Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/14—Adaptive cruise control
  • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/02—Control of vehicle driving stability
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/14—Adaptive cruise control
  • B60W30/143—Speed control
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • 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
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W50/08—Interaction between the driver and the control system
  • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W2050/0062—Adapting control system settings
  • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
  • B60W2050/0083—Setting, resetting, calibration
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W50/08—Interaction between the driver and the control system
  • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
  • B60W2050/146—Display means
• • 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
  • B60W2554/80—Spatial relation or speed relative to objects
  • B60W2554/801—Lateral distance
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/80—Spatial relation or speed relative to objects
  • B60W2554/802—Longitudinal distance
• • 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 control device for a motorcycle rider support system, and a control method for a motorcycle rider support system.
• the control device executes the vehicle speed control operation of the own vehicle based on the positional relationship information between the own vehicle and at least one preceding vehicle acquired while the own vehicle is running. (See, for example, Patent Document 1.).
• Patent Document 1 International Publication No. 2018/197965
• the vehicle speed control operation of the own vehicle when the group traveling mode which is a mode in which at least three motorcycles including the own vehicle travel in a group, is enabled. is assumed to be executed. In such a case, it is desirable to form an orderly platoon of motorcycles.
• motorcycles unlike other vehicles (for example, passenger cars, trucks, etc.), are small in size and have a high degree of freedom in their travel positions, so support for formation of such platoons is particularly desirable.
• the present invention has been made against the background of the above problems, and provides a control device capable of supporting group traveling of motorcycles. Also, a control method capable of supporting group traveling of motorcycles is obtained.
• a control device is a control device for a rider support system, and is based on positional relationship information between the own vehicle and at least one preceding vehicle acquired while the own vehicle is traveling.
• a vehicle speed control execution unit for executing a vehicle speed control operation of the own vehicle; and a group traveling mode in which at least three motorcycles including the own vehicle travel in a group is enabled.
• an aligning operation executing unit that aligns at least a part of the platoon formed by the at least three motorcycles in the vehicle speed control operation in the state in which the motorcycles are turned on.
• the vehicle speed control execution unit of the control device based on the positional relationship information between the own vehicle and at least one preceding vehicle acquired while the own vehicle is running, , the vehicle speed control operation of the host vehicle is executed, and further, the alignment operation execution unit of the control device activates a group travel mode in which at least three motorcycles including the host vehicle travel in a group. In the vehicle speed control operation in the state where the motorcycles are standing, an alignment operation is performed to align at least a part of the platoon formed by the at least three motorcycles.
• the vehicle speed control execution unit based on the positional relationship information between the own vehicle and at least one preceding vehicle acquired while the own vehicle is running, A platoon formed by at least three motorcycles in a vehicle speed control operation in which the vehicle speed control operation of the host vehicle is executed, and the alignment operation execution unit is in a state where the group traveling mode is enabled. performs an alignment operation that aligns at least a portion of the Therefore, it is possible to appropriately support group traveling of a unique vehicle called a motorcycle.
• FIG. 1 is a diagram showing how a rider support system according to an embodiment of the present invention is mounted on a motorcycle.
• FIG. 2 is a diagram showing the system configuration of the rider support system according to the embodiment of the present invention.
• 3 to 8 show the rider support system according to the embodiment of the present invention. It is determined whether or not it continues beyond the time or the reference travel distance, and if the determination is affirmative, the group travel mode is automatically activated.
• the vehicle speed control execution unit 202 identifies another motorcycle 200 positioned within the travel lane L in which the motorcycle 1 ⁇ is traveling, and only the identified other motorcycle 200 is subjected to the determination.
• the other specified motorcycle 2 ⁇ ⁇ may be subject to the judgment.
• the group traveling mode is switched between valid and invalid by the setting input by the rider, and the vehicle speed control execution unit 22 receives the setting input device 13 acquired by the acquisition unit 21. Based on the output of , it is determined whether the group traveling mode is valid.
• the vehicle speed control execution unit 22 automatically proposes activation and/or inactivation of the group driving mode based on the surrounding environment information acquired by the acquisition unit 21, and the rider's consent is not required.
• the setting input may confirm the proposal.
• Vehicle speed control execution unit 22 advances motorcycle 1 ⁇ ⁇ ahead of motorcycle 1 ⁇ ⁇ as a vehicle speed control operation when the group traveling mode is not enabled.
