WO2022137034A1 - ライダー支援システムの制御装置及び制御方法 - Google Patents
ライダー支援システムの制御装置及び制御方法 Download PDFInfo
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- WO2022137034A1 WO2022137034A1 PCT/IB2021/061811 IB2021061811W WO2022137034A1 WO 2022137034 A1 WO2022137034 A1 WO 2022137034A1 IB 2021061811 W IB2021061811 W IB 2021061811W WO 2022137034 A1 WO2022137034 A1 WO 2022137034A1
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- information
- vehicle
- lean vehicle
- reference gap
- control device
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 16
- 230000001133 acceleration Effects 0.000 description 7
- 241001465754 Metazoa Species 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000036461 convulsion Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Classifications
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- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J27/00—Safety equipment
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/36—Cycles; Motorcycles; Scooters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/201—Dimensions of 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/20—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/415—Inclination sensors
- B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Definitions
- INDUSTRIAL APPLICABILITY A control device and a control method for a rider support system.
- the present invention relates to a control device of a rider support system that supports driving by a rider of a lean vehicle and a control method of a rider support system that supports driving by a rider of a lean vehicle.
- Patent Document 1 Japanese Unexamined Patent Publication No. 2 0 0 9 --1 1 6 8 8 2
- the present invention has been made in the background of the above-mentioned problems, and obtains a control device capable of appropriately supporting the driving of a lean vehicle by a rider. In addition, it is possible to obtain a control method that can appropriately support the rider's driving of a lean vehicle. [Means for solving problems]
- the control device is a control device of a rider support system that supports driving by a rider of a lean vehicle, and is based on or based on the output of an ambient environment detection device mounted on the lean vehicle.
- An acquisition unit that acquires the surrounding environment information of the lean vehicle based on wireless communication with another vehicle or infrastructure equipment, and an execution unit that executes the rider's driving support operation according to the surrounding environment information.
- the acquisition unit acquires the reference gap information which is the information of the reference gap which is the criterion for determining whether or not the lean vehicle can pass through or the safety.
- the execution unit executes the driving support operation based on the reference gap information.
- the control method according to the present invention is a control method of a rider support system that supports driving by a rider of a lean vehicle, and the acquisition unit of the control device is mounted on the lean vehicle in the surrounding environment.
- the acquisition step of acquiring the ambient environment information of the lean vehicle based on the output of the detection device or wireless communication with another vehicle or infrastructure equipment, and the execution unit of the control device are the ambient environment.
- the acquisition step includes an execution step of executing the driving support operation of the rider according to the information, and in the acquisition step, the acquisition unit slips through the lean vehicle based on the traveling posture information of the lean vehicle.
- the execution unit executes the driving support operation based on the reference gap information by acquiring the reference gap information which is the information of the reference gap which is the criterion for determining whether or not the vehicle can run or the safety. ..
- the reference gap information is acquired based on the traveling posture information of the lean vehicle, and the driving support operation is executed based on the reference gap information. Therefore, it is possible to execute a driving support operation that takes into account changes according to the driving posture of the space occupied by the running of the lean vehicle, and it is possible to appropriately support the driving of the lean vehicle by the rider. Will be.
- FIG. 1 is a diagram showing a state in which the rider support system according to the embodiment of the present invention is mounted on a lean vehicle.
- FIG. 2 is a diagram showing a system configuration of the rider support system according to the embodiment of the present invention.
- FIG. 3 is a diagram for explaining reference clearance information in a state in which a lean vehicle traveling upright is viewed backward in the rider support system according to the embodiment of the present invention.
- FIG. 4 is a diagram for explaining reference clearance information in a state in which a lean vehicle traveling at an angle is viewed backward in the rider support system according to the embodiment of the present invention.
- FIG. 5 is a diagram for explaining a modified example of reference clearance information in a state in which a lean vehicle traveling at an angle is viewed backward in the rider support system according to the embodiment of the present invention.
- FIG. 6 is a diagram for explaining a modified example of reference clearance information in a state in which a lean vehicle traveling at an angle is viewed backward in the rider support system according to the embodiment of the present invention.
- FIG. 7 is a diagram for explaining a modified example of reference clearance information in a state in which a lean vehicle traveling at an angle is viewed backward in the rider support system according to the embodiment of the present invention.
