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
  • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
  • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
• • 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
  • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
  • B60W30/095—Predicting travel path or likelihood of collision
  • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
• • 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
  • 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
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
  • B62J27/00—Safety equipment
• • 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
  • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
  • B62J45/40—Sensor arrangements; Mounting thereof
  • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
  • 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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2300/00—Indexing codes relating to the type of vehicle
  • B60W2300/36—Cycles; Motorcycles; Scooters
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2520/00—Input parameters relating to overall vehicle dynamics
  • B60W2520/18—Roll
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
  • B60W2530/201—Dimensions of vehicle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/80—Spatial relation or speed relative to objects
  • B60W2554/801—Lateral distance
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • 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 control device and a lean vehicle control method.
• Patent Document 1 As a conventional control device for a lean vehicle, one that performs a rider assist operation is known (for example, Patent Document 1).
• Patent Document 1 Japanese Unexamined Patent Application Publication No. 2009-116882
• lean vehicles can be equipped with side cases.
• the conventional lean vehicle control device it is not possible to acquire the information of the side case, and it may become difficult to perform appropriate support operations.
• the present invention has been made against the background of the above problems, and provides a control device capable of appropriately assisting a rider. Also, a control method is obtained that can appropriately assist the rider.
• a control device is a control device for a lean vehicle, comprising at least one environmental sensor mounted on the lean vehicle, and positioned around the lean vehicle.
• An acquisition unit that acquires side case information, which is information of a side case that is attached to the lean vehicle and constitutes a part of the lean vehicle, based on the output of an environment information detection system that detects the condition of an object. and an execution unit that executes a rider assist operation of the lean vehicle based on the side case information.
• a control method is a lean vehicle control method, wherein an acquisition unit of the lean vehicle control device includes at least one environment sensor mounted on the lean vehicle, The second is information on a side case attached to the lean vehicle and forming part of the lean vehicle, based on the output of an environment information detection system that detects information on objects positioned around the lean vehicle. Side case information is acquired, and the execution unit of the control device executes a rider assist operation of the lean vehicle based on the side case information.
• side case information is obtained based on the output of the environment information detection system, and the lean vehicle rider support operation is performed based on the side case information. be done. Therefore, it becomes possible to obtain information on the side case appropriately, and to appropriately support the rider.
• FIG. 2 >It is the figure which shows the constitution of the support system which relates to the form of execution of this invention.
• Figure 3 >It is the figure in order to explain the automatic acceleration and deceleration operation and the collision prevention operation of the support system which relates to the form of execution of this invention, in the state where the lean vehicle which runs upright is looked backward.
• a lean vehicle means any vehicle that travels in a state of being inclined in the turning direction when turning.
• Lean vehicles include, for example, two-wheeled motorcycles, three-wheeled motorcycles, and bicycles.
• motorcycles include, for example, vehicles using an engine as a propulsion source, and vehicles using an electric motor as a propulsion source, such as motorcycles, scooters, and electric scooters.
• a bicycle means all vehicles that can be propelled on a road by a rider's stepping force applied to pedals.
• Bicycles include, for example, ordinary bicycles, electrically assisted bicycles, and electric bicycles.
• FIG. 1 is a diagram showing a state in which a support system according to an embodiment of the present invention is mounted on a lean vehicle.
• FIG. 2 is a diagram showing the configuration of the support system according to the embodiment of the present invention.
• the support system 1 is mounted on a lean vehicle 100.
• the support system 1 includes at least an environmental information detection system 11 for detecting the environmental information of the lean vehicle 1 ⁇ ⁇ and a driving state information detection system 1 for detecting the driving state information of the lean vehicle 1 ⁇ ⁇ . 2 and a control unit (ECU) 20 and .
• the support system 1 supports the rider 200 of the lean vehicle 100.
• the controller 200 includes various systems (not shown) for detecting other information (for example, brake operation information by the rider 200, accelerator operation information by the rider 200, etc.) as necessary. ) is also entered.