• the preceding vehicle 300 running in front of the motorcycle 100 out of the plurality of preceding vehicles 300 and the motorcycle 1000 are caused to perform an operation of adjusting the positional relationship between the two.
• information on the positional relationship between the motorcycle 100 and other preceding vehicles 300 not traveling in front of the motorcycle 100 may be taken into account. Further, in the positional relationship adjustment, the positional relationship information between motorcycle 1 ⁇ and other vehicles that are not ahead of motorcycle 1 ⁇ may be taken into consideration.
• the vehicle speed control execution unit 22 performs the vehicle speed control operation by selecting the motorcycle 100 and the leading vehicle ahead of the motorcycle 100. At least one motorcycle 200 that corresponds to vehicle 300 and is traveling in a group with motorcycle 100 and the operation of adjusting the positional relationship between motorcycle 100 to execute. In addition, in the adjustment of the positional relationship, it corresponds to a vehicle that is not ahead of Motorcycle 1 0 0 and that Motorcycle 1 0 0, and at least one is traveling in a group with Motorcycle 1 0 0.
• the positional relationship information of one motorcycle 200 and 2000 may be taken into consideration.
• Whether or not the motorcycle 200 is a vehicle traveling in a group together with the motorcycle 1 ⁇ may be determined based on the information on the time lapse of the positional relationship with respect to the motorcycle 1 ⁇ , It may also be determined based on information registered in advance by the rider.
• the information registered in advance by the riders is, for example, the arrangement of the motorcycles 100 within the platoon formed by the group running (for example, the leading, middle, trailing, order from the leading or trailing, the right-hand side of the platoon). , left-hand row of cars, etc.), information for identifying the motorcycles 200 belonging to the group (for example, vehicle type, color, license plate information, etc.), and the like.
• the positional relationship adjustment automatically decelerates or accelerates the motorcycle 100 without depending on the operation of the braking device 30 and the driving device 40 by the rider. 0 and the preceding vehicle 300 (e.g., adaptive cruise control operation with the preceding vehicle 300 as the target for speed following, the state in which the rider operates the driving device 40).
• the preceding vehicle 300 e.g., adaptive cruise control operation with the preceding vehicle 300 as the target for speed following, the state in which the rider operates the driving device 40.
• the operation of activating the braking device 3 ⁇ In order to control the inter-vehicle distance or passage time difference with respect to the preceding vehicle 3 ⁇ ⁇ to the distance or time difference according to the operation amount, the operation of activating the braking device 3 ⁇ , the state in which the rider operates the braking device 3 0 in order to control the inter-vehicle distance or passage time difference with respect to the preceding vehicle 3 ⁇ ⁇ to the distance or time difference according to the operation amount, etc.), and the braking device by the rider
• the braking force generated in motorcycle 1 0 0 is automatically increased or decreased
• the driving force generated in the motorcycle 1 ⁇ is automatically increased or decreased. It may also be an operation of adjusting the positional relationship between the motorcycle 1 ⁇ ⁇ and the preceding vehicle 3 0 0 .
• the alignment operation execution unit 23 is formed by group traveling while the vehicle speed control execution unit 22 is executing the vehicle speed control operation in a state where the group traveling mode is enabled. Perform an alignment operation that aligns at least part of the formation.
• the alignment operation execution unit 23 performs at least one of the horizontal position alignment operation and the front-rear position alignment operation described below.
• the lateral direction and the longitudinal direction may be directions defined with respect to the vehicle body of the motorcycle 100, or may be directions defined with respect to the travel lane L.
• Alignment execution unit 23 outputs a control command to notification device 50 to change the lateral position of motorcycle 1 ⁇ ⁇ in the platoon as a lateral position align operation.
• Motorcycle 1 Execute an action that causes an alert prompting the rider of ⁇ .
• Alignment motion execution unit 23 performs alignment motion based on positional relationship information between motorcycle 100, at least two motorcycles 200 traveling together with motorcycle 100 in a group, and do it.
• the motorcycle 100 corresponds to "the motorcycle whose position is changed by the alignment operation" in the present invention, that is, to the "first motorcycle” in the present invention.
• the remaining motorcycles 200 correspond to the "second motorcycle” and the "third motorcycle” in the present invention.
