Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/14—Adaptive cruise control
  • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • 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
  • B62J45/20—Cycle computers as cycle accessories
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
  • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
  • B62J50/20—Information-providing devices
  • B62J50/21—Information-providing devices intended to provide information to rider or passenger
  • B62J50/22—Information-providing devices intended to provide information to rider or passenger electronic, e.g. displays
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • 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
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
  • B60W2554/402—Type
• • 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
  • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
  • B60W2554/404—Characteristics
  • B60W2554/4041—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
  • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
  • B60W2554/404—Characteristics
  • B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects
• • 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
  • B60W2720/106—Longitudinal acceleration
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
  • B60Y2200/00—Type of vehicle
  • B60Y2200/10—Road Vehicles
  • B60Y2200/12—Motorcycles, Trikes; Quads; Scooters

Definitions

• the present invention relates to a lean vehicle behavior control device and a lean vehicle behavior control method.
• a conventional lean vehicle behavior control device obtains information about the surrounding environment of a lean vehicle, and causes the lean vehicle to automatically accelerate and decelerate based on the surrounding environment information (see Patent Document 1, for example). Akira Ha, ⁇ ) / ⁇
• Patent Document 1 International Publication No. 2018/197965
• the automatic acceleration/deceleration operation is , an operation of performing positional relationship adjustment control on one peripheral vehicle selected from among a plurality of peripheral vehicles of the lean vehicle is executed.
• lean vehicles are extremely small compared to other vehicles (e.g., passenger cars, trucks, etc.), so in group driving mode, a situation may arise in which multiple surrounding vehicles are running in close proximity. , it may be difficult to appropriately select one peripheral vehicle to be subjected to positional relationship adjustment control.
• the present invention has been made against the background of the above problems, and provides a control device capable of improving rider support. Also, a control method capable of improving rider support is obtained.
• a control device is a control device for the behavior of a lean vehicle, comprising: an acquisition unit that acquires surrounding environment information of the lean vehicle while the lean vehicle is traveling; an execution unit for causing the lean vehicle to perform an automatic acceleration/deceleration operation based on the ambient environment information acquired by the unit, wherein the execution unit causes the lean vehicle to group together with a plurality of other lean vehicles.
• the group traveling mode which is a mode in which the lean vehicle travels in a low-speed mode
• the automatic acceleration/deceleration operation is an operation of performing positional relationship adjustment control with respect to one virtual moving body that symbolizes a plurality of surrounding vehicles of the lean vehicle. Let the vehicle run.
• a control method is a method for controlling the behavior of a lean vehicle, wherein an acquisition unit of a control device acquires surrounding environment information of the lean vehicle while the lean vehicle is running. an acquisition step; and an execution step in which the execution unit of the control device causes the lean vehicle to perform an automatic acceleration/deceleration operation based on the ambient environment information acquired in the acquisition step, and the execution step.
• the execution unit performs the automatic acceleration/deceleration operation on a plurality of surroundings of the lean vehicle.
• the lean vehicle is caused to perform positional relationship adjustment control with respect to one virtual moving object that symbolizes the vehicle.
• the execution unit is configured such that the lean vehicle is a plurality of other lean vehicles.
• the group traveling mode which is a mode in which the lean vehicle travels in a group
• the positional relationship adjustment control for one virtual moving object that symbolizes multiple surrounding vehicles of the lean vehicle is performed. Let the lean vehicle do. Therefore, even in a situation where a plurality of surrounding vehicles peculiar to a lean vehicle are traveling in close proximity, it becomes possible to cause the lean vehicle to perform automatic acceleration and deceleration operations appropriately, thereby improving rider support.
• FIG. 1 is a diagram showing a state in which a rider support system according to an embodiment of the present invention is mounted on a lean vehicle.
• Fig. 2 is a diagram showing the system configuration of the rider support system according to the embodiment of the present invention.
• Fig. 3 is a diagram for explaining the configuration of the rider support system according to the embodiment of the present invention.
• Fig. 4 is a diagram for explaining the configuration of the rider support system according to the embodiment of the present invention.
• Fig. 5 is a diagram for explaining the configuration of the rider support system according to the embodiment of the present invention.
• Fig. 6 is a diagram for explaining the configuration of the rider support system according to the embodiment of the present invention.
