WO2022269553A1 - 制御装置及び制御方法 - Google Patents
制御装置及び制御方法 Download PDFInfo
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- WO2022269553A1 WO2022269553A1 PCT/IB2022/055871 IB2022055871W WO2022269553A1 WO 2022269553 A1 WO2022269553 A1 WO 2022269553A1 IB 2022055871 W IB2022055871 W IB 2022055871W WO 2022269553 A1 WO2022269553 A1 WO 2022269553A1
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- inter
- vehicle
- control
- vehicle distance
- saddle
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims description 31
- 230000004044 response Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 12
- 230000007423 decrease Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 description 16
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 239000000446 fuel Substances 0.000 description 8
- 239000012530 fluid Substances 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 238000002485 combustion reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 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
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
-
- 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
- B60W30/162—Speed limiting therefor
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/26—Wheel slip
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2554/802—Longitudinal distance
Definitions
- This disclosure relates to a control device and control method capable of appropriately improving the safety of a saddle-ride type vehicle.
- Patent Document 1 based on the information detected by a sensor device that detects an obstacle in the direction of travel or substantially in the direction of travel, an obstacle is approached inappropriately.
- a driver assistance system is disclosed that alerts the driver of a motorcycle that
- Patent Document 1 Japanese Unexamined Patent Application Publication No. 2009-116882
- inter-vehicle distance control that controls the inter-vehicle distance between the vehicle and the target vehicle.
- inter-vehicle distance control is also considered to be used in saddle-ride type vehicles in order to improve safety. In this case, it is desirable to appropriately improve the safety of the saddle-riding type vehicle by vehicle-to-vehicle distance control.
- the present invention has been made against the background of the above problems, and provides a control device and a control method that can appropriately improve the safety of a saddle-ride type vehicle.
- a control device is a control device for controlling the behavior of a saddle-ride type vehicle, wherein the inter-vehicle distance between the saddle-ride type vehicle and a target vehicle is adjusted to the surroundings of the saddle-ride type vehicle.
- a control unit that executes vehicle-to-vehicle distance control based on environmental information, wherein the control unit performs a first operation in which a rider of the straddle-type vehicle changes the operation unit from a reference state to a state different from the reference state.
- the inter-vehicle distance control is started, and during execution of the inter-vehicle distance control, the inter-vehicle distance control is terminated in response to a second operation by the rider for returning the operation unit to the reference state.
- a control method is a method for controlling the behavior of a straddle-type vehicle, wherein the inter-vehicle distance between the straddle-type vehicle and a target vehicle is used as surrounding environment information of the straddle-type vehicle.
- a control unit of a control device that executes vehicle-to-vehicle distance control based on the vehicle-to-vehicle distance in response to a first operation by a rider of the saddle-ride type vehicle to change the operating unit from a reference state to a state different from the reference state, the vehicle-to-vehicle distance
- the inter-vehicle distance control is terminated in response to a second operation by the rider for returning the operation unit to the reference state.
- control for executing inter-vehicle distance control for controlling the inter-vehicle distance between the straddle-type vehicle and the target vehicle based on the ambient environment information of the straddle-type vehicle.
- a control unit of the device starts inter-vehicle distance control in response to a first operation by a rider of a saddle-ride type vehicle in which the operation unit is changed from a reference state to a state different from the reference state, and during execution of inter-vehicle distance control, the rider
- the inter-vehicle distance control is ended in response to the second operation for returning the operation unit to the reference state.
- the inter-vehicle distance control can be executed according to the rider's intention. Therefore, the safety of saddle-riding vehicles ⁇ 2022/269553 ⁇ (:17132022/055871 can be improved appropriately.
- FIG. 1 is a schematic diagram showing a schematic configuration of a straddle-type vehicle according to an embodiment of the present invention
- FIG. 3 is a schematic diagram showing a schematic configuration of a handle and its surroundings according to an embodiment of the present invention.
- FIG. 5 is the block diagram which shows one example of functional constitution of the control device which relates to the execution form of this invention.
- the target vehicle may be a straddle-type vehicle, and may be a straddle-type vehicle other than a two-wheeled motorcycle.
- a saddle type vehicle means a vehicle on which a rider straddles.
- Straddle-type vehicles include, for example, motorcycles (motorcycles and tricycles), bicycles, and buggies.
- Motorcycles include vehicles powered by engines, vehicles powered by electric motors, and the like.
- motorcycles include, for example, motorcycles, scooters, electric scooters, and the like.
- Bicycle means a vehicle capable of being propelled on the road by the rider's force applied to the pedals. Bicycles include ordinary bicycles, electrically assisted bicycles, and electric bicycles.
- FIG. 1 A structure of a saddle-ride type vehicle 100 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.
- FIG. 1 A structure of a saddle-ride type vehicle 100 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.
- FIG. 1 A structure of a saddle-ride type vehicle 100 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.
- FIG. 1 is a schematic diagram showing a schematic configuration of a straddle-type vehicle 100.
- FIG. 2 is a schematic diagram showing a schematic configuration of the brake system 10. As shown in FIG.
- the engine 5 corresponds to an example of a drive source for the saddle type vehicle 100, and can output power for driving the wheels (specifically, the rear wheels 4).
- the engine 5 is provided with one or more cylinders in which combustion chambers are formed, fuel injection valves that inject fuel toward the combustion chambers, and ignition plugs.