- FIG. 8 is a diagram for explaining a modified example of reference clearance information in a state in which a lean vehicle traveling at an angle is viewed backward in the rider support system according to the embodiment of the present invention.
- FIG. 9 is a diagram for explaining a modified example of reference clearance information in a state in which a lean vehicle traveling at an angle is viewed backward in the rider support system according to the embodiment of the present invention.
- FIG. 1 is a diagram showing an example of an operation port of a control device of the rider support system according to the embodiment of the present invention.
- Lean vehicle refers to all vehicles that travel in a state of being tilted in the turning direction when turning.
- Lean vehicles include, for example, two-wheeled motorcycles, three-wheeled motorcycles, bicycles and the like.
- the motor cycle includes, for example, a vehicle whose propulsion source is an engine, a vehicle whose propulsion source is an electric motor, and the like, for example, a motorcycle, a scooter, an electric scooter, and the like.
- Bicycle also means all vehicles that can be propelled on the road by the rider's pedaling force applied to the pedals. Bicycles include, for example, ordinary bicycles, electrically power assisted bicycles, electric bicycles and the like.
- FIG. 1 is a diagram showing a state in which the rider support system according to the embodiment of the present invention is mounted on a lean vehicle.
- FIG. 2 is a diagram showing a system configuration of the rider support system according to the embodiment of the present invention.
- the rider assist system 1 includes, for example, an ambient environment detection device 1 1 for detecting the ambient environment information of a lean vehicle 1 and other vehicles.
- a communication device 1 2 that receives the surrounding environment information transmitted from the infrastructure equipment by wireless communication
- a driving state detection device 1 3 for detecting the driving state information of the lean vehicle 100
- a control device (ECU). ) 20 and, including.
- Rider support system 1 Using the surrounding environment information, it supports the driving by the rider 2000 of the lean vehicle.
- the ambient environment detection device 1 1 is, for example, a radar, a lidar sensor, an ultrasonic sensor, a camera, or the like. It is preferable that the surrounding environment detection device 1 1 is provided in the front part B of the lean vehicle 100, and its detection range is directed to the front of the lean vehicle 100. In addition to the ambient environment detector 1 1, other ambient environment detectors installed at the rear or side of the lean vehicle 1 ⁇ ⁇ with the detection range directed to the rear or side of the lean vehicle 1 ⁇ ⁇ It may be provided.
- the ambient environment detection device 1 1 is, for example, information on the relative positional relationship between a lean vehicle 100 and an object located within the detection range (for example, another vehicle, an obstacle, a person, an animal, etc.), and a detection range. Detects information on the relative positional relationship between objects located inside (for example, other vehicles, obstacles, people, animals, etc.) and outputs them to the control device 20.
- the relative positional relationship information may include, for example, relative distance information, relative velocity information, relative acceleration information, relative jerk information, and the like.
- the communication device 1 2 directly or other device (for example, an internet server, a portable wireless terminal, a rider 2) transmits the ambient environment information transmitted from another vehicle or infrastructure equipment. ⁇ ⁇ Wear 6 ⁇ etc.) is received indirectly. Helmets, gloves, etc. are included in the clothing 60.
- the surrounding environment information transmitted from the other vehicle may be the surrounding environment information acquired by the other vehicle, or may be the state information of the other vehicle itself.
- the ambient environment information transmitted from the infrastructure equipment may be the ambient environment information acquired by the infrastructure equipment, or may be the state information of the infrastructure equipment itself.
- the communication device 1 2 is, for example, information on the relative positional relationship between a lean vehicle 100 and an object (for example, another vehicle, an obstacle, a person or an animal, etc.), and an object (for example, another vehicle, an obstacle, etc.). , People or animals, etc. ) Receives information such as the relative positional relationship between each other and outputs it to the control device 20.
- the relative position-related information may include, for example, relative distance information, relative velocity information, relative acceleration information, relative jerk information, and the like.
- the traveling state detection device 1 3 includes, for example, a vehicle speed sensor and an inertial sensor (IM U).
- the vehicle speed sensor detects the vehicle speed occurring in the lean vehicle 100.
- the inertial sensor detects the acceleration of the three axes and the angular velocity of the three axes (roll, pitch, yaw) occurring in the lean vehicle.
- Other physical quantities that can be substantially converted into the vehicle speed generated in the lean vehicle 100 and the three-axis acceleration and the three-axis angular velocity generated in the lean vehicle 100 by the traveling state detector 1 3. May be detected.