• Fig. 7 is a diagram showing the operation flow of the control device of the rider support system according to the embodiment of the present invention.
• a lean vehicle means a vehicle that leans to the right when turning to the right and leans to the left when turning to the left.
• Lean vehicles include, for example, motorcycles (motorcycles and tricycles) and bicycles.
• 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 that can be 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 shows a state in which a rider support system according to an embodiment of the present invention is mounted on a lean vehicle. Alternatively, it may be a program module or the like executed by a command from a CPU or the like.
• the acquisition unit 21 acquires the surrounding environment information of the lean vehicle 1 ⁇ based on the output of the surrounding environment sensor 11 while the lean vehicle 1 ⁇ is running.
• Surrounding environment information includes positional relationship information between lean vehicle 100 and objects (for example, vehicles, obstacles, road facilities, people, animals, etc.) located around lean vehicle 100.
• the positional relationship information is, for example, information such as relative position, relative distance, relative velocity, relative acceleration, relative jerk, transit time difference, and predicted time until collision.
• the positional relationship information may be information of other physical quantities that can be substantially converted into them.
• the execution unit 22 causes the lean vehicle 100 to execute an automatic acceleration/deceleration operation as a rider support operation based on the positional relationship information acquired by the acquisition unit 21.
• the execution unit 22 outputs a command to the braking device 30 or the driving device 40 when executing the automatic acceleration/deceleration operation.
• the braking device 30 brakes the lean vehicle 100 .
• Drive device 40 drives lean vehicle 100 as a power source for lean vehicle 100 .
• the braking device 30 may be controlled to cause or increase deceleration and may be controlled to cause or increase acceleration.
• the drive 40 may be controlled to cause or increase acceleration and may be controlled to cause or increase deceleration.
• the execution unit 22 causes the notification device 50 to perform a notification operation for the rider as necessary when executing the rider support operation.
• the notification device 50 may notify the rider by display (that is, perception using the visual organ as a sensory organ), or by sound (that is, perception using the auditory organ as a sensory organ). It may notify the rider, or it may notify the rider by vibration (that is, perception in which the tactile organs are used as sensory organs).
• the notification device 50 is a display, lamp, speaker, vibrator, or the like.
• the notification device 5 ⁇ may be provided in the lean vehicle 1 ⁇ ⁇ , or may be provided in equipment (for example, a helmet, gloves, etc.) attached to the lean vehicle 1 ⁇ ⁇ .
• the execution unit 22 determines whether or not the group traveling mode is valid while the lean vehicle 100 is traveling.
• the group traveling mode is a mode in which the lean vehicle 100 travels in a group with a plurality of other lean vehicles 200A, that is, in a group. .
• the group running mode is automatically switched between valid and invalid by the execution unit 22 based on the surrounding environment information acquired by the acquisition unit 21, and the execution unit 22 determines whether the group traveling mode is valid based on the switching information.
• the execution unit 22 selects the lean vehicle 100 and a plurality of other lean vehicles 2 ⁇ surrounding the lean vehicle 1 ⁇ .
• 200A and 200A are peculiar (for example, as shown in FIG. 3, two trains are arranged such that a lean vehicle 100 and a plurality of other lean vehicles 200A are lined up in a zigzag shape). Formed mode, as shown in FIG.
• the execution unit 22 identifies another lean vehicle 200A located in the driving lane DL in which the lean vehicle 100 travels, and determines only the identified other lean vehicle 200A.
• other lean vehicle 2 ⁇ ⁇ that continues to be positioned around the lean vehicle 1 ⁇ ⁇ beyond the reference time or reference travel distance without using the boundary information of the driving lane DL.
• A may be specified, and the other specified lean vehicle 2 ⁇ A may be subject to the determination.
• the group traveling mode is switched between valid and invalid by setting input by the rider, and the execution unit 22 selects group traveling based on the output of the setting input device 13 acquired by the acquisition unit 21. Determine whether the mode is valid.
• the execution unit 22 automatically proposes enabling and/or disabling of the group driving mode based on the surrounding environment information obtained by the obtaining unit 21, and the rider sets and inputs consent. The proposal may be confirmed by
• the execution unit 22 determines the positional relationship with respect to one surrounding vehicle 2 ⁇ ⁇ that actually exists around the lean vehicle 1 ⁇ ⁇ as an automatic acceleration/deceleration operation.