• the distance DL may be an actual measured value at that point in time, or may be a predicted value that is estimated in consideration of the running state of the motorcycle 100, 200 at that point in time.
• the distance from the motorcycle 100 in the lateral direction to the object located on one side of it is positive, and the distance from the motorcycle 100 in the lateral direction to the object located on the other side. is a concept of minus.
• the alignment operation execution unit 23 outputs a control command to the notification device 50 when all the distances DL are instantaneously short or excessive with respect to the reference value or exceed the reference time or the reference travel distance. to prompt the rider of motorcycle 1 ⁇ ⁇ to correct the lateral position.
• the reference value may be a fixed value, or may be a variable value set according to the positional relationship between the motorcycles 200 other than the motorcycle 100.
• Alignment motion execution unit 23 determines at least one motorcycle 200 ahead of motorcycle 1 ⁇ and at least one motorcycle 200 behind motorcycle 100 to determine the need for a position change.
• the alignment operation execution unit 23 determines the necessity of the position change by selecting at least one vehicle belonging to a vehicle line L2 different from the vehicle line L! to which the motorcycle 100 belongs in the group traveling.
• the alignment operation execution unit 23 receives the information on the arrangement of the motorcycle 1 ⁇ in the platoon (for example, the top, middle, tail, order from the top or tail, right side row, left side row, etc.). Based on the motorcycle for which the distance DL is obtained Change the selection of 2 0 0.
• the distance DL is obtained only for at least two motorcycles 200 that are behind motorcycle 100. Good. Also, for example, if motorcycle 1 ⁇ is positioned in the middle of the platoon, then at least one motorcycle 2 ⁇ that is ahead of motorcycle 1 ⁇ and motorcycle At least one motorcycle 2 ⁇ ⁇ that is ahead behind 1 ⁇ ⁇ and the distance DL for may be obtained. Also, for example, when motorcycle 1 ⁇ is positioned at the rear of the platoon, the distance DL for only at least two motorcycles 2 0 0 ahead of motorcycle 1 ⁇ is should be obtained.
• Motorcycle 2 ⁇ ⁇ running near motorcycle 1 0 0 may be selected as a distance DL acquisition target.
• the distance DL may be an actual measured value at that point in time, or may be a predicted value that is estimated in consideration of the running state of the motorcycle 100, 200 at that point in time.
• the distance D L is defined as the distance from the motorcycle 100 in the lateral direction to the object located on one side of the motorcycle 100 plus, and the distance from the motorcycle 100 in the lateral direction to the object located on the other side. is a concept of minus.
• the alignment operation execution unit 23 outputs a control command to the notification device 50 when all the distances DL are instantaneously short or excessive with respect to the reference value or beyond the reference time or reference travel distance. to prompt the rider of Motorcycle 100 to correct the lateral position.
• the reference value may be a fixed value, or may be a variable value set according to the positional relationship between motorcycles 2 ⁇ other than motorcycle 1 ⁇ .
• Alignment action execution unit 23 determines at least one motorcycle 200 that is ahead of motorcycle 100 and one that is behind motorcycle 100 to determine the need for a position change.
• the alignment operation execution unit 23 also includes at least one motorcycle 200 belonging to the train L1 to which the motorcycle 100 belongs in the group traveling, and At least one motorcycle 200 belonging to a row L2 different from the row L! to which the motorcycle 100 belongs in group traveling and the distance D L to may be obtained, and in the group traveling
• the distance D L may be obtained only for at least two motorcycles 200 belonging to a motor cycle L2 different from the motor cycle L! to which the motor cycle 100 belongs.
• the alignment operation execution unit 23 receives the information on the arrangement of the motorcycle 1 ⁇ in the platoon (for example, the top, middle, tail, order from the top or tail, right side row, left side row, etc.). Based on this, it is preferable to change the selection of the motorcycle 200 for which the distance DL is to be obtained. For example, if motorcycle 100 is placed first in the platoon, the distance D L is obtained only for at least two motorcycles 200 that are behind motorcycle 100. Good. Also, for example, if motorcycle 1 ⁇ is positioned in the middle of the platoon, then at least one motorcycle 2 ⁇ that is ahead of motorcycle 1 ⁇ and motorcycle Preferably, at least one motorcycle 200 that is ahead behind 100 and the distance D L to .