- An air-fuel mixture containing air and fuel is formed in the combustion chamber by injecting fuel from the fuel injection valve, and the mixture is ignited by the spark plug and burned.
- the piston provided in the cylinder reciprocates and the crankshaft rotates.
- a throttle valve is provided in the intake pipe of the engine 5, and the amount of intake air into the combustion chamber changes according to the throttle opening, which is the opening of the throttle valve.
- the brake system 10 brakes the front wheels 3 in conjunction with the first brake operation unit 11 and at least the first brake operation unit 11.
- the brake system 10 also includes a hydraulic control unit 50, and a portion of the front wheel braking mechanism 12 and a portion of the rear wheel braking mechanism 14 are connected to the hydraulic control unit 50. included.
- the hydraulic control unit 50 is a unit that controls the braking force generated on the front wheels 3 by the front wheel braking mechanism 12 and the braking force generated on the rear wheels 4 by the rear wheel braking mechanism 14. be.
- the first brake operation unit 1 1 is provided on the handle 2 and is operated by the rider's hand.
- the first brake operation unit 11 is, for example, a brake lever.
- the second brake operation part 13 is provided in the lower part of the body 1 and is operated by the rider's foot.
- the second brake operation unit 13 is, for example, a brake pedal.
- Each of the front wheel braking mechanism 12 and the rear wheel braking mechanism 14 includes a master cylinder 21 containing a piston (not shown) and a reservoir 2 attached to the master cylinder 21. 2, a brake caliper 23 held on the fuselage 1 and having a brake pad (not shown), a wheel cylinder 24 provided on the brake caliper 23, and a brake of the master cylinder 21.
- a supply channel 27 is provided.
- the main flow path 25 is provided with an inlet valve () 31.
- the secondary flow path 26 bypasses the main flow path 25 between the wheel cylinder 24 side of the inlet valve 31 and the master cylinder 21 side.
- the sub-channel 26 is provided with a release valve 32, an accumulator 33, and a pump 34 in this order from the upstream side.
- a first valve (113V) 35 is provided between the end of the main flow path 25 on the side of the master cylinder 21 and the point where the downstream end of the sub-flow path 26 is connected. is provided.
- the supply channel 27 communicates between the master cylinder 21 and the suction side of the pump 34 in the sub channel 26.
- a second valve (113V) 36 is provided in the supply channel 27 .
- the inlet valve 31 is, for example, an electromagnetic valve that opens in a non-energized state and closes in an energized state.
- the release valve 32 is, for example, a solenoid valve that closes in a non-energized state and opens in an energized state.
- the first valve 35 is a solenoid valve that opens in a non-energized state and closes in an energized state.
- the second valve 36 is, for example, a solenoid valve that closes in a non-energized state and opens in an energized state.
- Hydraulic pressure control unit 50 controls brake fluid pressure including fill valve 31, release valve 32, accumulator 33, pump 34, first valve 35 and second valve 36. and a base 51 in which the components are provided and the flow paths for forming the main flow path 25, the sub flow path 26 and the supply flow path 27 are formed. and a controller 60.
- the substrate 51 may be formed of one member, or may be formed of a plurality of members. In addition, when the base 51 is formed of a plurality of members, each component may be divided into different members.
- controller 60 The operation of the above components of hydraulic control unit 50 is controlled by controller 60 . Thereby, the braking force generated on the front wheels 3 by the front wheel braking mechanism 12 and the braking force generated on the rear wheels 4 by the rear wheel braking mechanism 14 are controlled.
- the control device 6 ⁇ opens the inlet valve 3 1, closes the release valve 3 2, and The first valve 35 is opened and the second valve 36 is closed.
- the piston (not shown) of the master cylinder 21 is pushed in, and the hydraulic pressure of the brake fluid in the wheel cylinder 24 is increased.
- the brake pad (not shown) of the brake caliper 23 is pressed against the rotor 3a of the front wheel 3, and braking force is generated on the front wheel 3.
- the piston (not shown) of the master cylinder 21 is pushed in to increase the hydraulic pressure of the brake fluid in the wheel cylinder 24.
- the brake pad (not shown) of the brake caliper 23 is pressed against the rotor 4a of the rear wheel 4, and braking force is generated on the rear wheel 4.
- the ambient environment information detected by the ambient environment sensor 4 1 is information related to the distance or direction to a subject positioned around the saddle-ride type vehicle 100 (for example, relative position, (relative distance, relative velocity, relative acceleration, etc.), and features of the subject located around the saddle-ride type vehicle 100 (for example, the type of the subject, the shape of the subject itself, the subject itself, the subject, etc.). mark attached to the specimen).
- the ambient environment sensor 41 is, for example, a radar, a lidar sensor, an ultrasonic sensor, a camera, or the like.
- the ambient environment information can also be detected by ambient environment sensors mounted on other vehicles or by infrastructure equipment.
- the control device 60 can also acquire ambient environment information through wireless communication with other vehicles or infrastructure equipment.
- the front wheel speed sensor 4 2 detects the wheel speed of the front wheels 3 (for example, the number of revolutions per unit time of the front wheels 3 [rp m] or the distance traveled per unit time [km/h], etc.) It is a wheel speed sensor that detects and outputs the detection result.
- the front wheel speed sensor 42 may detect another physical quantity substantially convertible to the wheel speed of the front wheels 3 .
- a front wheel speed sensor 42 is provided on the front wheel 3 .