• Each part of the support system 1 may be used exclusively for the support system 1, or may be shared with other systems.
• the environmental information detection system 11 includes, for example, at least one environmental sensor 11a directed forward of the lean vehicle 100 and one sensor directed toward the right of the lean vehicle 100. at least one environmental sensor lib directed to the left of the lean vehicle 100 and at least one environmental sensor 11c directed to the rear of the lean vehicle 100 one environment
• side case information includes information on the presence or absence of side case 60 .
• the acquisition unit 21 obtains the relative position of the field of view of the environment sensor 11b and/or the environment sensor 11c with respect to the lean vehicle 1 ⁇ . Using this information, the position where the side case 60 is attached is estimated. For example, when the environmental sensor 11b is undetectable and the environmental sensor 11c is detectable, the acquisition unit 21 determines that the side case 6 ⁇ is attached only to the right side of the lean vehicle 1 ⁇ .
• the acquisition unit 2 1 estimates the mounting position of the side case 60 by using information on the position of the undetectable area relative to the lean vehicle 100. That is, the side case information includes information on the position of side case 60.
• the acquisition unit 21 determines the relative position of the field of view of the environment sensor 11b and/or the environment sensor 11c with respect to the lean vehicle 100.
• the acquisition unit 21 Estimate the size of the installed side case 6 ⁇ using the information in For example, when part of the visual field of the environmental sensor 11b is undetectable, or only part of the plurality of environmental sensors 11b is undetectable, the acquisition unit 21 The size of the side case 60 attached is estimated using information on the position of the undetectable area relative to the lean vehicle 100. In other words, the side case information includes information on the size of the side case 60.
• the acquisition unit 21 is the position where the distance from the environment sensor 11b or the environment sensor 11c is below the reference distance based on the output of the environment information detection system A11, and/or the environment sensor 11b or the environment sensor 1 It is determined whether or not any object, that is, the side case 60 exists at a position where the direction from 1c is within the reference range.
• the acquisition unit 21 acquires information on the distance and/or direction from the environment sensor 11b or the environment sensor 11c to the side case 60.
• the acquisition unit 21 determines that the side case 60 exists when the determination continues to be affirmative beyond the reference time or the reference travel distance. That is, the side case information includes information on the presence/absence of side case 60 .
• the acquisition unit 21 determines the distance from the environment sensor 1lb or the environment sensor 11c to the object, that is, the side case 6 ⁇ and/or Using the directional information, the position and/or size of the side case 60 is estimated. That is, side case information includes information on the position and/or size of side case 60 .
• At least one of the environment sensor 11b and the environment sensor 11c may be exclusively used for acquiring side case information, It may also be used to determine the possibility of collision of an object located on the side of lean vehicle 1 ⁇ ⁇ with respect to vehicle 1 ⁇ ⁇ . Further, when the field of view of the environment sensor 11a or the environment sensor 11d is wide, at least one of the environment sensor 11b and the environment sensor 11c is substituted by the environment sensor 11a or the environment sensor 11d. may be In particular, the environment sensor for acquiring side case information is preferably an ultrasonic sensor.
• distance information and/or quality characteristic information included in the reflected wave is detected by the ultrasonic sensor to obtain side case information.
• a noise level may be detected, and ground clutter may be detected.
• the execution unit 22 executes a support action for the rider 200 based on the side case information acquired by the acquisition unit 21 .
• the execution unit 22 for example, notifies the braking device 30 that produces braking force on the lean vehicle 100, the driving device 40 that produces driving force on the lean vehicle 100, and the rider 200 (for example, Auditory notifications, visual notifications, tactile notifications, etc. ) to output a control command to the notification device 50, etc., and execute the support operation of the rider 200.
• behavior control operation may be executed, and an informing operation for rider 200 may be executed.
• the notification device 50 may be provided in the lean vehicle 100, and the clothing 110 (for example, helmet It may also be provided on a helmet, goggles, gloves, etc.).
