WO2022136990A1 - モータサイクルの動作を制御する制御装置及び制御方法 - Google Patents
モータサイクルの動作を制御する制御装置及び制御方法 Download PDFInfo
- Publication number
- WO2022136990A1 WO2022136990A1 PCT/IB2021/061393 IB2021061393W WO2022136990A1 WO 2022136990 A1 WO2022136990 A1 WO 2022136990A1 IB 2021061393 W IB2021061393 W IB 2021061393W WO 2022136990 A1 WO2022136990 A1 WO 2022136990A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motorcycle
- control device
- rider
- cruise
- information
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000003044 adaptive effect Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 description 34
- 230000002093 peripheral effect Effects 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 210000000697 sensory organ Anatomy 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Definitions
- FIG. 3 is a diagram showing an example of a control flow in a control device of the rider support system according to the embodiment of the present invention.
- the term "motorcycle” means a motorcycle or a self-driving tricycle among saddle-type vehicles on which a rider straddles.
- motorcycles include motorcycles or motorcycles whose propulsion source is an engine, motorcycles or motorcycles whose propulsion source is an electric motor, and the like, and include, for example, motorcycles, scooters, electric scooters, and the like.
- the motor cycle may be a motorcycle.
- FIG. 1 is a diagram showing a state in which the rider assist system according to the embodiment of the present invention is mounted on a motorcycle.
- FIG. 2 is a diagram for explaining a system configuration of the rider support system according to the embodiment of the present invention.
- the ambient environment detector 1 ⁇ monitors the front of the motorcycle ⁇ ⁇ and detects various information in front of the motorcycle ⁇ ⁇ . Specifically, the ambient environment detection device 10 detects the predicted route, which is the route predicted to be passed by the motorcycle 100 in the future. The ambient environment detector 10 may detect other physical quantities that can be substantially converted into the prediction path. In addition, the ambient environment detection device 10 detects the distance from the motorcycle 100 to the vehicle in front. The ambient environment detector 100 may detect other physical quantities that can be substantially converted into the distance from the motorcycle 100 to the vehicle in front.
- the ambient environment detection device 1 ⁇ is based on the predicted route of motorcycle ⁇ ⁇ and the behavior of multiple vehicles. Therefore, the vehicle traveling in the same lane as the motorcycle 1 ⁇ ⁇ that is closest to the motorcycle ⁇ ⁇ is selected as the preceding vehicle for which the distance from the motorcycle ⁇ ⁇ is detected. ..
- the same vehicle as the driving lane of the motorcycle 100 Not only the vehicle that travels closest to the motorcycle 1 ⁇ ⁇ on the line, but also the vehicle that travels in front of multiple motorcycles ⁇ ⁇ , the vehicle that travels in the lane adjacent to the lane of the motorcycle ⁇ ⁇ Etc.
- the adaptive cruise control operation described later is executed using the detection result of the distance from the motorcycle 100 to the vehicle in front.
- the cruise control operation described later is executed, the distance from the motorcycle 100 to the vehicle in front does not have to be detected.
- the ambient environment detection device 1 ⁇ for example, a camera that images the front of the motorcycle ⁇ ⁇ and a radar that can detect the distance from the motor cycle ⁇ ⁇ to the object in front are used. .. In that case, for example, by recognizing white lines, guardrails, etc. using images captured by the camera, and using these recognition results and radar detection results, each of the predicted motorcycles is detected. can do. In addition, for example, by recognizing the vehicle in front using the image captured by the camera and using the recognition result of the vehicle in front and the detection result of the radar, the distance from the motorcycle 100 to the vehicle in front is used. Can be detected.
- the ambient environment detection device 10 is installed, for example, in the front part of the vehicle body.
- the input device 2 ⁇ accepts the operation of selecting the driving mode by the rider, and outputs information indicating the driving mode selected by the rider.
- the adaptive cruise control operation or the cruise control operation can be executed by the control device 50.
- Adaptive cruise control operation and The cruise control operation is an example of an auto cruise operation that automatically controls the speed of the motorcycle without the acceleration / deceleration operation by the rider.
- the speed of the motorcycle 100 is controlled by the control device 500 so that the motorcycle runs at the target speed set by the rider.
- the adaptive cruise control operation in addition to such control, the distance from the preceding vehicle or the collision avoidance is maintained.
- the traveling state detection device 30 includes, for example, an inertial measurement unit.
- the inertial measurement unit is equipped with a 3-axis gyro sensor and a 3-direction acceleration sensor, and outputs the detection results of the 3-axis acceleration of the motorcycle 100 and the 3-axis angular velocity.