• the lean vehicle 100 is caused to perform an operation of performing adjustment control.
• the execution unit 22 adjusts the positional relationship of the lean vehicle 100 with respect to one virtual moving body symbolizing the plurality of surrounding vehicles 200 as an automatic acceleration/deceleration operation. Make the lean vehicle 1 ⁇ ⁇ execute the control operation.
• the positional relationship adjustment control automatically decelerates or accelerates the lean vehicle 100 without depending on the operation of the braking device 30 and the driving device 40 by the rider, so that the lean vehicle 100 and one Operation to adjust the positional relationship between peripheral vehicle 2 0 0 or one virtual moving object and (e.g., adaptive cruise control operation targeting one peripheral vehicle 2 ⁇ ⁇ or one virtual moving object for speed following, 1 Action to decelerate or accelerate the lean vehicle 1 ⁇ ⁇ to avoid or mitigate a collision against one peripheral vehicle 2 ⁇ ⁇ or one virtual moving object, one peripheral with the rider operating the drive unit 4 0 Vehicle 2 ⁇ ⁇ or an operation to operate the braking device 3 ⁇ in order to control the inter-vehicle distance with respect to one virtual moving object to a distance according to the operation amount, 1 while the rider is operating the braking device 3 ⁇ It may be an operation to operate the driving device 4 ⁇ in order to control the inter-vehicle distance with respect to one surrounding vehicle 2 ⁇ ⁇ or one virtual moving object
• it may be an operation to adjust the positional relationship between one virtual moving body and the vehicle, and the driving force generated in the lean vehicle 100 in order to correct the excess or deficiency of the operation of the driving device 40 by the rider. It may be an action of automatically increasing or decreasing the force to adjust the positional relationship between the lean vehicle 100 and one peripheral vehicle 200 or one virtual moving body.
• the execution unit 22 Positional relationship adjustment control is performed for one peripheral vehicle 200 positioned in front of ⁇ or one virtual moving object symbolizing a plurality of peripheral vehicles 200 positioned in front of the lean vehicle 100.
• the automatic acceleration/deceleration operation is intended to assist the rider in driving an event occurring behind, to the left, or to the right of the lean vehicle 1 ⁇ .
• the execution unit 2 2 automatically accelerates and decelerates a plurality of other lean vehicles 2 ⁇ ⁇ that are traveling together with the lean vehicle 1 0 0 as a group. It is preferable to cause the lean vehicle 100 to perform positional relationship adjustment control with respect to the virtual moving object of A symbolizing only A. Whether or not the other lean vehicle 200A is a vehicle traveling in a group together with the lean vehicle 100 depends on information registered in advance by the rider (for example, the lean vehicle 100A in the group). , the identification information of other lean vehicle 200A belonging to the group, etc.), or based on information on the time course of the positional relationship with respect to the lean vehicle 100. may be
• the executing unit 22 performs automatic acceleration/deceleration operation to control at least one other vehicle belonging to the first vehicle train L 1 to which the lean vehicle 1 ⁇ belongs.
• Execution part 22 receives information pre-registered by the rider (For example, information on the traveling position of the lean vehicle 100 within the group), or based on information on the time course of the positional relationship with respect to a plurality of other lean vehicles 200A, the lean vehicle 100 0 belongs to the left or right lane in the driving lane DL, that is, by using the group lane information, at least one other lane belonging to the first lane L1 is identified. A lean vehicle 200A and at least one other lean vehicle 200A belonging to the second lane L2 can be identified.
• the acquiring unit 21 obtains, as the surrounding environment information, the lean vehicle for each 200 A other lean vehicle traveling in a group together with the lean vehicle 100. Acquire information on the positional relationship between 1 ⁇ ⁇ and another lean vehicle 200A. Then, the execution unit 22 determines a target value for positional relationship adjustment control based on a plurality of pieces of positional relationship information acquired by the acquisition unit 21 for each of the other lean vehicles 200A.
• the acquisition unit 21 obtains positional relationship information between the lean vehicle 100 and the other lean vehicle 200A in the front-rear direction of the lean vehicle 100A and , positional relationship information between the lean vehicle 100 and another lean vehicle 200A in the lateral direction of the lean vehicle 100, and the following.
