WO2022195997A1

WO2022195997A1 - Saddle-type vehicle

Info

Publication number: WO2022195997A1
Application number: PCT/JP2021/046863
Authority: WO
Inventors: 寛之兼田; 恭介稲田; 正樹中河原; 充史小河原; 晃細川
Original assignee: 本田技研工業株式会社
Priority date: 2021-03-19
Filing date: 2021-12-17
Publication date: 2022-09-22
Also published as: JPWO2022195997A1

Abstract

Provided is a saddle-type vehicle that is capable of performing self-control in consideration of blind spots of another vehicle traveling diagonally in front of the own vehicle.　This saddle-type vehicle (1) comprises: a forward camera (80) which images forward of the vehicle; an own vehicle position detection means (73) which detects the position of the own vehicle; and a control device (70) which controls an autocruise control system (74) and a brake system (BF, BR). The saddle-type vehicle is provided with a blind spot determination unit (71) which, on the basis of at least an image captured by the forward camera (80) and the position of the own vehicle, detects whether or not the own vehicle has moved into a blind spot of another vehicle traveling diagonally in front of the own vehicle. When it is determined that the own vehicle has moved into a blind spot of the other vehicle while traveling in autocruise, the control device (70) performs control on the autocruise control system (74) or the brake system (BF, BR) so as to cause the own vehicle to exit the blind spot of the other vehicle.

Description

straddle-type vehicle

The present invention relates to a straddle-type vehicle, and more particularly to a straddle-type vehicle capable of enhancing the safety of the own vehicle by paying attention to the presence of blind spots.

Conventionally, there have been known techniques for improving the safety of a vehicle by paying attention to the presence of blind spots when driving a vehicle.

Patent Literature 1 discloses a vehicle control device that focuses on pedestrians, vehicles, etc. that exist in a blind spot when viewed from the own vehicle, and executes deceleration control, etc. on the own vehicle.

WO2016/104198

However, Patent Document 1 does not consider detecting whether or not the own vehicle has entered the blind spot of another vehicle traveling diagonally in front of the own vehicle, and notifying the driver or changing the position of the own vehicle. rice field.

An object of the present invention is to solve the above-described problems of the prior art and to provide a straddle-type vehicle that can control its own vehicle by taking into consideration the blind spots of other vehicles traveling diagonally in front of its own vehicle.

In order to achieve the above object, the present invention provides a front camera (80) for photographing the front of the vehicle, a vehicle position detection means (73) for detecting the vehicle position, an auto cruise control system (74) and a brake. In a straddle-type vehicle (1) having a control device (70) for controlling systems (BF, BR), at least based on the image captured by the front camera (80) and the vehicle position, the vehicle is: A blind spot determination unit (71) for detecting whether or not the vehicle enters the blind spot of another vehicle traveling diagonally ahead of the own vehicle is provided, and the control device (70) detects whether the own vehicle is in the blind spot of the other vehicle during auto-cruise travel. The first feature is that when it is determined that the vehicle has entered the vehicle, the auto cruise control system (74) or the brake system (BF, BR) is controlled to allow the vehicle to escape from the blind spot of the other vehicle.

A second feature of the control device (70) is that the vehicle exits the blind spot of the other vehicle after a predetermined time (T) has elapsed since the vehicle entered the blind spot of the other vehicle.

In addition, the blind spot determination unit (71) determines the vehicle type of another vehicle obliquely ahead by image recognition, and uses a blind spot information database (71a) that records blind spot information for each vehicle type to determine whether the vehicle is ahead of the other vehicle. A third feature is that it is determined whether or not the vehicle is in the blind spot.

A fourth feature of the control device (70) is that it notifies the driver that the own vehicle has entered the blind spot of the other vehicle.