- the rear wheel speed sensor 4 3 detects the wheel speed of the rear wheel 4 (for example, the number of revolutions per unit time of the rear wheel 4 ⁇ 2022/269553 ⁇ (:17132022/055871
- the rear wheel speed sensor 43 may detect another physical quantity substantially convertible to the wheel speed of the rear wheel 4 .
- a rear wheel speed sensor 43 is provided on the rear wheel 4 .
- the inertial measurement device 44 includes a 3-axis gyro sensor and a 3-direction acceleration sensor, and detects the attitude of the saddle-ride type vehicle 100.
- the inertial measurement device 44 is provided, for example, on the body of the saddle type vehicle 100.
- the inertial measurement device 44 detects the lean angle of the 10° straddle-type vehicle and outputs the detection result.
- the inertial measurement device 44 may detect another physical quantity substantially convertible to the lean angle of the saddle-type vehicle 100 .
- the lean angle corresponds to an angle representing the inclination in the roll direction of the vehicle body (specifically, the body 1) of the saddle-ride type vehicle 100 with respect to the vertically upward direction.
- the inertial measurement device 44 may include only a part of the 3-axis gyro sensor and 3-direction acceleration sensor.
- FIG. 3 is a schematic diagram showing a schematic configuration of the handle 2 and its surroundings. Specifically, FIG. 3 is a view of the upper front portion of the body 1 of the saddle-ride type vehicle 100 viewed vertically from above.
- the first brake operating part 11 is provided near the right grip (accelerator grip) 2 shaku.
- the rider can grip the first brake operation part 11 with his right hand.
- the operation of gripping the first brake operation unit 11 corresponds to the brake operation (that is, the operation of decelerating the saddle-ride type vehicle 100).
- the operation of stepping on the second brake operation unit 13 described above also corresponds to the brake operation.
- a clutch operation unit 15 is provided near the left grip 2 .
- the clutch operating part 15 is, for example, a clutch lever.
- the rider can grip the clutch operation unit 15 with his left hand.
- the operation of gripping the clutch operating portion 15 corresponds to the clutch operation (that is, the operation of releasing the clutch that connects and disconnects the transmission of power from the engine 5 to the driving wheels).
- a display device 70 is mounted on the saddle type vehicle 100.
- the display device 70 is a device that visually displays various information.
- the display device 70 may display an object indicating vehicle speed, an object indicating remaining amount of fuel, or the like.
- the display device 70 is provided in front of the steering wheel 2 in the saddle-ride type vehicle 100 .
- FIG. 4 is a schematic diagram showing the rotation direction of the accelerator grip 2 shaku. Specifically, FIG. 4 is a view of the accelerator grip 2 viewed in the direction of the arrow in FIG. 3 (that is, a view of the accelerator grip 2 viewed from the right side of the vehicle along the axial direction).
- the accelerator grip 2-shaku corresponds to an example of an operation unit according to the present invention used for operation by the rider for executing vehicle-to-vehicle distance control, which will be described later.
- the accelerator grip 213 ⁇ 4 has a cylindrical shape or a columnar shape. ⁇ 2022/269553 (: 17132022/055871) It is possible to rotate around the central axis of step 2. ), the rotational position of the accelerator grip 2 returns to the reference position 0.
- a structure can be realized, for example, by utilizing the restoring force of the panel or the like.
- the accelerator grip 2 has both the first direction ⁇ 1 which is the counterclockwise direction when viewed from the right side of the vehicle and the second direction ⁇ 2 which is the clockwise direction when viewed from the right side of the vehicle.
- a biasing force may act to return the rotational position of the accelerator grip 2 to the reference position 0.
- the straddle-type vehicle 1 is operated by rotating the accelerator grip 2 1 3 ⁇ 4 from the reference position 0 in the first direction.
- a driving force can be generated at 00.
- the driving force generated in the saddle-ride type vehicle 10° increases as the relative angle of the rotational position of the accelerator grip 2 shaku with respect to the reference position 0 increases. For example, if the rotation position of the accelerator grip 2 shaku is position 1 in Fig. 4 (specifically, the position rotated by an angle of 61 in the first direction from the reference position ⁇ ), the angle A driving force corresponding to 61 is generated in the saddle type vehicle 100.
- the control device 6 0 controls the behavior of the saddle type vehicle 1 ⁇ 0.
- part or all of the control device 60 is composed of a microcomputer, a microprocessor unit, or the like.
- part or all of the control device 60 may be composed of something that can be updated, such as firmware, or may be a program module or the like that is executed by a command from a device or the like.
- the control device 60 may be, for example, one, or may be divided into a plurality.
- the acquisition unit 61 acquires information output from each device mounted on the saddle type vehicle 100 and outputs the information to the control unit 62 .
- the acquisition unit 61 acquires information indicating various detection results output from the ambient environment sensor 41, the front wheel speed sensor 42, the rear wheel speed sensor 43, and the inertial measurement device 44. Further, for example, the acquisition unit 61 obtains information indicating the operation amounts of various operations received by the accelerator grip 213 ⁇ 4, the first brake operation unit 11, the second brake operation unit 13, and the clutch operation unit 15. from each of these controls.
- the acquisition of information may include extraction or generation of information.
- the control unit 62 includes, for example, a drive control unit 623 and a braking control unit 62.
- the drive control unit 623 controls the drive force transmitted to the wheels.
