体外側部)
1R 右車体外側部(車体外側部)
10A ステアリング系部品
19 シート
25 ステップ
56 右可動部(可動部)
56e 外側面
57 左可動部(可動部)
57e 外側面
66 右インジケータランプ(表示装置)
67 左インジケータランプ(表示装置)
105R 右可動部アクチュエータ(アクチュエータ)
105L 左可動部アクチュエータ(アクチュエータ)
tb,tf タイミング(操作介入機能の作動開始のタイミング)
ta,te タイミング(操作介入機能の作動開始よりも早いタイミング)
Claims (12)
- ステアリング系部品(10A)を操舵可能に支持する車体(1A)における左右一対の車体外側部(1L,1R)の少なくとも一方に、アクチュエータ(105L,105R)により作動する可動部(56,57)を備え、
前記可動部(56,57)は、運転者の身体を接触可能な外表面(56e,57e)を有し、
前記可動部(56,57)は、前記外表面(56e,57e)を予め定めた動作で作動させることで、運転者に予め定めた情報を通知する車両の情報通知装置。 - 前記可動部(56,57)は、シート(19)よりも前方でステップ(25)よりも上方に、運転者の脚部を接触可能な前記外表面(56e,57e)を有する請求項1に記載の車両の情報通知装置。
- 前記可動部(56,57)は、前記外表面(56e,57e)を車幅方向外側へ移動させるように作動する請求項1又は2に記載の車両の情報通知装置。
- 前記可動部(56,57)は、前記左右一対の車体外側部(1L,1R)の各々に備えられ、左右独立して作動可能である請求項1から3の何れか一項に記載の車両の情報通知装置。
- 運転者が行う操作に介入可能な操作介入機能を備え、
前記可動部(56,57)は、前記操作介入機能に連動して作動する請求項1から4の何れか一項に記載の車両の情報通知装置。 - 前記操作介入機能が作動するとき、前記操作介入機能の作動開始のタイミング(tb、tf)よりも早いタイミング(ta,te)で、前記可動部(56,57)が作動を開始する請求項5に記載の車両の情報通知装置。
- 前記操作介入機能として、操舵介入機能及び制動介入機能の少なくとも一方を備える請求項5又は6に記載の車両の情報通知装置。
- 前記制動介入機能の作動時は、左右両方の前記可動部(56,57)が作動する請求項7に記載の車両の情報通知装置。
- 前記操舵介入機能の作動時は、左右一方の前記可動部(56,57)が作動する請求項7又は8に記載の車両の情報通知装置。
- 前記操舵介入機能は、車両の進路を左右何れかに変化させる進路変更機能を有し、
前記可動部(56,57)は、前記外表面(56e,57e)を車幅方向外側へ移動させるように作動し、
前記操舵介入機能の作動時は、車両の進路を変化させる側の前記可動部(56,57)が、前記外表面(56e,57e)を車幅方向外側へ移動させるように作動する請求項7から9の何れか一項に記載の車両の情報通知装置。 - 前記操作介入機能のシステムが起動し、かつ前記操作介入機能が作動する前の待機状態において、
前記可動部(56,57)は、前記操作介入機能が作動しているときとは異なる作動形態で作動する請求項5から10の何れか一項に記載の車両の情報通知装置。 - 前記可動部(56,57)の作動と連動して、運転者に予め定めた情報を表示するための表示装置(66,67)を備える請求項1から11の何れか一項に記載の車両の情報通知装置。
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US (1) | US20230399071A1 (ja) |
JP (1) | JP7342287B2 (ja) |
CN (1) | CN116529154A (ja) |
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WO (1) | WO2022107527A1 (ja) |
Citations (6)
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JP2005280487A (ja) * | 2004-03-29 | 2005-10-13 | Kenwood Corp | 単車用方向指示装置、単車用情報出力装置、ナビゲーション装置、単車用方向指示方法、ナビゲーション方法、及びナビゲーションプログラム |
JP2007112316A (ja) * | 2005-10-20 | 2007-05-10 | A Un:Kk | 振動情報呈示部品及びナビゲーション装置、車線逸脱警告装置 |
WO2013131671A1 (de) * | 2012-03-08 | 2013-09-12 | Robert Bosch Gmbh | Fahrzeug, insbesondere ein zwei- oder dreiradfahrzeug |
JP2013244767A (ja) * | 2012-05-23 | 2013-12-09 | Isuzu Motors Ltd | 車線逸脱警報装置、それを搭載した車両、及びその制御方法。 |
JP2014203196A (ja) * | 2013-04-03 | 2014-10-27 | トヨタ自動車株式会社 | 危険度判定装置、危険度判定方法、警報装置、及び運転支援装置 |
JP2016068606A (ja) * | 2014-09-26 | 2016-05-09 | 本田技研工業株式会社 | 鞍乗型車両の接近報知装置 |
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JP6631585B2 (ja) | 2017-04-21 | 2020-01-15 | 株式会社デンソー | 提示制御装置、自動運転制御装置、提示制御方法及び自動運転制御方法 |
JP7310307B2 (ja) | 2019-05-28 | 2023-07-19 | コニカミノルタ株式会社 | 画像形成装置、画像形成システム、および画像形成装置の制御方法 |
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2021
- 2021-10-18 US US18/034,712 patent/US20230399071A1/en active Pending
- 2021-10-18 WO PCT/JP2021/038429 patent/WO2022107527A1/ja active Application Filing
- 2021-10-18 DE DE112021006029.5T patent/DE112021006029T5/de active Pending
- 2021-10-18 CN CN202180075888.3A patent/CN116529154A/zh active Pending
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Patent Citations (6)
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JP2005280487A (ja) * | 2004-03-29 | 2005-10-13 | Kenwood Corp | 単車用方向指示装置、単車用情報出力装置、ナビゲーション装置、単車用方向指示方法、ナビゲーション方法、及びナビゲーションプログラム |
JP2007112316A (ja) * | 2005-10-20 | 2007-05-10 | A Un:Kk | 振動情報呈示部品及びナビゲーション装置、車線逸脱警告装置 |
WO2013131671A1 (de) * | 2012-03-08 | 2013-09-12 | Robert Bosch Gmbh | Fahrzeug, insbesondere ein zwei- oder dreiradfahrzeug |
JP2013244767A (ja) * | 2012-05-23 | 2013-12-09 | Isuzu Motors Ltd | 車線逸脱警報装置、それを搭載した車両、及びその制御方法。 |
JP2014203196A (ja) * | 2013-04-03 | 2014-10-27 | トヨタ自動車株式会社 | 危険度判定装置、危険度判定方法、警報装置、及び運転支援装置 |
JP2016068606A (ja) * | 2014-09-26 | 2016-05-09 | 本田技研工業株式会社 | 鞍乗型車両の接近報知装置 |
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JP7342287B2 (ja) | 2023-09-11 |
JPWO2022107527A1 (ja) | 2022-05-27 |
CN116529154A (zh) | 2023-08-01 |
DE112021006029T5 (de) | 2023-09-07 |
US20230399071A1 (en) | 2023-12-14 |
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