• the execution unit 22 determines the lean vehicle 1 ⁇ ⁇ and the virtual moving object based on a plurality of pieces of positional relationship information acquired by the acquisition unit 21 for each other lean vehicle 200A. virtual positional relationship information is derived, and based on the virtual positional relationship information, a target value for positional relationship adjustment control is determined.
• the execution unit 22 is another lean vehicle 2 that acquires positional information from among many peripheral vehicles 200 . To identify 0A, it is better to use the group's train information.
• the execution unit 22 determines the weight of each of the plurality of other lean vehicles 200A whose positional relationship information is acquired by the acquisition unit 21, and substitutes the weights into Equation 1 below to obtain the virtual positional relationship Information is derived, and the target value of the output of the braking device 3 ⁇ or the driving device 4 ⁇ is optimized so that the positional relationship between the lean vehicle 1 ⁇ ⁇ expressed as the virtual positional relationship information and the virtual moving body is optimized. to decide.
• Equation 1 P V means virtual positional information, and P 1 is another lean vehicle 2 that runs closest to the lean vehicle 1 ⁇ ⁇ in the first train L 1.
• ⁇ means the positional information of 0 A
• k1 means the weight of the other lean vehicle 200 A
• P2 means the nearest lean vehicle 1 ⁇ ⁇ in the second lane L2. It means the positional relationship information of the other lean vehicle 200A traveling ahead
• k2 means the weight of the other lean vehicle 200A.
• the sum of 2 is 1.
• the weights kl and k2 are determined as numerical values greater than 0 and less than 1 and 1.
• the weights kl and k2 may be 0 or 1 as necessary, and in such a case, positional relationship adjustment control for one other existing lean vehicle 200A will be performed.
• the execution unit 22 uses the positional relationship information between the lean vehicle 100 and the other lean vehicle 200A in the longitudinal direction of the lean vehicle 100 as the positional relationship information P1 and P2. When determining k1 and k2, it is preferable to use positional relationship information between the lean vehicle 100A and the other lean vehicle 200A in the lateral direction of the lean vehicle 100.
• the execution unit 22 preferably determines the weights kl and k2 based on the surrounding environment information acquired by the acquisition unit 21.
• the weights kl and k2 are set in advance as fixed values that do not depend on the positional relationship information between the lean vehicle 100 and the other lean vehicle 200A in the lateral direction of the lean vehicle 100. good.
• the weights kl and k2 may be appropriately set by the rider. That is, execution unit 22
• the weights k 1 and k 2 may be determined based on the input information set by the rider obtained by the obtaining section 21 .
• the execution unit 22 based on a plurality of pieces of positional relationship information acquired for each other lean vehicle 200A by the acquisition unit 21, obtains information for each other lean vehicle 200A Then, determine an individual target value that is a target value of individual positional relationship adjustment control for the other lean vehicle 200A, and based on the individual target value determined for each of the other lean vehicle 200A, Determine the target value for positional relationship adjustment control.
• the execution unit 22 preferably uses the group's train information to identify the other lean vehicle 200A for which the positional relationship information is to be acquired from among the many surrounding vehicles 200. FIG.
• the execution unit 22 optimizes the positional relationship between the lean vehicle 100 expressed as the positional relationship information and the other lean vehicle 200A for each lean vehicle 200A.
• the execution unit 22 determines the weight of each of the plurality of other lean vehicles 200A whose positional relationship information is acquired by the acquisition unit 21, substitutes the weights into Equation 2 below, and calculates the actual Determine the target value for the output of brake 3 ⁇ or drive 4 ⁇ .
• T V means the target value of the actual positional relationship adjustment control
• D 1 is the vehicle that runs closest to the lean vehicle 1 ⁇ in the first train 1 ⁇
• k1 means the weight of the other lean vehicle 200A
• T2 means the lean vehicle 100A in the second train L2.
• the other lean vehicle 2 driving closest to the lead. means the individual target value for 0A and k2 means the weight of the other lean vehicle 200A.
• the sum of weight k 1 and weight k 2 is 1.
• the weights k1 and k2 are determined as numerical values greater than 0 and less than 1 and 1.
• the weights kl and k2 may be 0 or 1 as necessary, and in such a case, positional relationship adjustment control is performed for one other existing lean vehicle 200A.
• the execution unit 22 obtains positional relationship information between the lean vehicle 100 and the other lean vehicle 200A in the longitudinal direction of the lean vehicle 100.