• the notification to the rider 200 may be performed by a haptic operation that causes an instantaneous change in acceleration/deceleration of the lean vehicle 100.
• the braking device 30 or the driving device 40 takes on the function of the notification device 50.
• the execution unit 22 executes, as the notification operation, an operation to notify the rider 200 that the side case 60 is attached to the lean vehicle 100. Further, the execution unit 22 executes an operation of informing the rider 200 of the position where the side case 60 is attached as the notification operation. In addition, the execution unit 22 executes an operation of informing the rider 200 of the size of the attached side case 60 as an informing operation.
• the execution unit 22 performs slip control of the lean vehicle 100 (for example, anti-lock brake control, traction control, skid suppression control, etc.) as the behavior control operation, and / Or the operation of changing the suspension control mode according to the presence or absence of the side case 60 is executed.
• the side case information is information indicating that the side case 60 is attached
• the execution unit 22 assumes that the lean vehicle 100 is in rear load, and specializes in that state. Automatically set the mode in which the min value is set.
• the execution unit 22 should reflect the weight of the standard side case 60 and/or the weight of the standard contents assumed from the size of the side case 60 in setting the mode.
• the execution unit 22 reflects information on the position where the side case 60 is attached to the setting of the mode. Note that the execution unit 22 may execute an operation of proposing a mode change to the rider 200 as the notification operation, and the mode change may be confirmed after the rider 200 approves.
• the execution unit 22 obtains the lean vehicle 100 and objects (for example, vehicles, obstacles , road facilities, people, animals, etc.) and based on the positional relationship information of the rider 200 is executed.
• the positional relationship information is acquired by the acquisition unit 21 based on the output of the environmental information detection system 11.
• the positional relationship information is, for example, information such as relative position, relative distance, relative velocity, relative acceleration, relative jerk, passing time difference, estimated time until collision.
• the positional relationship information may be information on other physical quantities that are substantially convertible thereto.
• An environmental sensor different from the environmental sensor used for obtaining the side case information may be used to obtain the positional relationship information, and the environmental sensor used for obtaining the side case information may be used to obtain the positional relationship information. may be used.
• the execution unit 22 performs an automatic acceleration/deceleration operation of the lean vehicle 100 based on the positional relationship information acquired by the acquisition unit 21 as a support operation for the rider 200. conduct.
• Automatic acceleration/deceleration operations include, for example, speed follow-up control (so-called adaptive cruise control) for the preceding vehicle performed in the absence of rider 200's brake operation and accelerator operation, and rider 200's brake operation or accelerator operation. speed follow-up control for the preceding vehicle, etc.
• the acquisition unit 21 acquires information on the relative distance, relative velocity, or transit time difference between the lean vehicle 100 and the preceding vehicle of the lean vehicle 100, that is, the object whose velocity is to be followed.
• the execution unit 22 outputs a control command to the braking device 30 or the driving device 40 to cause the lean vehicle 100 to accelerate or decelerate according to the information of the relative distance, relative speed, or transit time difference. Then, the lean vehicle 100 follows the speed of the preceding vehicle.
• the braking device 30 may be controlled to cause or increase deceleration and may be controlled to cause or increase acceleration.
• the drive 40 is controlled to produce or increase acceleration and may be controlled to cause or increase deceleration.
• the execution unit 22 outputs a control signal to the notification device 50 as necessary to cause the rider 200 to be notified. For example, as will be described later, the execution unit 22 estimates the road width W ⁇ occupied by the lean vehicle 1 ⁇ based on the side case information, and automatically accelerates and decelerates according to the estimation result. change behavior.
• the execution unit 202 performs a collision suppression operation for the lean vehicle 100 as a support operation for the rider 200 based on the positional relationship information acquired by the acquisition unit 21.