• the distance D L for only at least two motorcycles 200 ahead of motorcycle 1 ⁇ is should be obtained. It is preferable that the motorcycle 2 ⁇ ⁇ running near the motorcycle 1 00 is selected as the target for obtaining the distance DL.
• the notification device 50 causes the motor Have the rider on cycle 100 display the mark ML, prompting him to correct his lateral position.
• the notification device 50 causes the vehicle speed control execution unit 22 to perform the vehicle speed control operation while the group running mode is enabled, as shown in FIGS. Display the mark ML in addition to the mark MG indicating that it is being executed.
• the notification device 50 causes the vehicle speed control execution unit 22 to execute the vehicle speed control operation while the group traveling mode is enabled, as shown in FIGS.
• the mark ML in addition to the mark MG indicating that the The mark MG may not be displayed, and the mark MG indicates that the vehicle speed control execution unit 22 is executing the vehicle speed control operation, and the group traveling mode is not enabled. It may be something that does not change when it becomes valid from the state.
• the mark ML is displayed on the right side when the row L! to which the motorcycle 100 belongs is the right row, and the vehicle L! to which the motorcycle 100 belongs is the left row. In some cases the mark ML should appear on the left.
• the notification device 50 may prompt the rider to correct the lateral position by displaying a display different from the mark ML according to the control command from the alignment operation execution unit 23.
• the notification device 50 may display or audibly output a sentence prompting the rider of the motorcycle 100 to correct the lateral position according to the control command from the alignment operation execution unit 23.
• the notification device 50 may prompt the rider to correct the lateral position with a mere sound according to the control command from the alignment operation execution unit 23. For example, to urge the rider to correct to the right, sound from a point located to the right of the center of the motorcycle 1 ⁇ ⁇ .
• the notification device 50 may output a vibration prompting the rider of the motorcycle 100 to correct the lateral position according to the control command from the alignment operation execution unit 23 .
• a vibration prompting the rider of the motorcycle 100 to correct the lateral position according to the control command from the alignment operation execution unit 23 .
• the point may be, for example, a portion of a handlebar, glove, or the like.
• the direction of required lateral position correction is preferably, but not necessarily, communicated to the rider. In other words, the rider may be notified only of the need for correction. Also, although it is preferable if the rider is notified of the required degree of lateral position correction, it does not have to be.
• the alignment operation execution unit 23 determines whether or not to execute the alignment operation based on the running stability of the motorcycle 100. For example, when the roll angle, yaw rate, yaw angle, lateral acceleration, and/or acceleration/deceleration of the motorcycle 100 exceed the reference values, the alignment operation execution unit 23 The notification prompting the correction of the position is not output.
• the alignment operation execution unit 23 acquires the distance DL in the horizontal direction and determines the necessity of position change.
• the alignment operation execution unit 23 may acquire other positional relationship information to determine the necessity of position change. For example, even if the aligning operation execution unit 23 obtains the information on the train of motorcycle 100 and the information on the train of at least two motorcycles 200 to determine the necessity of position change. good.
• the row information is information indicating to which row the motorcycles 100 and 200 belong, the right side or the left side, in the row formed by the group traveling.
• the alignment operation execution unit 23 Based on the surrounding environment information acquired by the acquisition unit 21, the alignment operation execution unit 23 defines a straight line that serves as a boundary between the right and left lines of vehicles in the platoon, and determines the positional relationship with respect to the straight line. Based on this, the train information for each of the motorcycles 100.200 is obtained.
• the alignment operation executing section 23 prompts the rider of the motorcycle 100 to correct the lateral position. It should be noted that the alignment operation execution unit 23 determines that the motorcycle 100, the motorcycle 200 that is closest to the motorcycle 100, and the motorcycle 200 that is closest to it are ahead. It may be possible to determine the need for repositioning by determining the motor cycle 2 ⁇ ⁇ and the convoy to which it belongs. In addition, the alignment operation execution unit 23 determines that the motorcycle 100, the motorcycle 200 that is closest to the motorcycle 100 behind, and the motorcycle 200 that is closest to the The need for repositioning may be determined by determining which motorcycle 200 is advancing and which convoy belongs.
• the alignment operation execution unit 23 is configured to: motorcycle 100, motorcycle 200 traveling on the side of motorcycle 100, Determine the convoy to which each of the motorcycles 200 and 200 that are leading or trailing the closest to that motorcycle 200 belong. When it is determined that all vehicles belong to the same row, the alignment operation execution unit 23 prompts the rider of the motorcycle 100 to correct the lateral position.