- the drive control unit 62& is an engine control device (not shown) that outputs a signal for controlling the operation of each device (throttle valve, fuel injection valve, spark plug, etc.) of the engine 5.
- the operation of engine 5 is controlled by outputting a command to .
- the drive control unit 623 outputs a signal for controlling the operation of each device of the engine 5 , and directly controls the operation of each device of the engine 5.
- ⁇ 2022/269553 ⁇ (: 17132022/055871 It may be controlled directly.
- the braking control unit 6213 controls the operation of each component of the hydraulic control unit 50 of the braking system 10 to control the braking force on the wheels of the saddle type vehicle 10°. control the power. For example, the braking control unit 6213 puts the charging valve 31 in the open state, the release valve 32 in the closed state, the first valve 35 in the closed state, and the second valve 36 in the open state. By driving the pump 34, the hydraulic pressure of the brake fluid in the wheel cylinder 24 can be increased to automatically increase the braking force of the wheel. This controls the deceleration of the straddle-type vehicle 100 .
- the braking control unit 6213 individually controls the operation of the front wheel braking mechanism 12 and the rear wheel braking mechanism 14 to individually control the braking force of the front wheel 3 and the rear wheel 4. can be controlled to
- control unit 62 controls the operation of each device mounted on the saddle-ride type vehicle 100 to control the acceleration and acceleration of the saddle-ride type vehicle 100. Deceleration can be controlled.
- the control unit 62 can execute inter-vehicle distance control.
- inter-vehicle distance control the inter-vehicle distance between the saddle-ride type vehicle 100 and the target vehicle is controlled based on the surrounding environment information of the saddle-ride type vehicle 100.
- the inter-vehicle distance may mean a distance along a lane (specifically, a running lane of the saddle type vehicle 100), or may mean a straight distance.
- inter-vehicle distance control may control the inter-vehicle distance itself, or may control another physical quantity that can be substantially replaced with the inter-vehicle distance. .
- Another physical quantity that can be substantially replaced with the inter-vehicle distance is, for example, a passing time difference, which is the time difference between the timing at which the saddle-ride type vehicle 100 passes the same point and the timing at which the target vehicle passes, or saddle riding. It is the time required for model vehicle 100 to catch up with the target vehicle.
- the surrounding environment sensor 4 1 measures the inter-vehicle distance between the preceding vehicle traveling in front of the saddle-riding vehicle 100 and the saddle-riding vehicle 1 ⁇ , and the saddle-riding distance to the preceding vehicle.
- the relative speed of model vehicle 100 is detected as surrounding environment information.
- the control unit 62 sets the preceding vehicle as the target vehicle in inter-vehicle distance control, for example, and controls the inter-vehicle distance between the saddle-ride type vehicle 100 and the preceding vehicle based on the ambient environment information.
- Inter-vehicle distance control is realized by controlling at least one of the acceleration and deceleration of the saddle type vehicle 10°.
- FIG. 6 is a flow chart showing an example of the flow of processing performed by the control device 60 .
- Step réelle1 in FIG. 6 corresponds to the start of the control flow shown in FIG.
- the control unit 62 determines whether or not the first operation has been performed.
- the first operation is when the rider grips the accelerator 2 is changed from the reference state to a state different from the reference state.
- the first operation is an operation in which the rider rotates the accelerator grip 2 in the second direction 02 from the reference position 0 shown in FIG.
- the first operation is an operation of rotating the accelerator grip 2 shaku in the same direction as when reducing the driving force in the accelerator operation.
- the first operation is to move the accelerator grip 2 shaku from the reference position 0 to position 2 in Figure 4 (specifically, from the reference position ⁇ to the second direction 02). This is the operation to rotate to the position rotated by angle 0 2).
- the accelerator grip 2 shaku slightly rotates in the second direction ⁇ 2 against the rider's intention, it is prevented from being erroneously determined that the first operation has been performed.
- the accelerator grip 2 may be able to rotate further in the second direction ⁇ 2 side than position 2.
- step 102 is repeated. On the other hand, if it is determined that the first operation has been performed (step 102/V3), proceed to step 3103.
- step 3 1 0 3 If it is determined to be V £ 3 in step 1 0 2 , in step 3 1 0 3, the control unit 6 2 executes inter-vehicle distance control. An example of the flow of processing in inter-vehicle distance control will be described below with reference to FIG.
- FIG. 7 is a flow chart showing an example of the flow of processing in inter-vehicle distance control performed by the control device 6 ⁇ .
- the control flow shown in FIG. 7 is an example of processing performed at step 103 in the control flow shown in FIG. Step 201 in FIG. 7 corresponds to the start of the control flow shown in FIG. Step 205 in FIG. 7 corresponds to the end of the control flow shown in FIG.
- the inter-vehicle distance control controls the inter-vehicle distance by controlling the deceleration of the straddle-type vehicle 1 ⁇ 0 in order to avoid collision with the preceding vehicle, which is the target vehicle.
- the inter-vehicle distance may be controlled by controlling the acceleration of the saddle type vehicle 10°.
- the inter-vehicle distance control may be control for maintaining the inter-vehicle distance.
- step £ ⁇ 2 the control unit 62 determines the target deceleration based on the ambient environment information.
- the control unit 62 determines the inter-vehicle distance between the preceding vehicle and the saddle-riding type vehicle 100, and the distance between the saddle-riding type vehicle 100 and the preceding vehicle. Determine the target deceleration based on the relative velocity.