Furthermore, when the own vehicle enters the blind spot of the other vehicle, it is determined whether to accelerate and escape forward or decelerate and escape backward according to the setting of the distance from the preceding vehicle during auto-cruise travel. The fifth feature is that the judgment is made based on the

According to the first feature, a front camera (80) for photographing the front of the vehicle, a vehicle position detection means (73) for detecting the vehicle position, an auto cruise control system (74) and a brake system (BF, In a saddle-ride type vehicle (1) having a control device (70) for controlling a rear brake (BR), the vehicle is positioned at an angle based on at least the image captured by the front camera (80) and the vehicle position. A blind spot determination unit (71) for detecting whether or not the vehicle is in the blind spot of another vehicle traveling ahead is provided, and the control device (70) determines that the own vehicle has entered the blind spot of the other vehicle during auto-cruising. Then, the auto-cruise control system (74) or the brake system (BF, BR) is controlled to allow the own vehicle to escape from the blind spot of the other vehicle. When the vehicle enters the blind spot of another vehicle traveling diagonally ahead, it automatically accelerates or decelerates to get out of the blind spot, thereby enhancing safety.

According to the second feature, the control device (70) allows the own vehicle to escape from the blind spot of the other vehicle after a predetermined time (T) has passed since the own vehicle entered the blind spot of the other vehicle. By starting the control after waiting for the passage of time, it is possible to give the driver a sense of security.

According to the third feature, the blind spot determination unit (71) determines the vehicle type of other vehicles diagonally ahead by image recognition, and uses a blind spot information database (71a) in which blind spot information for each vehicle type is recorded. Since it is determined whether or not the own vehicle is in the blind spot of the other vehicle, it is determined whether the other vehicle traveling diagonally ahead is a two-wheeled vehicle, an ordinary automobile, a bus, a truck, or the like. By deriving different blind spots for each type from the database, it becomes possible to accurately determine whether or not the vehicle is in another vehicle's blind spot.

According to the fourth feature, the control device (70) notifies the driver that the own vehicle has entered the blind spot of the other vehicle. has entered the blind spot of another vehicle obliquely ahead.

According to the fifth feature, when the own vehicle enters the blind spot of the other vehicle, it is determined whether to accelerate and escape forward or decelerate and escape backward when the preceding vehicle is running on auto-cruise. For example, if the distance to the preceding vehicle becomes too narrow if the vehicle evacuates forward, it is possible to evacuate backward to maintain an appropriate inter-vehicle distance.

1 is a right side view of a motorcycle according to an embodiment of the present invention; FIG. 1 is a block diagram showing the configuration of a blind spot avoidance system according to this embodiment; FIG. FIG. 4 is a schematic diagram showing a state in which the own vehicle is in the blind spot of another vehicle traveling diagonally ahead of the own vehicle; It is a block diagram which shows the structure of blind spot determination processing. 4 is a flowchart showing a procedure of blind spot avoidance control according to the present embodiment;

Preferred embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a right side view of a motorcycle 1 according to one embodiment of the present invention. The motorcycle 1 is a straddle-type vehicle that transmits the driving force of the power unit P to the rear wheels WR via the drive chain 14 . A steering stem (not shown) is rotatably supported on a head pipe F1 positioned at the front end of the vehicle body frame F. As shown in FIG. A bottom bridge 23 and a top bridge 24 that support the pair of left and right front forks 10 are fixed above and below the steering stem.

A steering handle 2 that supports a pair of left and right rearview mirrors 4 is attached to the top of the top bridge 24 . A brake lever 50 as a front wheel brake operator is attached to the steering handle 2 on the right side. A front wheel brake caliper BF and a front fender 11 are attached to the front fork 10 as a front wheel brake for applying a braking force to a front wheel brake disc 31 that rotates synchronously with the front wheel WF.

A pair of left and right main frames F2 extending obliquely rearward and downward, and an underframe F5 extending downward and supporting the lower side of the power unit P are attached to the rear portion of the head pipe F1. A pivot frame F3 having a pivot 22 that pivotally supports the swing arm 15 is connected to the rear end of the main frame F2, and the rear end of the underframe F5 is connected to the lower end of the pivot frame F3. Concatenated. A pair of left and right footrests 39 on which the driver's feet are placed are attached to the pivot frame F3.

The driving force of the power unit P surrounded and supported by the main frame F2 and the underframe F5 is transmitted to the rear wheels WR via the drive chain 14. An underguard 12 is attached to the bottom portion of the power unit P near the front. Combustion gas from the power unit P is sent to the muffler 16 at the rear of the vehicle body through an exhaust pipe 37 passing through the inside of the underguard 12 .