• the execution unit 22 may determine the weights kl and k2 based on the surrounding environment information acquired by the acquisition unit 21.
• the weights k1 and k2 are set in advance as fixed values that do not depend on the positional relationship information between the lean vehicle 100 and the other lean vehicle 200A in the lateral direction of the lean vehicle 100. good too. Also, the weights kl and k2 may be appropriately set by the rider. That is, the execution unit 22 may determine the weights kl and k2 based on the input information set by the rider acquired by the acquisition unit 21.
• the execution unit 22 calculates the weight k2 of the other lean vehicle 200A, which runs closest to the lean vehicle 1 ⁇ in the second vehicle train L2, as the weight k2 of the first vehicle.
• the weight k1 of the other lean vehicle 200A, which runs closest to the lean vehicle 100 in row L1, is lower than the weight k1.
• the execution unit 22 is configured to control the lean vehicle 100 and other lean vehicles that run closest to the lean vehicle 100 in the second lane L2 in the left-right direction of the lean vehicle 100. If the positional relationship information P2 between the vehicle 200A and the vehicle 200A is information indicating that the degree of proximity is high or rapidly increasing, the weight k2 of the other lean vehicle 200A is increased.
• the virtual moving object runs closest to the lean vehicle 1 ⁇ ⁇ in the first lane L 1 , other lean vehicles 2 00 A, and in the second lane L 2 In addition to the other lean vehicle 200A running closest to lean vehicle 1 ⁇ , it runs second closest to lean vehicle 1 ⁇ in the first lane L1.
• Other Lean Vehicles 200A and/or 2nd Lane L 2 may symbolize another lean vehicle 2 ⁇ A that runs second closest to the lean vehicle 1 ⁇ A.
• the execution unit 22 calculates the weight of another lean vehicle 2 ⁇ A running second closest to the lean vehicle 1 ⁇ in the second vehicle train L2, and calculates the weight of the lean vehicle 2 ⁇ A in the first vehicle train L1.
• the execution unit 22 calculates the weight of the other lean vehicle 200A running second closest to the lean vehicle 100 in the first vehicle train L1 as the weight of the lean vehicle in the first vehicle train L1. 1 Lower than the weight k 1 of other lean vehicle 2 ⁇ ⁇ A that runs closest to ⁇ ⁇ .
• the execution unit 22 calculates the weight of the other lean vehicle 200A that runs second closest to the lean vehicle 100 in the second vehicle train L2 by adding the weight of the lean vehicle 200A to the lean vehicle 200A in the second vehicle train L2. It is made lower than the weight k2 of the other lean vehicle 200A that runs closest to the vehicle 100 ahead.
• the execution unit 22 compares the state in which the lean vehicle 1 ⁇ ⁇ or the group is traveling straight ahead in the state in which the lean vehicle 1 ⁇ ⁇ or the group is traveling in a straight line, It is preferable to increase the weight of the other lean vehicle 200A that runs ahead of the two-vehicle train L2. With such a configuration, even if the lean vehicle 100 or the lean vehicle 100 approaches the second vehicle train L2 when the lean vehicle 100 or the group travels around, the lean vehicle 100 can be kept in an appropriate distance. It can be run for a distance.
• Acquisition unit 21 acquires vehicle behavior information (for example, roll angle, lateral acceleration, yaw angular velocity, steering angle, etc.) of lean vehicle 100 based on the output of vehicle behavior sensor 12. . Based on the vehicle behavior information acquired by the acquisition unit 21, the execution unit 22 can determine whether the lean vehicle or the group is making a turn. In other words, the execution unit 22 determines weights based on the vehicle behavior information of the lean vehicle 100 . Based on the surrounding environment information acquired by the acquisition unit 21 (for example, vehicle behavior information of the other lean vehicle 200A, road shape, road signs, GPS positioning information, etc.), the execution unit 22 performs the leaning operation. It may be determined whether the vehicle 100 or the group is turning.
• vehicle behavior information for example, roll angle, lateral acceleration, yaw angular velocity, steering angle, etc.
• the execution unit 22 may determine the weight based on the surrounding environment information of the lean vehicle 100.
• the execution unit 22 may increase the weight of the other lean vehicle 200A traveling ahead in the second vehicle train L2 as the degree of turning of the lean vehicle 100 or group is higher.