• the alignment operation execution unit 23 performs the following operations: the motorcycle 1 0 0, at least two motorcycles 2 ⁇ ⁇ traveling in a group together with the A case has been described in which a control command is output to the notification device 50 of the motorcycle 100 based on the positional relationship information to execute an alignment operation, but the present invention is not limited to such an aspect. .
• the alignment operation execution unit 23 determines, based on the positional relationship information between the motorcycle 100 and at least two motorcycles 200 traveling in a group with the motorcycle 100, , A control command may be output to the notification device 5 ⁇ of motorcycle 2 ⁇ ⁇ other than motorcycle 1 ⁇ ⁇ .
• the motorcycle 200 provided with the notification device 50 that receives the control command is the "motorcycle whose position is changed by alignment operation" in the present invention, that is, the "first motorcycle” in the present invention. corresponds to Also Motorcycle 1 . 0 and the remaining motorcycle 200 correspond to the "second motorcycle” and the "third motorcycle” in the present invention.
• Alignment execution unit 23 outputs a control command to annunciator 50 to change the longitudinal position of motorcycle 100 in the platoon as a longitudinal positional alignment. perform an action that causes an alert prompting the rider of motorcycle 1 ⁇ .
• Alignment motion execution unit 23 performs alignment motion based on positional relationship information between motorcycle 100, at least two motorcycles 200 traveling in a group with motorcycle 100, and . do it.
• the motorcycle 100 corresponds to the "motorcycle whose position is changed by the alignment operation" in the present invention, that is, the "first motorcycle” in the present invention.
• the remaining motorcycle 200 corresponds to the "second motorcycle” and the "third motorcycle” in the present invention.
• the distance DV may be an actual measured value at that point in time, or may be a predicted value that is estimated taking into consideration the running state of the motorcycle 100 or 200 at that point in time.
• the distance DV is the distance from motorcycle 100 in the longitudinal direction to an object located on one side thereof, and the distance from motorcycle 100 to the object located on the other side in the longitudinal direction. This is a positive concept.
• the operation execution unit 23 outputs a control command to the notification device 50 when an imbalance exceeding the standard occurs instantaneously between the distances DV or beyond the standard time or the standard travel distance. to prompt the rider of Motorcycle 100 to correct the longitudinal position.
• a passing time difference value obtained by dividing that value by the vehicle speed of the motorcycle 100 may be used for determination.
• the obtained distance DV depends on the placement of each vehicle in the platoon (e.g., leading, middle, trailing, order from leading or trailing, right side).
• Alignment action execution unit 23 selects at least one motorcycle 200 that is ahead of motorcycle 100 and one that is behind motorcycle 100 to determine the need for a position change. at least one motorcycle 2 . 0 and may also obtain distance DV for only at least two motorcycles 200 that are ahead of motorcycle 100; Distance DV may be obtained only for at least two motorcycles 200 that are ahead of cycle 100.
• the alignment operation execution unit 23 selects at least one motor belonging to a vehicle row L2 different from the vehicle row L1 to which the motorcycle 100 belongs in the group travel, in order to determine the necessity of the position change.
• the aligning operation execution unit 23 determines the arrangement of the motorcycles 1 ⁇ in the platoon (for example, front, middle, rear, order from the front or rear, right-hand row, left-hand row, etc.). to change the selection of the motorcycle 200 for which the distance DV is to be obtained. For example, if motorcycle 1 0 0 is placed first in the platoon, the distance DV is obtained only for at least two motorcycles 2 0 0 that are behind motorcycle 1 ⁇ . Good.
• motorcycle 100 is positioned in the middle of the platoon, then at least one motorcycle 200 that is ahead of motorcycle 1 ⁇ and motorcycle 10 At least one motorcycle 200 that is ahead behind 0 and the distance DV for 200 should be obtained. Also, for example, if motorcycle 100 is positioned at the rear of the platoon, distance DV is obtained only for at least two motorcycles 200 that are ahead of motorcycle 100. should be.