• Acquisition unit 21 acquires lean vehicle 1 ⁇ ⁇ and objects (for example, vehicles, obstacles, road facilities, (human, animal, etc.) and information on the estimated time to collision, that is, information on the possibility of collision.
• the execution unit 22 outputs a control signal to the notification device 50 to cause notification to the rider 200 when it is determined that the collision probability exceeds the criterion.
• the execution unit 22 outputs a control command to the braking device 3 ⁇ or the driving device 4 ⁇ when it is determined that the collision possibility exceeds the criterion, and leans the acceleration/deceleration to suppress the collision.
• 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 estimates the road width Wo occupied by the lean vehicle 100 based on the side case information, and performs collision suppression according to the estimation result. change behavior.
• FIG. 3 is a diagram for explaining the automatic acceleration/deceleration operation and the collision suppression operation of the support system according to the embodiment of the present invention when looking backward at a lean vehicle running upright.
• FIG. 4 is a diagram for explaining the automatic acceleration/deceleration operation and the collision suppression operation of the support system according to the embodiment of the present invention when looking backward at a lean vehicle running at an angle.
• the execution unit 22 calculates the running position P of the lean vehicle 1 ⁇ ⁇ based on the running state information of the lean vehicle 1 ⁇ ⁇ acquired by the acquisition unit 21. Get the future trajectory of Then, the execution unit 22 sets an area obtained by extending the future trajectory in the width direction as a road area S on which the lean vehicle 100 is assumed to travel. When executing the automatic acceleration/deceleration operation, the execution unit 22 selects an object located within the road area S, ie, the preceding vehicle, as a speed follow target.
• the execution unit 22 when executing the automatic acceleration/deceleration operation, the execution unit 22 does not select an object that is not located within the road area S, ie, the preceding vehicle, as a speed follow target. Further, when executing the collision suppression operation, the execution unit 22 selects objects (for example, vehicles, obstacles, road facilities, people, animals, etc.) located within the road area s as objects for collision possibility determination. select. That is, the execution unit 22 does not select an object that is not located within the road area S as a collision possibility determination target when executing the collision suppression operation. The execution unit 22 estimates the road width Wo occupied by the lean vehicle 1 ⁇ based on the side case information, and sets the road area S based on the road width Wo.
• objects for example, vehicles, obstacles, road facilities, people, animals, etc.
• the road width W occupied by the lean vehicle 100 running. is defined as the distance between the left edge and the right edge of lean vehicle 100 in a direction parallel to the road surface and perpendicular to the direction of travel of lean vehicle 100.
• the execution unit 22 determines that the side case information is information indicating that the side case 60 is attached.
• the information on the size of the standard side case 60 is also taken into consideration to determine the road width W o presume. Also, for example, as shown in FIG. As the deviation angle e increases, the road width W ⁇ is estimated larger.
• the execution unit 22 estimates the road width Wo based on the running attitude information, which is the information about the running attitude of the lean vehicle 100, in addition to the side case information. If the side case information includes information on the position where the side case 60 is attached and/or information on the size of the attached side case 60, the execution unit 22 takes into account the information. After that, the road width W o should be estimated. The execution unit 22 sets an area obtained by adding the right margin M r and the left margin M 1 to the road width W o as a road area S in which the lean vehicle 1 ⁇ is assumed to travel.
• the right margin M r and the left margin M 1 may be set to the same value throughout the traveling direction of the lean vehicle 100, and the further away from the lean vehicle 100 in the traveling direction of the lean vehicle 100, May be set large.
• the execution unit 22 may set the road width W0 itself as the road area S on which the lean vehicle 100 is assumed to travel.
• the execution unit 22 may estimate the road width W o in consideration of information on the standard sitting height of the rider 200 or the actually measured sitting height.
• the execution unit 22 preferably takes into consideration the amount of deviation D of the center position C of the road width Wo with respect to the traveling position P.
• the amount of deviation D may depend on the asymmetry in the vehicle width direction of the lean vehicle 100, and as shown in FIG. good too.