- the inertial sensor may detect only a part of the acceleration of the three axes and the angular velocity of the three axes. Further, if necessary, at least one of the vehicle speed sensor and the inertial sensor may be omitted, and another sensor may be added.
- the control device 2 ⁇ includes at least an acquisition unit 2 1 and an execution unit 2 2. All or each part of the control device 20 may be provided collectively in one housing, or may be separately provided in a plurality of housings. In addition, a part or all of the control device 20 may be configured by, for example, a microcomputer, a microprocessor unit, or the like, or may be configured by an updatable device such as firmware, or from a c p u or the like. It may be a program module or the like executed by the decree of.
- the acquisition unit 2 1 is based on the output of the ambient environment detection device 1 1 or based on wireless communication with another vehicle or infrastructure equipment, and the ambient environment of the lean vehicle 100. Get information. Then, the execution unit 2 2 warns, for example, a braking device 3 ⁇ that generates a braking force on the lean vehicle 1 ⁇ ⁇ , a driving device 4 ⁇ that generates a driving force on the lean vehicle 1 ⁇ ⁇ , and a rider 2 0 0 ( For example, various driving of the rider 200 according to the surrounding environment information by outputting control commands to the notification device 50 etc. that issues warnings that affect hearing, warnings that affect vision, warnings that affect tactile sensation, etc. Perform support actions.
- the notification device 50 may be provided on the lean vehicle 100, or may be provided on the wear 60 of the rider 200 of the lean vehicle 100. Also, Rye A warning to the Dar 2 ⁇ may be given by a haptics action that causes a momentary decrease or increase in acceleration in the lean vehicle 100. In such a case, the braking device 30 or the driving device 40 is responsible for the function of the notification device 50.
- FIG. 3 is a diagram for explaining reference clearance information in a state where a lean vehicle traveling upright is viewed backward in the rider support system according to the embodiment of the present invention.
- FIG. 4 is a diagram for explaining reference clearance information of the rider support system according to the embodiment of the present invention in a state where a lean vehicle traveling at an angle is viewed backward.
- the acquisition unit 2 1 acquires the traveling posture information of the lean vehicle 100 based on the output of the traveling state detection device 1 3. Based on the driving posture information, the acquisition unit 2 1 is the minimum for the running of the lean vehicle 100, that is, the reference gap S, which is the criterion for determining whether or not the lean vehicle can pass through or the safety.
- the information of the reference gap S which is the space to be secured or the space to be set to be secured for the safe driving of the lean vehicle, is acquired as the reference gap information.
- the acquisition unit 2 1 is based on the width W of the reference gap S and the deviation amount D of the width center C of the reference gap S in the direction parallel to the road surface with respect to the vehicle width reference point R of the lean vehicle 100. Obtained as gap information.
- the vehicle width reference point R is defined as the ground contact position of the lean vehicle 100, but the vehicle width reference point R is defined as, for example, the position of the center of gravity of the lean vehicle 100. It may be defined as the mounting position of the ambient environment detector! 1.
- the width W of the reference gap S that is, the distance between the right boundary B r and the left boundary BI.
- the right margin M r and the left margin MI are set to the road surface width occupied by the lean vehicle 100, that is, the effective vehicle width W o which is the maximum vehicle width of the lean vehicle 100 in the direction parallel to the road surface. Derived as the added width. Further, in the direction parallel to the road surface, there is no deviation between the vehicle width reference point R and the width center C of the reference gap S.
- the effective vehicle width W ⁇ is stored in advance as a value unique to the lean vehicle 100.
- Right margin M r and left margin M! May be a constant, and by the rider 2 ⁇ ⁇ It may be a variable set manually, or it may be a variable automatically set by the acquisition unit 2 1.
- the acquisition unit 2 1 sets the right margin M r and the left margin MI to the running condition information of the lean vehicle 1 ⁇ ⁇ (for example, the vehicle speed occurring in the lean vehicle 1 ⁇ ⁇ , the acceleration occurring in the lean vehicle 1 ⁇ ⁇ ).
- Right margin M r and left margin M! May be the same size or different sizes from each other. Further, the width W of the reference gap S may be derived as the effective vehicle width W ⁇ without taking into account the right side margin M r and the left side margin MI.