• Motorcycle 2 ⁇ which is traveling near motorcycle 1 ⁇ , may be selected as a distance DV acquisition target. In the above, the position of motorcycle 1 ⁇ (that is, the position of motorcycle 1 ⁇ with respect to another motorcycle 2 ⁇ 0, the imbalance of the position of the motorcycle 100 may be determined with reference to the distance DV between the other motorcycles 200.
• Statistical values of the multiple distance DVs obtained by changing the combination of 0 e.g. average value, average value excluding distance DV exceeding the upper limit, average value excluding distance DV below the lower limit, upper limit distance above the lower limit (average value, minimum value, maximum value, low-pass filtered value, high-pass filtered value, step filtered value, etc.) for DV only, motor Cycle 1 ⁇ ⁇ position imbalance may be determined.
• the distance DV may be an actual measured value at that point in time, or may be a predicted value that is estimated taking into account the running state of the motorcycle 100, 200 at that point in time.
• the distance DV is the distance from motorcycle 100 in the longitudinal direction to an object located on one side of it, and the distance from motorcycle 100 in the longitudinal direction to that object. The concept is that the distance to the object located on the other side is positive.
• the alignment operation execution unit 23 issues a control command to the notification device 50 when an imbalance exceeding the reference occurs instantaneously between the distances DV or exceeds the reference time or the reference travel distance.
• the value of the transit time difference obtained by dividing the value by the vehicle speed of the motorcycle 100 may be used for determination.
• the obtained distance DV depends on the position of each vehicle in the platoon (e.g., leading, middle, trailing, order from the leading or trailing, right side). Based on the information of the row of cars on the left, the row of cars on the left side, etc.), the imbalance is determined after correcting for the difference.
• Alignment action execution unit 23 determines at least one motorcycle 2 ⁇ ⁇ ahead of motorcycle 1 ⁇ ⁇ and behind motorcycle 1 0 0 to determine the need for a position change. You may get distance DV for at least one motorcycle 200 that is ahead of motorcycle 100 and only at least two motorcycles 200 that are ahead of motorcycle 100 , and may also obtain distance DV for only at least two motorcycles 200 that are behind motorcycle 100. In order to determine the necessity of the position change, the alignment operation execution unit 23 also selects at least one motorcycle 200 belonging to the vehicle train L1 to which the motorcycle 100 belongs in the group traveling. , at least one motorcycle 2 ⁇ ⁇ belonging to a lane L 2 different from the lane L !
• the aligning operation execution unit 23 determines the arrangement of the motorcycles 1 ⁇ in the platoon (for example, front, middle, rear, order from the front or rear, right-hand row, left-hand row, etc.). to change the selection of the motorcycle 200 for which the distance DV is to be obtained. For example, if motorcycle 1 00 is placed first in the platoon, distance DV is obtained only for at least two motorcycles 2 00 that are behind motorcycle 1 00. Good.
• motorcycle 100 is positioned in the middle of the platoon, then at least one motorcycle 200 that is ahead of motorcycle 1 ⁇ and motorcycle 10 At least one motorcycle 200 that is ahead behind 0 and the distance DV for 200 should be obtained. Also, for example, if motorcycle 100 is positioned at the rear of the platoon, distance DV is obtained only for at least two motorcycles 200 that are ahead of motorcycle 100. should be.
• Motorcycle 2 ⁇ which is traveling near motorcycle 1 ⁇ , may be selected as a distance DV acquisition target. In the above, the position of motorcycle 1 ⁇ (that is, the position of motorcycle 1 ⁇ with respect to another motorcycle 2 ⁇ 0, the imbalance of the position of the motorcycle 100 may be determined with reference to the distance DV between the other motorcycles 200.
• Statistical values of the multiple distance DVs obtained by changing the combination of 0 e.g. average value, average value excluding distance DV exceeding the upper limit, average value excluding distance DV below the lower limit, upper limit distance above the lower limit (average value, minimum value, maximum value, low-pass filtered value, high-pass filtered value, step filtered value, etc.) for DV only, motor Cycle 1 ⁇ ⁇ position imbalance may be determined.
• the notification device 50 displays a mark MV prompting the rider of the motorcycle 100 to correct the position in the longitudinal direction according to the control command from the alignment operation execution unit 23.
• the notification device 50 causes the vehicle speed control execution unit 22 to execute the vehicle speed control operation while the group running mode is enabled, as shown in FIGS.
• the notification device 50 has the group running mode enabled as shown in FIGS.
• the mark MV is displayed.