- the control unit 62 determines a deceleration that can avoid a collision with the preceding vehicle as the target deceleration.
- the control unit 62 determines a larger deceleration as the target deceleration as the inter-vehicle distance between the preceding vehicle and the straddle-type vehicle 100 is shorter.
- the control unit 62 determines a larger deceleration as the target deceleration as the relative speed of the saddle-ride type vehicle 100 with respect to the preceding vehicle increases.
- the control unit 62 determines whether or not the deceleration of the saddle-ride type vehicle 100 is smaller than the target deceleration.
- the deceleration of the saddle-ride type vehicle 1:0 can be obtained based on the transition of the vehicle speed of the saddle-ride type vehicle 1:0.
- the vehicle speed of the straddle-type vehicle 100 can be obtained based on the detection result of the front wheel speed sensor 42 and the detection result of the rear wheel speed sensor 43.
- step 3203/step 3204 If it is determined that the deceleration of the saddle-riding type vehicle 100 is smaller than the target deceleration (step 3203/step 3204). If the deceleration of vehicle 100 is not determined to be less than the target deceleration (step 3203/1 ⁇ 0), the control flow shown in FIG. 7 ends.
- step 3 2 0 3 determines to be 3
- step 3 2 0 4 the control unit 6 2 sets the deceleration of the saddle type vehicle 100 to the target deceleration. , and the control flow shown in Figure 7 ends.
- control unit 62 controls the hydraulic control unit of the brake system 10 ⁇ 2022/269553 ⁇ (:17132022/055871
- a braking force is automatically generated in the wheels of the saddle-ride type vehicle 100.
- the deceleration of the saddle-ride type vehicle 100 can be automatically increased without the rider performing a brake operation using the first brake operation unit 11 or the second brake operation unit 13.
- the control unit 62 controls the deceleration of the saddle-ride type vehicle 100 based on the ambient environment information in inter-vehicle distance control. .
- the control unit 62 controls the saddle-riding type vehicle 100 based on other information in addition to the surrounding environment information in inter-vehicle distance control. It is preferable to control the deceleration of the vehicle 100 (and thus the inter-vehicle distance between the saddle type vehicle 100 and the target vehicle).
- the control unit 62 adjusts the deceleration of the saddle-ride type vehicle 100 based on the vehicle speed of the saddle-ride type vehicle 100 in addition to the surrounding environment information. may be controlled.
- the control unit 62 may reduce the deceleration of the saddle-ride type vehicle 100 as the vehicle speed of the saddle-ride type vehicle 10° decreases.
- the control unit 62 controls the saddle based on the degree of slip occurring in the wheels of the saddle-ride type vehicle 100 in addition to the surrounding environment information.
- the deceleration of the ride-on vehicle 100 may be controlled.
- the degree of slip is an index that indicates the degree to which the wheels are slipping on the road surface. rate is used.
- the slip ratio can be obtained based on the detection result of the front wheel speed sensor 42 and the detection result of the rear wheel speed sensor 43.
- the controller 62 determines that the wheel is locked or is likely to be locked. , By reducing the braking force generated on the wheel, the slip degree of the wheel is controlled to be less than the allowable slip degree.
- This control is called anti-lock brake control, which adjusts the braking force generated on the wheels in order to prevent the wheels from locking.
- the control unit 62 may execute antilock brake control in inter-vehicle distance control.
- the control unit 6 in addition to the surrounding environment information, based on the detection result of the inertial measurement device 4 4 mounted on the saddle type vehicle 1 0 ⁇ , may control the deceleration of a saddle-type vehicle 1 ⁇ 0.
- the control unit 62 may reduce the deceleration of the saddle-riding vehicle 100 as the lean angle of the saddle-riding vehicle 100 increases.
- the control unit 62 adjusts the deceleration of the straddle-type vehicle 100 based on the state quantity of the first operation in addition to the surrounding environment information. may be controlled.
- the state quantity of the first operation is an index indicating the amount of operation of the first operation (specifically, the rotation angle of the accelerator grip 2 shaku).
- the control unit 62 may control the deceleration of the saddle-ride type vehicle 100, for example, based on the operation amount of the first operation.
- the control unit 62 may increase the deceleration of the saddle-ride type vehicle 100 as the operation amount of the first operation increases.
- the control unit 62 sets the accelerator grip 2 feet in the first operation. ⁇ 0 2022/269553 ⁇ (:17162022/055871 If the rotation angle is greater than the angle 02 in Fig. 4, the accelerator grip 2 will be rotated further beyond position 2 in Fig. 4. Accordingly, the deceleration of the saddle-ride type vehicle 100 may be changed.
- the control unit 62 may control the deceleration of the saddle-ride type vehicle 100, for example, based on the degree of change in the operation amount of the first operation.
- the control unit 62 may increase the deceleration of the straddle-type vehicle 100 as the degree of change in the operation amount of the first operation increases.
- the control unit 62 may change the deceleration of the saddle-ride type vehicle 100 according to the change speed of the rotation angle of the accelerator grip 2 shaku in the first operation.
- the control unit 62 in addition to the surrounding environment information, uses an operation unit other than the accelerator grip 2 (for example, the first The deceleration of the saddle-ride type vehicle 100 may be controlled based on the state quantity of the brake operation unit 11 or the second brake operation unit 13).