• the execution unit 22 estimates the road width Wo based on the side case information, and changes the support operation according to the result of the estimation.
• Execution unit 22 determines road width W .
• the execution unit 22 determines the upper limit value of acceleration and/or the upper limit value of deceleration to be caused in the lean vehicle 100 based on the presence or absence of the side case 60, It may vary according to position and/or size.
• the execution unit 22 may change the criteria for judging the possibility of collision in the collision suppression operation according to the presence/absence, position and/or size of the side case 60 .
• the execution unit 22 outputs a control command to the environment information detection system 11 to change the direction of the field of view of the environment sensor 11b and the environment sensor 11c so as to exclude the side case 60 from the field of view. You can change it.
• the execution unit 22 outputs a command to the acquisition unit 21, and out of the data output from the environmental information detection system 11, the area that cannot be detected by the side case 60, or the side case For the area where 60 is detected, the arithmetic processing for acquiring the positional relationship information between the lean vehicle 100 and the objects positioned around the lean vehicle 100 may be omitted.
• the acquisition unit 21 may acquire the positional relationship information with respect to the object located in the area set according to the side case information in the vicinity of the lean vehicle 1 ⁇ .
• FIG. 5 is a diagram showing an example of the operation flow of the control device of the support system according to the embodiment of the present invention.
• the control device 20 executes the operation flow shown in FIG. 5 while the lean vehicle 100 is running.
• step S101 the acquisition unit 21 acquires side case information based on the output of the environmental information detection system 11.
• Acquisition unit 21 obtains lean vehicle 100 and objects located around lean vehicle 100 (for example, vehicles, obstacles, road (equipment, people, animals, etc.) and the positional relationship information of
• the acquisition unit 21 acquires the running state information of the lean vehicle 1 ⁇ based on the output of the running state information detection system 12 as necessary.
• step S102 the execution unit 22 executes a support action for the rider 200 based at least on the side case information acquired by the acquisition unit 21.
• the control device 20 acquires side case information based on the output of the environmental information detection system 11, and performs a support operation for the rider 200 of the lean vehicle 100 based on the side case information. Therefore, it is possible to appropriately acquire information on the side case 60, and to appropriately support the rider 200.
• the acquisition unit 21 acquires the side case information based on the detection availability information in the environmental sensors (for example, the environmental sensor lib, the environmental sensor 11c, etc.). Further, preferably, the acquisition unit 21 obtains the side case 60 based on the distance and/or direction information from the environment sensor (for example, the environment sensor lib, the environment sensor 11c, etc.) to the side case 60. Get information. By configuring like them, it is possible to appropriately acquire the information of the side case 60 .
• the acquisition unit 21 acquires positional relationship information between the lean vehicle 100 and the object based on the output of the environment information detection system 11, and the execution unit 22 Based on the location information in addition to the case information, the assist operation is performed.
• the execution unit 22 may estimate the road width Wo occupied by the running of the lean vehicle 100 based on the side case information, and change the support operation according to the result of the estimation. With such a configuration, it is possible to appropriately support Rider 200.
• Support system 1 1 Environment information detection system 1 1 a, l i b, l i e, 1 1 d Environment sensor 1 2 Driving state information detection system 1 2 a Wheel speed sensor 1 2 b Inertia sensor 2 ⁇ Control Device, 21 acquisition unit, 22 execution unit, 30 braking device, 40 drive device, 50 notification device, 60 side case, 100 lean vehicle, 100A rear fender, 110 clothing , 200 riders.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Automation & Control Theory (AREA)
• Transportation (AREA)
• Human Computer Interaction (AREA)
• Traffic Control Systems (AREA)

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• 2022
  • 2022-12-12 JP JP2023568757A patent/JP7592895B2/ja active Active
  • 2022-12-12 EP EP22836330.5A patent/EP4454964B1/en active Active
  • 2022-12-12 US US18/722,698 patent/US12589740B2/en active Active
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