- the inertial measurement unit may detect other physical quantities that can be substantially converted into 3-axis acceleration and 3-axis angular velocity.
- the acquisition unit 5 1 acquires the information output from each device mounted on the motorcycle 100 and outputs it to the unit clock operation execution unit 5 2. Specifically, the acquisition unit 5 1 acquires the ambient environment information based on the information output from the ambient environment detection device 10 and acquires the rider setting information based on the information output from the input device 20. Then, based on the information output from the running condition detection device 30 ⁇ , the running condition information of the motorcycle 1 ⁇ ⁇ is acquired.
- the running condition information includes the speed, deceleration, position, and direction of travel of the motorcycle. Information on at least one of them is included.
- the position information of the motorcycle located around the motorcycle 1 ⁇ ⁇ detected by the ambient environment detection device 1 ⁇ is traveling on a curve in the direction of travel of the motorcycle 1 ⁇ ⁇ .
- the motorcycle is specified as another motorcycle. If the position information of the motorcycle cannot be detected by the ambient environment detection device 10 due to the generation of blind spots due to the curve, or only the cruise control operation can be executed as a talented cruise operation, and the surrounding environment If the detection device 10 is not installed in the first place, the position information can be detected by wireless communication with the motorcycle.
- another motorcycle may be provided with, for example, a receiver for signals from GPS (Global Positioning System) satellites and a storage unit for map information.
- GPS Global Positioning System
- Information on the driving status of other vehicles can be obtained from the ambient environment detection device 2 1 ⁇ mounted on another motorcycle 2 ⁇ ⁇ peripheral vehicle 3 ⁇ ⁇ , or the peripheral infrastructure equipment of another motorcycle 2 ⁇ ⁇ 4 It may be information on the running condition of another motorcycle 2 ⁇ ⁇ output from the ambient environment detection device 3 1 ⁇ provided in ⁇ ⁇ .
- the ambient environment detection device 2 1 ⁇ and the ambient environment detection device 3 1 ⁇ may be the same as or different from the ambient environment detection device 1 ⁇ mounted on the motorcycle 1 ⁇ . good.
- an operation that automatically outputs a command to automatically reduce the speed occurring in the motorcycle 100 to the auto-cruise operation execution unit 5 2 and the target speed of the running auto-cruise operation An operation that automatically lowers the set value is output to the auto-cruise operation execution unit 5 2, and a command to automatically cancel or interrupt the executed auto-cruise operation is output to the motorcycle operation execution unit 5 2. Operation etc. are included. In addition, each of these operations may be combined.
- the alarm device 80 may warn the rider by sound (that is, the perception that the auditory organ is used as a sensory organ), and may also display (that is, the visual organ is the sensory organ). It may be a warning to the rider by the perception used as), or it may be a warning to the rider by vibration (that is, the perception that the tactile organ is used as a sensory organ). It may be a warning depending on the combination.
- the luck arrow mouth device 80 may be provided in the motorcycle 100, or may be provided in the equipment attached to the motorcycle 100 such as a helmet. Further, the information arrow mouth device 80 may be composed of one output device, or may be composed of a plurality of the same type or different types of outputs.
- the plurality of output devices may be provided integrally or separately.
- the newsletter device 80 may warn the rider by causing a momentary acceleration / deceleration in the motorcycle 100.
- the information arrow mouth device 80 may be realized by the control device 60, the drive device 70, and the like.
- the safe operation execution unit 5 3 provides the motor cycle 100 with safe operation. Judge that it needs to be executed. In particular, as a safe operation, an operation that calls the rider to pay attention to the front, an operation that prompts the rider to decelerate, an operation that prompts the rider to set the target speed of the auto cruise operation being executed, and an operation that lowers the straightness, the motorcycle.
- the average deceleration of 2 ⁇ ⁇ may be compared to the reference value to determine if safe operation needs to be performed, and multiple different motorcycles.
- the maximum value of deceleration of 2 ⁇ ⁇ may be compared with the reference value to determine whether or not safe operation needs to be performed.
- safe operation is executed before the motorcycle 100 is traveling straight, that is, before the motorcycle 100 is traveling on a curve. With such a configuration, the rider can perform safe movements in a relatively relaxed situation, improving safety. It should be noted that safe operation is executed when the motorcycle is running in a cave. May be good. Even in such a case, the safety of the rider is improved.
- the traveling condition information of another vehicle is information on the positions of a plurality of different motorcycles traveling on a curve.
- the accuracy of the judgment is improved.