- the state quantity of the first brake operating section 11 is an index indicating the amount of operation of the first brake operating section 11 .
- the state quantity of the second brake operating section 13 is an index indicating the amount of operation of the second brake operating section 13 .
- the rider may perform a brake operation using the first brake operation unit 11 or the second brake operation unit 13 during execution of inter-vehicle distance control.
- a brake operation is being performed using the first brake operation unit 11
- a braking force corresponding to the amount of operation of the first brake operation unit 11 is applied to the front wheels 3.
- a braking force corresponding to the amount of operation of the second brake operation unit 13 is applied to the rear wheels 4.
- the control unit 62 increases the braking force of the front wheel 3, for example, relative to the braking force according to the operation amount of the first brake operation unit 11.
- the braking force of the rear wheel 4 may be increased relative to the braking force corresponding to the amount of operation of the second brake operation unit 13.
- the deceleration occurring in the saddle-ride type vehicle 100 in inter-vehicle distance control is less than that in the case where the brake operation using the first brake operation unit 11 or the second brake operation unit 13 is not performed.
- the deceleration caused by the braking force corresponding to the amount of brake operation may increase.
- inter-vehicle distance control may compensate for the shortfall of the braking force corresponding to the operation amount of the brake operation with respect to the target braking force (that is, the braking force required to generate the target deceleration).
- the control unit 62 may increase the braking force of both the front wheels 3 and the rear wheels 4, and only one of the front wheels 3 and the rear wheels 4 may be increased. may be increased.
- the control unit 62 may determine the distribution of the braking force between the front wheels 3 and the rear wheels 4 in inter-vehicle distance control. For example, the control unit 62 distributes the braking force between the front wheels 3 and the rear wheels 4 in inter-vehicle distance control, based on information about the running state of the straddle-type vehicle 100 (for example, vehicle speed or deceleration). may decide. Thereby, the distribution of the braking force between the front wheels 3 and the rear wheels 4 of the saddle-ride type vehicle 100 can be made, for example, such that the posture of the saddle-ride type vehicle 100 is stabilized.
- step 203 if it is determined to be 1 ⁇ 0 in step 203, the deceleration control of the saddle-ride type vehicle 100 is not performed, as shown in FIG. Control flow ends. However, when it is determined to be 1 ⁇ 0 in step 203, the control unit 62 does not rely on the brake operation using the first brake operation unit 11 or the second brake operation unit 13, A predetermined deceleration may be caused in the saddle-ride type vehicle 100 .
- step 104 the control unit 62 determines whether or not the second operation has been performed.
- This is an operation for returning the accelerator grip 2 to the reference state.
- the second operation is that the rider moves the accelerator grip 2 shaku to the reference position 0 shown in FIG.
- the second operation is to move the accelerator grip 2 to the position shown in Fig. 4. It is an operation to rotate from the 2nd position to the 0th reference position.
- the accelerator grille includes a structure that returns to the reference position ⁇ in an unloaded state. Therefore, when the rider cancels the first operation (specifically, removes the hand performing the first operation from the accelerator grip 2), the accelerator grip 2 is moved to the reference position 0 to the first position. Can be rotated in direction 01. In this way, the second operation is the rider canceling the first operation and holding the accelerator grip 2 may be an operation to bring the to a no-load state.
- step 104/] ⁇ If it is determined that the second operation has not been performed (step 104/] ⁇ ), return to step 103. On the other hand, if it is determined that the second operation has been performed (step 3104 / £), proceed to step Georgia5.
- step £ 105 If it is determined to be £ £ at step £ 104 , at step £ 105 , the control section 6 2 terminates inter-vehicle distance control and returns to step £ 102 .
- the control unit 62 starts inter-vehicle distance control in response to the rider's first operation of changing the accelerator grip 2 from the reference state to a state different from the reference state. Then, the control unit 62 ends the inter-vehicle distance control in response to a second operation by the rider to return the accelerator grip to the reference state during execution of the inter-vehicle distance control. For example, in the control flow shown in FIG. 6, the control unit 62 executes inter-vehicle distance control while the first operation is being performed, and terminates inter-vehicle distance control at the timing when the second operation is performed.
- the timing at which the specific operation is performed and the timing at which the specific process is performed are strictly the same. It may or may not match.
- the timing at which the first operation is started and the timing at which the inter-vehicle distance control is started may or may not exactly match.
- the timing at which the second operation is performed and the timing at which the inter-vehicle distance control ends may or may not exactly match.
- the rider can start and end the inter-vehicle distance control by performing the first operation and the second operation. Therefore, inter-vehicle distance control can be executed according to the rider's intention. For example, when the saddle-ride type vehicle 100 is approaching the preceding vehicle in a situation where the saddle-ride type vehicle 100 is decelerating due to engine braking without the accelerator operation and the brake operation being performed, By performing the first operation and the second operation without using the first brake operation unit 11 or the second brake operation unit 13, the inter-vehicle distance control can be executed at the intended timing.
- the posture of the saddle-riding type vehicle 100 is more likely to become unstable than a four-wheeled vehicle, etc., so if inter-vehicle distance control (for example, deceleration control) is executed at a timing unintended by the rider, , there is a risk that safety will be compromised. Therefore, it is important from the viewpoint of improving safety to execute inter-vehicle distance control according to the rider's intention.