- the effective vehicle width W ⁇ which is the maximum width of the lean vehicle 100, is larger than that of the lean vehicle 100 running upright. Therefore, the width W of the reference gap S, that is, the distance between the right boundary B r and the left boundary B I, is larger than that of the lean vehicle 100 running upright.
- the width center C of the reference gap S shifts in the tilt direction of the lean vehicle 100 compared to the state in which the lean vehicle 100 runs upright.
- the acquisition unit 2 1 sets the effective vehicle width W ⁇ and the deviation amount D based on the running posture information, that is, the degree of aroundness occurring in the lean vehicle ⁇ ⁇ , based on the information that can be used.
- the acquisition unit 2 1 has information on the roll angle occurring in the lean vehicle 1 ⁇ ⁇ , information on the steering angle occurring in the lean vehicle ⁇ ⁇ , and information on the yaw rate occurring in the lean vehicle 1 ⁇ ⁇ . , Based on the map information, etc., it is possible to know the degree of time that has occurred in the lean vehicle 100.
- the dimensional information (position information, shape information) of the lateral protrusions of the lean vehicle 1 ⁇ ⁇ 1 (for example, mirror 1 0 1 A, pedal or step 1 ⁇ 1 B, muffler, etc.) is added. It is good to have.
- the acquisition unit 2 1 may continuously change the effective vehicle width W ⁇ and the deviation amount D according to the traveling posture information of the lean vehicle 100, or may change it intermittently. ..
- the relationship between the traveling posture information of the lean vehicle 100 and the effective vehicle width W ⁇ and the deviation amount D may be stored as a table.
- the acquisition unit 2 1 may change the right side margin M r and the left side margin M I according to the traveling posture information. For example, the acquisition unit 2 1 increases the right side margin M r and the left side margin M I as the degree of inclination occurring in the lean vehicle 100 increases.
- [. 0 2 5] 5 to 9 are diagrams for explaining a modified example of the reference gap information in the state where the lean vehicle traveling at an angle is viewed backward in the rider support system according to the embodiment of the present invention.
- the reference gap information acquired by the acquisition unit 2 1 is tilted in the lean vehicle 100
- the width W of the reference gap S and the vehicle width reference point R and the reference gap in the direction parallel to the road surface are used.
- the reference gap information acquired by the acquisition unit 2 1 is lean.
- the vehicle 1 ⁇ ⁇ has a pavement, only one of them may change ⁇ In other words, as shown in Fig.
- the reference gap information is tilted in the lean vehicle 1 ⁇ ⁇ .
- the width W of the reference gap S may not change, and a deviation amount D may occur between the vehicle width reference point R and the width center C of the reference gap S.
- the amount of deviation D between the vehicle width reference point R and the width center C of the reference gap S when the reference clearance information is about to occur in the lean vehicle 100 may be increased without causing the above.
- the reference gap information may be acquired based on the passenger information of the lean vehicle 100. That is, the acquisition unit 2 1 determines the maximum width of the lean vehicle 100 in the direction parallel to the road surface and the head of the passenger (at least one of the rider 2000 and the passenger) in the direction parallel to the road surface. The amount of protrusion from the lean vehicle 100 may be added as the effective vehicle width W ⁇ .
- the passenger information may be a fixed value that the passenger considers to be a standard physique, or a variable that is manually set by the rider 200, or the acquisition unit. It may be a variable that is automatically set by 2 1.
- information on the rider's clothing 60 or the passenger's clothing may be added to the passenger information.
- the reference gap information may be acquired based on the load information of the lean vehicle 100.
- the acquisition unit 2 1 is the lean vehicle of the lean vehicle in the direction parallel to the road surface 1 ⁇ ⁇ , and the lean vehicle of the load 1 ⁇ 2 (for example, side case, luggage, etc.) in the direction parallel to the road surface.
- the amount of protrusion from 100 may be derived as the effective vehicle width W o.
- the load information may be a fixed value that is considered to be loaded with a standard load 100, or it may be a variable manually set by the rider 200, or it may be a variable. , It may be a variable automatically set by the acquisition unit 2 1.
- the reference gap information may differ depending on the height of the width W of the reference gap S, and the vehicle width reference in the direction parallel to the road surface.
- the positional relationship between the point R and the width center C of the reference gap S may differ depending on the height.
- the width w of the reference gap s and the positional relationship between the vehicle width reference point R and the width center C of the reference gap S in the direction parallel to the road surface may change continuously depending on the height. It may also change intermittently.