- Multiple different motorcycles The average distance from the lane boundary of 2 ⁇ ⁇ may be compared to the reference value to determine if safe operation needs to be performed, and multiple different motorcycles.
- the minimum distance from the motorcycle lane boundary may be compared to the reference value to determine if safe operation needs to be performed.
- safe operation is executed before the motorcycle 100 is traveling straight, that is, before the motor cycle 100 is transitioning to curve driving.
- the rider can perform safe movements in a relatively relaxed situation, improving safety.
- a safe operation may be executed while the motor cycle 100 is traveling on a curve. Even in such cases, the safety of the rider is improved.
- the other vehicle running state information includes information on the position of another motorcycle 200.
- a motorcycle can travel a curve in a unique driving position due to its narrower vehicle width than other types of vehicles (eg passenger cars, trucks, etc.).
- other types of vehicles eg passenger cars, trucks, etc.
- the rider's support for the operation of the motorcycle 100 will be more appropriate.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2022570757A JPWO2022136990A1 (ja) | 2020-12-23 | 2021-12-07 | |
US18/257,520 US20240043007A1 (en) | 2020-12-23 | 2021-12-07 | Controller and control method for maneuvering a motorcycle |
EP21835389.4A EP4269202A1 (en) | 2020-12-23 | 2021-12-07 | Control device and control method for controlling operation of motorcycle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020-214073 | 2020-12-23 | ||
JP2020214073A JP2022099972A (ja) | 2020-12-23 | 2020-12-23 | モータサイクルの動作を制御する制御装置及び制御方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022136990A1 true WO2022136990A1 (ja) | 2022-06-30 |
Family
ID=79171346
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IB2021/061393 WO2022136990A1 (ja) | 2020-12-23 | 2021-12-07 | モータサイクルの動作を制御する制御装置及び制御方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20240043007A1 (ja) |
EP (1) | EP4269202A1 (ja) |
JP (2) | JP2022099972A (ja) |
WO (1) | WO2022136990A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014101845A1 (de) * | 2014-02-13 | 2015-08-13 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zum koordinierten Antreiben von einspurigen Fahrzeugen in Relation zu mindestens einem weiteren Fahrzeug |
DE102015121443A1 (de) * | 2015-01-20 | 2016-07-21 | Harman Becker Automotive Systems Gmbh | Fahrerinformationssystem für Zweiräder |
DE102016208846A1 (de) * | 2016-05-23 | 2017-11-23 | Continental Teves Ag & Co. Ohg | Kommunikationssystem für ein Fahrzeug |
DE102017213278A1 (de) * | 2017-08-01 | 2019-02-07 | Bayerische Motoren Werke Aktiengesellschaft | Datendienst zum Anpassen eines Fahrzeugabstands |
WO2020201867A1 (ja) * | 2019-03-29 | 2020-10-08 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | モータサイクルの動作を制御する制御装置及び制御方法 |
-
2020
- 2020-12-23 JP JP2020214073A patent/JP2022099972A/ja active Pending
-
2021
- 2021-12-07 JP JP2022570757A patent/JPWO2022136990A1/ja active Pending
- 2021-12-07 US US18/257,520 patent/US20240043007A1/en active Pending
- 2021-12-07 EP EP21835389.4A patent/EP4269202A1/en active Pending
- 2021-12-07 WO PCT/IB2021/061393 patent/WO2022136990A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014101845A1 (de) * | 2014-02-13 | 2015-08-13 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zum koordinierten Antreiben von einspurigen Fahrzeugen in Relation zu mindestens einem weiteren Fahrzeug |
DE102015121443A1 (de) * | 2015-01-20 | 2016-07-21 | Harman Becker Automotive Systems Gmbh | Fahrerinformationssystem für Zweiräder |
DE102016208846A1 (de) * | 2016-05-23 | 2017-11-23 | Continental Teves Ag & Co. Ohg | Kommunikationssystem für ein Fahrzeug |
DE102017213278A1 (de) * | 2017-08-01 | 2019-02-07 | Bayerische Motoren Werke Aktiengesellschaft | Datendienst zum Anpassen eines Fahrzeugabstands |
WO2020201867A1 (ja) * | 2019-03-29 | 2020-10-08 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | モータサイクルの動作を制御する制御装置及び制御方法 |
Also Published As
Publication number | Publication date |
---|---|
EP4269202A1 (en) | 2023-11-01 |
US20240043007A1 (en) | 2024-02-08 |
JPWO2022136990A1 (ja) | 2022-06-30 |
JP2022099972A (ja) | 2022-07-05 |
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