A rear wheel WR is rotatably supported at the rear end of the swing arm 15 supported by the pivot 22 . The swing arm 15 supports a rear wheel brake caliper BR as a rear wheel brake that applies a braking force to a rear wheel brake disc 33 rotating synchronously with the rear wheel WR. A brake pedal 50 as a rear wheel brake operator operated by the driver's right foot is pivotally supported on the pivot frame F3 on the right side in the vehicle width direction.

A front cowl 7 that supports a headlight 9, a windbreak screen 6, and a pair of left and right front flasher lamps 8 is arranged in front of the head pipe F1. A fuel tank 3 is arranged behind the front cowl 7 and above the main frame F2. A rear frame F4 that supports a front seat 21 on which a driver sits and a rear seat 20 on which a passenger sits is fixed to the rear portion of the pivot frame F3. The left and right sides of the rear frame F4 in the vehicle width direction are covered with a rear cowl 19, and a rear fender 38 that supports a tail light device 18 and a pair of left and right rear flasher lamps 17 is attached to the rear end of the rear cowl 19.

A control device 70 that controls the fuel injection device, the ignition device, the brake system, etc. is arranged above the power unit P. On the upper part of the vehicle body frame F, there are a front wheel side brake actuator (hereinafter also simply referred to as an actuator) 52 that generates brake fluid pressure for the front wheel brake BF, and a rear wheel side brake actuator that generates brake fluid pressure for the rear wheel brake BR. A side brake actuator 62 is provided. A front wheel brake fluid pressure sensor 53 for detecting the brake fluid pressure of the front wheel brake BF and a rear wheel brake fluid pressure sensor 63 for detecting the brake fluid pressure of the rear wheel brake BR are arranged near the

actuators

52 and 62, respectively. . A front wheel brake operation force sensor 51 for detecting an operation force input to the brake lever 50 is arranged near the brake lever 50 , and an operation force input to the brake pedal 60 is located near the brake pedal 60 . A rear wheel brake operating force sensor 61 for detecting is provided. Note that the front wheel brake actuator 52 and the rear wheel brake actuator 62 may be integrated with the control device 70 .

A seating sensor 76 is provided inside the front seat 21 to detect the seating state of the driver. A road surface sensor 77 is arranged inside the under guard 12 to detect whether or not the road surface is wet.

Behind the windbreak screen 6, a front camera 80 and a front radar 81 used for automatic control of the auto cruise control system and brake system are arranged. In the brake system according to the present embodiment, normally, the

actuators

52 and 62 generate brake fluid pressure corresponding to the operating force of the

brake operators

50 and 60, and the obstacle detected by the front camera 80 and the front radar 81 is detected. When an automatic control condition such as an approaching object is satisfied, or a deceleration condition such as deceleration of the preceding vehicle during auto cruise control is satisfied, the control device 70 performs the optimum brake operation even if the

brake operators

50 and 60 are not operated. It is configured to automatically generate brake fluid pressure. During automatic control of the brake system, the front/rear distribution such as front 7:rear 3 or front 6:rear 4 is automatically set according to the vehicle speed, vehicle attitude, road surface conditions, and the like. Depending on the degree of deceleration during auto-cruise driving, engine braking can be performed by turning off the throttle or engine braking by downshifting, or the front and rear brake systems can be used in combination.

FIG. 2 is a block diagram showing the configuration of the blind spot avoidance system according to this embodiment. FIG. 3 is a schematic diagram showing a state in which the own vehicle A is in the blind spot C of another vehicle B traveling diagonally in front of the own vehicle A. As shown in FIG. This state often occurs while driving on a road with two or more lanes in each direction, such as a highway.

The control device 70 includes a blind spot determination unit 71 and a blind spot avoidance control unit 72. Blind spot determination unit 71 receives information from front camera 80 and front radar 81, and information from navigation system 73 that functions as vehicle position detection means using GPS (Global Positioning System). Blind spot avoidance control unit 72 controls auto cruise control system 74 and notification means 75 . Auto cruise control system 74 controls drive source P as a power unit and brake systems BF, BR.