• the mark MG may not be displayed, and the mark MG indicates that the vehicle speed control execution unit 22 is executing the vehicle speed control operation, and the group traveling mode is enabled. It may be something that does not change when it becomes valid from a non-existent state.
• the mark MV is displayed on the right side if the row L ! to which the motorcycle 100 belongs is the right row, and the left row is the row L ! to which the motorcycle 100 belongs.
• the mark MV should be displayed on the left side if .
• the notification device 50 may prompt the rider to correct the position in the front-rear direction by displaying a display different from the mark MV according to the control command from the alignment operation execution unit 23.
• the notification device 50 may display or audibly output a sentence prompting the rider of the motorcycle 100 to correct the position in the longitudinal direction according to the control command from the alignment operation execution unit 23.
• the notification device 50 may prompt the rider to correct the position in the front-back direction with a simple sound according to the control command from the alignment operation execution unit 23.
• the notification device 50 may output a vibration prompting the rider of the motorcycle 100 to correct the position in the front-rear direction according to the control command from the alignment operation execution unit 23. For example, when urging the rider to make forward correction, vibrate the front portion, and when urging the rider to make rearward correction, vibrate the rear portion. It is preferable that the rider be notified of the direction in which the necessary longitudinal position correction is to be made, but it is not necessary. In other words, the rider may be notified only of the need for correction. In addition, although it is preferable that the rider be notified of the required degree of longitudinal position correction, it is not necessary.
• the alignment operation execution unit 23 determines whether or not to perform the alignment operation based on the running stability of the motorcycle 100. For example, when the roll angle, yaw rate, yaw angle, lateral acceleration, and/or acceleration/deceleration of the motorcycle 100 exceed the reference values, the alignment operation execution unit 23 moves the notification device 50 forward and backward. The notification prompting the correction of the position is not output.
• the alignment operation execution unit 23 performs the following operations: the motorcycle 1 0 0, at least two motorcycles 2 ⁇ ⁇ traveling in a group together with the motorcycle 1 ⁇ ⁇ , and A case has been described in which a control command is output to the notification device 50 of the motorcycle 100 based on the positional relationship information to execute an alignment operation, but the present invention is not limited to such an aspect. .
• the alignment operation execution unit 23 determines, based on the positional relationship information between the motorcycle 100 and at least two motorcycles 200 traveling in a group with the motorcycle 100, , the control command may be output to the notification device 50 of the motorcycle 200 other than the motorcycle 100.
• the motorcycle 200 provided with the notification device 50 that receives the control command is the "motorcycle whose position is changed by alignment operation" in the present invention, that is, the "first motorcycle” in the present invention. corresponds to Also Motorcycle 1 . 0 and the remaining motorcycle 200 correspond to the "second motorcycle” and the "third motorcycle” in the present invention.
• the alignment operation causes the notification device 50 to generate a notification prompting the rider of the motorcycle 100 or other motorcycle 200 to change the position in the longitudinal direction.
• the alignment operation is an operation to output a control command that causes a change in the longitudinal position of motorcycle 1 0 0 or other motorcycle 2 ⁇ ⁇ . good too.
• the alignment operation execution unit 23 automatically decelerates or accelerates the motorcycle 100 or other motorcycles 200 without depending on the operation of the braking device 30 and the driving device 40 by the rider.
• output a control command that causes Alignment operation is executed with motorcycle 1 ⁇ ⁇ or other motorcycle 2 ⁇ ⁇ Change set value of vehicle speed control operation It should be an action to do.
• the alignment operation execution unit 23 automatically shortens the inter-vehicle distance or passing time difference with respect to the preceding vehicle 300 set in the vehicle speed control operation. change.
• the alignment operation execution unit 23 increases the inter-vehicle distance or the passing time difference with respect to the preceding vehicle 300 set in the vehicle speed control operation. automatically change to The change may change the value of the inter-vehicle distance or the transit time difference itself, or may change the rank of the inter-vehicle distance or the transit time difference.
• the alignment operation execution unit 23 may automatically propose the change, and the proposal may be confirmed by the rider's acceptance setting input. The change should be reflected in the display of the setting value of the vehicle speed control operation.
• FIG. 9 is a diagram showing the operation flow of the controller of the rider support system according to the embodiment of the present invention.
• the control device 20 executes the operation flow shown in FIG. 9 while the motorcycle 100 is running.