- the safety of the saddle-ride type vehicle 100 can be appropriately improved.
- the operating portion according to the present invention may be rotatable around an axis other than the central axis of the operating portion.
- the operation portion according to the present invention may not be cylindrical or columnar.
- the operation unit according to the present invention may be translatable instead of rotatable.
- the first operation and the second operation may be operations for translating the operation unit.
- the control unit 62 may control the acceleration of the saddle-ride type vehicle 100 based on the surrounding environment information in inter-vehicle distance control.
- the control unit 62 determines the target acceleration based on the surrounding environment information, and controls the driving force of the engine 5 without depending on the accelerator operation, so that the saddle-ride type vehicle 10.
- Acceleration may be controlled to be the target acceleration.
- the target acceleration may be, for example, an acceleration that maintains the inter-vehicle distance between the preceding vehicle and the saddle-ride type vehicle 100 at the target distance.
- the control unit 62 in inter-vehicle distance control, based on other information in addition to the surrounding environment information, It is preferable to control the acceleration of the saddle-ride type vehicle 10° (and thus the inter-vehicle distance between the saddle-ride type vehicle 10° and the target vehicle).
- the control unit 62 controls the saddle-riding type vehicle 100 based on the degree of slip occurring in the wheels of the saddle-riding type vehicle 100 in addition to the surrounding environment information. Acceleration of the vehicle 100 may be controlled. For example, when the slip degree of the driving wheel exceeds the allowable slip degree, the control unit 62 determines that the driving wheel is idling, and reduces the driving force generated in the driving wheel. The slip degree of the driving wheel is controlled to be less than the allowable slip degree. This control is a control called traction control that adjusts the driving force generated in the driving wheels in order to suppress idle rotation of the driving wheels. The control unit 62 may execute traction control in inter-vehicle distance control.
- the control unit 6 2 in inter-vehicle distance control, based on the detection result of the inertial measurement device 4 4 mounted on the saddle type vehicle 1 0 ⁇ in addition to the surrounding environment information , saddle type vehicle 1 ⁇ 0 acceleration may be controlled.
- the control unit 62 may increase the acceleration of the saddle-riding vehicle 100 as the lean angle of the saddle-riding vehicle 100 increases.
- the control unit 62 controls the acceleration of the straddle-type vehicle 100 based on the state quantity of the first operation in addition to the surrounding environment information. You may The control unit 62 may control the acceleration of the saddle-ride type vehicle 100, for example, based on the operation amount of the first operation. For example, in inter-vehicle distance control, the control unit 62 may increase the acceleration of the saddle-ride type vehicle 100 as the operation amount of the first operation increases. Also, the control unit 62 may control the acceleration of the saddle-ride type vehicle 100, for example, based on the degree of change in the manipulated variable of the first operation. For example, in inter-vehicle distance control, the control unit 62 may increase the acceleration of the saddle-ride type vehicle 100 as the degree of change in the operation amount of the first operation increases.
- the control unit 62 in inter-vehicle distance control, in addition, the acceleration of the saddle-ride type vehicle 100 can be controlled based on the state quantity of an operation unit other than the relevant operation unit of the saddle-ride type vehicle 100 (for example, the accelerator grip 210). Good, the accelerator operation depends on the rider. ⁇ 2022/269553 ⁇ (: 17132022/055871), the control unit 62 may, for example, increase the output of the engine 5 to the output corresponding to the operation amount of the accelerator operation.
- inter-vehicle distance control may compensate for the shortfall of the driving force corresponding to the operation amount of the accelerator operation with respect to the target driving force.
- the control unit 62 is configured so that the rider of the saddle type vehicle 10° moves the operation unit (for example, the accelerator grip 210) from the reference state to a state different from the reference state.
- Inter-vehicle distance control is started in response to a first operation to set the inter-vehicle distance control, and inter-vehicle distance control is terminated in response to a second operation by the rider for returning the operation unit to the reference state during execution of inter-vehicle distance control.
- inter-vehicle distance control can be executed in accordance with the rider's intention, and the safety of the straddle-type vehicle 100 can be appropriately improved.
- the operation unit includes a structure that returns to a reference state in an unloaded state, and the second operation is performed by the rider canceling the first operation and operating the operation unit.
- This is the operation to put it in a no-load state.
- it is possible to reduce the time and effort of the second operation by the rider. Therefore, inter-vehicle distance control can be terminated by a simpler operation. Therefore, the safety of the saddle type vehicle 1.0 can be improved more appropriately.
- the operation unit rotates the saddle-ride type vehicle 1 when turned in the first direction by the rider, at least in a state where the inter-vehicle distance control is cancelled.
- This is an accelerator grip that increases the driving force generated at 0° and decreases when the rider rotates it in the second direction opposite to the first direction.
- the state in which the accelerator grip 2 shaku is held by the rider's hand is basically maintained. Therefore, by using the accelerator grip 2 shaku as the operation unit, it is possible to save the rider the trouble of moving his hand from the accelerator grip 2 shaku to another operation unit when performing the first operation. . Therefore, the safety of the saddle-ride type vehicle 100 can be improved more appropriately.
- the first operation is an operation to rotate the accelerator grip 2 in the second direction
- the second operation is to rotate the accelerator grip 2 to the second direction.
- This is an operation to rotate in one direction.