• the execution unit 22 compares the state in which the traveling direction of the lean vehicle 100 or the group is changing suddenly to the state in which the traveling direction of the lean vehicle 100 or the group is stable. , the weight of the other lean vehicles 200A traveling ahead in the second lane L2 should be increased. With such a configuration, when the direction of travel of the lean vehicle 100 or the group suddenly changes, even if the lean vehicle 100 approaches the second lane L2, the lean vehicle 100 can be kept in an appropriate distance. It can run a distance.
• the acquisition unit 21 obtains vehicle behavior information of the lean vehicle 100 (for example, rate of change in roll angle, rate of change in lateral acceleration, rate of change in yaw angular velocity, rate of change in steering information such as angle change rate).
• vehicle behavior information of the lean vehicle 100 for example, rate of change in roll angle, rate of change in lateral acceleration, rate of change in yaw angular velocity, rate of change in steering information such as angle change rate.
• the execution unit 22 can determine whether or not the traveling direction of the lean vehicle 100 or group is suddenly changing. That is, the execution unit 22 determines the weight based on the vehicle behavior information of the lean vehicle 100.
• the execution unit 22 may determine whether or not the attitude of the lean vehicle 100 is unstable by referring to the GPS positioning signal of the lean vehicle 100 with the map information.
• the execution unit 22 Lean vehicle 1 ⁇ ⁇ Or it may be determined whether the direction of movement of the group is suddenly changing. That is, the execution unit 22 may determine weights based on the surrounding environment information of the lean vehicle 100 . The execution unit 22 increases the weight of the other lean vehicle 200A traveling ahead in the second vehicle train L2 as the degree of change in the traveling direction of the lean vehicle 100 or group increases. good.
• the execution unit 22 advances the second vehicle train L2 in a state in which the group is predicted to stop, compared with a state in which the group is not predicted to stop. other lean vehicle 2 . Lower the weight of 0 A.
• a state in which the group stops in such a manner that two lines are formed so that the vehicle 100 and the plurality of other lean vehicles 200A are aligned side by side is facilitated.
• the acquisition unit 21 acquires vehicle behavior information (for example, vehicle speed, deceleration, etc.) of the lean vehicle 100 based on the output of the vehicle behavior sensor 12.
• the execution unit 22 can predict whether the group will stop based on the vehicle behavior information acquired by the acquisition unit 21.
• the execution unit 22 may lower the weight of the other lean vehicle 200A traveling ahead in the second lane L2. In other words, the execution unit 22 determines weights based on the vehicle behavior information of the lean vehicle 100 .
• the execution unit 22 acquires the surrounding environment information acquired by the acquisition unit 21 (for example, vehicle behavior information of the other lean vehicle 200A, degree of congestion, traffic lights, stop lines, road signs, information such as GPS positioning). Based on , it may be predicted whether the group will come to a stop. That is, the execution unit 22 may determine the weight based on the surrounding environment information of the lean vehicle 100.
• the execution unit 22 compares the other lean vehicles 200A that are not rapidly decelerating in a state where some of the other lean vehicles 200A are rapidly decelerating, 20 other lean vehicles that are decelerating rapidly. Increase the weight of A. Whether or not the other lean vehicle 200A is decelerating rapidly can be determined based on the surrounding environment information acquired by the acquisition unit 21 . That is, the execution unit 22 determines the weight based on the surrounding environment information of the lean vehicle 100. At that time, when the other lean vehicle 200A that is rapidly decelerating belongs to the second lane L2, the other lean vehicle 200A that is rapidly decelerating belongs to the first lane. It is better to suppress the increase in weight compared to the case of belonging to L1. In other words, the execution unit 22 may determine the weight based on the train information of the group.
• the execution unit 22 causes the notification device 50 to display a mark representing the virtual moving body in addition to the mark LA representing the type of rider support operation.
• the mark LA may be a mark indicating the adaptive cruise control operation itself, as shown in Figure 5, or the mode of speed following set in the adaptive cruise control operation, as shown in Figure 6. (For example, the mode of transit time difference, the mode of inter-vehicle distance, etc.) may be indicated.
• the mark LV should be displayed adjacent to the mark LA.
• the mark LV may be an illustration simulating a vehicle (for example, a motorcycle, a passenger car, etc.), or may be a letter or symbol representing a virtual mobile object.