• step S101 the acquisition unit 21 acquires the surrounding environment information of the motorcycle 100 while the motorcycle 100 is running. Also, the acquisition unit 21 acquires various information as necessary.
• step S102 the vehicle speed control execution unit 22 determines whether or not the group traveling mode is enabled. If it is determined in step S102 that the group driving mode is not valid, the vehicle speed control execution unit 22 performs, in step S103, the motorcycle 1 ⁇ ⁇ and its Multiple preceding vehicles 3 ⁇ ahead of motorcycle 1 ⁇ , the preceding vehicle 3 ⁇ running in front of motorcycle 1 ⁇ , and the operation of adjusting the positional relationship between Let 1 0 0 run. Further, when it is determined in step S102 that the group traveling mode is valid, the vehicle speed control execution unit 22 performs motorcycle 100 as the vehicle speed control operation in step S104. and at least one motorcycle 200 that corresponds to the leading vehicle 300 that is ahead of the motorcycle 100 and is traveling in a group with the motorcycle 100. Have motorcycle 1 ⁇ ⁇ execute the operation to adjust the positional relationship of , .
• step S102 When it is determined in step S102 that the group travel mode is valid, the alignment operation execution unit 23 determines that the group travel is formed in step S105. Perform an alignment operation that aligns at least part of the formation.
• the vehicle speed control execution unit 22 performs, based on the positional relationship information between the motorcycle 100 and at least one preceding vehicle 300 acquired while the motorcycle 100 is traveling, The vehicle speed control operation of motorcycle 100 is executed, and furthermore, the alignment operation execution unit 23 performs the vehicle speed control operation with the group traveling mode enabled by at least three motorcycles 2 ⁇ . Perform an alignment operation to align at least a portion of the formation being formed. Therefore, it is necessary to appropriately group traveling of a unique vehicle called a motorcycle. It is possible to support
• the aligning operation is a change in lateral position in the platoon of at least one of motorcycle 100 and motorcycle 200 other than motorcycle 100. This is the operation of outputting a control command that causes a notification prompting to With such a configuration, the certainty of appropriately supporting the group traveling of the unique vehicle of the motorcycle is improved.
• the aligning operation is a change in the longitudinal position of at least one of motorcycle 100 and motorcycle 200 other than motorcycle 100 in the platoon. This is the operation of outputting a control command that causes a notification prompting to Such a configuration enhances the certainty of appropriately supporting the group traveling of a unique vehicle called a motorcycle.
• the aligning motion causes a change in longitudinal position in the platoon of at least one of motorcycle 100 and motorcycle 200 other than motorcycle 100. This is the operation of outputting a control command.
• the alignment operation is an operation of changing the set value of the vehicle speed control operation that is being executed in motorcycle 100 or motorcycle 200 other than motorcycle 100. So configured, the comfort of the rider is enhanced.
• the alignment operation execution unit 23 arranges the motorcycles 100 in the platoon (for example, the first, the middle, the rear, the order from the front or the rear, the right row, the left based on information such as train lines, etc., to vary the vehicles selected for determining the need for repositioning.
• the certainty of appropriately supporting group traveling of vehicles unique to motorcycles is improved.
• the alignment operation execution unit 23 measures the running stability of the motorcycle 100 whose position is changed by the alignment operation, or the motorcycle 200 other than the motorcycle 100. Perform alignment operations based on . With such a configuration, it is possible to prevent the alignment operation from interfering with the traveling.
• the acquisition unit 2 1 acquires the surrounding environment information of the motorcycle 1 0 0 based on the output of the surrounding environment sensor 1 1, but the acquisition unit 2 1
• the surrounding environment information of motorcycle 1 ⁇ ⁇ can be obtained by using other means (for example, wireless communication with vehicles traveling around motorcycle 1 ⁇ ⁇ , wireless communication with infrastructure equipment, etc.) May be obtained.

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• 2022
  • 2022-11-30 JP JP2023565657A patent/JPWO2023105351A1/ja active Pending
  • 2022-11-30 EP EP22834718.3A patent/EP4446187A1/en active Pending
  • 2022-11-30 US US18/710,667 patent/US20250050882A1/en active Pending
  • 2022-11-30 WO PCT/IB2022/061587 patent/WO2023105351A1/ja not_active Ceased

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