- the first operation can be performed by rotating the accelerator grip 2 in the same direction as when the driving force is reduced in the accelerator operation. Therefore, it becomes easier for the rider to properly distinguish between the accelerator operation using the accelerator grip 2 shaku and the first operation, so that the rider can perform the first operation without erroneous operation.
- the reference state is generated in the saddle-riding type vehicle 100 in a state where the accelerator grip is at a rotational position of 2 shaku and the inter-vehicle distance control is cancelled.
- This is the state where the driving force is at its minimum. This makes it easier for the rider to properly distinguish between the accelerator operation using the accelerator grip 2 and the first operation, so that the rider can perform the first operation without erroneous operation.
- the control section 62 controls the deceleration of the saddle-riding type vehicle 100 in inter-vehicle distance control based on ambient environment information.
- the control section 62 controls the deceleration of the saddle-riding type vehicle 100 in inter-vehicle distance control based on ambient environment information.
- the control section 62 controls the deceleration based on the vehicle speed of the saddle-riding type vehicle 100 in addition to the ambient environment information in inter-vehicle distance control.
- the control section 62 controls the deceleration based on the vehicle speed of the saddle-riding type vehicle 100 in addition to the ambient environment information in inter-vehicle distance control.
- the control section 62 determines the distribution of the braking force between the front wheels 3 and the rear wheels 4 in inter-vehicle distance control.
- the distribution of the braking force between the front wheels 3 and the rear wheels 4 is optimized, for example, such that the posture of the saddle-ride type vehicle 100 is stabilized, and the saddle-ride type vehicle 100 is improved. and the target vehicle can be prevented from becoming excessively short.
- the control section 62 controls the acceleration of the saddle-ride type vehicle 100 based on the ambient environment information in inter-vehicle distance control.
- the control section 62 controls the acceleration of the saddle-ride type vehicle 100 based on the ambient environment information in inter-vehicle distance control.
- the control unit 62 controls the inter-vehicle distance based on the slip degree occurring in the wheels in addition to the surrounding environment information in the inter-vehicle distance control. do.
- the control unit 62 may execute antilock brake control in inter-vehicle distance control.
- the control unit 62 may execute traction control in inter-vehicle distance control.
- inter-vehicle distance control idle rotation of the drive wheels can be suppressed.
- the control unit 62 in inter-vehicle distance control, uses the information of the inertial measurement device 44 mounted on the straddle-type vehicle 100 in addition to the surrounding environment information. Based on the detection results, the following distance is controlled. As a result, the inter-vehicle distance can be controlled while suppressing the posture of the saddle-ride type vehicle 1:0 from becoming unstable.
- the control unit 62 controls the following distance based on the state quantity of the first operation in addition to the surrounding environment information in the following distance control.
- the inter-vehicle distance between the saddle-ride type vehicle 10° and the target vehicle can be controlled more in accordance with the rider's intention.
- the control unit 62 in inter-vehicle distance control, detects, in addition to the surrounding environment information, the state of the operating units other than the above operating units of the saddle-ride type vehicle 100. Control the inter-vehicle distance based on the amount. As a result, the inter-vehicle distance between the saddle-ride type vehicle 100 and the target vehicle can be controlled more in accordance with the rider's intention.
- the present invention is not limited to the description of the embodiments. For example, only some of the embodiments may be implemented.
- the inter-vehicle distance control described above automatically controls the speed of the saddle-ride type vehicle 100 without depending on the acceleration/deceleration operation by the rider, and adjusts the inter-vehicle distance between the saddle-ride type vehicle 100 and the target vehicle.
- Adaptive cruise control may be used in which vehicle-to-vehicle distance maintenance control is performed to maintain the target distance.
- a following distance control (eg adaptive cruise control) may be initiated.
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EP22743891.8A EP4360977A1 (en) | 2021-06-25 | 2022-06-24 | Control device and control method |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009022968A1 (en) * | 2007-08-16 | 2009-02-19 | Scania Cv Ab (Publ) | Cruise control system and method for a vehicle |
US20200156607A1 (en) * | 2018-11-19 | 2020-05-21 | Toyota Jidosha Kabushiki Kaisha | Vehicle braking force control apparatus |
EP3708475A1 (en) * | 2019-03-12 | 2020-09-16 | Honda Motor Co., Ltd. | Parking brake apparatus for saddled vehicle |
EP3723065A1 (en) * | 2017-12-06 | 2020-10-14 | Robert Bosch GmbH | Control system and control method for controlling behavior of motorcycle during lane splitting |
-
2022
- 2022-06-24 EP EP22743891.8A patent/EP4360977A1/en active Pending
- 2022-06-24 WO PCT/IB2022/055871 patent/WO2022269553A1/ja active Application Filing
- 2022-06-24 JP JP2023529151A patent/JPWO2022269553A1/ja active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009022968A1 (en) * | 2007-08-16 | 2009-02-19 | Scania Cv Ab (Publ) | Cruise control system and method for a vehicle |
EP3723065A1 (en) * | 2017-12-06 | 2020-10-14 | Robert Bosch GmbH | Control system and control method for controlling behavior of motorcycle during lane splitting |
US20200156607A1 (en) * | 2018-11-19 | 2020-05-21 | Toyota Jidosha Kabushiki Kaisha | Vehicle braking force control apparatus |
EP3708475A1 (en) * | 2019-03-12 | 2020-09-16 | Honda Motor Co., Ltd. | Parking brake apparatus for saddled vehicle |
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