- the execution unit 2 2 executes the driving support operation based on the reference gap information acquired by the acquisition unit 2 1.
- the execution unit 2 2 executes the adaptive cruise control operation of the lean vehicle 100 as the driving support operation.
- cruise control operation lean vehicle at the target speed set by rider 2 ⁇ ⁇ !
- the control device 2 ⁇ controls the braking device 3 ⁇ and the drive device 4 ⁇ so that ⁇ ⁇ runs.
- the adaptive cruise control operation in addition to such control, the distance between the vehicle and the preceding vehicle, that is, the vehicle to be followed, or collision avoidance is maintained.
- the control device 2 ⁇ is the braking device 3 ⁇ so that the lean vehicle ⁇ ⁇ runs at the target speed set by the rider 2 ⁇ ⁇ .
- the lean vehicle 100 will be at a speed that is below the target speed and that aims to maintain the inter-vehicle distance from the preceding vehicle or collision avoidance.
- the control device 2 ⁇ controls the braking device 3 ⁇ and the drive device 4 ⁇ so as to travel.
- the execution unit 2 2 determines the vehicle to be followed based on the reference clearance information.
- the execution unit 2 2 estimates the future running locus of the lean vehicle 100 based on the running posture information of the lean vehicle 100, and two preceding vehicles sandwich the running locus. Are running in parallel, and when it is determined that the width of the actual gap between the two preceding vehicles is wider than the width W of the reference gap S in the reference gap information, the two preceding vehicles Is not determined as the vehicle to be followed.
- the execution unit 2 2 is the running posture of the lean vehicle 100. Based on the information, the future travel locus of the lean vehicle 100 is estimated, and the two preceding vehicles are running side by side across the travel locus, and the width of the actual gap between the two preceding vehicles.
- the vehicle close to the lean vehicle 100 of the two preceding vehicles is determined as the tracking target vehicle.
- the actual position information of the gap and the position information of the reference gap S in the reference gap information (for example, the position of the width center C, the position of the right boundary B r, the position of the left boundary BI, etc.) are taken into consideration. It is good.
- the execution unit 2 2 has the right boundary B r and the left boundary BI at the time of arrival on the assumption that the lean vehicle 100 will reach the actual gap through the estimated travel trajectory.
- the vehicle to be followed is determined by predicting whether or not the vehicle is located inside the actual gap.
- the execution unit 2 2 estimates the future running locus of the lean vehicle 100 based on the running posture information of the lean vehicle 100, and identifies the preceding vehicle located on the running locus. Then, over the entire area between the lean vehicle 100 and its preceding vehicle in the travel locus, the vehicle width reference point R is defined at each position on the travel locus inside each reference gap S. If there is no other vehicle that is different from the preceding vehicle, the preceding vehicle is determined to be the vehicle to be followed.
- the execution unit 2 2 is based on the lean vehicle 1 ⁇ ⁇ based on the actual gap information which is the information of the actual gap located on the traveling locus of the lean vehicle 1 ⁇ ⁇ and the reference gap information. It is determined whether or not the vehicle can actually pass through the gap or the safety is determined, and the driving support operation is executed based on the result of the determination.
- the actual gap may be a gap formed between an obstacle and a vehicle, a gap formed between two obstacles separated from each other, or separated from each other. It may be a gap formed between two vehicles. Obstacles include utility poles, guardrails, curbs, falling objects, and the like. Also, instead of an obstacle or a vehicle, a gap formed by a person or a moving object may be the target.
- the vehicle includes a running vehicle and a stopped vehicle.
- the actual gap information is the reference gap S in the reference gap information
- the actual gap width is the reference gap information.
- a control signal is output to the braking device 3 ⁇ or the driving device 4 ⁇ to automatically decelerate the lean vehicle ⁇ ⁇ to execute a driving support operation. ..
- the actual position information of the gap and the position information of the reference gap s in the reference gap information are added. It should be done.
- the execution unit 2 2 is based on the assumption that both lean vehicles reach the actual gap along the estimated travel trajectory, and the right boundary B r and the right boundary B r at the time of arrival. By predicting whether or not the left boundary BI is located inside the actual gap, it is possible to determine whether or not the lean vehicle can pass through the actual gap or safety.
- the execution unit 2 2 is a notification device 5 when the actual gap information is information indicating that the width of the actual gap is narrower than the width W of the reference gap S in the reference gap information.
- a control signal is output to ⁇ , and a driving support operation that gives a warning to the rider 2 ⁇ ⁇ of the lean vehicle 1 ⁇ ⁇ is executed.
- the actual position information of the gap and the position information of the reference gap S in the reference gap information (for example, the position of the width center C, the position of the right boundary B r, the position of the left boundary B I, etc.) are taken into consideration. It is good.
- the execution unit 2 2 actually has the right boundary B r and the left boundary B I at the time of arrival on the assumption that the lean vehicle 100 reaches the actual gap along the estimated travel locus. By predicting whether or not it is located inside the gap, it is possible to determine whether or not the lean vehicle can actually pass through the gap or to be safe.
- the notification device 50 may give a warning to other vehicles traveling in the vicinity. The warning may be given by controlling the sounding device (eg, horn, speaker, etc.) of the lean vehicle 1 ⁇ ⁇ or wear 60 ⁇ , and the lean vehicle 1 ⁇ ⁇ or wear 6 ⁇ . It may be done by controlling the light emitters (eg headlights, turn signals, etc.), and also lean vehicles! It may be done by transmitting a radio signal from ⁇ to other vehicles.
- the sounding device eg, horn, speaker, etc.
- the light emitters eg headlights, turn signals, etc.
- the execution unit 2 2 is a lean vehicle 1 when the actual gap information is information indicating that the width of the actual gap is narrower than the width w of the reference gap S in the reference gap information.
- the actual position information of the gap and the position information of the reference gap s in the reference gap information should be added. ..
- the execution unit 2 2 assumes that the lean vehicle 100 reaches the actual gap along the estimated travel locus, and the right boundary B r and the left boundary BI at the time of reaching the actual gap. By predicting whether or not the vehicle is located inside the actual gap, it is possible to determine whether or not the lean vehicle can pass through the actual gap or the safety of the vehicle.
- the execution unit 2 2 is a lean vehicle 1 when the actual gap information is information indicating that the width of the actual gap is narrower than the width w of the reference gap S in the reference gap information.
- Execute the driving support operation that forcibly lowers the target speed in the cruise control operation or the adaptive cruise control operation executed in ⁇ .
- the actual position information of the gap and the position information of the reference gap S in the reference gap information are taken into consideration. It is good.
- the execution unit 2 2 will reach the right boundary B r and the left boundary at the time of reaching that point.
- FIG. 10 is a diagram showing an example of the operation flow of the control device of the rider assist system according to the embodiment of the present invention.
- each process in step S101 may be executed in a separate step, or another step may be added as appropriate.
- the control device 2 ⁇ repeatedly executes the operation flow shown in Fig. 1 ⁇ while the lean vehicle ⁇ ⁇ is running.
- step S1 ⁇ 1 the acquisition unit 2 1 is the ambient environment detection device 1 1 mounted on the lean vehicle 1 ⁇ ⁇ .
- Lean vehicle based on the output of
- the acquisition unit 2 1 is based on the running posture information of the lean vehicle 100, and is the standard gap information which is the information of the reference gap S which is the criterion for determining whether or not the lean vehicle can pass through or the safety. To get.
- step S1 ⁇ 2 the execution unit 2 2 executes the driving support operation of the lean vehicle 1 ⁇ ⁇ rider 2 ⁇ ⁇ based on the surrounding environment information and the reference gap information. ..
- the acquisition unit 2 1 uses the information of the reference gap s, which is the criterion for determining whether or not the lean vehicle can pass through the lean vehicle or the safety, based on the driving posture information of the lean vehicle! A certain reference gap information is acquired, and the execution unit 2 2 executes a driving support operation based on the reference gap information. Therefore, it is possible to perform a driving support operation that takes into account changes according to the driving posture of the space occupied by the running of both lean vehicles, and the rider of the lean vehicle 100 ⁇ ⁇ It will be possible to properly support driving
- the acquisition unit 2 1 changes the width w of the reference gap s in the reference gap information according to the running posture information of the lean vehicle 100.
- the acquisition unit 2 1 changes the width w of the reference gap s in the reference gap information according to the running posture information of the lean vehicle 100.