The blind spot determination unit 71 includes a blind spot information database 71a that stores blind spot information for each vehicle type. Blind spot determination unit 71 identifies the vehicle type of another vehicle traveling diagonally in front of the own vehicle based on the image captured by front camera 80 . Other vehicles may be specified not only by vehicle type such as a motorcycle, ordinary car, bus, or truck, but also by individual vehicle type or model. Further, in this embodiment, the front radar 81 is used to measure the distance to another vehicle traveling diagonally ahead of the own vehicle, but the distance can also be measured using only the image of the front camera 80 . The vehicle type and blind spot information of other vehicles traveling diagonally ahead of the own vehicle can also be obtained from vehicle-to-vehicle communication or the Internet.

FIG. 4 is a block diagram showing the configuration of blind spot determination processing. When an imaging unit 100 configured by a front camera 80 captures an image of another vehicle traveling diagonally in front of the own vehicle, a feature amount extraction unit 101 extracts the feature amount of the outline of the other vehicle included in the image. Next, pattern matching 102 is executed with image data 103 containing images of vehicles, and vehicle types (types and models) such as two-wheeled vehicles, ordinary automobiles, buses, and trucks are discriminated.

The distance identification unit 105 identifies the distance to other vehicles traveling diagonally in front of the own vehicle based on the image captured by the imaging unit 100 . Also, the navigation system 73 can identify the position of the vehicle and recognize the positional relationship between the position of the other vehicle and the position of the vehicle.

The blind spot determination unit 71 uses the blind spot information database 71a to acquire blind spot information of the specified other vehicle, and determines whether or not the vehicle is in the blind spot of another vehicle traveling diagonally ahead. Determination of whether or not the own vehicle has entered the blind spot of another vehicle is made, for example, when the own vehicle has entered even a part of the blind spot of another vehicle in a plan view, or when the whole of the own vehicle has entered the blind spot of another vehicle. etc., various settings are possible.

FIG. 5 is a flowchart showing the procedure of blind spot avoidance control according to this embodiment. In step S1, the front camera 80 and the front radar 81 detect another vehicle obliquely ahead of the own vehicle. In step S<b>2 , the vehicle type (vehicle type and model) is specified based on the image captured by the front camera 80 . In step S3, the blind spot range is derived from the blind spot information database 71a. In step S4, navigation system 73, front camera 80 and front radar 81 detect the positions of the vehicle and other vehicles.

In the subsequent step S5, it is determined whether or not the vehicle is within the blind spot. Determination of whether or not it is within the blind spot range can be arbitrarily set, for example, whether the appearance of the own vehicle is in the blind spot of another vehicle in plan view, or whether it is partially in the blind spot of another vehicle. . If an affirmative determination is made in step S5, the process proceeds to step S6, where it is determined whether or not a certain period of time (for example, 3 seconds) has passed. If a negative determination is made in step S5, the process returns to the determination of step S5.

If the determination in step S6 is affirmative, that is, if the vehicle is in the blind spot of another vehicle and a certain amount of time has passed, the process proceeds to step S7 to determine whether or not the vehicle is in auto-cruise mode. If a negative determination is made in step S6, the process returns to the determination in step S6.

If an affirmative determination is made in step S7, the process proceeds to step S8, in which an occupant (driver) is notified that the vehicle is in the blind spot of another vehicle using the notification means 75 consisting of a display device, a speaker, a vibrator, and the like. At the same time, control is executed to escape from the blind spot range by acceleration or deceleration, and the series of control ends. On the other hand, if a negative determination is made in step S7, the process advances to step S9 to notify the passenger and terminate the series of controls. In addition to notifying the occupant immediately when entering the blind spot, the occupant is notified after a first predetermined time has passed since entering the blind spot, and blind spot escape control is executed when a second predetermined time has passed. , various modifications are possible.

As described above, according to the blind spot avoidance system according to the present invention, based on at least the image captured by the front camera 80 and the position of the own vehicle, the own vehicle is in the blind spot of another vehicle traveling diagonally ahead of the own vehicle. The control device 70 has a blind spot determination unit 71 for detecting whether or not the vehicle has entered the blind spot of another vehicle. , BR to move the vehicle out of the blind spot of the other vehicle. Therefore, if the vehicle enters the blind spot of another vehicle traveling diagonally ahead during auto-cruise driving, the vehicle automatically accelerates or decelerates to avoid the blind spot. can be escaped and safety can be improved.