• the execution unit 22 displays a mark representing the vehicle displayed when positional relationship adjustment control is being performed for one real vehicle while positional relationship adjustment control is being performed for one virtual moving object.
• the mark L A representing the type of rider support operation may not be displayed.
• the execution unit 22 executes an operation of causing the notification device 50 to display the weight of each of the other lean vehicles 200A to the rider as the information V I of the virtual moving object.
• the weight kl of the other lean vehicle 200A that runs closest to the lean vehicle 100 in the first train L1 is set to 8
• the weight k2 of the other lean vehicle 200A running closest to the lean vehicle 100A in the two-vehicle train L2 is set to ⁇ •2, and the positional relationship adjustment control for one virtual moving object is performed. If so, it is preferable to display the weights k1 and k2 in accordance with the positional relationship of the other lean vehicle 200A with respect to the lean vehicle 100.
• the execution unit 22 may cause the notification device 50 to notify the rider of the information v I of the virtual moving object by other means such as voice.
• the information VI of the virtual moving object is other information related to the virtual moving object such as, for example, positional relationship information P1, P2, virtual positional relationship information PV, individual target values T1, T2, target value TV, etc. There may be.
• FIG. 7 is a diagram showing the operation flow of the control device of the rider support system according to the embodiment of the present invention.
• the control device 20 executes the operation flow shown in FIG. 7 while the lean vehicle 100 is running.
• step S1 ⁇ 1 the acquisition unit 21 acquires the surrounding environment information of the lean vehicle 1 ⁇ while the lean vehicle 100 is traveling. Also, the acquisition unit 21 acquires various information as necessary.
• step S102 the execution unit 22 causes the lean vehicle 100 to execute an automatic acceleration/deceleration operation based on the ambient environment information acquired by the acquisition unit 21.
• the execution unit 22 performs the automatic acceleration/deceleration operation for the lean vehicle 1 when the group travel mode, which is a mode in which the lean vehicle 1 ⁇ ⁇ travels in a group with a plurality of other lean vehicles 200A, is valid.
• the lean vehicle 100 is made to perform the positional relationship adjustment control for one virtual moving body symbolizing the plurality of surrounding vehicles 200 of 00.
• the execution unit 22 performs automatic acceleration/deceleration operation when a group traveling mode, which is a mode in which the lean vehicle 100 travels in a group with a plurality of other lean vehicles 200A, is valid. , causes the lean vehicle 100 to perform positional relationship adjustment control for one virtual moving body symbolizing a plurality of peripheral vehicles 200 of the lean vehicle 100. Therefore, even in a situation where a plurality of peripheral vehicles 200 unique to the lean vehicle 100 are running in close proximity, it is possible to cause the lean vehicle 100 to appropriately perform automatic acceleration and deceleration operations. Improves rider support.
• the virtual moving object symbolizes only the plurality of other lean vehicles 200A belonging to the group.
• the group traveling mode it becomes possible to deal with congestion occurring in the traveling lane DL in which the lean vehicle 100 travels, thereby improving rider support.
• the virtual mobile body consists of another lean vehicle 200A belonging to the first lane L1 to which the lean vehicle 100 belongs, and a second lane to which the lean vehicle 100 does not belong.
• the acquisition unit 21 obtains positional relationship information P1 and P2 between the lean vehicle 100 and the surrounding vehicle 200 for each surrounding vehicle 200 as the surrounding environment information. Based on a plurality of pieces of positional relationship information P1 and P2 acquired for each peripheral vehicle 200 by the acquisition unit 21, the execution unit 22 determines a positional relationship adjustment control target for one virtual moving object. Determine the value TV. For example, the execution unit 22 calculates the positions of the lean vehicle 100 and the virtual moving object based on a plurality of pieces of positional relationship information P1 and P2 acquired for each of the surrounding vehicles 200 by the acquisition unit 21.
• Virtual positional relationship information PV which is relationship information, is derived, and a target value TV of positional relationship adjustment control for one virtual moving object is determined based on the virtual positional relationship information PV. Further, for example, the execution unit 22 acquires the peripheral vehicle 2 for each peripheral vehicle 200 based on a plurality of pieces of positional relationship information P1 and P2 acquired for each peripheral vehicle 200 by the acquisition unit 21. against 0 0

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• 2022
  • 2022-08-01 JP JP2023539218A patent/JP7656048B2/ja active Active
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