- the acquisition unit 2 1 changes the width center c of the reference gap s in the reference gap information according to the running posture information of the lean vehicle 100. With such a configuration, it becomes possible to appropriately reflect changes according to the driving posture of the space occupied by the running of the lean vehicle 100 in the driving support operation.
- the acquisition unit 2 1 acquires the reference gap information based on the dimensional information of the lateral protrusion 100 of the lean vehicle 100. With such a configuration, it becomes possible to appropriately reflect changes according to the driving posture of the space occupied by the running of the lean vehicle 100 in the driving support operation.
- the acquisition unit 2 1 acquires the reference gap information based on the passenger information of the lean vehicle 100.
- the acquisition unit 2 1 acquires the reference gap information based on the passenger information of the lean vehicle 100.
- the acquisition unit 2 1 acquires the reference gap information based on the load information of the lean vehicle 100.
- the acquisition unit 2 1 acquires the reference gap information based on the load information of the lean vehicle 100.
- the reference gap information is information in which the width W of the reference gap S differs depending on the height. With such a configuration, it becomes possible to appropriately reflect the change according to the traveling posture of the space occupied by the traveling of the lean vehicle 100 in the driving support operation.
- the reference gap information is information in which the width center C of the reference gap S differs depending on the height. With such a configuration, it becomes possible to appropriately reflect the change according to the traveling posture of the space occupied by the traveling of the lean vehicle 100 in the movement support operation.
- the driving support operation is the adaptive cruise control operation of the lean vehicle 100, and the execution unit 2 2 follows the speed control in the adaptive cruise control operation based on the reference gap information. Determine the target vehicle.
- the execution unit 2 2 is lean based on the actual gap information, which is the information of the actual gap located on the traveling locus of the lean vehicle 100, and the reference gap information. Judgment is made as to whether or not the vehicle can actually pass through the gap or safety is judged, and the driving support operation is executed based on the result of the judgment. With such a configuration, it is possible to more appropriately determine whether or not the vehicle can actually pass through the gap or the safety, and it is possible to appropriately support the driving by the rider 200. ..
- the embodiments of the present invention are not limited to the above description. That is, the present invention includes a form obtained by modifying the embodiment described above. Further, the present invention includes a form in which only a part of the embodiments described above is carried out, or a form in which a part thereof is combined.
- Rider support system ! 1 Surrounding environment detection device, 1 2 Communication device, 1 3 Driving state detection device, 2 ⁇ Control device, 2 1 Acquisition unit, 2 2 Execution unit, 3 ⁇ Braking device, 4 ⁇ Drive device, 5 ⁇ Notification device, 6 ⁇ Wear, 1 ⁇ ⁇ Lean vehicle, 1 ⁇ ! Lateral protrusion, 1 ⁇ 2 Load, 2 ⁇ ⁇ Rider, S reference gap, B r right border, B I left border, W reference gap width, W o effective vehicle width, M r right margin, M I left margin , C reference gap width center, R vehicle width reference point, D deviation amount.
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- Atmospheric Sciences (AREA)
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Abstract
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US18/257,514 US20240034428A1 (en) | 2020-12-23 | 2021-12-16 | Controller and control method for rider assistance system |
CN202180087040.2A CN116685512A (zh) | 2020-12-23 | 2021-12-16 | 骑手辅助系统的控制装置及控制方法 |
JP2022570765A JPWO2022137034A1 (ja) | 2020-12-23 | 2021-12-16 | |
EP21840134.7A EP4270354A1 (en) | 2020-12-23 | 2021-12-16 | Control device and control method for rider assistance system |
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JP2020214072A JP2022099971A (ja) | 2020-12-23 | 2020-12-23 | ライダー支援システムの制御装置及び制御方法 |
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WO2020012900A1 (ja) * | 2018-07-12 | 2020-01-16 | 株式会社デンソー | 車両制御装置 |
EP3723065A1 (en) * | 2017-12-06 | 2020-10-14 | Robert Bosch GmbH | Control system and control method for controlling behavior of motorcycle during lane splitting |
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Patent Citations (2)
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EP3723065A1 (en) * | 2017-12-06 | 2020-10-14 | Robert Bosch GmbH | Control system and control method for controlling behavior of motorcycle during lane splitting |
WO2020012900A1 (ja) * | 2018-07-12 | 2020-01-16 | 株式会社デンソー | 車両制御装置 |
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CN116685512A (zh) | 2023-09-01 |
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