Further, the control device 70 allows the own vehicle to escape from the blind spot of the other vehicle when the predetermined time T elapses after the own vehicle enters the blind spot of the other vehicle, so the control is started after waiting for the elapse of the predetermined time. By doing so, it becomes possible to give the driver a sense of security.

In addition, the blind spot determination unit 71 determines the vehicle type of another vehicle obliquely ahead by image recognition, and uses a blind spot information database 71a that records blind spot information for each vehicle type to determine whether the vehicle is in the blind spot of the other vehicle. Therefore, it determines whether the other vehicle running diagonally ahead is a motorcycle, a normal car, a bus, a truck, etc., and derives a different blind spot for each vehicle type from the database. , it is possible to accurately determine whether or not the vehicle is in the blind spot of another vehicle.

In addition, since the control device 70 notifies the driver that the own vehicle has entered the blind spot of the other vehicle, it is possible for the own vehicle to enter the blind spot of the other vehicle obliquely ahead before executing the acceleration or deceleration of the own vehicle. It is possible to make the driver recognize that the vehicle has entered.

Furthermore, when the own vehicle enters the blind spot of the other vehicle, it is determined whether to accelerate and escape forward or decelerate and escape backward according to the setting of the distance from the preceding vehicle during auto-cruise travel. Therefore, for example, if the distance between the vehicle and the preceding vehicle becomes too small if the vehicle evacuates forward, it is possible to evacuate backward to maintain an appropriate inter-vehicle distance.

The configuration of the motorcycle, the configuration of the brake system, the configuration of the front camera and front radar, the configuration of the blind spot information database, etc. are not limited to the above embodiments, and various modifications are possible. The blind spot avoidance system according to the present invention can be applied not only to motorcycles but also to straddle-type three-wheeled vehicles and four-wheeled vehicles.

DESCRIPTION OF SYMBOLS 1... Motorcycle (straddle-type vehicle), 70... Control device, 71... Blind spot judgment part, 71a... Blind spot information database, 72... Blind spot avoidance control part, 73... Navigation system (self-vehicle position detection means), 74... Auto Cruise control system 75 Notification means 80 Front camera 81 Front radar BF Front wheel brake (brake system) BR Rear wheel brake (brake system) P Power unit (driving source)

Claims

A front camera (80) that captures the front of the vehicle, a vehicle position detection means (73) that detects the position of the vehicle, an auto cruise control system (74) and a control device that controls the brake system (BF, BR) ( 70) in a straddle-type vehicle (1) having
A blind spot determination unit (71) for detecting whether or not the own vehicle has entered the blind spot of another vehicle traveling diagonally ahead of the own vehicle based on at least the image captured by the front camera (80) and the position of the own vehicle. with
The control device (70) controls the auto-cruise control system (74) or the brake system (BF, BR) when it is determined that the own vehicle has entered the blind spot of the other vehicle during auto-cruise travel. and a saddle-riding type vehicle characterized in that the vehicle is allowed to escape from the blind spot of the other vehicle.
2. The control device (70) according to claim 1, wherein when a predetermined time (T) elapses after the vehicle enters the blind spot of the other vehicle, the control device (70) causes the vehicle to exit the blind spot of the other vehicle. Saddle-type vehicle.
The blind spot judging section (71) judges the vehicle type of another vehicle diagonally ahead by image recognition, and uses a blind spot information database (71a) in which blind spot information for each vehicle type is recorded to determine whether the own vehicle is ahead of the other vehicle. 3. The straddle-type vehicle according to claim 1, wherein it is determined whether or not the vehicle is in a blind spot.
The straddle-type vehicle according to any one of claims 1 to 3, wherein the control device (70) notifies the driver that the own vehicle has entered the blind spot of the other vehicle.
When the vehicle enters the blind spot of another vehicle, it determines whether to accelerate and exit forward or decelerate and exit backward according to the distance setting from the preceding vehicle during auto-cruise travel. The straddle-type vehicle according to any one of claims 1 to 4, characterized in that: